version: 66.06
glider: 139
mission: 8
dive: 138
start: 8 10 110 7 26 48
data:
$ID,139
$MISSION,8
$DIVE,138
$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,-2153266.8
$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,1830
$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,2630
$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
$GPS1,072108,2100.032,-15751.538,14,1.7,14,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-71.0
$GPS2,072631,2100.018,-15751.593,11,1.7,16,9.8
$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,300.6,23757,-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,-58.4,0.0,0.0,0,76,0.00,0.00,-59.12,0.000,2,0.000,0.000,424,1702,2618,0,0,0,0,0,0
$GC,80,-1.56,-58.4,3.1,-3.2,11,104,12.62,2.33,-4.82,0.000,4,0.137,0.033,2756,3104,2869,0,0,0,0,0,0
$GC,221,-1.56,-58.4,33.0,-17.1,39,225,0.00,2.40,0.00,0.000,6,0.000,0.033,2756,1687,2871,0,0,0,0,0,0
$GC,485,-1.56,-58.4,76.0,-16.7,60,489,0.00,2.33,0.00,0.000,4,0.000,0.021,2756,3104,2872,0,0,0,0,0,0
$GC,584,-1.62,-58.4,89.6,-14.0,67,588,0.00,2.35,0.00,0.000,6,0.000,0.029,2756,1688,2873,0,0,0,0,0,0
$GC,850,-1.66,-58.4,128.6,-15.2,88,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1688,2874,0,0,0,0,0,0
$GC,1101,-1.71,-58.4,162.8,-12.8,108,1106,0.12,2.35,0.00,0.000,4,0.067,0.024,2718,3109,2875,0,0,0,0,0,0
$GC,1177,-1.71,-58.4,172.9,-12.2,113,1183,0.00,2.38,0.00,0.000,6,0.000,0.031,2717,1691,2875,0,0,0,0,0,0
$GC,1441,-1.71,-58.4,206.7,-13.1,133,1445,0.00,2.33,0.00,0.000,4,0.000,0.024,2718,3102,2876,0,0,0,0,0,0
$GC,1483,-1.75,-58.4,212.3,-12.8,134,1490,0.00,2.40,0.00,0.000,6,0.000,0.034,2717,1697,2875,0,0,0,0,0,0
$GC,1800,-1.75,-58.4,248.1,-11.7,150,1805,0.00,2.33,0.00,0.000,4,0.000,0.025,2717,3109,2876,0,0,0,0,0,0
$GC,1908,-1.83,-58.4,259.6,-10.3,154,1916,0.00,2.42,0.00,0.000,6,0.000,0.033,2717,1687,2876,0,0,0,0,0,0
$GC,2224,-1.83,-58.4,295.8,-12.8,170,2228,0.00,2.35,0.00,0.000,4,0.000,0.027,2717,3108,2876,0,0,0,0,0,0
$GC,2317,-1.91,-58.4,306.3,-11.2,173,2322,0.15,2.42,0.00,0.000,6,0.061,0.035,2675,1682,2875,0,0,0,0,0,0
$GC,2643,-1.86,-58.4,346.1,-12.5,181,2645,0.10,0.00,0.00,0.000,6,0.115,0.000,2694,1682,2874,0,0,0,0,0,0
$GC,2966,-1.86,-58.4,383.0,-11.3,189,2967,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1683,2872,0,0,0,0,0,0
$GC,3292,-1.86,-58.4,416.5,-10.1,197,3296,0.00,2.42,0.00,0.000,4,0.000,0.056,2693,287,2870,0,0,0,0,0,0
$GC,3307,-1.82,-58.4,418.3,-9.8,197,3311,0.00,2.33,0.00,0.000,6,0.000,0.026,2694,1713,2870,0,0,0,0,0,0
$STATE,3615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3615,begin apogee
$GC,3621,-0.31,0.0,452.3,11.1,205,3674,1.60,0.00,49.15,0.851,6,0.083,0.000,3027,1839,2630,0,0,0,0,0,0
$STATE,3675,end apogee,CONTROL_FINISHED_OK
$STATE,3675,begin climb
$GC,3678,1.56,58.4,453.7,0.0,206,3736,1.77,2.53,50.47,0.834,4,0.031,0.051,3449,426,2390,0,0,0,0,0,0
$GC,3819,1.20,103.7,452.2,3.8,209,3865,0.45,2.35,40.05,0.828,6,0.109,0.027,3364,1841,2207,0,0,0,0,0,0
$GC,4179,1.08,103.7,423.1,8.7,218,4184,0.15,2.35,0.00,0.000,4,0.117,0.037,3336,3205,2199,0,0,0,0,0,0
$GC,4272,1.04,103.7,415.6,8.2,220,4276,0.00,2.38,0.00,0.000,6,0.000,0.039,3336,1834,2198,0,0,0,0,0,0
$GC,4601,0.99,103.7,389.5,8.0,228,4602,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,1834,2195,0,0,0,0,0,0
$GC,4925,0.96,119.0,367.1,6.5,236,4945,0.15,2.55,12.20,0.759,4,0.115,0.054,3308,417,2144,0,0,0,0,0,0
$GC,4951,0.98,139.3,365.5,6.1,236,4976,0.00,2.35,19.80,0.785,6,0.000,0.029,3308,1828,2062,0,0,0,0,0,0
$GC,5302,0.98,139.3,338.6,8.0,245,5307,0.00,2.47,0.00,0.000,4,0.000,0.054,3308,419,2056,0,0,0,0,0,0
$GC,5416,0.93,139.3,327.3,9.7,247,5421,0.00,2.35,0.00,0.000,6,0.000,0.029,3309,1835,2053,0,0,0,0,0,0
$GC,5762,0.96,145.1,299.2,7.4,256,5773,0.00,2.50,5.03,0.577,4,0.000,0.052,3308,422,2038,0,0,0,0,0,0
$GC,5901,0.92,145.1,286.6,9.3,262,5906,0.00,2.33,0.00,0.000,6,0.000,0.028,3308,1831,2035,0,0,0,0,0,0
$GC,6231,0.97,145.1,259.6,8.9,278,6235,0.00,2.47,0.00,0.000,4,0.000,0.052,3308,416,2035,0,0,0,0,0,0
$GC,6405,0.97,145.1,244.2,8.0,285,6411,0.00,2.33,0.00,0.000,6,0.000,0.028,3308,1834,2032,0,0,0,0,0,0
$GC,6723,1.07,169.1,224.5,5.7,301,6752,0.12,2.40,22.17,0.711,4,0.071,0.031,3344,3210,1940,0,0,0,0,0,0
$GC,6815,1.11,169.1,217.0,8.3,305,6819,0.00,2.40,0.00,0.000,6,0.000,0.037,3344,1823,1940,0,0,0,0,0,0
$GC,7140,1.11,169.1,187.4,9.0,325,7141,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,1823,1937,0,0,0,0,0,0
$GC,7393,1.11,169.1,164.7,8.3,345,7397,0.00,2.35,0.00,0.000,4,0.000,0.029,3344,3222,1936,0,0,0,0,0,0
$GC,7479,1.17,169.1,157.0,8.3,351,7485,0.00,2.38,0.00,0.000,6,0.000,0.032,3344,1824,1936,0,0,0,0,0,0
$GC,7741,1.22,178.0,137.8,7.1,372,7757,0.00,2.42,8.73,0.561,4,0.000,0.047,3344,424,1903,0,0,0,0,0,0
$GC,7872,1.18,178.0,127.8,8.2,381,7876,0.00,2.30,0.00,0.000,6,0.000,0.022,3344,1851,1901,0,0,0,0,0,0
$GC,8134,1.24,178.0,110.0,8.1,401,8139,0.12,2.47,0.00,0.000,4,0.067,0.047,3381,422,1900,0,0,0,0,0,0
$GC,8314,1.14,178.0,90.3,9.2,414,8319,0.17,2.22,0.00,0.000,6,0.102,0.021,3348,1831,1900,0,0,0,0,0,0
$GC,8576,1.23,193.7,73.6,6.5,434,8598,0.00,2.53,14.90,0.540,4,0.000,0.044,3347,418,1839,0,0,0,0,0,0
$GC,8633,1.23,195.4,69.5,7.7,438,8637,0.00,2.25,0.00,0.000,6,0.000,0.020,3347,1833,1837,0,0,0,0,0,0
$GC,8900,1.31,197.0,49.4,7.8,459,8909,0.17,2.42,4.18,0.369,4,0.053,0.042,3398,421,1826,0,0,0,0,0,0
$GC,8917,1.31,197.0,47.5,8.5,459,8921,0.00,2.25,0.00,0.000,6,0.000,0.020,3398,1841,1825,0,0,0,0,0,0
$GC,9177,1.37,247.4,30.0,3.3,479,9231,0.00,2.53,44.17,0.527,4,0.000,0.042,3398,427,1620,0,0,0,0,0,0
$GC,9244,1.41,275.3,26.8,5.4,489,9273,0.00,2.28,24.40,0.505,6,0.000,0.019,3398,1826,1507,0,0,0,0,0,0
$STATE,9443,end climb,SURFACE_DEPTH_REACHED
$STATE,9444,begin surface coast
$FINISH,0.6,1.010388
$STATE,9466,end surface coast,CONTROL_FINISHED_OK
$STATE,9467,begin surface
$SM_CCo,9490,74.70,0.499,0,0,958,410.14
$SM_GC,1.33,0.00,0.00,74.70,0.000,0.000,0.499,431,1666,958,-12.28,-0.68,410.14
$IRIDIUM_FIX,2052.52,-15749.62,041199,040455
$TT8_MAMPS,0.029146
$HUMID,52.48
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,12.653
$10V_AH,10.4,9.515
$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,30.550,95.650,295.250,74.700,0.000,25.103,28.937,148.766,4.500,0.000,16.994,1060.947,6288.583,396.476,1705.949,434.444,0.000,1163.084,0.000,1678.719,0.000,29.253,0.000
$DEVICE_MAMPS,137.293,63.661,850.603,499.317,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,362.459,344.866,787.776,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,28616,539
$CAP_FILE_SIZE,104496,0
$CFSIZE,260165632,206311424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100810,100737,2100.678,-15752.209,39,1.1,46,9.8