version: 66.06
glider: 139
mission: 8
dive: 215
start: 8 19 110 1 52 41
data:
$ID,139
$MISSION,8
$DIVE,215
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$D_NO_BLEED,90
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,190
$T_MISSION,220
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,60
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52108
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21.25
$TGT_DEFAULT_LON,-158
$TGT_AUTO_DEFAULT,0
$SM_CC,410
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2154995.2
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,3100
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,1695
$C_ROLL_CLIMB,1770
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2630
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.705256
$PRESSURE_SLOPE,0.000116328
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043401681
$SEABIRD_T_H,0.00063043466
$SEABIRD_T_I,2.4021314e-05
$SEABIRD_T_J,2.5358199e-06
$SEABIRD_C_G,-9.8272314
$SEABIRD_C_H,1.0932546
$SEABIRD_C_I,-0.0012359815
$SEABIRD_C_J,0.00017717193
$GPS1,014700,2103.765,-15746.394,37,1.3,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-72.8
$GPS2,015225,2103.759,-15746.359,15,1.4,20,9.8
$SPEED_LIMITS,0.137,0.159
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,199.4,12396,-23.8,-7.895
$D_GRID,450
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.56,-58.4,0.0,0.0,0,82,0.00,0.00,-64.72,0.000,2,0.000,0.000,427,1673,2775,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.5,-3.8,12,110,12.50,2.45,-1.70,0.000,4,0.134,0.053,2753,281,2871,0,0,0,0,0,0
$GC,265,-1.42,-58.4,48.3,-20.1,39,270,0.17,2.33,0.00,0.000,6,0.105,0.018,2786,1730,2873,0,0,0,0,0,0
$GC,532,-1.48,-58.4,87.4,-12.2,60,536,0.00,2.20,0.00,0.000,4,0.000,0.021,2787,3082,2874,0,0,0,0,0,0
$GC,564,-1.62,-58.4,91.6,-11.2,62,571,0.15,2.38,0.00,0.000,6,0.030,0.032,2734,1687,2874,0,0,0,0,0,0
$GC,827,-1.62,-58.4,126.8,-12.9,83,831,0.00,2.33,0.00,0.000,4,0.000,0.023,2734,3082,2875,0,0,0,0,0,0
$GC,989,-1.67,-58.4,147.9,-13.6,95,993,0.00,2.33,0.00,0.000,6,0.000,0.031,2733,1686,2876,0,0,0,0,0,0
$GC,1254,-1.67,-58.4,183.6,-13.0,116,1255,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1686,2876,0,0,0,0,0,0
$GC,1515,-1.67,-58.4,215.4,-11.9,133,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1686,2876,0,0,0,0,0,0
$GC,1824,-1.70,-58.4,254.3,-12.7,148,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1686,2876,0,0,0,0,0,0
$GC,2138,-1.75,-58.4,286.7,-9.9,163,2142,0.00,2.38,0.00,0.000,4,0.000,0.048,2733,294,2876,0,0,0,0,0,0
$GC,2161,-1.75,-58.4,290.1,-12.1,164,2165,0.00,2.25,0.00,0.000,6,0.000,0.021,2733,1707,2876,0,0,0,0,0,0
$GC,2489,-1.81,-58.4,326.6,-10.4,174,2491,0.12,0.00,0.00,0.000,6,0.067,0.000,2696,1712,2876,0,0,0,0,0,0
$GC,2813,-1.81,-58.4,363.7,-11.6,182,2818,0.00,2.30,0.00,0.000,4,0.000,0.029,2696,3076,2875,0,0,0,0,0,0
$GC,2874,-1.85,-58.4,370.5,-10.8,183,2878,0.00,2.35,0.00,0.000,6,0.000,0.038,2696,1699,2875,0,0,0,0,0,0
$GC,3226,-1.85,-58.4,411.9,-12.1,192,3230,0.00,2.45,0.00,0.000,4,0.000,0.056,2695,290,2872,0,0,0,0,0,0
$GC,3249,-1.79,-58.4,415.2,-12.3,192,3253,0.00,2.28,0.00,0.000,6,0.000,0.025,2695,1686,2872,0,0,0,0,0,0
$GC,3592,-1.79,-58.4,449.4,-9.3,201,3596,0.00,2.08,0.00,0.000,3,0.000,0.031,2695,2942,2869,0,0,0,0,0,0
$STATE,3596,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3596,begin apogee
$GC,3604,-0.31,0.0,450.2,9.5,201,3657,1.58,0.00,48.62,0.835,6,0.082,0.000,3027,1775,2630,0,0,0,0,0,0
$STATE,3658,end apogee,CONTROL_FINISHED_OK
$STATE,3658,begin climb
$GC,3661,1.56,58.4,451.6,0.0,202,3719,1.77,2.58,50.17,0.818,4,0.030,0.053,3450,351,2390,0,0,0,0,0,0
$GC,3728,1.33,150.2,451.1,-0.4,203,3818,0.32,2.38,80.32,0.820,6,0.107,0.026,3389,1761,2016,0,0,0,0,0,0
$GC,4156,1.17,150.2,398.2,13.8,214,4161,0.17,2.40,0.00,0.000,4,0.109,0.034,3356,3184,2006,0,0,0,0,0,0
$GC,4203,1.13,150.2,392.1,11.6,215,4208,0.00,2.47,0.00,0.000,6,0.000,0.041,3356,1766,2006,0,0,0,0,0,0
$GC,4526,1.06,150.2,352.6,12.3,223,4531,0.12,2.47,0.00,0.000,4,0.116,0.056,3333,355,2002,0,0,0,0,0,0
$GC,4560,0.94,150.2,348.8,10.6,223,4565,0.15,2.38,0.00,0.000,6,0.113,0.028,3305,1775,2000,0,0,0,0,0,0
$GC,4891,0.99,150.2,319.4,9.8,231,4896,0.00,2.53,0.00,0.000,4,0.000,0.055,3305,350,1998,0,0,0,0,0,0
$GC,4935,0.95,150.2,314.6,11.7,232,4940,0.00,2.38,0.00,0.000,6,0.000,0.028,3305,1782,1996,0,0,0,0,0,0
$GC,5267,1.02,154.0,289.5,7.6,243,5271,0.00,2.53,0.00,0.000,4,0.000,0.053,3305,350,1996,0,0,0,0,0,0
$GC,5290,1.02,154.0,287.2,9.0,244,5294,0.00,2.35,0.00,0.000,6,0.000,0.028,3305,1774,1994,0,0,0,0,0,0
$GC,5616,1.09,154.0,258.2,8.5,260,5621,0.12,2.50,0.00,0.000,4,0.071,0.052,3341,358,1993,0,0,0,0,0,0
$GC,5631,1.09,154.0,256.6,8.2,260,5637,0.00,2.38,0.00,0.000,6,0.000,0.026,3341,1772,1992,0,0,0,0,0,0
$GC,5947,1.09,154.0,233.7,8.3,276,5951,0.00,2.47,0.00,0.000,4,0.000,0.051,3341,357,1992,0,0,0,0,0,0
$GC,6062,0.99,154.0,222.2,10.3,281,6067,0.12,2.33,0.00,0.000,6,0.113,0.025,3318,1776,1990,0,0,0,0,0,0
$GC,6389,1.08,183.4,198.4,5.3,297,6419,0.00,2.53,25.33,0.673,4,0.000,0.050,3318,358,1882,0,0,0,0,0,0
$GC,6457,1.08,183.4,193.4,8.9,302,6461,0.00,2.35,0.00,0.000,6,0.000,0.023,3318,1774,1878,0,0,0,0,0,0
$GC,6718,1.16,183.4,172.2,8.9,322,6723,0.15,2.47,0.00,0.000,4,0.060,0.049,3361,357,1877,0,0,0,0,0,0
$GC,6868,1.04,183.4,153.7,12.7,333,6873,0.17,2.30,0.00,0.000,6,0.100,0.022,3327,1772,1875,0,0,0,0,0,0
$GC,7135,1.12,183.4,132.4,8.0,354,7139,0.00,2.30,0.00,0.000,4,0.000,0.026,3327,3168,1874,0,0,0,0,0,0
$GC,7174,1.23,183.4,128.9,8.8,357,7179,0.17,2.38,0.00,0.000,6,0.054,0.031,3377,1764,1874,0,0,0,0,0,0
$GC,7441,1.23,183.4,103.8,9.1,378,7445,0.00,2.30,0.00,0.000,4,0.000,0.025,3377,3169,1874,0,0,0,0,0,0
$GC,7561,1.27,183.4,93.1,9.6,386,7568,0.00,2.40,0.00,0.000,6,0.000,0.033,3377,1770,1874,0,0,0,0,0,0
$GC,7822,1.29,204.0,74.4,6.0,407,7851,0.00,2.33,18.60,0.542,4,0.000,0.022,3377,3169,1796,0,0,0,0,0,0
$GC,8052,1.38,214.8,56.3,6.9,423,8073,0.08,2.40,10.70,0.491,6,0.039,0.030,3410,1763,1753,0,0,0,0,0,0
$GC,8325,1.38,214.8,32.5,10.4,445,8326,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,1763,1752,0,0,0,0,0,0
$GC,8582,1.33,214.8,8.9,8.6,499,8588,0.00,2.40,0.00,0.000,4,0.000,0.042,3410,365,1752,0,0,0,0,0,0
$GC,8635,1.25,214.8,3.6,10.6,510,8642,0.15,2.30,0.00,0.000,6,0.078,0.019,3375,1779,1749,0,0,0,0,0,0
$STATE,8648,end climb,SURFACE_DEPTH_REACHED
$STATE,8649,begin surface coast
$FINISH,0.8,1.022978
$STATE,8680,end surface coast,CONTROL_FINISHED_OK
$STATE,8680,begin surface
$SM_CCo,8703,119.72,0.492,0,0,957,410.14
$SM_GC,1.44,0.00,0.00,119.72,0.000,0.000,0.492,427,1675,957,-12.30,-0.57,410.14
$IRIDIUM_FIX,2054.83,-15746.61,121199,232304
$TT8_MAMPS,0.029146
$HUMID,51.61
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,18.851
$10V_AH,10.3,15.189
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,30.725,94.825,233.750,119.725,0.000,29.381,40.108,128.732,4.500,0.000,20.470,1015.225,5725.106,399.649,1576.686,430.032,0.000,1100.788,0.000,1551.483,0.000,29.251,0.000
$DEVICE_MAMPS,134.225,68.263,835.263,491.647,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,349.334,337.331,780.048,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,28684,519
$CAP_FILE_SIZE,98548,0
$CFSIZE,260165632,202305536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,190810,042106,2103.024,-15746.962,38,1.1,43,9.8