version: 66.06
glider: 139
mission: 8
dive: 85
start: 8 4 110 8 52 57
data:
$ID,139
$MISSION,8
$DIVE,85
$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,-2152051
$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,1690
$C_ROLL_CLIMB,1840
$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,2680
$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
$GPS1,084406,2059.590,-15752.083,16,1.6,32,9.8
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-72.6
$GPS2,085238,2059.590,-15752.215,13,1.7,13,9.8
$SPEED_LIMITS,0.137,0.159
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$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,303.8,23488,-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,13,begin dive
$GC,15,-1.56,-58.4,0.0,0.0,0,82,0.00,0.00,-64.22,0.000,2,0.000,0.000,428,1701,2842,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.7,-4.4,12,105,12.60,2.33,-1.35,0.000,4,0.138,0.034,2752,3101,2921,0,0,0,0,0,0
$GC,351,-1.60,-58.4,60.3,-16.4,45,358,0.00,2.42,0.00,0.000,6,0.000,0.034,2752,1684,2923,0,0,0,0,0,0
$GC,610,-1.60,-58.4,103.3,-15.8,66,614,0.00,2.35,0.00,0.000,4,0.000,0.022,2752,3106,2924,0,0,0,0,0,0
$GC,643,-1.70,-58.4,108.0,-13.8,68,647,0.00,2.40,0.00,0.000,6,0.000,0.031,2752,1679,2924,0,0,0,0,0,0
$GC,903,-1.73,-58.4,143.8,-12.8,88,908,0.12,2.40,0.00,0.000,4,0.067,0.047,2713,283,2925,0,0,0,0,0,0
$GC,933,-1.59,-58.4,148.7,-16.9,90,938,0.17,2.30,0.00,0.000,6,0.100,0.018,2748,1721,2925,0,0,0,0,0,0
$GC,1195,-1.64,-58.4,181.3,-11.8,110,1200,0.00,2.47,0.00,0.000,4,0.000,0.046,2748,277,2926,0,0,0,0,0,0
$GC,1215,-1.64,-58.4,184.2,-12.3,111,1220,0.00,2.25,0.00,0.000,6,0.000,0.019,2749,1706,2926,0,0,0,0,0,0
$GC,1485,-1.71,-58.4,213.2,-10.0,129,1489,0.00,2.47,0.00,0.000,4,0.000,0.048,2748,279,2926,0,0,0,0,0,0
$GC,1554,-1.71,-58.4,221.9,-12.6,132,1558,0.00,2.25,0.00,0.000,6,0.000,0.019,2748,1693,2926,0,0,0,0,0,0
$GC,1879,-1.79,-58.4,257.6,-11.5,148,1884,0.17,2.28,0.00,0.000,4,0.054,0.026,2698,3063,2926,0,0,0,0,0,0
$GC,1904,-1.83,-58.4,260.9,-12.9,149,1908,0.00,2.33,0.00,0.000,6,0.000,0.035,2697,1689,2926,0,0,0,0,0,0
$GC,2230,-1.83,-58.4,298.3,-9.8,165,2234,0.00,2.28,0.00,0.000,4,0.000,0.027,2697,3068,2925,0,0,0,0,0,0
$GC,2440,-1.89,-58.4,321.1,-11.1,170,2444,0.00,2.35,0.00,0.000,6,0.000,0.036,2697,1682,2925,0,0,0,0,0,0
$GC,2781,-1.89,-58.4,360.8,-11.7,179,2785,0.00,2.30,0.00,0.000,4,0.000,0.029,2697,3065,2924,0,0,0,0,0,0
$GC,2851,-1.95,-58.4,368.5,-9.7,180,2855,0.10,2.35,0.00,0.000,6,0.079,0.038,2667,1689,2923,0,0,0,0,0,0
$GC,3194,-1.90,-58.4,408.8,-12.4,189,3198,0.00,2.30,0.00,0.000,4,0.000,0.031,2667,3066,2921,0,0,0,0,0,0
$GC,3240,-1.90,-58.4,415.3,-12.6,190,3245,0.00,2.38,0.00,0.000,6,0.000,0.040,2667,1686,2920,0,0,0,0,0,0
$STATE,3520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3520,begin apogee
$GC,3527,-0.31,0.0,451.6,12.8,197,3581,1.75,0.00,49.60,0.839,6,0.087,0.000,3029,1835,2679,0,0,0,0,0,0
$STATE,3582,end apogee,CONTROL_FINISHED_OK
$STATE,3582,begin climb
$GC,3584,1.56,58.4,453.1,0.0,198,3639,1.77,0.00,50.53,0.825,6,0.030,0.000,3452,1835,2441,0,0,0,0,0,0
$GC,3955,1.33,134.0,451.9,1.1,207,4024,0.30,0.00,66.70,0.842,6,0.108,0.000,3395,1835,2133,0,0,0,0,0,0
$GC,4317,1.16,134.0,416.0,11.1,216,4319,0.22,0.00,0.00,0.000,6,0.107,0.000,3353,1836,2124,0,0,0,0,0,0
$GC,4642,1.08,134.0,383.0,10.1,224,4646,0.00,2.40,0.00,0.000,4,0.000,0.037,3352,3227,2121,0,0,0,0,0,0
$GC,4657,1.00,134.0,381.6,9.9,224,4662,0.17,2.40,0.00,0.000,6,0.115,0.040,3320,1839,2121,0,0,0,0,0,0
$GC,5007,1.00,134.0,351.4,8.1,233,5011,0.00,2.50,0.00,0.000,4,0.000,0.056,3320,425,2118,0,0,0,0,0,0
$GC,5022,0.96,135.3,350.1,7.8,233,5026,0.00,2.35,0.00,0.000,6,0.000,0.029,3320,1846,2115,0,0,0,0,0,0
$GC,5372,0.97,145.2,324.4,7.0,242,5385,0.00,2.55,7.75,0.670,4,0.000,0.054,3320,422,2088,0,0,0,0,0,0
$GC,5395,0.94,145.2,322.4,8.1,242,5399,0.00,2.38,0.00,0.000,6,0.000,0.029,3320,1846,2086,0,0,0,0,0,0
$GC,5736,0.95,155.3,297.5,7.0,251,5753,0.00,2.58,10.23,0.705,4,0.000,0.052,3320,429,2047,0,0,0,0,0,0
$GC,5819,0.88,155.3,290.2,9.9,254,5824,0.15,2.35,0.00,0.000,6,0.117,0.028,3292,1843,2044,0,0,0,0,0,0
$GC,6138,1.00,174.0,268.2,6.2,269,6160,0.12,0.00,18.02,0.731,6,0.071,0.000,3327,1849,1970,0,0,0,0,0,0
$GC,6473,1.02,187.7,241.6,6.7,285,6495,0.00,2.53,13.30,0.687,4,0.000,0.048,3327,432,1913,0,0,0,0,0,0
$GC,6605,0.97,187.7,228.6,11.5,290,6612,0.00,2.35,0.00,0.000,6,0.000,0.026,3327,1843,1909,0,0,0,0,0,0
$GC,6927,1.02,187.7,196.5,10.0,307,6931,0.00,2.47,0.00,0.000,4,0.000,0.048,3327,431,1908,0,0,0,0,0,0
$GC,7121,0.98,187.7,174.8,10.7,321,7125,0.00,2.30,0.00,0.000,6,0.000,0.024,3327,1843,1905,0,0,0,0,0,0
$GC,7383,1.04,191.3,150.7,7.6,341,7387,0.00,2.45,0.00,0.000,4,0.000,0.047,3327,421,1906,0,0,0,0,0,0
$GC,7430,1.04,191.3,146.5,8.4,344,7437,0.00,2.33,0.00,0.000,6,0.000,0.022,3327,1846,1905,0,0,0,0,0,0
$GC,7690,1.11,191.3,126.5,7.9,365,7694,0.00,2.45,0.00,0.000,4,0.000,0.045,3327,429,1905,0,0,0,0,0,0
$GC,7798,1.11,191.3,116.4,8.6,373,7803,0.00,2.28,0.00,0.000,6,0.000,0.021,3327,1847,1905,0,0,0,0,0,0
$GC,8064,1.20,197.8,96.0,7.3,394,8080,0.15,2.47,9.05,0.530,4,0.059,0.043,3371,421,1872,0,0,0,0,0,0
$GC,8188,1.11,197.8,81.0,12.0,402,8195,0.12,2.30,0.00,0.000,6,0.084,0.021,3343,1847,1870,0,0,0,0,0,0
$GC,8451,1.19,201.8,59.8,7.5,423,8465,0.00,2.45,5.05,0.421,4,0.000,0.043,3342,429,1856,0,0,0,0,0,0
$GC,8497,1.19,204.9,56.1,7.6,426,8507,0.00,2.25,4.38,0.390,6,0.000,0.021,3343,1837,1843,0,0,0,0,0,0
$GC,8765,1.36,255.5,42.6,3.3,446,8821,0.22,2.33,44.88,0.542,4,0.046,0.023,3406,3211,1637,0,0,0,0,0,0
$GC,8908,1.36,255.5,30.2,11.1,456,8912,0.00,2.33,0.00,0.000,6,0.000,0.029,3406,1834,1636,0,0,0,0,0,0
$STATE,9159,end climb,SURFACE_DEPTH_REACHED
$STATE,9159,begin surface coast
$FINISH,0.4,1.004136
$STATE,9192,end surface coast,CONTROL_FINISHED_OK
$STATE,9192,begin surface
$SM_CCo,9215,89.00,0.503,0,0,1008,410.14
$SM_GC,1.27,0.00,0.00,89.00,0.000,0.000,0.503,426,1674,1008,-12.31,-0.45,410.14
$IRIDIUM_FIX,2050.21,-15754.77,291099,080842
$TT8_MAMPS,0.029146
$HUMID,52.20
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.4,8.315
$10V_AH,10.4,5.630
$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,30.900,95.400,279.475,89.000,0.000,56.689,56.896,214.104,4.500,0.000,13.515,1029.300,6188.279,439.688,1595.291,566.288,0.000,1140.078,0.000,1577.016,0.000,29.254,0.000
$DEVICE_MAMPS,138.060,56.758,842.166,503.152,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,351.130,331.116,757.737,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,28606,521
$CAP_FILE_SIZE,103607,0
$CFSIZE,260165632,209047552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040810,112934,2100.189,-15753.054,34,2.9,53,9.8