version: 66.06
glider: 139
mission: 8
dive: 92
start: 8 5 110 2 58 7
data:
$ID,139
$MISSION,8
$DIVE,92
$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,-2152213
$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
$GPS1,025244,2104.457,-15757.332,9,1.8,9,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-72.8
$GPS2,025750,2104.415,-15757.369,11,1.7,11,9.8
$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,302.0,10885,-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,-64.75,0.000,2,0.000,0.000,431,1674,2835,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.4,-4.1,12,110,12.65,2.45,-1.50,0.000,4,0.140,0.037,2752,3105,2922,0,0,0,0,0,0
$GC,364,-1.62,-58.4,58.6,-14.0,48,368,0.00,2.40,0.00,0.000,6,0.000,0.034,2752,1689,2924,0,0,0,0,0,0
$GC,623,-1.62,-58.4,101.0,-16.9,68,628,0.00,2.33,0.00,0.000,4,0.000,0.023,2751,3105,2925,0,0,0,0,0,0
$GC,719,-1.72,-58.4,114.9,-13.9,75,724,0.12,2.40,0.00,0.000,6,0.066,0.032,2712,1680,2925,0,0,0,0,0,0
$GC,982,-1.68,-58.4,153.9,-14.6,95,986,0.10,2.35,0.00,0.000,4,0.117,0.023,2732,3103,2926,0,0,0,0,0,0
$GC,1064,-1.77,-58.4,164.3,-12.6,101,1068,0.00,2.40,0.00,0.000,6,0.000,0.032,2732,1683,2926,0,0,0,0,0,0
$GC,1328,-1.77,-58.4,199.4,-13.0,122,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1683,2927,0,0,0,0,0,0
$GC,1590,-1.81,-58.4,229.3,-11.2,135,1595,0.12,2.38,0.00,0.000,4,0.066,0.025,2692,3101,2927,0,0,0,0,0,0
$GC,1651,-1.81,-58.4,237.3,-12.6,137,1657,0.00,2.40,0.00,0.000,6,0.000,0.033,2692,1681,2927,0,0,0,0,0,0
$GC,1969,-1.81,-58.4,277.8,-12.7,153,1973,0.00,2.35,0.00,0.000,4,0.000,0.026,2692,3104,2927,0,0,0,0,0,0
$GC,2060,-1.85,-58.4,289.0,-12.6,157,2064,0.00,2.40,0.00,0.000,6,0.000,0.034,2692,1686,2927,0,0,0,0,0,0
$GC,2406,-1.85,-58.4,329.8,-11.3,168,2410,0.00,2.38,0.00,0.000,4,0.000,0.029,2692,3099,2926,0,0,0,0,0,0
$GC,2457,-1.90,-58.4,335.9,-11.4,169,2462,0.00,2.40,0.00,0.000,6,0.000,0.037,2692,1687,2926,0,0,0,0,0,0
$GC,2776,-1.90,-58.4,373.6,-12.4,177,2780,0.00,2.38,0.00,0.000,4,0.000,0.031,2692,3105,2924,0,0,0,0,0,0
$GC,2833,-1.96,-58.4,380.2,-11.4,178,2837,0.00,2.42,0.00,0.000,6,0.000,0.039,2692,1687,2924,0,0,0,0,0,0
$GC,3149,-1.96,-58.4,421.1,-13.0,186,3150,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1687,2922,0,0,0,0,0,0
$STATE,3428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3428,begin apogee
$GC,3435,-0.31,0.0,452.8,10.8,193,3489,1.62,0.00,49.88,0.841,6,0.083,0.000,3030,1869,2680,0,0,0,0,0,0
$STATE,3489,end apogee,CONTROL_FINISHED_OK
$STATE,3489,begin climb
$GC,3492,1.56,58.4,454.0,0.0,194,3550,1.75,2.38,50.40,0.827,4,0.031,0.037,3446,3222,2441,0,0,0,0,0,0
$GC,3582,1.40,165.9,455.4,-1.8,196,3686,0.20,2.42,94.53,0.834,6,0.117,0.037,3410,1833,2002,0,0,0,0,0,0
$GC,4032,1.21,165.9,403.1,13.6,207,4037,0.22,2.47,0.00,0.000,4,0.110,0.054,3366,435,1992,0,0,0,0,0,0
$GC,4084,1.00,165.9,395.7,14.1,208,4089,0.25,2.35,0.00,0.000,6,0.104,0.028,3318,1844,1989,0,0,0,0,0,0
$GC,4404,1.00,165.9,362.8,10.0,216,4408,0.00,2.50,0.00,0.000,4,0.000,0.055,3318,429,1987,0,0,0,0,0,0
$GC,4506,0.91,165.9,351.1,12.2,218,4510,0.00,2.35,0.00,0.000,6,0.000,0.028,3318,1842,1984,0,0,0,0,0,0
$GC,4820,0.91,165.9,320.6,9.7,226,4824,0.00,2.47,0.00,0.000,4,0.000,0.054,3318,432,1984,0,0,0,0,0,0
$GC,4863,0.83,165.9,315.3,12.0,227,4868,0.20,2.35,0.00,0.000,6,0.111,0.028,3281,1850,1981,0,0,0,0,0,0
$GC,5198,0.94,165.9,284.8,8.7,239,5203,0.10,2.50,0.00,0.000,4,0.081,0.054,3309,433,1981,0,0,0,0,0,0
$GC,5465,0.94,165.9,260.4,8.6,250,5472,0.00,2.35,0.00,0.000,6,0.000,0.028,3309,1850,1978,0,0,0,0,0,0
$GC,5781,1.00,165.9,235.4,8.5,266,5785,0.00,2.45,0.00,0.000,4,0.000,0.051,3309,434,1978,0,0,0,0,0,0
$GC,5795,1.00,165.9,234.0,8.3,266,5802,0.00,2.33,0.00,0.000,6,0.000,0.027,3309,1842,1977,0,0,0,0,0,0
$GC,6112,1.08,168.6,209.1,7.6,282,6117,0.12,2.42,0.00,0.000,4,0.071,0.050,3345,433,1977,0,0,0,0,0,0
$GC,6289,1.00,168.6,191.7,9.2,293,6294,0.15,2.30,0.00,0.000,6,0.109,0.025,3317,1849,1975,0,0,0,0,0,0
$GC,6555,1.08,168.6,168.6,8.2,314,6560,0.00,2.47,0.00,0.000,4,0.000,0.048,3316,425,1975,0,0,0,0,0,0
$GC,6569,1.08,168.6,167.0,8.6,315,6573,0.00,2.28,0.00,0.000,6,0.000,0.024,3316,1844,1975,0,0,0,0,0,0
$GC,6832,1.15,168.6,145.0,8.8,335,6837,0.15,2.45,0.00,0.000,4,0.062,0.047,3359,428,1975,0,0,0,0,0,0
$GC,6886,1.03,168.6,139.8,10.0,339,6890,0.17,2.28,0.00,0.000,6,0.105,0.022,3326,1840,1974,0,0,0,0,0,0
$GC,7152,1.11,177.5,120.4,7.1,360,7168,0.00,2.47,6.07,0.497,4,0.000,0.045,3326,438,1956,0,0,0,0,0,0
$GC,7228,1.12,186.9,114.5,7.0,365,7244,0.00,2.25,10.00,0.555,6,0.000,0.022,3326,1847,1917,0,0,0,0,0,0
$GC,7505,1.24,205.9,97.7,6.2,387,7533,0.20,2.53,18.05,0.575,4,0.051,0.044,3382,430,1838,0,0,0,0,0,0
$GC,7564,1.13,205.9,92.6,10.1,391,7569,0.17,2.28,0.00,0.000,6,0.102,0.021,3349,1840,1836,0,0,0,0,0,0
$GC,7833,1.19,205.9,67.5,9.3,412,7838,0.00,2.45,0.00,0.000,4,0.000,0.044,3348,425,1836,0,0,0,0,0,0
$GC,7926,1.21,217.1,58.9,6.9,419,7942,0.00,2.28,10.70,0.510,6,0.000,0.020,3349,1858,1794,0,0,0,0,0,0
$GC,8198,1.33,241.2,43.6,5.7,440,8228,0.17,2.50,22.27,0.530,4,0.053,0.042,3399,427,1695,0,0,0,0,0,0
$GC,8402,1.25,241.2,21.4,11.5,467,8409,0.10,2.28,0.00,0.000,6,0.087,0.020,3376,1836,1690,0,0,0,0,0,0
$STATE,8581,end climb,SURFACE_DEPTH_REACHED
$STATE,8581,begin surface coast
$FINISH,0.5,1.023156
$STATE,8608,end surface coast,CONTROL_FINISHED_OK
$STATE,8608,begin surface
$SM_CCo,8632,95.05,0.505,0,0,1007,410.14
$SM_GC,1.23,0.00,0.00,95.05,0.000,0.000,0.505,426,1676,1007,-12.30,-0.45,410.14
$IRIDIUM_FIX,2054.83,-15759.05,301099,000043
$TT8_MAMPS,0.029146
$HUMID,52.40
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.4,8.885
$10V_AH,10.4,6.128
$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,31.300,96.075,261.900,95.050,0.000,29.626,29.634,135.732,4.500,0.000,11.403,1028.981,5512.662,406.786,1669.614,414.773,0.000,1145.951,0.000,1649.625,0.000,29.246,0.000
$DEVICE_MAMPS,139.594,55.991,841.399,504.686,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,346.172,334.413,767.442,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,28590,514
$CAP_FILE_SIZE,101208,0
$CFSIZE,260165632,208703488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050810,052506,2105.173,-15757.938,54,0.9,54,9.8