version: 66.06
glider: 139
mission: 8
dive: 314
start: 8 30 110 10 39 43
data:
$ID,139
$MISSION,8
$DIVE,314
$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,-2157413.2
$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,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
$GPS1,103407,2102.487,-15754.343,37,1.7,37,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-71.8
$GPS2,103926,2102.417,-15754.394,12,1.7,12,9.8
$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,62.6,20802,-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,-64.55,0.000,2,0.000,0.000,428,1718,2753,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.1,-2.9,12,110,12.40,2.35,-2.30,0.000,4,0.132,0.035,2751,3112,2872,0,0,0,0,0,0
$GC,213,-1.59,-58.4,28.9,-14.6,39,219,0.00,2.42,0.00,0.000,6,0.000,0.033,2751,1700,2874,0,0,0,0,0,0
$GC,410,-1.52,-58.4,62.4,-17.2,55,411,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1700,2874,0,0,0,0,0,0
$GC,663,-1.49,-58.4,99.3,-14.3,75,665,0.12,0.00,0.00,0.000,6,0.111,0.000,2775,1700,2875,0,0,0,0,0,0
$GC,916,-1.55,-58.4,134.3,-15.0,95,920,0.00,2.40,0.00,0.000,4,0.000,0.045,2774,295,2876,0,0,0,0,0,0
$GC,934,-1.55,-58.4,137.9,-15.5,96,941,0.00,2.33,0.00,0.000,6,0.000,0.018,2775,1737,2876,0,0,0,0,0,0
$GC,1197,-1.63,-58.4,173.7,-12.4,117,1202,0.12,2.20,0.00,0.000,4,0.064,0.023,2735,3086,2877,0,0,0,0,0,0
$GC,1216,-1.70,-58.4,176.5,-11.0,118,1223,0.00,2.35,0.00,0.000,6,0.000,0.031,2734,1700,2876,0,0,0,0,0,0
$GC,1476,-1.70,-58.4,207.0,-10.6,137,1480,0.00,2.40,0.00,0.000,4,0.000,0.045,2734,297,2878,0,0,0,0,0,0
$GC,1504,-1.65,-58.4,210.7,-11.9,138,1508,0.00,2.22,0.00,0.000,6,0.000,0.019,2734,1711,2878,0,0,0,0,0,0
$GC,1833,-1.69,-58.4,246.3,-10.8,154,1837,0.00,2.22,0.00,0.000,4,0.000,0.024,2734,3072,2878,0,0,0,0,0,0
$GC,1876,-1.78,-58.4,251.0,-10.2,156,1880,0.00,2.30,0.00,0.000,6,0.000,0.032,2734,1694,2878,0,0,0,0,0,0
$GC,2209,-1.83,-58.4,288.5,-12.9,172,2214,0.15,2.28,0.00,0.000,4,0.058,0.025,2689,3071,2878,0,0,0,0,0,0
$GC,2478,-1.83,-58.4,324.3,-11.8,179,2484,0.00,2.30,0.00,0.000,6,0.000,0.035,2689,1696,2877,0,0,0,0,0,0
$GC,2809,-1.83,-58.4,357.8,-9.1,188,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1696,2876,0,0,0,0,0,0
$GC,3135,-1.83,-58.4,390.5,-10.5,196,3139,0.00,2.30,0.00,0.000,4,0.000,0.029,2689,3069,2874,0,0,0,0,0,0
$GC,3229,-1.87,-58.4,401.5,-11.6,198,3233,0.00,2.35,0.00,0.000,6,0.000,0.038,2689,1696,2873,0,0,0,0,0,0
$GC,3554,-1.87,-58.4,441.6,-12.1,206,3555,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1696,2871,0,0,0,0,0,0
$STATE,3630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3630,begin apogee
$GC,3636,-0.31,0.0,450.2,11.1,208,3689,1.62,0.00,49.17,0.824,6,0.083,0.000,3028,1696,2630,0,0,0,0,0,0
$STATE,3690,end apogee,CONTROL_FINISHED_OK
$STATE,3690,begin climb
$GC,3693,1.56,58.4,451.4,0.0,209,3751,1.77,2.45,50.20,0.808,4,0.031,0.052,3450,332,2390,0,0,0,0,0,0
$GC,3779,1.21,132.8,450.7,1.2,211,3855,0.43,2.30,65.62,0.809,6,0.104,0.026,3368,1723,2087,0,0,0,0,0,0
$GC,4192,1.09,132.8,405.4,11.4,221,4193,0.15,0.00,0.00,0.000,6,0.111,0.000,3340,1724,2076,0,0,0,0,0,0
$GC,4517,1.05,132.8,373.0,9.7,229,4521,0.00,2.40,0.00,0.000,4,0.000,0.033,3340,3129,2073,0,0,0,0,0,0
$GC,4592,1.05,132.8,365.5,10.7,230,4596,0.00,2.40,0.00,0.000,6,0.000,0.039,3339,1741,2073,0,0,0,0,0,0
$GC,4928,1.03,150.5,341.1,6.3,239,4948,0.00,2.55,13.57,0.732,4,0.000,0.054,3339,340,2015,0,0,0,0,0,0
$GC,5092,0.90,150.5,327.8,8.9,242,5098,0.22,2.33,0.00,0.000,6,0.109,0.028,3298,1735,2011,0,0,0,0,0,0
$GC,5434,1.00,175.3,310.0,5.7,251,5462,0.00,2.58,22.58,0.750,4,0.000,0.054,3298,336,1914,0,0,0,0,0,0
$GC,5487,1.00,175.3,305.9,9.1,252,5491,0.00,2.38,0.00,0.000,6,0.000,0.027,3298,1743,1911,0,0,0,0,0,0
$GC,5810,1.08,175.3,276.9,9.8,265,5815,0.17,2.53,0.00,0.000,4,0.058,0.053,3344,330,1909,0,0,0,0,0,0
$GC,5925,0.96,175.3,260.8,15.7,270,5930,0.17,2.38,0.00,0.000,6,0.106,0.026,3311,1750,1907,0,0,0,0,0,0
$GC,6257,1.02,175.3,227.3,9.1,286,6259,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,1751,1906,0,0,0,0,0,0
$GC,6568,1.11,180.5,202.6,7.4,301,6578,0.15,2.35,4.30,0.471,4,0.061,0.028,3354,3144,1894,0,0,0,0,0,0
$GC,6845,1.15,180.5,174.4,11.0,320,6849,0.00,2.38,0.00,0.000,6,0.000,0.035,3354,1740,1893,0,0,0,0,0,0
$GC,7109,1.15,180.5,146.3,9.6,341,7113,0.00,2.35,0.00,0.000,4,0.000,0.025,3354,3149,1893,0,0,0,0,0,0
$GC,7236,1.20,180.5,134.6,8.0,350,7240,0.00,2.40,0.00,0.000,6,0.000,0.032,3354,1733,1893,0,0,0,0,0,0
$GC,7497,1.26,198.5,116.3,6.3,370,7519,0.00,2.47,17.30,0.584,4,0.000,0.047,3354,328,1820,0,0,0,0,0,0
$GC,7559,1.22,198.5,111.8,9.4,373,7565,0.00,2.35,0.00,0.000,6,0.000,0.020,3354,1760,1817,0,0,0,0,0,0
$GC,7820,1.30,204.6,90.9,7.3,394,7836,0.12,2.53,6.43,0.467,4,0.064,0.044,3393,332,1794,0,0,0,0,0,0
$GC,7979,1.21,204.7,78.7,7.9,405,7984,0.15,2.30,0.00,0.000,6,0.103,0.019,3364,1756,1793,0,0,0,0,0,0
$GC,8247,1.28,204.7,60.6,8.0,426,8251,0.00,2.45,0.00,0.000,4,0.000,0.044,3364,333,1792,0,0,0,0,0,0
$GC,8314,1.28,204.7,54.6,9.6,431,8318,0.00,2.22,0.00,0.000,6,0.000,0.019,3364,1748,1792,0,0,0,0,0,0
$GC,8582,1.35,209.3,33.6,7.5,452,8597,0.12,2.47,5.68,0.402,4,0.064,0.042,3404,331,1775,0,0,0,0,0,0
$GC,8847,1.21,209.3,5.3,11.6,506,8854,0.17,2.25,0.00,0.000,6,0.077,0.018,3364,1736,1774,0,0,0,0,0,0
$STATE,8865,end climb,SURFACE_DEPTH_REACHED
$STATE,8865,begin surface coast
$FINISH,1.1,1.023265
$STATE,8892,end surface coast,CONTROL_FINISHED_OK
$STATE,8892,begin surface
$SM_CCo,8915,114.50,0.486,0,0,957,410.14
$SM_GC,1.65,0.00,0.00,114.50,0.000,0.000,0.486,425,1684,957,-12.31,-0.45,410.14
$IRIDIUM_FIX,2052.52,-15754.77,241199,070724
$TT8_MAMPS,0.029146
$HUMID,52.79
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.5,27.349
$10V_AH,10.3,22.551
$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,30.625,85.275,234.850,114.500,0.000,31.239,28.945,141.174,4.500,0.000,12.459,1027.500,5846.249,406.245,1630.786,437.698,0.000,1118.099,0.000,1608.872,0.000,29.246,0.000
$DEVICE_MAMPS,131.924,148.031,823.758,486.278,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,346.709,327.796,762.761,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,28656,515
$CAP_FILE_SIZE,98870,0
$CFSIZE,260165632,197132288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300810,131131,2102.178,-15754.224,39,1.5,39,9.8