version: 66.06
glider: 139
mission: 8
dive: 87
start: 8 4 110 14 18 43
data:
$ID,139
$MISSION,8
$DIVE,87
$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,-2152136.5
$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,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
$GPS1,141301,2100.908,-15753.690,48,1.7,48,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-72.5
$GPS2,141826,2100.944,-15753.728,14,1.6,14,9.8
$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,303.7,19867,-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,-64.65,0.000,2,0.000,0.000,429,1701,2818,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.1,-3.6,12,110,12.57,2.40,-1.83,0.000,4,0.137,0.039,2752,3100,2922,0,0,0,0,0,0
$GC,363,-1.59,-58.4,56.1,-13.5,48,368,0.00,2.38,0.00,0.000,6,0.000,0.031,2752,1680,2924,0,0,0,0,0,0
$GC,622,-1.59,-58.4,97.6,-14.7,68,627,0.00,2.35,0.00,0.000,4,0.000,0.023,2752,3108,2925,0,0,0,0,0,0
$GC,838,-1.70,-58.4,124.1,-12.0,84,842,0.00,2.40,0.00,0.000,6,0.000,0.031,2752,1686,2925,0,0,0,0,0,0
$GC,1106,-1.74,-58.4,160.2,-13.5,105,1110,0.15,2.35,0.00,0.000,4,0.059,0.024,2707,3101,2926,0,0,0,0,0,0
$GC,1120,-1.74,-58.4,162.6,-12.5,106,1124,0.00,2.38,0.00,0.000,6,0.000,0.030,2707,1686,2926,0,0,0,0,0,0
$GC,1389,-1.71,-58.4,203.4,-15.0,126,1394,0.10,2.40,0.00,0.000,4,0.117,0.046,2726,286,2926,0,0,0,0,0,0
$GC,1413,-1.64,-58.4,207.6,-15.0,127,1418,0.00,2.28,0.00,0.000,6,0.000,0.019,2727,1723,2927,0,0,0,0,0,0
$GC,1740,-1.64,-58.4,246.0,-10.8,143,1744,0.00,2.20,0.00,0.000,4,0.000,0.025,2727,3072,2927,0,0,0,0,0,0
$GC,1835,-1.73,-58.4,255.8,-9.6,147,1839,0.00,2.33,0.00,0.000,6,0.000,0.033,2727,1690,2927,0,0,0,0,0,0
$GC,2168,-1.78,-58.4,292.3,-11.9,163,2172,0.00,2.45,0.00,0.000,4,0.000,0.049,2726,286,2927,0,0,0,0,0,0
$GC,2233,-1.78,-58.4,300.8,-12.0,166,2237,0.00,2.22,0.00,0.000,6,0.000,0.021,2726,1691,2927,0,0,0,0,0,0
$GC,2581,-1.83,-58.4,340.8,-12.0,175,2583,0.12,0.00,0.00,0.000,6,0.067,0.000,2689,1696,2926,0,0,0,0,0,0
$GC,2905,-1.83,-58.4,382.4,-12.9,183,2909,0.00,2.28,0.00,0.000,4,0.000,0.031,2689,3067,2925,0,0,0,0,0,0
$GC,2984,-1.88,-58.4,392.6,-11.9,184,2988,0.00,2.38,0.00,0.000,6,0.000,0.040,2689,1687,2925,0,0,0,0,0,0
$GC,3316,-1.88,-58.4,430.5,-11.2,192,3317,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1685,2922,0,0,0,0,0,0
$STATE,3516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3516,begin apogee
$GC,3522,-0.31,0.0,452.2,10.6,197,3576,1.62,0.00,50.08,0.838,6,0.082,0.000,3029,1836,2680,0,0,0,0,0,0
$STATE,3577,end apogee,CONTROL_FINISHED_OK
$STATE,3577,begin climb
$GC,3580,1.56,58.4,453.3,0.0,198,3641,1.75,2.53,50.58,0.822,4,0.028,0.051,3449,425,2439,0,0,0,0,0,0
$GC,3649,1.36,174.0,453.7,-2.5,199,3757,0.28,2.35,101.35,0.829,6,0.108,0.027,3398,1849,1969,0,0,0,0,0,0
$GC,4082,1.19,174.0,397.7,15.3,210,4087,0.20,2.53,0.00,0.000,4,0.104,0.054,3359,426,1960,0,0,0,0,0,0
$GC,4135,1.01,174.0,389.3,15.6,211,4141,0.20,2.35,0.00,0.000,6,0.107,0.029,3321,1830,1956,0,0,0,0,0,0
$GC,4454,1.01,174.0,354.0,10.8,219,4459,0.00,2.47,0.00,0.000,4,0.000,0.055,3321,429,1954,0,0,0,0,0,0
$GC,4537,0.92,174.0,344.3,10.8,220,4543,0.00,2.35,0.00,0.000,6,0.000,0.029,3321,1845,1951,0,0,0,0,0,0
$GC,4869,0.92,174.0,313.3,9.7,229,4873,0.00,2.50,0.00,0.000,4,0.000,0.054,3321,432,1950,0,0,0,0,0,0
$GC,5002,0.86,174.0,298.0,11.8,231,5008,0.17,2.33,0.00,0.000,6,0.110,0.028,3289,1838,1947,0,0,0,0,0,0
$GC,5320,0.97,174.0,267.6,8.7,247,5325,0.10,2.47,0.00,0.000,4,0.080,0.052,3318,424,1947,0,0,0,0,0,0
$GC,5438,0.92,174.0,254.9,12.4,252,5442,0.00,2.33,0.00,0.000,6,0.000,0.027,3318,1842,1945,0,0,0,0,0,0
$GC,5763,0.97,174.0,226.0,8.3,268,5767,0.00,2.30,0.00,0.000,4,0.000,0.032,3318,3222,1944,0,0,0,0,0,0
$GC,5814,1.06,174.0,221.2,8.7,270,5818,0.00,2.38,0.00,0.000,6,0.000,0.035,3318,1837,1944,0,0,0,0,0,0
$GC,6133,1.13,174.0,196.5,8.4,287,6138,0.12,2.42,0.00,0.000,4,0.067,0.050,3357,432,1943,0,0,0,0,0,0
$GC,6394,1.03,174.0,168.7,10.8,306,6399,0.17,2.30,0.00,0.000,6,0.098,0.023,3322,1855,1941,0,0,0,0,0,0
$GC,6654,1.10,174.0,146.6,8.7,326,6658,0.00,2.47,0.00,0.000,4,0.000,0.046,3322,427,1941,0,0,0,0,0,0
$GC,6769,1.10,174.0,134.9,11.0,334,6776,0.00,2.30,0.00,0.000,6,0.000,0.022,3322,1838,1940,0,0,0,0,0,0
$GC,7031,1.22,191.5,115.7,6.3,355,7048,0.17,2.47,11.15,0.561,4,0.054,0.044,3374,428,1899,0,0,0,0,0,0
$GC,7055,1.22,196.9,113.8,7.4,356,7068,0.00,2.30,6.47,0.489,6,0.000,0.021,3374,1847,1877,0,0,0,0,0,0
$GC,7327,1.22,196.9,89.0,9.5,378,7331,0.00,2.42,0.00,0.000,4,0.000,0.043,3374,422,1876,0,0,0,0,0,0
$GC,7373,1.14,196.9,84.1,10.8,381,7379,0.12,2.28,0.00,0.000,6,0.107,0.021,3350,1845,1873,0,0,0,0,0,0
$GC,7635,1.20,196.9,58.0,9.8,402,7639,0.00,2.25,0.00,0.000,4,0.000,0.025,3350,3212,1873,0,0,0,0,0,0
$GC,7688,1.31,202.8,53.2,7.4,406,7704,0.15,2.33,6.72,0.457,6,0.057,0.029,3396,1826,1852,0,0,0,0,0,0
$GC,7957,1.35,232.4,35.3,5.2,427,7991,0.00,2.40,27.10,0.528,4,0.000,0.042,3396,435,1730,0,0,0,0,0,0
$GC,8062,1.27,232.4,27.0,9.2,438,8069,0.00,2.28,0.00,0.000,6,0.000,0.019,3396,1850,1727,0,0,0,0,0,0
$GC,8263,1.28,241.7,9.3,7.1,484,8277,0.00,2.45,8.73,0.446,4,0.000,0.044,3395,437,1694,0,0,0,0,0,0
$STATE,8328,end climb,SURFACE_DEPTH_REACHED
$STATE,8328,begin surface coast
$FINISH,0.7,1.009864
$STATE,8357,end surface coast,CONTROL_FINISHED_OK
$STATE,8358,begin surface
$SM_CCo,8382,97.10,0.502,0,0,1006,410.14
$SM_GC,1.11,0.00,0.00,97.10,0.000,0.000,0.502,423,1662,1006,-12.31,-0.79,410.14
$IRIDIUM_FIX,2052.52,-15751.76,291099,111111
$TT8_MAMPS,0.029146
$HUMID,52.12
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.4,8.480
$10V_AH,10.4,5.774
$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,30.775,94.525,262.175,97.100,0.000,27.546,37.043,142.749,4.500,0.000,14.621,1003.246,5340.677,403.858,1635.141,422.696,0.000,1126.402,0.000,1610.631,0.000,29.248,0.000
$DEVICE_MAMPS,137.293,55.224,838.331,501.618,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,339.033,327.429,772.346,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,28685,504
$CAP_FILE_SIZE,98572,0
$CFSIZE,260165632,208949248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040810,164056,2101.778,-15754.138,14,1.4,14,9.8