version: 66.06
glider: 139
mission: 8
dive: 222
start: 8 19 110 20 53 16
data:
$ID,139
$MISSION,8
$DIVE,222
$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,-2155189
$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,1695
$C_ROLL_CLIMB,1770
$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
$GPS1,204716,2058.463,-15749.841,13,2.7,32,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-72.3
$GPS2,205300,2058.485,-15749.866,34,1.8,44,9.8
$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,301.1,27870,-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,-64.32,0.000,2,0.000,0.000,429,1657,2772,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.4,-3.8,12,110,12.48,2.47,-1.80,0.000,4,0.133,0.036,2754,3107,2872,0,0,0,0,0,0
$GC,260,-1.56,-58.4,42.6,-17.4,40,266,0.00,2.42,0.00,0.000,6,0.000,0.034,2753,1691,2874,0,0,0,0,0,0
$GC,521,-1.50,-58.4,90.6,-16.3,61,522,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1690,2874,0,0,0,0,0,0
$GC,772,-1.50,-58.4,128.2,-12.6,81,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1690,2876,0,0,0,0,0,0
$GC,1025,-1.55,-58.4,162.4,-12.2,101,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1690,2876,0,0,0,0,0,0
$GC,1278,-1.60,-58.4,194.3,-11.8,121,1282,0.00,2.35,0.00,0.000,4,0.000,0.024,2754,3110,2877,0,0,0,0,0,0
$GC,1451,-1.72,-58.4,212.0,-9.6,130,1456,0.12,2.40,0.00,0.000,6,0.065,0.032,2713,1688,2877,0,0,0,0,0,0
$GC,1767,-1.72,-58.4,248.9,-11.8,145,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1687,2877,0,0,0,0,0,0
$GC,2077,-1.72,-58.4,286.0,-12.5,160,2081,0.00,2.40,0.00,0.000,4,0.000,0.048,2713,284,2876,0,0,0,0,0,0
$GC,2109,-1.63,-58.4,290.3,-13.0,161,2114,0.15,2.30,0.00,0.000,6,0.101,0.021,2742,1723,2876,0,0,0,0,0,0
$GC,2423,-1.70,-58.4,321.6,-9.8,171,2427,0.00,2.22,0.00,0.000,4,0.000,0.028,2742,3081,2875,0,0,0,0,0,0
$GC,2513,-1.83,-58.4,329.7,-8.4,173,2518,0.20,2.35,0.00,0.000,6,0.051,0.036,2687,1685,2875,0,0,0,0,0,0
$GC,2843,-1.80,-58.4,365.2,-11.0,181,2848,0.10,2.35,0.00,0.000,4,0.116,0.029,2706,3078,2874,0,0,0,0,0,0
$GC,3001,-1.86,-58.4,381.7,-10.1,184,3005,0.00,2.38,0.00,0.000,6,0.000,0.037,2706,1688,2874,0,0,0,0,0,0
$GC,3350,-1.86,-58.4,418.4,-11.1,193,3351,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1688,2871,0,0,0,0,0,0
$STATE,3673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3673,begin apogee
$GC,3680,-0.31,0.0,453.2,10.8,201,3733,1.55,0.00,49.15,0.834,6,0.081,0.000,3030,1775,2630,0,0,0,0,0,0
$STATE,3734,end apogee,CONTROL_FINISHED_OK
$STATE,3734,begin climb
$GC,3737,1.56,58.4,454.7,0.0,202,3797,1.77,2.55,50.47,0.818,4,0.030,0.051,3451,360,2388,0,0,0,0,0,0
$GC,3815,1.29,158.7,455.5,-1.1,203,3912,0.35,2.35,87.80,0.823,6,0.113,0.026,3386,1761,1982,0,0,0,0,0,0
$GC,4238,1.15,158.7,405.4,14.5,214,4243,0.17,2.47,0.00,0.000,4,0.111,0.055,3353,359,1972,0,0,0,0,0,0
$GC,4290,0.98,158.7,397.4,13.5,215,4295,0.20,2.40,0.00,0.000,6,0.108,0.028,3316,1782,1969,0,0,0,0,0,0
$GC,4609,0.98,158.7,362.3,11.3,223,4613,0.00,2.53,0.00,0.000,4,0.000,0.055,3316,365,1967,0,0,0,0,0,0
$GC,4707,0.91,158.7,350.3,12.2,225,4711,0.00,2.38,0.00,0.000,6,0.000,0.028,3316,1779,1964,0,0,0,0,0,0
$GC,5025,0.91,158.7,318.6,9.6,233,5029,0.00,2.35,0.00,0.000,4,0.000,0.033,3316,3174,1963,0,0,0,0,0,0
$GC,5096,0.99,173.5,313.4,6.6,234,5112,0.00,2.42,10.85,0.698,6,0.000,0.039,3316,1774,1922,0,0,0,0,0,0
$GC,5427,1.04,173.5,284.7,9.0,246,5432,0.00,2.47,0.00,0.000,4,0.000,0.054,3316,355,1918,0,0,0,0,0,0
$GC,5475,1.00,173.5,278.8,12.2,248,5479,0.00,2.38,0.00,0.000,6,0.000,0.026,3316,1779,1916,0,0,0,0,0,0
$GC,5800,1.06,173.5,246.7,10.0,264,5804,0.00,2.50,0.00,0.000,4,0.000,0.051,3316,355,1916,0,0,0,0,0,0
$GC,5883,1.06,173.5,237.1,11.7,267,5889,0.00,2.35,0.00,0.000,6,0.000,0.025,3316,1772,1914,0,0,0,0,0,0
$GC,6200,1.12,173.5,207.2,8.3,283,6205,0.12,2.47,0.00,0.000,4,0.070,0.051,3352,355,1913,0,0,0,0,0,0
$GC,6376,1.03,173.5,188.6,10.8,294,6381,0.15,2.33,0.00,0.000,6,0.107,0.024,3324,1771,1912,0,0,0,0,0,0
$GC,6643,1.10,184.9,169.4,6.9,315,6660,0.00,2.55,9.68,0.590,4,0.000,0.048,3323,351,1876,0,0,0,0,0,0
$GC,6673,1.10,184.9,166.9,8.3,317,6677,0.00,2.33,0.00,0.000,6,0.000,0.022,3324,1776,1874,0,0,0,0,0,0
$GC,6938,1.19,184.9,142.0,8.9,338,6943,0.15,2.50,0.00,0.000,4,0.060,0.048,3367,351,1874,0,0,0,0,0,0
$GC,7056,1.11,184.9,130.9,8.0,346,7063,0.10,2.33,0.00,0.000,6,0.087,0.021,3344,1766,1872,0,0,0,0,0,0
$GC,7318,1.18,185.3,112.4,7.9,367,7323,0.00,2.30,0.00,0.000,4,0.000,0.025,3344,3168,1872,0,0,0,0,0,0
$GC,7458,1.28,185.3,101.7,7.9,377,7463,0.15,2.38,0.00,0.000,6,0.059,0.031,3387,1759,1872,0,0,0,0,0,0
$GC,7721,1.30,202.2,82.3,6.4,397,7747,0.00,2.42,16.65,0.542,4,0.000,0.043,3387,352,1804,0,0,0,0,0,0
$GC,7758,1.26,207.9,79.6,7.4,399,7770,0.00,2.33,6.35,0.450,6,0.000,0.019,3387,1786,1781,0,0,0,0,0,0
$GC,8033,1.27,218.1,59.4,7.0,421,8049,0.00,2.28,10.55,0.491,4,0.000,0.021,3387,3161,1739,0,0,0,0,0,0
$GC,8066,1.34,229.3,56.8,6.9,423,8084,0.00,2.38,11.23,0.489,6,0.000,0.030,3387,1764,1693,0,0,0,0,0,0
$GC,8350,1.38,229.3,34.1,7.9,445,8354,0.00,2.40,0.00,0.000,4,0.000,0.044,3387,360,1692,0,0,0,0,0,0
$GC,8414,1.33,229.3,27.8,10.3,453,8421,0.00,2.28,0.00,0.000,6,0.000,0.018,3387,1767,1689,0,0,0,0,0,0
$GC,8617,1.36,229.3,9.5,8.8,499,8624,0.00,2.28,0.00,0.000,4,0.000,0.022,3387,3140,1689,0,0,0,0,0,0
$GC,8654,1.41,229.3,5.6,10.2,506,8661,0.00,2.35,0.00,0.000,6,0.000,0.031,3387,1768,1689,0,0,0,0,0,0
$STATE,8683,end climb,SURFACE_DEPTH_REACHED
$STATE,8683,begin surface coast
$FINISH,0.8,0.999201
$STATE,8718,end surface coast,CONTROL_FINISHED_OK
$STATE,8719,begin surface
$SM_CCo,8743,103.43,0.487,0,0,957,410.14
$SM_GC,1.46,0.00,0.00,103.43,0.000,0.000,0.487,427,1664,957,-12.30,-0.88,410.14
$IRIDIUM_FIX,2050.21,-15752.63,131199,181802
$TT8_MAMPS,0.028379
$HUMID,52.48
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,19.407
$10V_AH,10.4,15.698
$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,30.475,90.900,252.725,103.425,0.000,23.857,28.319,142.210,4.500,0.000,45.013,1030.126,5648.845,406.516,1668.859,432.756,0.000,1130.198,0.000,1617.809,0.000,29.252,0.000
$DEVICE_MAMPS,133.458,74.399,834.496,487.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,349.610,335.054,777.419,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,28668,520
$CAP_FILE_SIZE,100492,0
$CFSIZE,260165632,201953280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,190810,232206,2059.288,-15750.241,40,1.0,46,9.8