version: 66.06
glider: 139
mission: 8
dive: 148
start: 8 11 110 10 1 14
data:
$ID,139
$MISSION,8
$DIVE,148
$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,-2153520.5
$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
$GPS1,095534,2105.470,-15800.625,15,2.4,34,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-72.4
$GPS2,100058,2105.398,-15800.645,11,2.1,30,9.8
$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,325.9,5965,-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,-64.75,0.000,2,0.000,0.000,428,1714,2767,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.1,-3.4,12,110,12.88,2.33,-1.92,0.000,4,0.147,0.035,2752,3099,2872,0,0,0,0,0,0
$GC,267,-1.60,-58.4,44.1,-16.5,41,271,0.00,2.40,0.00,0.000,6,0.000,0.035,2752,1690,2874,0,0,0,0,0,0
$GC,530,-1.60,-58.4,88.6,-13.8,62,534,0.00,2.33,0.00,0.000,4,0.000,0.022,2751,3108,2875,0,0,0,0,0,0
$GC,625,-1.67,-58.4,99.2,-10.3,69,630,0.00,2.40,0.00,0.000,6,0.000,0.031,2751,1681,2875,0,0,0,0,0,0
$GC,894,-1.67,-58.4,136.2,-15.9,90,898,0.00,2.33,0.00,0.000,4,0.000,0.022,2752,3102,2876,0,0,0,0,0,0
$GC,935,-1.77,-58.4,142.1,-15.7,93,940,0.17,2.38,0.00,0.000,6,0.052,0.033,2698,1685,2876,0,0,0,0,0,0
$GC,1202,-1.70,-58.4,180.6,-12.1,114,1204,0.15,0.00,0.00,0.000,6,0.117,0.000,2726,1686,2877,0,0,0,0,0,0
$GC,1467,-1.70,-58.4,214.2,-12.9,132,1471,0.00,2.33,0.00,0.000,4,0.000,0.024,2726,3103,2878,0,0,0,0,0,0
$GC,1550,-1.77,-58.4,224.4,-11.3,135,1555,0.00,2.38,0.00,0.000,6,0.000,0.031,2726,1689,2878,0,0,0,0,0,0
$GC,1867,-1.77,-58.4,259.9,-10.5,151,1872,0.00,2.40,0.00,0.000,4,0.000,0.048,2726,283,2878,0,0,0,0,0,0
$GC,1886,-1.77,-58.4,262.3,-10.7,151,1892,0.00,2.30,0.00,0.000,6,0.000,0.021,2726,1725,2878,0,0,0,0,0,0
$GC,2203,-1.81,-58.4,299.2,-11.7,167,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1725,2878,0,0,0,0,0,0
$GC,2508,-1.86,-58.4,335.4,-12.1,175,2513,0.15,2.22,0.00,0.000,4,0.059,0.028,2681,3073,2877,0,0,0,0,0,0
$GC,2684,-1.86,-58.4,359.4,-13.2,178,2690,0.00,2.35,0.00,0.000,6,0.000,0.038,2681,1693,2876,0,0,0,0,0,0
$GC,3015,-1.86,-58.4,399.9,-12.2,187,3020,0.00,2.30,0.00,0.000,4,0.000,0.030,2681,3075,2874,0,0,0,0,0,0
$GC,3077,-1.86,-58.4,406.6,-10.8,188,3082,0.00,2.35,0.00,0.000,6,0.000,0.039,2681,1692,2874,0,0,0,0,0,0
$GC,3393,-1.83,-58.4,441.0,-10.7,196,3398,0.10,2.33,0.00,0.000,4,0.132,0.033,2698,3070,2871,0,0,0,0,0,0
$STATE,3490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3490,begin apogee
$GC,3498,-0.31,0.0,450.3,8.2,198,3552,1.60,0.00,49.33,0.841,6,0.098,0.000,3023,1832,2630,0,0,0,0,0,0
$STATE,3553,end apogee,CONTROL_FINISHED_OK
$STATE,3553,begin climb
$GC,3556,1.56,58.4,451.0,0.0,199,3616,1.85,2.45,50.35,0.825,4,0.041,0.035,3442,3209,2391,0,0,0,0,0,0
$GC,3645,1.34,109.1,448.4,3.3,201,3700,0.25,2.40,45.15,0.816,6,0.114,0.038,3396,1822,2185,0,0,0,0,0,0
$GC,4024,1.16,109.1,411.1,9.9,211,4029,0.22,2.40,0.00,0.000,4,0.109,0.035,3353,3212,2175,0,0,0,0,0,0
$GC,4294,1.12,120.5,389.1,6.9,216,4310,0.00,2.40,9.20,0.712,6,0.000,0.041,3353,1831,2138,0,0,0,0,0,0
$GC,4631,1.04,120.5,360.3,9.1,225,4633,0.12,0.00,0.00,0.000,6,0.123,0.000,3331,1831,2133,0,0,0,0,0,0
$GC,4954,1.06,136.8,337.6,6.4,233,4974,0.00,2.45,14.82,0.755,4,0.000,0.036,3331,3210,2072,0,0,0,0,0,0
$GC,5096,1.07,146.0,327.1,7.1,236,5112,0.00,2.42,9.85,0.706,6,0.000,0.040,3331,1822,2034,0,0,0,0,0,0
$GC,5421,1.07,146.0,302.1,8.2,244,5422,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,1822,2029,0,0,0,0,0,0
$GC,5730,1.08,150.7,276.6,7.5,258,5736,0.00,0.00,4.53,0.535,6,0.000,0.000,3331,1822,2015,0,0,0,0,0,0
$GC,6042,1.08,150.7,254.0,8.1,273,6046,0.00,2.38,0.00,0.000,4,0.000,0.032,3331,3221,2013,0,0,0,0,0,0
$GC,6065,1.12,150.7,251.7,8.5,274,6069,0.00,2.40,0.00,0.000,6,0.000,0.038,3331,1828,2013,0,0,0,0,0,0
$GC,6390,1.12,150.7,223.7,8.8,290,6395,0.00,2.45,0.00,0.000,4,0.000,0.052,3331,422,2012,0,0,0,0,0,0
$GC,6488,1.04,150.7,213.9,10.1,294,6492,0.00,2.33,0.00,0.000,6,0.000,0.025,3331,1844,2009,0,0,0,0,0,0
$GC,6813,1.10,168.9,191.0,6.3,314,6835,0.00,2.53,16.83,0.660,4,0.000,0.049,3331,421,1941,0,0,0,0,0,0
$GC,6927,1.05,168.9,181.8,8.9,322,6931,0.00,2.30,0.00,0.000,6,0.000,0.024,3331,1831,1937,0,0,0,0,0,0
$GC,7192,1.08,168.9,160.9,8.1,343,7196,0.00,2.45,0.00,0.000,4,0.000,0.049,3331,419,1937,0,0,0,0,0,0
$GC,7302,1.04,168.9,150.8,8.8,351,7306,0.00,2.30,0.00,0.000,6,0.000,0.023,3331,1838,1936,0,0,0,0,0,0
$GC,7568,1.11,168.9,129.8,8.9,372,7572,0.00,2.45,0.00,0.000,4,0.000,0.047,3331,420,1935,0,0,0,0,0,0
$GC,7622,1.11,168.9,124.9,8.8,376,7626,0.00,2.28,0.00,0.000,6,0.000,0.022,3331,1840,1935,0,0,0,0,0,0
$GC,7889,1.18,173.3,105.9,7.5,397,7903,0.12,2.45,4.70,0.434,4,0.068,0.044,3368,420,1922,0,0,0,0,0,0
$GC,7961,1.09,173.3,98.3,10.7,402,7966,0.15,2.25,0.00,0.000,6,0.105,0.021,3339,1834,1922,0,0,0,0,0,0
$GC,8231,1.18,192.6,78.4,6.2,423,8259,0.00,2.53,18.83,0.556,4,0.000,0.044,3339,421,1841,0,0,0,0,0,0
$GC,8278,1.19,199.1,75.1,7.3,426,8293,0.00,2.28,6.85,0.470,6,0.000,0.020,3340,1836,1817,0,0,0,0,0,0
$GC,8550,1.31,199.1,56.0,9.1,447,8555,0.20,2.45,0.00,0.000,4,0.048,0.043,3396,418,1816,0,0,0,0,0,0
$GC,8781,1.22,207.1,32.6,7.2,464,8797,0.15,2.25,8.30,0.463,6,0.106,0.019,3368,1845,1784,0,0,0,0,0,0
$GC,9053,1.28,207.1,13.2,9.0,521,9060,0.00,2.47,0.00,0.000,4,0.000,0.044,3368,419,1784,0,0,0,0,0,0
$GC,9122,1.28,207.1,6.8,9.1,536,9128,0.00,2.22,0.00,0.000,6,0.000,0.019,3368,1779,1781,0,0,0,0,0,0
$STATE,9168,end climb,SURFACE_DEPTH_REACHED
$STATE,9168,begin surface coast
$FINISH,0.6,1.021918
$STATE,9204,end surface coast,CONTROL_FINISHED_OK
$STATE,9205,begin surface
$SM_CCo,9229,116.28,0.502,0,0,957,410.14
$SM_GC,1.48,0.00,0.00,116.28,0.000,0.000,0.502,426,1660,957,-12.30,-0.85,410.14
$IRIDIUM_FIX,2057.14,-15759.05,051199,070743
$TT8_MAMPS,0.029146
$HUMID,51.45
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,13.469
$10V_AH,10.5,10.243
$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,30.750,94.725,238.725,116.275,0.000,28.467,33.865,125.092,4.500,0.000,31.962,1095.662,5923.629,414.362,1803.874,429.105,0.000,1187.203,0.000,1762.810,0.000,29.277,0.000
$DEVICE_MAMPS,147.264,62.894,840.632,501.618,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,373.042,357.657,835.249,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,31784,554
$CAP_FILE_SIZE,104329,0
$CFSIZE,260165632,205799424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110810,123807,2106.091,-15801.415,29,1.9,29,9.8