version: 66.06
glider: 139
mission: 8
dive: 146
start: 8 11 110 4 47 38
data:
$ID,139
$MISSION,8
$DIVE,146
$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,-2153422.2
$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
$GPS1,044120,2104.323,-15759.674,17,1.5,17,9.8
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-70.9
$GPS2,044720,2104.291,-15759.777,15,1.5,15,9.8
$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,322.4,8465,-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,-64.28,0.000,2,0.000,0.000,429,1659,2756,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.4,-3.8,12,111,12.55,2.47,-2.10,0.000,4,0.137,0.035,2754,3112,2872,0,0,0,0,0,0
$GC,288,-1.56,-58.4,44.4,-16.5,42,294,0.00,2.42,0.00,0.000,6,0.000,0.034,2754,1692,2873,0,0,0,0,0,0
$GC,548,-1.56,-58.4,87.2,-12.2,63,552,0.00,2.33,0.00,0.000,4,0.000,0.022,2754,3102,2874,0,0,0,0,0,0
$GC,580,-1.62,-58.4,91.2,-11.7,65,586,0.00,2.38,0.00,0.000,6,0.000,0.031,2754,1680,2875,0,0,0,0,0,0
$GC,839,-1.62,-58.4,126.7,-13.3,86,843,0.00,2.33,0.00,0.000,4,0.000,0.022,2754,3102,2875,0,0,0,0,0,0
$GC,899,-1.70,-58.4,135.0,-13.0,90,906,0.08,2.40,0.00,0.000,6,0.041,0.032,2721,1688,2876,0,0,0,0,0,0
$GC,1162,-1.67,-58.4,177.6,-14.8,111,1166,0.00,2.33,0.00,0.000,4,0.000,0.023,2721,3106,2876,0,0,0,0,0,0
$GC,1259,-1.72,-58.4,190.1,-11.1,118,1264,0.00,2.38,0.00,0.000,6,0.000,0.032,2721,1689,2876,0,0,0,0,0,0
$GC,1521,-1.72,-58.4,222.1,-12.4,133,1525,0.00,2.33,0.00,0.000,4,0.000,0.024,2721,3101,2877,0,0,0,0,0,0
$GC,1618,-1.78,-58.4,232.5,-9.8,137,1623,0.00,2.38,0.00,0.000,6,0.000,0.033,2721,1689,2876,0,0,0,0,0,0
$GC,1945,-1.78,-58.4,268.1,-10.1,153,1949,0.00,2.35,0.00,0.000,4,0.000,0.025,2721,3103,2877,0,0,0,0,0,0
$GC,2074,-1.86,-58.4,281.4,-10.3,158,2081,0.08,2.42,0.00,0.000,6,0.041,0.034,2689,1685,2877,0,0,0,0,0,0
$GC,2411,-1.82,-58.4,324.0,-13.1,171,2415,0.00,2.35,0.00,0.000,4,0.000,0.026,2689,3109,2876,0,0,0,0,0,0
$GC,2476,-1.82,-58.4,333.0,-12.7,172,2480,0.00,2.38,0.00,0.000,6,0.000,0.036,2689,1691,2875,0,0,0,0,0,0
$GC,2821,-1.82,-58.4,374.0,-11.7,181,2825,0.00,2.38,0.00,0.000,4,0.000,0.030,2689,3101,2874,0,0,0,0,0,0
$GC,2930,-1.85,-58.4,386.6,-11.2,183,2934,0.00,2.42,0.00,0.000,6,0.000,0.038,2689,1683,2875,0,0,0,0,0,0
$GC,3243,-1.85,-58.4,425.0,-12.8,191,3247,0.00,2.45,0.00,0.000,4,0.000,0.056,2688,286,2872,0,0,0,0,0,0
$GC,3263,-1.77,-58.4,427.6,-13.1,191,3268,0.12,2.33,0.00,0.000,6,0.111,0.025,2712,1711,2872,0,0,0,0,0,0
$STATE,3486,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3486,begin apogee
$GC,3492,-0.31,0.0,450.8,9.9,197,3545,1.52,0.00,49.40,0.831,6,0.083,0.000,3031,1842,2630,0,0,0,0,0,0
$STATE,3546,end apogee,CONTROL_FINISHED_OK
$STATE,3546,begin climb
$GC,3549,1.56,58.4,451.2,0.0,198,3607,1.75,2.40,50.55,0.815,4,0.031,0.034,3443,3215,2390,0,0,0,0,0,0
$GC,3616,1.38,139.1,449.6,0.6,199,3696,0.22,2.42,70.75,0.815,6,0.114,0.037,3402,1829,2062,0,0,0,0,0,0
$GC,4005,1.21,139.1,402.2,13.3,209,4010,0.20,2.50,0.00,0.000,4,0.110,0.054,3364,425,2053,0,0,0,0,0,0
$GC,4101,1.01,139.1,390.4,13.0,211,4106,0.22,2.33,0.00,0.000,6,0.108,0.028,3322,1838,2049,0,0,0,0,0,0
$GC,4424,1.01,139.1,355.0,10.9,219,4426,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,1843,2047,0,0,0,0,0,0
$GC,4749,1.01,139.1,322.4,9.1,227,4754,0.00,2.47,0.00,0.000,4,0.000,0.054,3321,424,2045,0,0,0,0,0,0
$GC,4787,0.92,139.1,318.6,9.8,227,4792,0.00,2.33,0.00,0.000,6,0.000,0.028,3323,1835,2043,0,0,0,0,0,0
$GC,5100,0.92,139.1,289.5,9.6,238,5104,0.00,2.47,0.00,0.000,4,0.000,0.053,3322,424,2041,0,0,0,0,0,0
$GC,5114,0.92,139.1,287.9,9.7,238,5120,0.00,2.33,0.00,0.000,6,0.000,0.028,3322,1833,2040,0,0,0,0,0,0
$GC,5430,0.99,164.9,265.7,5.6,254,5456,0.00,2.40,19.98,0.726,4,0.000,0.031,3322,3204,1957,0,0,0,0,0,0
$GC,5525,1.07,181.0,259.7,6.4,258,5548,0.00,2.38,15.75,0.699,6,0.000,0.037,3322,1830,1891,0,0,0,0,0,0
$GC,5859,1.12,181.0,226.6,10.7,274,5864,0.10,2.47,0.00,0.000,4,0.081,0.053,3351,423,1887,0,0,0,0,0,0
$GC,6029,1.02,181.0,207.1,12.6,281,6034,0.15,2.30,0.00,0.000,6,0.107,0.024,3323,1829,1883,0,0,0,0,0,0
$GC,6358,1.09,181.0,175.6,7.9,304,6359,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,1835,1882,0,0,0,0,0,0
$GC,6610,1.19,198.1,158.8,6.4,324,6633,0.15,2.55,15.05,0.616,4,0.061,0.048,3366,413,1821,0,0,0,0,0,0
$GC,6738,1.09,198.1,145.7,11.0,333,6743,0.15,2.33,0.00,0.000,6,0.105,0.022,3338,1851,1818,0,0,0,0,0,0
$GC,7001,1.15,198.1,123.1,9.8,353,7005,0.00,2.47,0.00,0.000,4,0.000,0.046,3337,414,1817,0,0,0,0,0,0
$GC,7026,1.15,198.1,120.0,12.6,355,7030,0.00,2.28,0.00,0.000,6,0.000,0.021,3338,1830,1816,0,0,0,0,0,0
$GC,7291,1.22,200.8,96.1,7.6,376,7296,0.12,2.45,0.00,0.000,4,0.066,0.047,3376,414,1816,0,0,0,0,0,0
$GC,7415,1.15,200.8,79.6,13.5,385,7420,0.12,2.25,0.00,0.000,6,0.110,0.021,3353,1841,1816,0,0,0,0,0,0
$GC,7679,1.28,222.1,59.5,6.0,405,7708,0.12,2.50,21.58,0.537,4,0.065,0.044,3391,417,1722,0,0,0,0,0,0
$GC,7739,1.20,222.1,54.4,9.4,409,7744,0.15,2.25,0.00,0.000,6,0.102,0.019,3363,1841,1719,0,0,0,0,0,0
$GC,8009,1.28,222.1,32.5,10.2,430,8013,0.00,2.42,0.00,0.000,4,0.000,0.044,3362,423,1719,0,0,0,0,0,0
$GC,8034,1.28,222.1,29.7,10.0,432,8040,0.00,2.25,0.00,0.000,6,0.000,0.019,3362,1821,1718,0,0,0,0,0,0
$GC,8237,1.35,222.1,9.8,10.9,478,8244,0.15,2.45,0.00,0.000,4,0.058,0.044,3408,423,1719,0,0,0,0,0,0
$STATE,8292,end climb,SURFACE_DEPTH_REACHED
$STATE,8292,begin surface coast
$FINISH,1.3,1.023180
$STATE,8302,end surface coast,CONTROL_FINISHED_OK
$STATE,8302,begin surface
$SM_CCo,8326,107.88,0.500,0,0,957,410.14
$SM_GC,1.52,0.00,0.00,107.88,0.000,0.000,0.500,430,1702,957,-12.28,0.34,410.14
$IRIDIUM_FIX,2057.14,-15759.05,051199,020242
$TT8_MAMPS,0.028379
$HUMID,51.49
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,13.312
$10V_AH,10.4,10.091
$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,30.750,100.000,243.050,107.875,0.000,25.892,31.167,182.351,4.500,0.000,15.254,981.113,5384.040,409.230,1555.901,466.704,0.000,1105.488,0.000,1533.052,0.000,29.255,0.000
$DEVICE_MAMPS,136.526,62.894,831.428,500.084,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,330.569,319.013,740.081,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,28498,492
$CAP_FILE_SIZE,99393,0
$CFSIZE,260165632,205914112
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110810,071006,2105.030,-15800.267,71,0.9,74,9.8