version: 66.06
glider: 139
mission: 8
dive: 241
start: 8 22 110 1 25 31
data:
$ID,139
$MISSION,8
$DIVE,241
$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,-2155607.5
$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
$GPS1,011606,2108.120,-15759.038,30,1.2,30,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-73.2
$GPS2,012514,2108.161,-15759.130,13,1.7,13,9.8
$SPEED_LIMITS,0.137,0.159
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$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,89.0,28348,-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,16,-1.56,-58.4,0.0,0.0,0,82,0.00,0.00,-64.32,0.000,2,0.000,0.000,427,1680,2770,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.7,-4.4,12,110,12.55,2.45,-1.77,0.000,4,0.136,0.054,2753,282,2872,0,0,0,0,0,0
$GC,148,-1.30,-58.4,24.6,-28.5,24,155,0.25,2.35,0.00,0.000,6,0.087,0.018,2815,1732,2872,0,0,0,0,0,0
$GC,353,-1.34,-58.4,54.3,-14.2,43,357,0.00,2.20,0.00,0.000,4,0.000,0.022,2815,3074,2873,0,0,0,0,0,0
$GC,376,-1.44,-58.4,57.8,-12.9,44,383,0.10,2.35,0.00,0.000,6,0.032,0.034,2770,1699,2873,0,0,0,0,0,0
$GC,638,-1.48,-58.4,93.4,-13.0,65,642,0.00,2.22,0.00,0.000,4,0.000,0.021,2769,3073,2874,0,0,0,0,0,0
$GC,678,-1.58,-58.4,99.0,-12.9,68,682,0.00,2.30,0.00,0.000,6,0.000,0.031,2769,1688,2875,0,0,0,0,0,0
$GC,945,-1.63,-58.4,134.7,-13.5,89,947,0.12,0.00,0.00,0.000,6,0.065,0.000,2731,1686,2876,0,0,0,0,0,0
$GC,1195,-1.63,-58.4,168.4,-12.7,109,1199,0.00,2.38,0.00,0.000,4,0.000,0.045,2731,286,2876,0,0,0,0,0,0
$GC,1209,-1.59,-58.4,170.8,-12.9,110,1214,0.10,2.22,0.00,0.000,6,0.116,0.019,2750,1715,2876,0,0,0,0,0,0
$GC,1476,-1.64,-58.4,203.2,-12.2,130,1480,0.00,2.20,0.00,0.000,4,0.000,0.022,2750,3064,2876,0,0,0,0,0,0
$GC,1564,-1.74,-58.4,213.8,-12.2,134,1569,0.12,2.30,0.00,0.000,6,0.066,0.032,2708,1695,2876,0,0,0,0,0,0
$GC,1898,-1.74,-58.4,269.4,-17.6,150,1899,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1694,2876,0,0,0,0,0,0
$GC,2222,-1.74,-58.4,314.8,-12.1,163,2226,0.00,2.25,0.00,0.000,4,0.000,0.025,2708,3055,2876,0,0,0,0,0,0
$GC,2358,-1.79,-58.4,329.6,-11.1,165,2364,0.00,2.28,0.00,0.000,6,0.000,0.036,2708,1697,2875,0,0,0,0,0,0
$GC,2690,-1.79,-58.4,361.4,-7.9,174,2691,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1696,2874,0,0,0,0,0,0
$GC,3015,-1.79,-58.4,387.4,-9.1,182,3019,0.00,2.28,0.00,0.000,4,0.000,0.028,2708,3058,2873,0,0,0,0,0,0
$GC,3117,-1.85,-58.4,398.1,-9.9,184,3122,0.00,2.33,0.00,0.000,6,0.000,0.038,2708,1691,2872,0,0,0,0,0,0
$STATE,3347,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3347,begin apogee
$GC,3354,-0.31,0.0,422.6,10.8,190,3407,1.52,0.00,49.12,0.801,6,0.077,0.000,3029,1692,2630,0,0,0,0,0,0
$STATE,3408,end apogee,CONTROL_FINISHED_OK
$STATE,3408,begin climb
$GC,3410,1.56,58.4,423.8,0.0,191,3468,1.75,2.38,49.95,0.786,4,0.030,0.051,3448,358,2390,0,0,0,0,0,0
$GC,3735,1.21,113.2,413.3,3.0,198,3788,0.43,2.30,47.25,0.790,6,0.106,0.025,3367,1741,2168,0,0,0,0,0,0
$GC,4137,1.11,113.2,382.6,8.7,208,4139,0.12,0.00,0.00,0.000,6,0.116,0.000,3344,1741,2160,0,0,0,0,0,0
$GC,4462,1.06,113.2,351.7,9.3,216,4463,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,1742,2157,0,0,0,0,0,0
$GC,4788,1.04,129.5,327.5,6.4,224,4808,0.00,2.45,13.23,0.716,4,0.000,0.031,3344,3167,2102,0,0,0,0,0,0
$GC,4884,1.04,129.5,321.0,8.4,226,4889,0.00,2.40,0.00,0.000,6,0.000,0.039,3344,1776,2102,0,0,0,0,0,0
$GC,5210,1.01,129.5,294.5,8.8,235,5215,0.12,2.50,0.00,0.000,4,0.113,0.054,3320,359,2098,0,0,0,0,0,0
$GC,5281,0.95,129.5,286.5,10.3,238,5285,0.00,2.33,0.00,0.000,6,0.000,0.026,3320,1770,2095,0,0,0,0,0,0
$GC,5605,1.00,167.6,265.6,4.5,254,5648,0.00,2.40,34.17,0.728,4,0.000,0.028,3320,3182,1945,0,0,0,0,0,0
$GC,5660,1.11,206.2,263.3,4.4,256,5702,0.00,2.47,35.42,0.713,6,0.000,0.036,3320,1762,1788,0,0,0,0,0,0
$GC,6028,1.17,206.2,227.0,11.6,274,6033,0.15,2.47,0.00,0.000,4,0.062,0.052,3362,359,1782,0,0,0,0,0,0
$GC,6212,1.05,206.2,199.5,15.5,282,6217,0.17,2.33,0.00,0.000,6,0.100,0.024,3328,1773,1777,0,0,0,0,0,0
$GC,6544,1.11,206.2,161.4,11.5,308,6548,0.00,2.47,0.00,0.000,4,0.000,0.049,3328,358,1776,0,0,0,0,0,0
$GC,6612,1.11,206.2,152.6,12.4,313,6616,0.00,2.33,0.00,0.000,6,0.000,0.022,3328,1781,1775,0,0,0,0,0,0
$GC,6874,1.18,206.2,128.9,8.5,333,6879,0.12,2.47,0.00,0.000,4,0.066,0.048,3367,354,1775,0,0,0,0,0,0
$GC,6917,1.10,206.2,123.5,11.9,336,6922,0.12,2.30,0.00,0.000,6,0.107,0.021,3341,1771,1774,0,0,0,0,0,0
$GC,7179,1.18,206.2,96.4,8.6,356,7183,0.00,2.42,0.00,0.000,4,0.000,0.046,3342,356,1774,0,0,0,0,0,0
$GC,7197,1.18,206.2,94.5,8.3,357,7202,0.00,2.30,0.00,0.000,6,0.000,0.020,3342,1779,1774,0,0,0,0,0,0
$GC,7459,1.34,233.1,77.8,5.5,378,7484,0.20,0.00,22.00,0.548,6,0.049,0.000,3400,1785,1679,0,0,0,0,0,0
$GC,7735,1.34,233.1,50.1,10.9,400,7740,0.00,2.45,0.00,0.000,4,0.000,0.044,3399,346,1677,0,0,0,0,0,0
$GC,7749,1.34,233.1,48.0,11.0,401,7753,0.00,2.30,0.00,0.000,6,0.000,0.019,3400,1777,1675,0,0,0,0,0,0
$GC,8012,1.34,233.1,17.1,11.1,437,8018,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,1785,1675,0,0,0,0,0,0
$STATE,8160,end climb,SURFACE_DEPTH_REACHED
$STATE,8161,begin surface coast
$FINISH,0.9,1.018077
$STATE,8187,end surface coast,CONTROL_FINISHED_OK
$STATE,8188,begin surface
$SM_CCo,8211,94.82,0.489,0,0,956,410.14
$SM_GC,1.55,0.00,0.00,94.82,0.000,0.000,0.489,430,1679,956,-12.29,-0.45,410.14
$IRIDIUM_FIX,2059.45,-15801.19,151199,222210
$TT8_MAMPS,0.028379
$HUMID,53.70
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,383.3,69.1
$24V_AH,23.5,21.121
$10V_AH,10.4,17.107
$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,30.725,75.325,251.150,94.825,0.000,25.969,33.270,371.099,4.000,0.000,13.824,938.577,5408.621,390.064,1468.724,646.942,0.000,1040.329,0.000,1448.139,0.000,27.591,0.000
$DEVICE_MAMPS,135.759,72.098,800.748,488.579,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,320.680,305.135,704.713,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355792
$DATA_FILE_SIZE,25577,477
$CAP_FILE_SIZE,93287,0
$CFSIZE,260165632,200978432
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220810,034506,2108.062,-15758.790,20,1.5,30,9.8