version: 66.06
glider: 139
mission: 8
dive: 94
start: 8 5 110 8 8 54
data:
$ID,139
$MISSION,8
$DIVE,94
$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,-2152247.5
$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
$GPS1,080300,2105.794,-15758.916,71,1.2,71,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-70.4
$GPS2,080837,2105.799,-15758.961,10,1.8,15,9.8
$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,301.4,7126,-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,14,begin dive
$GC,16,-1.56,-58.4,0.0,0.0,0,83,0.00,0.00,-64.22,0.000,2,0.000,0.000,426,1667,2835,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.5,-4.7,12,106,12.60,2.45,-1.50,0.000,4,0.138,0.036,2753,3101,2921,0,0,0,0,0,0
$GC,255,-1.56,-58.4,39.3,-16.1,40,259,0.00,2.40,0.00,0.000,6,0.000,0.034,2752,1686,2924,0,0,0,0,0,0
$GC,514,-1.56,-58.4,84.5,-15.7,60,518,0.00,2.35,0.00,0.000,4,0.000,0.021,2753,3109,2924,0,0,0,0,0,0
$GC,532,-1.60,-58.4,87.3,-14.0,61,538,0.00,2.40,0.00,0.000,6,0.000,0.031,2752,1685,2924,0,0,0,0,0,0
$GC,791,-1.60,-58.4,124.5,-13.5,82,795,0.00,2.35,0.00,0.000,4,0.000,0.022,2752,3109,2925,0,0,0,0,0,0
$GC,824,-1.71,-58.4,128.5,-11.7,84,829,0.12,2.40,0.00,0.000,6,0.065,0.033,2714,1685,2925,0,0,0,0,0,0
$GC,1086,-1.67,-58.4,166.5,-13.8,104,1090,0.10,2.38,0.00,0.000,4,0.116,0.023,2733,3109,2926,0,0,0,0,0,0
$GC,1126,-1.73,-58.4,171.8,-11.8,107,1131,0.00,2.40,0.00,0.000,6,0.000,0.031,2733,1684,2926,0,0,0,0,0,0
$GC,1404,-1.73,-58.4,209.4,-13.1,127,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1683,2926,0,0,0,0,0,0
$GC,1713,-1.77,-58.4,248.4,-12.6,142,1717,0.00,2.35,0.00,0.000,4,0.000,0.025,2733,3108,2927,0,0,0,0,0,0
$GC,1881,-1.88,-58.4,267.1,-10.0,149,1886,0.17,2.40,0.00,0.000,6,0.055,0.033,2683,1683,2927,0,0,0,0,0,0
$GC,2219,-1.84,-58.4,313.4,-14.3,163,2223,0.00,2.38,0.00,0.000,4,0.000,0.027,2683,3103,2926,0,0,0,0,0,0
$GC,2247,-1.84,-58.4,317.7,-13.2,163,2251,0.00,2.40,0.00,0.000,6,0.000,0.035,2683,1687,2926,0,0,0,0,0,0
$GC,2582,-1.84,-58.4,359.5,-11.9,172,2587,0.00,2.38,0.00,0.000,4,0.000,0.028,2683,3103,2925,0,0,0,0,0,0
$GC,2616,-1.87,-58.4,363.5,-11.4,172,2621,0.00,2.40,0.00,0.000,6,0.000,0.037,2683,1692,2925,0,0,0,0,0,0
$GC,2953,-1.87,-58.4,401.3,-11.0,181,2954,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,1692,2924,0,0,0,0,0,0
$GC,3277,-1.87,-58.4,435.8,-10.5,189,3281,0.00,2.38,0.00,0.000,4,0.000,0.033,2683,3103,2921,0,0,0,0,0,0
$GC,3342,-1.91,-58.4,442.4,-10.5,190,3347,0.00,2.42,0.00,0.000,6,0.000,0.040,2683,1685,2921,0,0,0,0,0,0
$STATE,3441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3441,begin apogee
$GC,3447,-0.31,0.0,453.3,11.0,193,3501,1.67,0.00,49.75,0.838,6,0.086,0.000,3031,1870,2680,0,0,0,0,0,0
$STATE,3502,end apogee,CONTROL_FINISHED_OK
$STATE,3502,begin climb
$GC,3505,1.56,58.4,454.1,0.0,194,3563,1.80,0.00,51.05,0.821,6,0.030,0.000,3454,1870,2440,0,0,0,0,0,0
$GC,3889,1.36,151.6,457.0,-0.5,204,3981,0.25,2.65,81.35,0.845,4,0.114,0.055,3402,437,2062,0,0,0,0,0,0
$GC,4213,1.07,151.6,417.5,14.7,211,4219,0.35,2.35,0.00,0.000,6,0.105,0.028,3335,1844,2051,0,0,0,0,0,0
$GC,4534,1.04,151.6,386.2,9.5,219,4538,0.00,2.50,0.00,0.000,4,0.000,0.054,3335,428,2048,0,0,0,0,0,0
$GC,4613,0.91,151.6,377.7,10.9,220,4618,0.17,2.38,0.00,0.000,6,0.114,0.028,3303,1850,2046,0,0,0,0,0,0
$GC,4945,0.96,152.0,351.6,7.9,228,4949,0.00,2.50,0.00,0.000,4,0.000,0.054,3302,429,2044,0,0,0,0,0,0
$GC,5058,0.92,152.0,341.5,8.1,230,5063,0.00,2.35,0.00,0.000,6,0.000,0.028,3302,1844,2042,0,0,0,0,0,0
$GC,5404,0.98,152.0,313.9,8.4,239,5409,0.00,2.50,0.00,0.000,4,0.000,0.052,3302,429,2041,0,0,0,0,0,0
$GC,5460,0.98,152.0,308.5,9.5,240,5464,0.00,2.33,0.00,0.000,6,0.000,0.028,3302,1847,2039,0,0,0,0,0,0
$GC,5783,1.04,154.1,283.0,7.7,253,5788,0.10,2.47,0.00,0.000,4,0.082,0.051,3331,426,2039,0,0,0,0,0,0
$GC,5898,0.96,154.1,272.3,9.1,258,5903,0.10,2.33,0.00,0.000,6,0.125,0.027,3313,1843,2037,0,0,0,0,0,0
$GC,6231,1.04,172.8,250.9,6.2,274,6254,0.00,2.55,15.77,0.705,4,0.000,0.051,3313,434,1974,0,0,0,0,0,0
$GC,6365,1.04,172.8,238.7,10.4,279,6370,0.00,2.33,0.00,0.000,6,0.000,0.025,3313,1850,1971,0,0,0,0,0,0
$GC,6683,1.13,193.9,215.0,6.0,295,6708,0.15,2.35,19.62,0.680,4,0.063,0.031,3355,3223,1889,0,0,0,0,0,0
$GC,6778,1.16,193.9,206.0,10.7,299,6783,0.00,2.40,0.00,0.000,6,0.000,0.035,3356,1832,1889,0,0,0,0,0,0
$GC,7112,1.16,193.9,171.0,11.4,323,7116,0.00,2.42,0.00,0.000,4,0.000,0.048,3355,424,1886,0,0,0,0,0,0
$GC,7131,1.11,193.9,168.2,11.9,324,7137,0.00,2.33,0.00,0.000,6,0.000,0.023,3356,1846,1884,0,0,0,0,0,0
$GC,7391,1.11,193.9,142.3,10.2,345,7396,0.00,2.47,0.00,0.000,4,0.000,0.047,3356,423,1884,0,0,0,0,0,0
$GC,7418,1.04,193.9,139.5,11.2,347,7423,0.15,2.30,0.00,0.000,6,0.109,0.021,3327,1851,1883,0,0,0,0,0,0
$GC,7684,1.13,193.9,116.4,8.4,368,7688,0.00,2.45,0.00,0.000,4,0.000,0.044,3327,431,1882,0,0,0,0,0,0
$GC,7875,1.13,194.1,98.8,7.9,382,7879,0.00,2.28,0.00,0.000,6,0.000,0.021,3327,1855,1882,0,0,0,0,0,0
$GC,8137,1.26,206.1,81.1,6.8,402,8155,0.20,2.53,11.35,0.529,4,0.049,0.043,3385,425,1839,0,0,0,0,0,0
$GC,8415,1.19,206.1,53.9,8.5,422,8419,0.12,2.25,0.00,0.000,6,0.109,0.020,3361,1847,1836,0,0,0,0,0,0
$GC,8682,1.31,237.3,37.8,5.1,443,8718,0.10,2.47,28.15,0.526,4,0.075,0.041,3396,426,1710,0,0,0,0,0,0
$GC,8776,1.24,237.3,30.3,8.2,449,8783,0.10,2.28,0.00,0.000,6,0.087,0.019,3373,1828,1708,0,0,0,0,0,0
$GC,9038,1.30,237.3,9.7,9.5,508,9045,0.00,2.42,0.00,0.000,4,0.000,0.043,3372,433,1708,0,0,0,0,0,0
$STATE,9096,end climb,SURFACE_DEPTH_REACHED
$STATE,9096,begin surface coast
$FINISH,1.1,1.023124
$STATE,9110,end surface coast,CONTROL_FINISHED_OK
$STATE,9110,begin surface
$SM_CCo,9135,97.20,0.499,0,0,1007,410.14
$SM_GC,1.19,0.00,0.00,97.20,0.000,0.000,0.499,429,1696,1007,-12.29,0.17,410.14
$IRIDIUM_FIX,2057.14,-15759.05,301099,050552
$TT8_MAMPS,0.028379
$HUMID,50.70
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.4,9.061
$10V_AH,10.5,6.276
$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,30.950,100.700,257.050,97.200,0.000,30.953,31.255,156.691,4.500,0.000,15.537,1059.842,5927.227,421.882,1711.583,448.911,0.000,1164.119,0.000,1688.534,0.000,29.262,0.000
$DEVICE_MAMPS,138.060,55.224,845.234,498.550,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,352.816,331.327,777.367,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,28603,524
$CAP_FILE_SIZE,103794,0
$CFSIZE,260165632,208601088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050810,104406,2106.606,-15759.947,36,1.0,40,9.8