version: 66.06
glider: 139
mission: 8
dive: 86
start: 8 4 110 11 35 49
data:
$ID,139
$MISSION,8
$DIVE,86
$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,-2152121.2
$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,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
$GPS1,112934,2100.189,-15753.054,34,2.9,53,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-72.6
$GPS2,113534,2100.210,-15753.134,49,2.8,68,9.8
$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,304.5,21549,-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,13,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,-64.22,0.000,2,0.000,0.000,425,1675,2831,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.6,-4.6,12,105,12.60,2.45,-1.55,0.000,4,0.138,0.035,2751,3107,2923,0,0,0,0,0,0
$GC,359,-1.63,-58.4,58.4,-15.0,46,363,0.00,2.40,0.00,0.000,6,0.000,0.033,2751,1689,2924,0,0,0,0,0,0
$GC,624,-1.63,-58.4,98.2,-14.7,67,628,0.00,2.33,0.00,0.000,4,0.000,0.023,2751,3106,2926,0,0,0,0,0,0
$GC,739,-1.75,-58.4,113.8,-12.9,75,745,0.15,2.40,0.00,0.000,6,0.059,0.032,2706,1681,2926,0,0,0,0,0,0
$GC,1000,-1.70,-58.4,151.6,-14.3,96,1005,0.10,2.38,0.00,0.000,4,0.117,0.024,2726,3102,2927,0,0,0,0,0,0
$GC,1099,-1.77,-58.4,163.8,-11.0,103,1103,0.00,2.40,0.00,0.000,6,0.000,0.032,2726,1680,2927,0,0,0,0,0,0
$GC,1359,-1.77,-58.4,196.6,-11.9,123,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1679,2927,0,0,0,0,0,0
$GC,1624,-1.80,-58.4,230.8,-13.1,137,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1679,2928,0,0,0,0,0,0
$GC,1933,-1.84,-58.4,269.6,-12.1,152,1938,0.12,2.40,0.00,0.000,4,0.067,0.027,2688,3101,2928,0,0,0,0,0,0
$GC,2007,-1.88,-58.4,279.0,-12.4,155,2011,0.00,2.38,0.00,0.000,6,0.000,0.035,2687,1689,2928,0,0,0,0,0,0
$GC,2326,-1.88,-58.4,316.6,-11.6,168,2330,0.00,2.45,0.00,0.000,4,0.000,0.051,2687,279,2927,0,0,0,0,0,0
$GC,2372,-1.79,-58.4,323.2,-14.4,169,2377,0.12,2.33,0.00,0.000,6,0.106,0.022,2711,1715,2926,0,0,0,0,0,0
$GC,2697,-1.82,-58.4,358.7,-10.5,177,2698,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1716,2925,0,0,0,0,0,0
$GC,3021,-1.86,-58.4,394.4,-10.7,185,3023,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1716,2924,0,0,0,0,0,0
$GC,3346,-1.90,-58.4,425.7,-9.4,193,3350,0.12,2.33,0.00,0.000,4,0.071,0.035,2678,3081,2921,0,0,0,0,0,0
$GC,3362,-1.90,-58.4,427.4,-10.3,193,3366,0.00,2.40,0.00,0.000,6,0.000,0.041,2677,1690,2921,0,0,0,0,0,0
$STATE,3587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3587,begin apogee
$GC,3594,-0.31,0.0,453.4,11.3,199,3648,1.70,0.00,49.95,0.846,6,0.086,0.000,3030,1854,2680,0,0,0,0,0,0
$STATE,3649,end apogee,CONTROL_FINISHED_OK
$STATE,3649,begin climb
$GC,3651,1.56,58.4,455.0,0.0,200,3707,1.75,0.00,51.00,0.830,6,0.030,0.000,3449,1854,2441,0,0,0,0,0,0
$GC,4021,1.35,138.1,456.1,0.7,209,4101,0.25,2.62,70.12,0.848,4,0.110,0.055,3396,433,2116,0,0,0,0,0,0
$GC,4365,1.06,138.1,411.5,14.4,216,4370,0.32,2.35,0.00,0.000,6,0.104,0.029,3335,1835,2105,0,0,0,0,0,0
$GC,4707,1.02,138.1,377.0,9.2,225,4711,0.00,2.50,0.00,0.000,4,0.000,0.054,3335,426,2103,0,0,0,0,0,0
$GC,4740,0.87,138.1,373.5,9.3,225,4745,0.22,2.38,0.00,0.000,6,0.110,0.030,3292,1846,2100,0,0,0,0,0,0
$GC,5071,0.94,153.2,349.9,6.5,233,5088,0.00,2.55,11.65,0.745,4,0.000,0.055,3292,431,2055,0,0,0,0,0,0
$GC,5170,0.94,153.2,341.5,9.0,235,5174,0.00,2.35,0.00,0.000,6,0.000,0.029,3292,1842,2051,0,0,0,0,0,0
$GC,5488,1.01,153.2,313.7,8.6,243,5493,0.12,2.53,0.00,0.000,4,0.071,0.054,3327,426,2050,0,0,0,0,0,0
$GC,5546,0.91,153.2,307.7,10.3,244,5551,0.15,2.33,0.00,0.000,6,0.114,0.029,3300,1843,2048,0,0,0,0,0,0
$GC,5867,0.97,162.4,282.8,7.1,257,5882,0.00,2.53,8.57,0.678,4,0.000,0.052,3300,432,2018,0,0,0,0,0,0
$GC,6066,0.97,162.4,265.3,8.3,265,6072,0.00,2.33,0.00,0.000,6,0.000,0.028,3300,1842,2014,0,0,0,0,0,0
$GC,6384,1.08,180.6,245.1,6.3,281,6409,0.15,2.60,17.52,0.715,4,0.064,0.052,3341,427,1943,0,0,0,0,0,0
$GC,6646,0.99,180.6,218.9,10.9,292,6651,0.12,2.35,0.00,0.000,6,0.113,0.026,3318,1850,1937,0,0,0,0,0,0
$GC,6969,1.07,190.5,191.6,7.0,311,6983,0.00,2.53,9.45,0.621,4,0.000,0.049,3318,430,1903,0,0,0,0,0,0
$GC,7124,1.07,190.5,176.7,9.0,322,7128,0.00,2.33,0.00,0.000,6,0.000,0.025,3318,1849,1899,0,0,0,0,0,0
$GC,7390,1.14,190.5,155.5,8.3,343,7395,0.12,2.47,0.00,0.000,4,0.067,0.048,3356,429,1899,0,0,0,0,0,0
$GC,7458,1.05,190.5,148.4,11.0,348,7462,0.15,2.30,0.00,0.000,6,0.105,0.023,3328,1842,1898,0,0,0,0,0,0
$GC,7725,1.13,193.1,126.2,7.7,369,7729,0.00,2.42,0.00,0.000,4,0.000,0.046,3327,431,1898,0,0,0,0,0,0
$GC,7834,1.13,193.1,117.1,8.4,377,7839,0.00,2.28,0.00,0.000,6,0.000,0.021,3328,1844,1898,0,0,0,0,0,0
$GC,8100,1.24,210.7,98.2,6.3,398,8128,0.17,2.53,18.98,0.577,4,0.054,0.044,3379,431,1819,0,0,0,0,0,0
$GC,8192,1.14,210.7,89.1,10.3,404,8199,0.12,2.30,0.00,0.000,6,0.084,0.021,3350,1840,1817,0,0,0,0,0,0
$GC,8454,1.23,214.5,67.6,7.6,425,8468,0.00,2.45,4.60,0.405,4,0.000,0.044,3350,421,1804,0,0,0,0,0,0
$GC,8528,1.24,219.8,61.8,7.4,430,8543,0.00,2.28,6.20,0.453,6,0.000,0.020,3350,1851,1783,0,0,0,0,0,0
$GC,8799,1.38,248.2,46.6,5.3,451,8831,0.22,2.28,25.90,0.534,4,0.045,0.025,3415,3207,1668,0,0,0,0,0,0
$GC,8859,1.38,248.2,41.7,9.7,455,8863,0.00,2.35,0.00,0.000,6,0.000,0.030,3414,1827,1667,0,0,0,0,0,0
$GC,9122,1.38,248.2,14.5,10.7,499,9129,0.00,2.40,0.00,0.000,4,0.000,0.044,3414,440,1666,0,0,0,0,0,0
$STATE,9215,end climb,SURFACE_DEPTH_REACHED
$STATE,9215,begin surface coast
$FINISH,1.4,1.023024
$STATE,9227,end surface coast,CONTROL_FINISHED_OK
$STATE,9227,begin surface
$SM_CCo,9251,94.10,0.504,0,0,1007,410.14
$SM_GC,1.07,0.00,0.00,94.10,0.000,0.000,0.504,430,1699,1007,-12.28,0.23,410.14
$IRIDIUM_FIX,2047.91,-15743.21,291099,080821
$TT8_MAMPS,0.027612
$HUMID,51.22
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,23.4,8.398
$10V_AH,10.4,5.703
$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,31.650,91.150,273.950,94.100,0.000,30.578,27.752,128.796,4.750,0.000,69.560,1057.714,6028.593,415.768,1782.292,419.174,0.000,1173.385,0.000,1701.639,0.000,29.247,0.000
$DEVICE_MAMPS,138.060,55.224,847.535,503.919,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,352.004,331.797,760.239,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355660
$DATA_FILE_SIZE,28728,522
$CAP_FILE_SIZE,103437,0
$CFSIZE,260165632,208994304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040810,141301,2100.908,-15753.690,48,1.7,48,9.8