version: 66.06
glider: 139
mission: 8
dive: 93
start: 8 5 110 5 35 26
data:
$ID,139
$MISSION,8
$DIVE,93
$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,-2152231.2
$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
$GPS1,052506,2105.173,-15757.938,54,0.9,54,9.8
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-70.7
$GPS2,053509,2105.106,-15757.963,17,1.1,17,9.8
$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,300.4,9270,-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,-64.50,0.000,2,0.000,0.000,426,1676,2854,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.7,-5.1,12,105,12.62,2.38,-1.15,0.000,4,0.138,0.033,2754,3101,2921,0,0,0,0,0,0
$GC,347,-1.63,-58.4,58.7,-13.3,44,351,0.00,2.40,0.00,0.000,6,0.000,0.036,2754,1691,2923,0,0,0,0,0,0
$GC,606,-1.63,-58.4,94.0,-14.4,64,610,0.00,2.35,0.00,0.000,4,0.000,0.023,2754,3103,2924,0,0,0,0,0,0
$GC,714,-1.72,-58.4,108.1,-12.0,72,719,0.12,2.35,0.00,0.000,6,0.066,0.031,2715,1688,2924,0,0,0,0,0,0
$GC,980,-1.72,-58.4,148.9,-15.3,93,985,0.00,2.42,0.00,0.000,4,0.000,0.046,2714,279,2925,0,0,0,0,0,0
$GC,1009,-1.61,-58.4,153.8,-17.3,95,1014,0.17,2.30,0.00,0.000,6,0.099,0.019,2749,1724,2925,0,0,0,0,0,0
$GC,1268,-1.66,-58.4,188.0,-13.8,115,1272,0.00,2.20,0.00,0.000,4,0.000,0.024,2749,3079,2926,0,0,0,0,0,0
$GC,1328,-1.80,-58.4,195.5,-10.9,119,1334,0.17,2.33,0.00,0.000,6,0.054,0.032,2698,1690,2925,0,0,0,0,0,0
$GC,1601,-1.80,-58.4,228.5,-12.6,134,1605,0.00,2.28,0.00,0.000,4,0.000,0.025,2698,3070,2926,0,0,0,0,0,0
$GC,1656,-1.83,-58.4,235.9,-11.8,136,1660,0.00,2.33,0.00,0.000,6,0.000,0.034,2698,1690,2926,0,0,0,0,0,0
$GC,1973,-1.83,-58.4,279.8,-12.6,151,1979,0.00,2.33,0.00,0.000,4,0.000,0.026,2699,3075,2926,0,0,0,0,0,0
$GC,2004,-1.86,-58.4,283.5,-11.2,152,2008,0.00,2.35,0.00,0.000,6,0.000,0.034,2698,1687,2926,0,0,0,0,0,0
$GC,2327,-1.86,-58.4,322.7,-12.7,164,2331,0.00,2.28,0.00,0.000,4,0.000,0.028,2698,3068,2924,0,0,0,0,0,0
$GC,2393,-1.91,-58.4,330.4,-11.3,165,2397,0.00,2.33,0.00,0.000,6,0.000,0.036,2698,1693,2925,0,0,0,0,0,0
$GC,2742,-1.91,-58.4,366.6,-9.9,174,2743,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1692,2923,0,0,0,0,0,0
$GC,3068,-1.91,-58.4,401.2,-10.9,182,3069,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1692,2921,0,0,0,0,0,0
$GC,3394,-1.91,-58.4,439.3,-11.7,190,3399,0.00,2.33,0.00,0.000,4,0.000,0.032,2698,3066,2917,0,0,0,0,0,0
$GC,3465,-1.97,-58.4,447.5,-11.5,191,3470,0.12,2.38,0.00,0.000,6,0.071,0.042,2664,1692,2917,0,0,0,0,0,0
$STATE,3523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3523,begin apogee
$GC,3531,-0.31,0.0,455.1,13.2,193,3584,1.77,0.00,49.33,0.846,6,0.088,0.000,3030,1843,2680,0,0,0,0,0,0
$STATE,3585,end apogee,CONTROL_FINISHED_OK
$STATE,3585,begin climb
$GC,3588,1.56,58.4,456.7,0.0,194,3647,1.80,2.42,50.75,0.828,4,0.030,0.036,3453,3219,2440,0,0,0,0,0,0
$GC,3704,1.39,167.5,458.9,-1.9,197,3809,0.25,2.42,95.85,0.838,6,0.114,0.037,3407,1829,1997,0,0,0,0,0,0
$GC,4145,1.20,167.5,403.1,14.4,208,4147,0.22,0.00,0.00,0.000,6,0.111,0.000,3365,1829,1987,0,0,0,0,0,0
$GC,4471,1.11,167.5,363.6,11.9,216,4476,0.12,2.47,0.00,0.000,4,0.119,0.055,3341,434,1983,0,0,0,0,0,0
$GC,4515,0.97,167.5,358.5,11.3,217,4520,0.15,2.35,0.00,0.000,6,0.117,0.029,3314,1843,1981,0,0,0,0,0,0
$GC,4844,0.97,167.5,326.7,9.7,225,4848,0.00,2.50,0.00,0.000,4,0.000,0.054,3314,429,1979,0,0,0,0,0,0
$GC,4994,0.91,167.5,309.6,11.3,228,4998,0.00,2.35,0.00,0.000,6,0.000,0.028,3314,1848,1976,0,0,0,0,0,0
$GC,5313,0.96,167.5,277.6,10.5,241,5318,0.00,2.50,0.00,0.000,4,0.000,0.052,3314,429,1975,0,0,0,0,0,0
$GC,5333,0.96,167.5,275.4,9.6,242,5337,0.00,2.33,0.00,0.000,6,0.000,0.028,3314,1845,1975,0,0,0,0,0,0
$GC,5664,1.02,179.7,252.1,6.8,258,5677,0.00,2.50,7.80,0.635,4,0.000,0.051,3314,428,1947,0,0,0,0,0,0
$GC,5771,0.98,179.7,242.4,10.1,262,5778,0.00,2.35,0.00,0.000,6,0.000,0.026,3315,1839,1944,0,0,0,0,0,0
$GC,6087,1.04,179.7,212.0,9.2,278,6092,0.00,2.45,0.00,0.000,4,0.000,0.049,3314,432,1944,0,0,0,0,0,0
$GC,6170,1.04,179.7,203.6,9.9,281,6175,0.00,2.30,0.00,0.000,6,0.000,0.025,3314,1844,1942,0,0,0,0,0,0
$GC,6498,1.13,186.2,176.9,7.3,306,6514,0.12,2.50,6.75,0.559,4,0.070,0.048,3351,437,1920,0,0,0,0,0,0
$GC,6524,1.09,186.2,174.3,9.3,307,6529,0.00,2.30,0.00,0.000,6,0.000,0.024,3351,1848,1919,0,0,0,0,0,0
$GC,6782,1.09,186.2,151.6,9.7,328,6786,0.00,2.45,0.00,0.000,4,0.000,0.047,3351,428,1919,0,0,0,0,0,0
$GC,6807,1.01,186.2,149.1,10.7,330,6812,0.15,2.28,0.00,0.000,6,0.107,0.023,3322,1851,1918,0,0,0,0,0,0
$GC,7075,1.09,192.1,128.2,7.4,351,7089,0.00,2.53,6.75,0.519,4,0.000,0.047,3322,434,1895,0,0,0,0,0,0
$GC,7149,1.09,192.1,121.3,8.8,356,7154,0.00,2.28,0.00,0.000,6,0.000,0.021,3322,1848,1894,0,0,0,0,0,0
$GC,7410,1.21,208.3,104.2,6.4,376,7433,0.17,2.53,15.77,0.572,4,0.055,0.044,3372,434,1829,0,0,0,0,0,0
$GC,7506,1.11,208.3,94.7,12.5,382,7513,0.12,2.28,0.00,0.000,6,0.084,0.021,3343,1831,1826,0,0,0,0,0,0
$GC,7768,1.20,208.4,71.8,7.9,403,7772,0.00,2.28,0.00,0.000,4,0.000,0.026,3343,3219,1826,0,0,0,0,0,0
$GC,7801,1.34,226.7,69.5,6.3,405,7825,0.17,2.35,17.35,0.545,6,0.031,0.030,3398,1843,1754,0,0,0,0,0,0
$GC,8089,1.34,228.8,46.9,7.7,428,8094,0.00,2.40,0.00,0.000,4,0.000,0.043,3399,430,1752,0,0,0,0,0,0
$GC,8177,1.25,228.8,37.8,11.7,434,8185,0.10,2.28,0.00,0.000,6,0.084,0.019,3376,1858,1750,0,0,0,0,0,0
$GC,8440,1.32,243.9,19.3,6.5,481,8464,0.00,2.53,15.77,0.492,4,0.000,0.046,3375,434,1683,0,0,0,0,0,0
$GC,8537,1.28,243.9,10.8,9.5,501,8544,0.00,2.25,0.00,0.000,6,0.000,0.018,3375,1833,1681,0,0,0,0,0,0
$STATE,8599,end climb,SURFACE_DEPTH_REACHED
$STATE,8599,begin surface coast
$FINISH,0.4,1.010524
$STATE,8629,end surface coast,CONTROL_FINISHED_OK
$STATE,8629,begin surface
$SM_CCo,8652,92.72,0.500,0,0,1007,410.14
$SM_GC,1.31,0.00,0.00,92.72,0.000,0.000,0.500,426,1667,1007,-12.30,-0.65,410.14
$IRIDIUM_FIX,2057.14,-15756.91,301099,050543
$TT8_MAMPS,0.028379
$HUMID,51.73
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.4,8.979
$10V_AH,10.4,6.202
$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,31.025,99.900,266.125,92.725,0.000,57.538,63.272,283.601,4.500,0.000,17.478,1023.663,5649.921,412.882,1605.196,656.005,0.000,1127.076,0.000,1583.348,0.000,29.270,0.000
$DEVICE_MAMPS,138.060,55.224,846.001,500.084,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,350.311,340.125,787.734,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,28591,521
$CAP_FILE_SIZE,105813,0
$CFSIZE,260165632,208654336
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050810,080300,2105.794,-15758.916,71,1.2,71,9.8