version: 66.06
glider: 139
mission: 8
dive: 145
start: 8 11 110 2 18 19
data:
$ID,139
$MISSION,8
$DIVE,145
$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,-2153406.2
$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
$GPS1,021306,2103.552,-15758.331,40,1.0,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-71.9
$GPS2,021802,2103.572,-15758.410,15,1.9,15,9.8
$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,314.6,10846,-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,-64.53,0.000,2,0.000,0.000,430,1671,2770,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.3,-4.0,12,110,12.52,2.47,-1.85,0.000,4,0.136,0.040,2752,3103,2873,0,0,0,0,0,0
$GC,348,-1.62,-58.4,56.3,-19.1,47,353,0.00,2.42,0.00,0.000,6,0.000,0.038,2752,1688,2875,0,0,0,0,0,0
$GC,612,-1.62,-58.4,93.2,-15.2,68,616,0.00,2.33,0.00,0.000,4,0.000,0.021,2752,3110,2876,0,0,0,0,0,0
$GC,685,-1.70,-58.4,102.8,-12.4,73,691,0.00,2.38,0.00,0.000,6,0.000,0.031,2752,1681,2876,0,0,0,0,0,0
$GC,945,-1.70,-58.4,136.1,-13.7,94,949,0.00,2.33,0.00,0.000,4,0.000,0.023,2752,3102,2877,0,0,0,0,0,0
$GC,1038,-1.81,-58.4,147.2,-11.1,101,1043,0.20,2.38,0.00,0.000,6,0.050,0.032,2696,1690,2877,0,0,0,0,0,0
$GC,1302,-1.74,-58.4,189.2,-15.2,122,1304,0.12,0.00,0.00,0.000,6,0.108,0.000,2720,1690,2877,0,0,0,0,0,0
$GC,1556,-1.74,-58.4,225.1,-14.4,137,1560,0.00,2.33,0.00,0.000,4,0.000,0.024,2720,3101,2878,0,0,0,0,0,0
$GC,1641,-1.82,-58.4,236.1,-12.1,140,1645,0.00,2.38,0.00,0.000,6,0.000,0.035,2720,1683,2877,0,0,0,0,0,0
$GC,1959,-1.82,-58.4,273.4,-11.6,155,1963,0.00,2.38,0.00,0.000,4,0.000,0.026,2720,3109,2878,0,0,0,0,0,0
$GC,2003,-1.90,-58.4,279.0,-13.7,157,2008,0.15,2.40,0.00,0.000,6,0.059,0.035,2676,1689,2878,0,0,0,0,0,0
$GC,2353,-1.84,-58.4,330.2,-13.1,169,2357,0.12,2.35,0.00,0.000,4,0.108,0.027,2700,3099,2878,0,0,0,0,0,0
$GC,2464,-1.89,-58.4,343.6,-11.2,171,2468,0.00,2.40,0.00,0.000,6,0.000,0.036,2700,1691,2878,0,0,0,0,0,0
$GC,2813,-1.89,-58.4,379.6,-8.9,180,2815,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1690,2876,0,0,0,0,0,0
$GC,3138,-1.89,-58.4,417.6,-12.2,188,3143,0.00,2.40,0.00,0.000,4,0.000,0.031,2700,3096,2875,0,0,0,0,0,0
$GC,3200,-1.94,-58.4,424.5,-11.6,189,3205,0.10,2.42,0.00,0.000,6,0.079,0.039,2670,1688,2874,0,0,0,0,0,0
$STATE,3426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3426,begin apogee
$GC,3432,-0.31,0.0,450.9,11.3,195,3486,1.73,0.00,50.00,0.837,6,0.085,0.000,3029,1872,2630,0,0,0,0,0,0
$STATE,3487,end apogee,CONTROL_FINISHED_OK
$STATE,3487,begin climb
$GC,3490,1.56,58.4,452.3,0.0,196,3548,1.77,2.35,50.62,0.821,4,0.030,0.034,3450,3216,2390,0,0,0,0,0,0
$GC,3570,1.39,150.2,452.4,-0.4,197,3661,0.25,2.40,80.68,0.824,6,0.110,0.037,3404,1828,2017,0,0,0,0,0,0
$GC,3983,1.20,150.2,406.0,13.7,208,3988,0.20,2.53,0.00,0.000,4,0.109,0.057,3365,418,2007,0,0,0,0,0,0
$GC,4012,0.99,150.2,401.5,15.4,208,4017,0.25,2.33,0.00,0.000,6,0.107,0.028,3318,1829,2004,0,0,0,0,0,0
$GC,4349,0.99,150.2,361.8,11.1,217,4353,0.00,2.50,0.00,0.000,4,0.000,0.055,3318,426,2003,0,0,0,0,0,0
$GC,4396,0.91,150.2,356.8,9.8,218,4400,0.00,2.33,0.00,0.000,6,0.000,0.028,3318,1828,2000,0,0,0,0,0,0
$GC,4720,0.92,152.3,333.5,7.7,226,4724,0.00,2.50,0.00,0.000,4,0.000,0.056,3318,425,1999,0,0,0,0,0,0
$GC,4881,0.85,152.3,316.7,11.2,229,4887,0.17,2.33,0.00,0.000,6,0.113,0.028,3285,1834,1996,0,0,0,0,0,0
$GC,5206,1.00,181.7,296.1,5.3,239,5238,0.15,2.60,25.40,0.752,4,0.064,0.054,3326,422,1889,0,0,0,0,0,0
$GC,5282,0.94,181.7,289.2,9.9,242,5287,0.12,2.35,0.00,0.000,6,0.116,0.027,3304,1838,1885,0,0,0,0,0,0
$GC,5600,1.03,189.0,262.9,7.2,257,5609,0.00,0.00,7.18,0.617,6,0.000,0.000,3305,1843,1859,0,0,0,0,0,0
$GC,5907,1.12,189.0,233.2,9.6,272,5912,0.17,2.50,0.00,0.000,4,0.058,0.051,3352,423,1856,0,0,0,0,0,0
$GC,6025,1.03,189.0,220.4,11.4,277,6030,0.15,2.30,0.00,0.000,6,0.105,0.025,3324,1834,1854,0,0,0,0,0,0
$GC,6349,1.09,189.0,194.8,10.1,294,6353,0.00,2.45,0.00,0.000,4,0.000,0.049,3323,424,1853,0,0,0,0,0,0
$GC,6361,1.14,189.0,193.5,9.7,295,6366,0.10,2.30,0.00,0.000,6,0.079,0.024,3354,1847,1853,0,0,0,0,0,0
$GC,6627,1.14,189.0,165.1,11.6,316,6632,0.00,2.47,0.00,0.000,4,0.000,0.048,3354,424,1853,0,0,0,0,0,0
$GC,6716,1.07,189.0,154.5,10.8,322,6723,0.08,2.28,0.00,0.000,6,0.090,0.022,3335,1824,1852,0,0,0,0,0,0
$GC,6979,1.13,189.0,135.2,8.7,343,6980,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,1824,1852,0,0,0,0,0,0
$GC,7228,1.20,189.0,106.9,10.0,363,7232,0.12,2.40,0.00,0.000,4,0.067,0.046,3373,423,1851,0,0,0,0,0,0
$GC,7284,1.10,189.0,100.2,11.8,367,7289,0.17,2.25,0.00,0.000,6,0.101,0.021,3339,1833,1852,0,0,0,0,0,0
$GC,7546,1.17,189.0,77.7,10.6,387,7547,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,1839,1852,0,0,0,0,0,0
$GC,7798,1.37,243.3,64.8,3.0,407,7854,0.25,2.53,46.70,0.556,4,0.044,0.044,3413,425,1637,0,0,0,0,0,0
$GC,7928,1.26,243.3,52.3,13.4,416,7933,0.20,2.28,0.00,0.000,6,0.097,0.020,3374,1841,1632,0,0,0,0,0,0
$GC,8190,1.31,243.3,23.6,12.5,444,8197,0.00,2.45,0.00,0.000,4,0.000,0.041,3373,428,1631,0,0,0,0,0,0
$GC,8230,1.31,243.3,19.4,10.9,452,8237,0.00,2.25,0.00,0.000,6,0.000,0.019,3374,1827,1630,0,0,0,0,0,0
$STATE,8387,end climb,SURFACE_DEPTH_REACHED
$STATE,8387,begin surface coast
$FINISH,0.7,1.023207
$STATE,8410,end surface coast,CONTROL_FINISHED_OK
$STATE,8410,begin surface
$SM_CCo,8433,90.68,0.498,0,0,957,410.14
$SM_GC,1.20,0.00,0.00,90.68,0.000,0.000,0.498,430,1659,957,-12.28,-0.88,410.14
$IRIDIUM_FIX,2054.83,-15759.05,041199,232355
$TT8_MAMPS,0.028379
$HUMID,52.75
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.4,13.230
$10V_AH,10.4,10.023
$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,31.800,86.500,260.575,90.675,0.000,27.906,27.223,120.507,4.500,0.000,16.159,974.967,5529.511,400.375,1520.309,394.353,0.000,1068.070,0.000,1499.671,0.000,29.246,0.000
$DEVICE_MAMPS,135.759,56.758,836.797,497.783,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,331.693,317.648,737.764,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,28604,493
$CAP_FILE_SIZE,95457,0
$CFSIZE,260165632,205967360
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110810,044120,2104.323,-15759.674,17,1.5,17,9.8