version: 66.06
glider: 139
mission: 8
dive: 278
start: 8 26 110 8 3 6
data:
$ID,139
$MISSION,8
$DIVE,278
$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,-2156519
$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,1700
$C_ROLL_CLIMB,1740
$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
$GPS1,075738,2105.769,-15755.169,67,1.2,67,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-71.6
$GPS2,080249,2105.739,-15755.188,12,1.2,17,9.8
$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,79.8,21200,-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,-64.45,0.000,2,0.000,0.000,424,1689,2771,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.6,-3.8,12,110,12.55,2.42,-1.80,0.000,4,0.136,0.035,2755,3116,2872,0,0,0,0,0,0
$GC,160,-1.56,-58.4,25.0,-21.7,27,166,0.00,2.42,0.00,0.000,6,0.000,0.035,2754,1702,2873,0,0,0,0,0,0
$GC,364,-1.48,-58.4,58.0,-17.8,46,366,0.12,0.00,0.00,0.000,6,0.118,0.000,2777,1702,2874,0,0,0,0,0,0
$GC,616,-1.48,-58.4,101.2,-16.7,66,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1702,2874,0,0,0,0,0,0
$GC,867,-1.53,-58.4,135.7,-12.9,86,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1702,2875,0,0,0,0,0,0
$GC,1121,-1.61,-58.4,166.7,-10.1,106,1126,0.12,2.35,0.00,0.000,4,0.064,0.025,2736,3111,2877,0,0,0,0,0,0
$GC,1210,-1.69,-58.4,176.1,-10.1,112,1216,0.00,2.40,0.00,0.000,6,0.000,0.032,2736,1699,2876,0,0,0,0,0,0
$GC,1478,-1.69,-58.4,202.4,-10.6,133,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1698,2877,0,0,0,0,0,0
$GC,1786,-1.73,-58.4,244.5,-14.4,148,1789,0.00,2.40,0.00,0.000,4,0.000,0.047,2735,295,2876,0,0,0,0,0,0
$GC,1840,-1.73,-58.4,253.0,-15.7,150,1845,0.00,2.28,0.00,0.000,6,0.000,0.019,2736,1728,2877,0,0,0,0,0,0
$GC,2163,-1.79,-58.4,290.1,-9.5,166,2165,0.12,0.00,0.00,0.000,6,0.066,0.000,2696,1730,2877,0,0,0,0,0,0
$GC,2487,-1.79,-58.4,319.8,-8.8,177,2492,0.00,2.25,0.00,0.000,4,0.000,0.028,2696,3089,2876,0,0,0,0,0,0
$GC,2628,-1.84,-58.4,335.9,-12.5,180,2632,0.00,2.38,0.00,0.000,6,0.000,0.037,2696,1692,2876,0,0,0,0,0,0
$GC,2960,-1.84,-58.4,381.0,-14.0,188,2964,0.00,2.33,0.00,0.000,4,0.000,0.029,2696,3082,2875,0,0,0,0,0,0
$GC,3004,-1.88,-58.4,386.6,-12.6,189,3009,0.00,2.35,0.00,0.000,6,0.000,0.037,2696,1700,2874,0,0,0,0,0,0
$GC,3332,-1.88,-58.4,426.1,-11.8,197,3336,0.00,2.33,0.00,0.000,4,0.000,0.031,2696,3081,2872,0,0,0,0,0,0
$GC,3472,-1.94,-58.4,440.3,-10.3,200,3477,0.00,2.35,0.00,0.000,6,0.000,0.040,2696,1700,2871,0,0,0,0,0,0
$STATE,3594,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3594,begin apogee
$GC,3600,-0.31,0.0,453.3,10.0,203,3653,1.60,0.00,49.22,0.833,6,0.082,0.000,3030,1700,2630,0,0,0,0,0,0
$STATE,3654,end apogee,CONTROL_FINISHED_OK
$STATE,3654,begin climb
$GC,3657,1.56,58.4,454.4,0.0,204,3717,1.80,2.53,50.35,0.817,4,0.028,0.033,3455,3117,2390,0,0,0,0,0,0
$GC,3735,1.36,140.4,454.0,0.5,206,3818,0.30,2.38,72.30,0.817,6,0.105,0.037,3398,1738,2057,0,0,0,0,0,0
$GC,4138,1.17,140.4,406.4,13.5,216,4143,0.22,2.38,0.00,0.000,4,0.108,0.031,3356,3128,2046,0,0,0,0,0,0
$GC,4158,1.07,140.4,403.9,11.1,216,4163,0.12,2.40,0.00,0.000,6,0.121,0.040,3334,1741,2046,0,0,0,0,0,0
$GC,4505,1.03,140.4,371.1,9.5,225,4509,0.00,2.35,0.00,0.000,4,0.000,0.034,3334,3122,2042,0,0,0,0,0,0
$GC,4627,1.04,146.2,361.8,7.4,227,4632,0.00,2.40,0.00,0.000,6,0.000,0.041,3334,1734,2042,0,0,0,0,0,0
$GC,4963,1.04,146.2,334.6,8.8,236,4964,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,1733,2038,0,0,0,0,0,0
$GC,5289,1.04,146.2,302.5,9.9,244,5293,0.00,2.38,0.00,0.000,4,0.000,0.031,3334,3129,2035,0,0,0,0,0,0
$GC,5307,1.04,146.2,300.6,9.2,244,5312,0.00,2.40,0.00,0.000,6,0.000,0.039,3334,1727,2035,0,0,0,0,0,0
$GC,5637,1.04,146.2,269.4,9.8,260,5641,0.00,2.38,0.00,0.000,4,0.000,0.031,3334,3128,2033,0,0,0,0,0,0
$GC,5651,1.04,146.2,267.8,10.3,260,5656,0.00,2.38,0.00,0.000,6,0.000,0.038,3334,1732,2033,0,0,0,0,0,0
$GC,5968,1.06,163.8,241.3,6.3,275,5988,0.00,0.00,17.48,0.697,6,0.000,0.000,3334,1733,1962,0,0,0,0,0,0
$GC,6298,1.06,163.8,215.4,9.3,291,6302,0.00,2.42,0.00,0.000,4,0.000,0.051,3334,334,1957,0,0,0,0,0,0
$GC,6438,1.00,163.8,200.3,12.1,297,6442,0.00,2.33,0.00,0.000,6,0.000,0.024,3334,1744,1954,0,0,0,0,0,0
$GC,6764,1.04,163.8,168.2,8.7,322,6768,0.00,2.45,0.00,0.000,4,0.000,0.048,3334,335,1954,0,0,0,0,0,0
$GC,6823,0.98,163.8,162.6,9.3,326,6827,0.00,2.33,0.00,0.000,6,0.000,0.022,3334,1752,1953,0,0,0,0,0,0
$GC,7091,1.07,209.8,145.6,3.8,347,7137,0.00,2.38,40.33,0.627,4,0.000,0.025,3334,3127,1773,0,0,0,0,0,0
$GC,7153,1.18,215.8,141.6,7.4,351,7166,0.10,2.38,6.82,0.505,6,0.075,0.033,3366,1741,1749,0,0,0,0,0,0
$GC,7428,1.18,215.8,109.4,11.8,373,7432,0.00,2.33,0.00,0.000,4,0.000,0.024,3366,3133,1746,0,0,0,0,0,0
$GC,7454,1.24,215.8,106.7,10.4,375,7458,0.00,2.35,0.00,0.000,6,0.000,0.031,3366,1740,1746,0,0,0,0,0,0
$GC,7720,1.34,251.9,88.9,4.6,396,7761,0.12,2.50,31.15,0.563,4,0.066,0.046,3403,337,1602,0,0,0,0,0,0
$GC,7833,1.24,251.9,79.7,10.0,404,7838,0.17,2.28,0.00,0.000,6,0.099,0.019,3370,1758,1598,0,0,0,0,0,0
$GC,8102,1.31,251.9,54.2,10.3,425,8107,0.00,2.45,0.00,0.000,4,0.000,0.044,3369,331,1598,0,0,0,0,0,0
$GC,8116,1.35,251.9,52.1,11.5,426,8121,0.10,2.25,0.00,0.000,6,0.076,0.019,3402,1753,1597,0,0,0,0,0,0
$GC,8380,1.35,251.9,16.8,13.6,461,8386,0.00,2.47,0.00,0.000,4,0.000,0.044,3401,332,1597,0,0,0,0,0,0
$GC,8395,1.35,251.9,14.4,14.3,463,8401,0.00,2.25,0.00,0.000,6,0.000,0.018,3402,1743,1597,0,0,0,0,0,0
$STATE,8473,end climb,SURFACE_DEPTH_REACHED
$STATE,8473,begin surface coast
$FINISH,0.9,1.023142
$STATE,8498,end surface coast,CONTROL_FINISHED_OK
$STATE,8498,begin surface
$SM_CCo,8522,85.12,0.488,0,0,958,410.14
$SM_GC,1.54,0.00,0.00,85.12,0.000,0.000,0.488,430,1659,958,-12.28,-1.16,410.14
$IRIDIUM_FIX,2059.45,-15753.90,201199,050501
$TT8_MAMPS,0.028379
$HUMID,54.80
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,24.434
$10V_AH,10.3,19.895
$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,30.125,85.425,267.650,85.125,0.000,25.921,26.581,129.896,4.500,0.000,17.500,951.093,5692.057,400.908,1444.746,426.831,0.000,1055.613,0.000,1428.702,0.000,29.262,0.000
$DEVICE_MAMPS,135.759,98.943,832.962,487.812,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,326.678,315.477,687.757,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,28630,486
$CAP_FILE_SIZE,91990,0
$CFSIZE,260165632,199016448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260810,102825,2105.720,-15754.888,73,1.0,73,9.8