version: 66.06
glider: 139
mission: 8
dive: 142
start: 8 10 110 18 18 9
data:
$ID,139
$MISSION,8
$DIVE,142
$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,-2153334.8
$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
$GPS1,180901,2102.232,-15755.844,40,1.6,40,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-66.4
$GPS2,181750,2102.238,-15755.908,12,1.3,12,9.8
$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,306.9,15509,-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,16,-1.56,-58.4,0.0,0.0,0,82,0.00,0.00,-64.12,0.000,2,0.000,0.000,425,1681,2790,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.7,-4.4,12,105,12.57,2.42,-1.42,0.000,4,0.137,0.037,2751,3101,2871,0,0,0,0,0,0
$GC,361,-1.63,-58.4,59.4,-14.7,48,365,0.00,2.40,0.00,0.000,6,0.000,0.034,2751,1688,2873,0,0,0,0,0,0
$GC,626,-1.63,-58.4,102.7,-13.4,69,630,0.00,2.33,0.00,0.000,4,0.000,0.023,2751,3105,2875,0,0,0,0,0,0
$GC,674,-1.70,-58.4,108.7,-11.8,72,681,0.08,2.40,0.00,0.000,6,0.043,0.031,2718,1688,2875,0,0,0,0,0,0
$GC,935,-1.70,-58.4,142.8,-13.5,93,939,0.00,2.33,0.00,0.000,4,0.000,0.022,2718,3109,2876,0,0,0,0,0,0
$GC,995,-1.75,-58.4,150.8,-11.8,97,1001,0.00,2.40,0.00,0.000,6,0.000,0.033,2718,1684,2876,0,0,0,0,0,0
$GC,1255,-1.75,-58.4,183.6,-13.6,118,1260,0.00,2.38,0.00,0.000,4,0.000,0.046,2718,285,2876,0,0,0,0,0,0
$GC,1275,-1.67,-58.4,186.2,-12.5,119,1280,0.00,2.30,0.00,0.000,6,0.000,0.019,2718,1721,2876,0,0,0,0,0,0
$GC,1547,-1.67,-58.4,226.2,-16.0,136,1551,0.00,2.22,0.00,0.000,4,0.000,0.025,2718,3072,2876,0,0,0,0,0,0
$GC,1762,-1.73,-58.4,252.8,-10.4,145,1766,0.00,2.33,0.00,0.000,6,0.000,0.032,2718,1688,2876,0,0,0,0,0,0
$GC,2084,-1.73,-58.4,280.2,-8.2,161,2088,0.00,2.28,0.00,0.000,4,0.000,0.025,2718,3074,2876,0,0,0,0,0,0
$GC,2174,-1.80,-58.4,288.3,-9.3,165,2179,0.00,2.33,0.00,0.000,6,0.000,0.035,2718,1691,2875,0,0,0,0,0,0
$GC,2525,-1.80,-58.4,334.1,-13.9,176,2529,0.00,2.47,0.00,0.000,4,0.000,0.051,2717,278,2874,0,0,0,0,0,0
$GC,2609,-1.80,-58.4,344.0,-10.5,177,2615,0.00,2.28,0.00,0.000,6,0.000,0.022,2718,1692,2874,0,0,0,0,0,0
$GC,2942,-1.83,-58.4,376.5,-11.0,186,2946,0.00,2.30,0.00,0.000,4,0.000,0.029,2718,3074,2873,0,0,0,0,0,0
$GC,2961,-1.90,-58.4,379.0,-12.1,186,2966,0.12,2.35,0.00,0.000,6,0.070,0.037,2681,1691,2873,0,0,0,0,0,0
$GC,3310,-1.90,-58.4,421.2,-11.8,195,3314,0.00,2.35,0.00,0.000,4,0.000,0.031,2681,3073,2870,0,0,0,0,0,0
$GC,3541,-1.93,-58.4,445.1,-9.2,200,3546,0.00,2.35,0.00,0.000,6,0.000,0.042,2680,1694,2869,0,0,0,0,0,0
$STATE,3622,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3622,begin apogee
$GC,3629,-0.31,0.0,453.8,10.5,202,3682,1.67,0.00,49.25,0.845,6,0.083,0.000,3030,1831,2630,0,0,0,0,0,0
$STATE,3683,end apogee,CONTROL_FINISHED_OK
$STATE,3683,begin climb
$GC,3685,1.56,58.4,454.8,0.0,203,3744,1.77,2.42,50.58,0.829,4,0.030,0.035,3452,3214,2390,0,0,0,0,0,0
$GC,3789,1.35,128.5,454.2,1.6,205,3861,0.30,2.40,62.22,0.832,6,0.109,0.038,3395,1828,2104,0,0,0,0,0,0
$GC,4189,1.18,128.5,415.5,10.0,215,4195,0.20,2.50,0.00,0.000,4,0.110,0.055,3358,415,2094,0,0,0,0,0,0
$GC,4209,0.99,128.5,413.6,9.2,215,4215,0.22,2.33,0.00,0.000,6,0.110,0.028,3317,1821,2092,0,0,0,0,0,0
$GC,4556,1.00,131.9,388.3,7.6,224,4557,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,1826,2089,0,0,0,0,0,0
$GC,4880,1.00,131.9,360.6,9.0,232,4884,0.00,2.47,0.00,0.000,4,0.000,0.055,3316,417,2087,0,0,0,0,0,0
$GC,4936,0.92,131.9,355.0,10.0,233,4940,0.00,2.35,0.00,0.000,6,0.000,0.028,3316,1836,2084,0,0,0,0,0,0
$GC,5251,0.92,135.1,330.1,7.6,241,5252,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,1840,2083,0,0,0,0,0,0
$GC,5575,0.97,148.5,309.5,6.7,249,5596,0.00,2.58,14.75,0.746,4,0.000,0.054,3316,424,2024,0,0,0,0,0,0
$GC,5790,0.91,148.5,286.3,11.6,255,5794,0.00,2.33,0.00,0.000,6,0.000,0.028,3316,1830,2018,0,0,0,0,0,0
$GC,6111,0.95,148.5,258.1,8.1,271,6115,0.00,2.33,0.00,0.000,4,0.000,0.031,3316,3214,2017,0,0,0,0,0,0
$GC,6168,1.02,148.5,253.2,8.6,273,6172,0.00,2.38,0.00,0.000,6,0.000,0.037,3316,1829,2017,0,0,0,0,0,0
$GC,6484,1.09,159.5,229.8,6.9,288,6496,0.00,0.00,10.35,0.657,6,0.000,0.000,3316,1829,1979,0,0,0,0,0,0
$GC,6795,1.16,159.5,204.7,8.1,303,6800,0.15,2.47,0.00,0.000,4,0.063,0.050,3358,417,1976,0,0,0,0,0,0
$GC,6819,1.06,159.5,202.0,10.4,304,6824,0.15,2.30,0.00,0.000,6,0.108,0.025,3330,1845,1975,0,0,0,0,0,0
$GC,7149,1.14,192.5,175.5,4.9,329,7188,0.00,2.53,29.92,0.668,4,0.000,0.048,3329,422,1843,0,0,0,0,0,0
$GC,7271,1.14,192.5,165.8,9.8,338,7276,0.00,2.30,0.00,0.000,6,0.000,0.023,3330,1834,1840,0,0,0,0,0,0
$GC,7539,1.21,192.5,143.8,9.2,359,7544,0.15,2.50,0.00,0.000,4,0.060,0.048,3373,414,1838,0,0,0,0,0,0
$GC,7614,1.10,192.5,132.8,14.3,364,7622,0.12,2.33,0.00,0.000,6,0.087,0.022,3343,1831,1837,0,0,0,0,0,0
$GC,7877,1.16,192.5,104.1,10.9,385,7881,0.00,2.42,0.00,0.000,4,0.000,0.046,3343,421,1837,0,0,0,0,0,0
$GC,7973,1.16,192.5,92.5,10.6,392,7978,0.00,2.28,0.00,0.000,6,0.000,0.021,3344,1838,1836,0,0,0,0,0,0
$GC,8236,1.28,208.2,76.4,6.5,412,8258,0.15,2.25,14.15,0.545,4,0.058,0.022,3388,3206,1780,0,0,0,0,0,0
$GC,8518,1.33,208.2,52.7,8.3,432,8525,0.00,2.35,0.00,0.000,6,0.000,0.030,3388,1823,1780,0,0,0,0,0,0
$GC,8778,1.35,221.2,33.3,6.7,453,8793,0.00,0.00,12.75,0.493,6,0.000,0.000,3388,1823,1728,0,0,0,0,0,0
$GC,9045,1.35,221.2,10.3,9.3,508,9052,0.00,2.40,0.00,0.000,4,0.000,0.043,3388,430,1726,0,0,0,0,0,0
$STATE,9107,end climb,SURFACE_DEPTH_REACHED
$STATE,9107,begin surface coast
$FINISH,1.1,1.023080
$STATE,9122,end surface coast,CONTROL_FINISHED_OK
$STATE,9122,begin surface
$SM_CCo,9147,110.32,0.501,0,0,957,410.14
$SM_GC,1.37,0.00,0.00,110.32,0.000,0.000,0.501,427,1688,957,-12.30,-0.08,410.14
$IRIDIUM_FIX,2054.83,-15754.77,041199,181842
$TT8_MAMPS,0.028379
$HUMID,50.98
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,12.980
$10V_AH,10.4,9.809
$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,30.375,94.600,243.975,110.325,0.000,52.957,69.232,216.621,4.500,0.000,12.861,1061.438,5996.804,413.082,1732.225,584.807,0.000,1166.730,0.000,1713.711,0.000,31.690,0.000
$DEVICE_MAMPS,137.293,55.224,845.234,500.851,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,353.565,336.940,772.745,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,28646,525
$CAP_FILE_SIZE,105588,0
$CFSIZE,260165632,206114816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100810,205337,2102.903,-15756.379,32,0.9,32,9.8