version: 66.06
glider: 139
mission: 8
dive: 141
start: 8 10 110 15 28 48
data:
$ID,139
$MISSION,8
$DIVE,141
$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,-2153321.2
$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,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
$GPS1,152324,2101.664,-15754.900,102,1.0,102,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-72.8
$GPS2,152832,2101.670,-15754.974,19,1.2,19,9.8
$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,305.4,17388,-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,-64.68,0.000,2,0.000,0.000,426,1707,2780,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.4,-3.9,12,105,12.57,2.38,-1.62,0.000,4,0.137,0.036,2754,3102,2871,0,0,0,0,0,0
$GC,361,-1.61,-58.4,59.4,-14.8,48,365,0.00,2.40,0.00,0.000,6,0.000,0.032,2754,1685,2874,0,0,0,0,0,0
$GC,626,-1.61,-58.4,99.7,-14.3,69,630,0.00,2.35,0.00,0.000,4,0.000,0.022,2755,3107,2875,0,0,0,0,0,0
$GC,642,-1.65,-58.4,102.2,-12.9,70,646,0.00,2.40,0.00,0.000,6,0.000,0.030,2754,1681,2875,0,0,0,0,0,0
$GC,909,-1.68,-58.4,134.9,-12.4,91,913,0.00,2.40,0.00,0.000,4,0.000,0.047,2754,286,2876,0,0,0,0,0,0
$GC,978,-1.68,-58.4,144.9,-13.9,96,982,0.00,2.30,0.00,0.000,6,0.000,0.018,2754,1725,2876,0,0,0,0,0,0
$GC,1239,-1.73,-58.4,176.1,-12.2,116,1243,0.15,2.20,0.00,0.000,4,0.059,0.024,2710,3075,2877,0,0,0,0,0,0
$GC,1489,-1.73,-58.4,209.6,-14.0,133,1493,0.00,2.35,0.00,0.000,6,0.000,0.032,2709,1681,2877,0,0,0,0,0,0
$GC,1820,-1.73,-58.4,250.6,-11.9,149,1824,0.00,2.28,0.00,0.000,4,0.000,0.025,2710,3072,2877,0,0,0,0,0,0
$GC,2089,-1.78,-58.4,279.1,-9.2,160,2096,0.00,2.35,0.00,0.000,6,0.000,0.035,2709,1692,2877,0,0,0,0,0,0
$GC,2423,-1.78,-58.4,313.9,-10.9,174,2427,0.00,2.42,0.00,0.000,4,0.000,0.050,2709,279,2876,0,0,0,0,0,0
$GC,2523,-1.72,-58.4,326.4,-13.6,176,2527,0.00,2.25,0.00,0.000,6,0.000,0.022,2709,1691,2876,0,0,0,0,0,0
$GC,2846,-1.72,-58.4,363.3,-10.8,184,2850,0.00,2.30,0.00,0.000,4,0.000,0.028,2710,3076,2875,0,0,0,0,0,0
$GC,2879,-1.80,-58.4,366.8,-10.3,184,2883,0.00,2.38,0.00,0.000,6,0.000,0.038,2709,1682,2875,0,0,0,0,0,0
$GC,3213,-1.80,-58.4,401.3,-10.8,192,3215,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1682,2873,0,0,0,0,0,0
$GC,3535,-1.80,-58.4,435.9,-10.8,200,3539,0.00,2.33,0.00,0.000,4,0.000,0.032,2709,3071,2871,0,0,0,0,0,0
$GC,3596,-1.88,-58.4,441.9,-10.2,201,3600,0.00,2.38,0.00,0.000,6,0.000,0.041,2709,1694,2870,0,0,0,0,0,0
$STATE,3699,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3699,begin apogee
$GC,3705,-0.31,0.0,451.2,8.8,204,3759,1.52,0.00,49.33,0.841,6,0.080,0.000,3030,1831,2630,0,0,0,0,0,0
$STATE,3760,end apogee,CONTROL_FINISHED_OK
$STATE,3760,begin climb
$GC,3762,1.56,58.4,451.6,0.0,205,3821,1.80,0.00,50.83,0.824,6,0.030,0.000,3451,1831,2391,0,0,0,0,0,0
$GC,4147,1.32,110.0,439.6,3.2,215,4201,0.30,2.42,45.22,0.828,4,0.110,0.034,3389,3212,2180,0,0,0,0,0,0
$GC,4261,1.18,110.0,431.9,9.9,217,4266,0.17,2.42,0.00,0.000,6,0.117,0.040,3358,1829,2178,0,0,0,0,0,0
$GC,4603,1.08,110.0,397.1,10.3,226,4605,0.12,0.00,0.00,0.000,6,0.120,0.000,3335,1830,2172,0,0,0,0,0,0
$GC,4928,1.05,118.4,371.7,7.1,234,4940,0.00,2.42,6.55,0.657,4,0.000,0.035,3336,3203,2148,0,0,0,0,0,0
$GC,4955,1.08,142.6,369.9,5.7,234,4984,0.00,2.38,23.40,0.791,6,0.000,0.039,3335,1827,2048,0,0,0,0,0,0
$GC,5304,1.08,142.6,341.7,8.6,243,5308,0.00,2.47,0.00,0.000,4,0.000,0.055,3335,423,2042,0,0,0,0,0,0
$GC,5432,0.96,142.6,330.3,9.2,245,5437,0.12,2.33,0.00,0.000,6,0.120,0.029,3313,1825,2038,0,0,0,0,0,0
$GC,5763,1.01,142.6,301.6,8.9,253,5767,0.00,2.50,0.00,0.000,4,0.000,0.054,3313,412,2037,0,0,0,0,0,0
$GC,5945,0.96,142.6,284.3,9.5,260,5949,0.00,2.33,0.00,0.000,6,0.000,0.028,3313,1836,2034,0,0,0,0,0,0
$GC,6280,1.02,146.0,258.1,7.6,276,6284,0.00,2.47,0.00,0.000,4,0.000,0.051,3313,422,2034,0,0,0,0,0,0
$GC,6393,1.02,146.0,248.1,9.2,281,6398,0.00,2.33,0.00,0.000,6,0.000,0.026,3313,1844,2032,0,0,0,0,0,0
$GC,6724,1.11,174.2,229.4,5.3,297,6757,0.12,2.38,26.77,0.712,4,0.070,0.031,3349,3208,1919,0,0,0,0,0,0
$GC,6771,1.11,174.2,226.1,8.0,299,6775,0.00,2.40,0.00,0.000,6,0.000,0.034,3349,1822,1918,0,0,0,0,0,0
$GC,7088,1.11,174.2,193.3,10.6,316,7093,0.00,2.45,0.00,0.000,4,0.000,0.050,3349,418,1915,0,0,0,0,0,0
$GC,7212,1.02,174.2,178.8,11.1,325,7217,0.15,2.30,0.00,0.000,6,0.108,0.024,3321,1830,1912,0,0,0,0,0,0
$GC,7478,1.09,174.2,155.1,8.5,346,7482,0.00,2.45,0.00,0.000,4,0.000,0.048,3320,425,1912,0,0,0,0,0,0
$GC,7530,1.09,174.2,150.0,9.3,350,7535,0.00,2.30,0.00,0.000,6,0.000,0.023,3320,1847,1911,0,0,0,0,0,0
$GC,7797,1.17,175.0,129.6,7.8,371,7802,0.15,2.47,0.00,0.000,4,0.060,0.047,3364,418,1911,0,0,0,0,0,0
$GC,7873,1.07,175.0,122.6,8.6,376,7882,0.12,2.28,0.00,0.000,6,0.085,0.021,3336,1817,1910,0,0,0,0,0,0
$GC,8135,1.14,179.7,104.7,7.5,397,8149,0.00,2.40,5.12,0.453,4,0.000,0.045,3335,423,1896,0,0,0,0,0,0
$GC,8412,1.14,179.7,80.5,8.3,417,8416,0.00,2.25,0.00,0.000,6,0.000,0.021,3335,1844,1895,0,0,0,0,0,0
$GC,8679,1.27,208.3,64.3,5.3,438,8712,0.17,2.50,26.42,0.556,4,0.053,0.044,3385,417,1780,0,0,0,0,0,0
$GC,8804,1.20,208.3,52.7,11.0,447,8809,0.12,2.28,0.00,0.000,6,0.110,0.020,3362,1833,1776,0,0,0,0,0,0
$GC,9068,1.28,208.3,30.9,8.4,467,9072,0.00,2.25,0.00,0.000,4,0.000,0.024,3362,3208,1776,0,0,0,0,0,0
$GC,9081,1.36,208.3,29.5,8.2,468,9088,0.12,2.35,0.00,0.000,6,0.033,0.029,3407,1823,1776,0,0,0,0,0,0
$GC,9284,1.36,208.3,12.1,9.6,514,9291,0.00,2.40,0.00,0.000,4,0.000,0.044,3407,430,1775,0,0,0,0,0,0
$STATE,9368,end climb,SURFACE_DEPTH_REACHED
$STATE,9368,begin surface coast
$FINISH,0.8,1.023082
$STATE,9397,end surface coast,CONTROL_FINISHED_OK
$STATE,9397,begin surface
$SM_CCo,9422,112.80,0.504,0,0,958,410.14
$SM_GC,1.44,0.00,0.00,112.80,0.000,0.000,0.504,426,1680,958,-12.30,-0.28,410.14
$IRIDIUM_FIX,2054.83,-15751.76,041199,121255
$TT8_MAMPS,0.029146
$HUMID,51.96
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,12.893
$10V_AH,10.4,9.735
$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,30.575,99.200,233.650,112.800,0.000,28.045,32.619,124.676,4.500,0.000,19.817,1092.009,6097.991,421.636,1798.863,431.064,0.000,1192.622,0.000,1779.056,0.000,29.260,0.000
$DEVICE_MAMPS,136.526,55.224,840.632,503.919,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,363.627,346.999,795.235,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,28693,539
$CAP_FILE_SIZE,104918,0
$CFSIZE,260165632,206159872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100810,180901,2102.232,-15755.844,40,1.6,40,9.8