version: 66.06
glider: 139
mission: 8
dive: 96
start: 8 5 110 13 28 25
data:
$ID,139
$MISSION,8
$DIVE,96
$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,-2152302
$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
$GPS1,132246,2107.241,-15800.734,15,2.5,34,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-73.1
$GPS2,132810,2107.232,-15800.740,15,2.6,34,9.8
$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,302.0,3065,-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,-64.12,0.000,2,0.000,0.000,429,1704,2820,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.4,-4.3,12,110,12.62,2.40,-1.77,0.000,4,0.140,0.041,2752,3099,2922,0,0,0,0,0,0
$GC,308,-1.60,-58.4,51.6,-18.6,44,312,0.00,2.40,0.00,0.000,6,0.000,0.036,2751,1690,2924,0,0,0,0,0,0
$GC,574,-1.60,-58.4,100.2,-16.4,65,577,0.00,2.33,0.00,0.000,4,0.000,0.023,2752,3105,2925,0,0,0,0,0,0
$GC,646,-1.67,-58.4,110.6,-12.0,70,651,0.00,2.38,0.00,0.000,6,0.000,0.031,2752,1688,2924,0,0,0,0,0,0
$GC,908,-1.70,-58.4,145.6,-13.8,90,912,0.00,2.40,0.00,0.000,4,0.000,0.045,2751,278,2926,0,0,0,0,0,0
$GC,921,-1.70,-58.4,148.1,-14.0,91,926,0.10,2.33,0.00,0.000,6,0.078,0.018,2720,1734,2926,0,0,0,0,0,0
$GC,1180,-1.70,-58.4,183.9,-12.5,111,1184,0.00,2.20,0.00,0.000,4,0.000,0.023,2720,3077,2926,0,0,0,0,0,0
$GC,1213,-1.76,-58.4,188.2,-12.5,113,1219,0.00,2.35,0.00,0.000,6,0.000,0.033,2720,1684,2926,0,0,0,0,0,0
$GC,1486,-1.76,-58.4,220.1,-11.3,130,1490,0.00,2.28,0.00,0.000,4,0.000,0.025,2720,3070,2927,0,0,0,0,0,0
$GC,1599,-1.85,-58.4,233.6,-12.2,134,1606,0.08,2.35,0.00,0.000,6,0.043,0.033,2689,1692,2927,0,0,0,0,0,0
$GC,1916,-1.82,-58.4,276.2,-13.8,150,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1691,2927,0,0,0,0,0,0
$GC,2222,-1.82,-58.4,315.5,-11.9,162,2226,0.00,2.28,0.00,0.000,4,0.000,0.026,2688,3068,2927,0,0,0,0,0,0
$GC,2393,-1.82,-58.4,337.1,-12.1,165,2397,0.00,2.35,0.00,0.000,6,0.000,0.036,2689,1687,2926,0,0,0,0,0,0
$GC,2729,-1.82,-58.4,377.1,-11.6,174,2733,0.00,2.33,0.00,0.000,4,0.000,0.030,2688,3070,2924,0,0,0,0,0,0
$GC,2868,-1.86,-58.4,392.5,-10.5,177,2873,0.00,2.38,0.00,0.000,6,0.000,0.040,2689,1687,2924,0,0,0,0,0,0
$GC,3192,-1.86,-58.4,428.8,-12.0,185,3193,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1687,2921,0,0,0,0,0,0
$STATE,3392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3392,begin apogee
$GC,3398,-0.31,0.0,453.5,12.1,190,3452,1.65,0.00,49.75,0.841,6,0.087,0.000,3030,1836,2680,0,0,0,0,0,0
$STATE,3453,end apogee,CONTROL_FINISHED_OK
$STATE,3453,begin climb
$GC,3455,1.56,58.4,455.1,0.0,191,3515,1.80,2.45,50.30,0.823,4,0.030,0.038,3453,3219,2440,0,0,0,0,0,0
$GC,3779,1.35,138.8,454.2,0.7,198,3860,0.30,2.40,70.25,0.838,6,0.113,0.038,3396,1835,2113,0,0,0,0,0,0
$GC,4205,1.18,138.8,406.8,11.6,209,4210,0.20,2.40,0.00,0.000,4,0.111,0.035,3359,3222,2104,0,0,0,0,0,0
$GC,4354,1.11,138.8,390.5,10.4,212,4358,0.00,2.40,0.00,0.000,6,0.000,0.041,3359,1839,2103,0,0,0,0,0,0
$GC,4669,1.03,138.8,354.5,11.4,220,4674,0.17,2.38,0.00,0.000,4,0.115,0.037,3326,3222,2099,0,0,0,0,0,0
$GC,4749,1.03,138.8,346.4,9.6,221,4753,0.00,2.40,0.00,0.000,6,0.000,0.039,3326,1840,2099,0,0,0,0,0,0
$GC,5080,1.03,138.8,314.3,9.3,229,5084,0.00,2.38,0.00,0.000,4,0.000,0.035,3327,3226,2096,0,0,0,0,0,0
$GC,5118,1.06,138.8,311.2,8.0,229,5123,0.00,2.40,0.00,0.000,6,0.000,0.040,3327,1841,2096,0,0,0,0,0,0
$GC,5432,1.06,139.1,286.5,7.9,241,5437,0.00,2.45,0.00,0.000,4,0.000,0.054,3326,432,2094,0,0,0,0,0,0
$GC,5529,0.97,139.1,277.4,9.4,245,5534,0.00,2.33,0.00,0.000,6,0.000,0.028,3326,1843,2091,0,0,0,0,0,0
$GC,5852,1.00,157.5,254.8,6.2,261,5874,0.00,2.58,13.70,0.708,4,0.000,0.052,3326,428,2036,0,0,0,0,0,0
$GC,5906,0.91,157.5,250.4,8.9,263,5912,0.15,2.35,0.00,0.000,6,0.114,0.027,3299,1853,2034,0,0,0,0,0,0
$GC,6232,1.03,178.3,229.0,6.0,279,6254,0.10,0.00,19.60,0.705,6,0.081,0.000,3328,1857,1953,0,0,0,0,0,0
$GC,6560,1.07,183.2,202.6,7.5,295,6572,0.00,2.33,5.32,0.532,4,0.000,0.030,3328,3230,1932,0,0,0,0,0,0
$GC,6588,1.16,201.0,200.6,6.3,296,6612,0.12,2.40,17.65,0.669,6,0.070,0.034,3363,1837,1859,0,0,0,0,0,0
$GC,6866,1.16,201.0,169.9,12.2,317,6870,0.00,2.45,0.00,0.000,4,0.000,0.049,3363,431,1856,0,0,0,0,0,0
$GC,6934,1.05,201.0,160.9,12.7,322,6939,0.17,2.33,0.00,0.000,6,0.105,0.024,3329,1857,1853,0,0,0,0,0,0
$GC,7201,1.13,201.0,133.2,9.7,343,7205,0.00,2.50,0.00,0.000,4,0.000,0.048,3329,426,1853,0,0,0,0,0,0
$GC,7378,1.13,201.0,115.3,9.1,356,7382,0.00,2.30,0.00,0.000,6,0.000,0.022,3330,1855,1851,0,0,0,0,0,0
$GC,7649,1.24,204.9,92.9,7.5,377,7653,0.17,2.28,0.00,0.000,4,0.054,0.028,3380,3218,1851,0,0,0,0,0,0
$GC,7703,1.24,204.9,88.3,8.5,381,7707,0.00,2.33,0.00,0.000,6,0.000,0.030,3380,1835,1851,0,0,0,0,0,0
$GC,7967,1.24,204.9,68.4,8.4,402,7971,0.00,2.38,0.00,0.000,4,0.000,0.044,3379,432,1851,0,0,0,0,0,0
$GC,8047,1.17,204.9,61.5,9.5,408,8052,0.12,2.25,0.00,0.000,6,0.112,0.020,3356,1846,1850,0,0,0,0,0,0
$GC,8314,1.33,250.4,49.9,3.8,429,8364,0.15,2.53,42.22,0.544,4,0.058,0.042,3401,429,1657,0,0,0,0,0,0
$GC,8453,1.23,250.4,36.7,12.4,439,8458,0.17,2.25,0.00,0.000,6,0.102,0.019,3368,1837,1653,0,0,0,0,0,0
$GC,8716,1.31,250.4,10.3,11.1,489,8723,0.00,2.42,0.00,0.000,4,0.000,0.042,3368,440,1652,0,0,0,0,0,0
$STATE,8784,end climb,SURFACE_DEPTH_REACHED
$STATE,8784,begin surface coast
$FINISH,1.3,1.023125
$STATE,8794,end surface coast,CONTROL_FINISHED_OK
$STATE,8794,begin surface
$SM_CCo,8819,90.45,0.499,0,0,1007,410.14
$SM_GC,1.42,0.00,0.00,90.45,0.000,0.000,0.499,431,1703,1007,-12.28,0.37,410.14
$IRIDIUM_FIX,2059.45,-15806.34,301099,111133
$TT8_MAMPS,0.028379
$HUMID,51.65
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.4,9.237
$10V_AH,10.5,6.421
$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,30.750,94.575,268.800,90.450,0.000,28.562,28.592,129.383,4.500,0.000,35.444,1019.591,5680.485,410.823,1708.183,412.514,0.000,1149.522,0.000,1661.577,0.000,29.252,0.000
$DEVICE_MAMPS,139.594,54.457,840.632,499.317,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,340.584,324.669,755.230,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,28588,506
$CAP_FILE_SIZE,100371,0
$CFSIZE,260165632,208502784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050810,155807,2107.861,-15801.214,34,1.1,34,9.8