version: 66.06
glider: 139
mission: 8
dive: 231
start: 8 20 110 21 38 37
data:
$ID,139
$MISSION,8
$DIVE,231
$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,-2155438.8
$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,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
$GPS1,213300,2103.810,-15757.277,60,0.9,60,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-72.4
$GPS2,213820,2103.802,-15757.306,16,1.0,16,9.8
$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,305.8,11748,-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,-58.4,0.0,0.0,0,76,0.00,0.00,-59.05,0.000,2,0.000,0.000,427,1666,2647,0,0,0,0,0,0
$GC,80,-1.56,-58.4,3.7,-4.4,11,104,12.50,2.45,-4.20,0.000,4,0.135,0.038,2752,3102,2870,0,0,0,0,0,0
$GC,267,-1.56,-58.4,42.4,-16.3,41,273,0.00,2.42,0.00,0.000,6,0.000,0.035,2753,1689,2871,0,0,0,0,0,0
$GC,525,-1.52,-58.4,85.4,-15.0,62,530,0.00,2.35,0.00,0.000,4,0.000,0.022,2753,3110,2872,0,0,0,0,0,0
$GC,578,-1.56,-58.4,92.7,-13.6,66,582,0.00,2.40,0.00,0.000,6,0.000,0.031,2753,1685,2872,0,0,0,0,0,0
$GC,845,-1.56,-58.4,125.8,-12.3,87,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1684,2873,0,0,0,0,0,0
$GC,1097,-1.56,-58.4,157.9,-13.2,107,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1684,2874,0,0,0,0,0,0
$GC,1350,-1.61,-58.4,185.4,-9.9,127,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,1684,2874,0,0,0,0,0,0
$GC,1611,-1.66,-58.4,214.1,-11.3,144,1612,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1684,2874,0,0,0,0,0,0
$GC,1922,-1.73,-58.4,249.6,-11.2,159,1927,0.12,2.38,0.00,0.000,4,0.067,0.025,2713,3105,2874,0,0,0,0,0,0
$GC,2002,-1.78,-58.4,259.5,-11.9,162,2007,0.00,2.38,0.00,0.000,6,0.000,0.034,2713,1696,2874,0,0,0,0,0,0
$GC,2322,-1.78,-58.4,296.4,-10.8,178,2326,0.00,2.33,0.00,0.000,4,0.000,0.025,2713,3108,2874,0,0,0,0,0,0
$GC,2368,-1.84,-58.4,301.5,-10.6,180,2372,0.00,2.40,0.00,0.000,6,0.000,0.035,2713,1694,2874,0,0,0,0,0,0
$GC,2691,-1.84,-58.4,335.7,-10.6,188,2695,0.00,2.35,0.00,0.000,4,0.000,0.028,2713,3111,2873,0,0,0,0,0,0
$GC,2756,-1.91,-58.4,342.4,-10.0,189,2761,0.12,2.42,0.00,0.000,6,0.068,0.036,2676,1688,2873,0,0,0,0,0,0
$GC,3109,-1.86,-58.4,385.1,-12.4,198,3113,0.00,2.38,0.00,0.000,4,0.000,0.030,2677,3103,2871,0,0,0,0,0,0
$GC,3188,-1.86,-58.4,394.4,-11.2,199,3192,0.00,2.40,0.00,0.000,6,0.000,0.038,2676,1697,2871,0,0,0,0,0,0
$GC,3520,-1.82,-58.4,431.9,-11.6,207,3525,0.12,2.38,0.00,0.000,4,0.109,0.032,2700,3102,2868,0,0,0,0,0,0
$STATE,3685,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3685,begin apogee
$GC,3694,-0.31,0.0,450.5,11.3,210,3748,1.55,0.00,48.60,0.829,6,0.084,0.000,3026,1765,2630,0,0,0,0,0,0
$STATE,3749,end apogee,CONTROL_FINISHED_OK
$STATE,3749,begin climb
$GC,3752,1.56,58.4,452.3,0.0,212,3807,1.80,0.00,50.80,0.814,6,0.030,0.000,3450,1765,2391,0,0,0,0,0,0
$GC,4115,1.33,116.1,446.8,2.7,221,4172,0.28,2.58,50.28,0.824,4,0.108,0.056,3394,364,2156,0,0,0,0,0,0
$GC,4236,1.04,116.1,436.2,12.7,223,4241,0.35,2.38,0.00,0.000,6,0.100,0.028,3327,1782,2149,0,0,0,0,0,0
$GC,4573,1.01,116.1,404.2,8.8,232,4577,0.00,2.38,0.00,0.000,4,0.000,0.035,3327,3181,2146,0,0,0,0,0,0
$GC,4588,1.01,116.3,403.1,7.9,232,4592,0.00,2.47,0.00,0.000,6,0.000,0.039,3327,1761,2145,0,0,0,0,0,0
$GC,4938,1.03,129.5,380.9,6.7,241,4954,0.00,2.47,11.00,0.732,4,0.000,0.035,3327,3179,2101,0,0,0,0,0,0
$GC,5045,1.03,129.5,372.0,8.6,243,5049,0.00,2.45,0.00,0.000,6,0.000,0.039,3327,1770,2100,0,0,0,0,0,0
$GC,5358,1.03,129.5,346.0,8.0,251,5363,0.00,2.47,0.00,0.000,4,0.000,0.054,3326,351,2097,0,0,0,0,0,0
$GC,5420,0.93,129.5,340.2,10.6,252,5426,0.12,2.38,0.00,0.000,6,0.119,0.028,3305,1768,2094,0,0,0,0,0,0
$GC,5772,1.01,160.8,317.8,5.1,261,5808,0.00,2.55,28.38,0.769,4,0.000,0.054,3304,355,1973,0,0,0,0,0,0
$GC,5882,1.01,160.8,309.2,9.2,263,5887,0.00,2.40,0.00,0.000,6,0.000,0.027,3304,1778,1969,0,0,0,0,0,0
$GC,6212,1.09,170.7,285.5,7.0,276,6224,0.15,0.00,9.35,0.667,6,0.065,0.000,3345,1784,1933,0,0,0,0,0,0
$GC,6520,1.09,170.7,251.3,11.7,291,6524,0.00,2.47,0.00,0.000,4,0.000,0.051,3345,358,1930,0,0,0,0,0,0
$GC,6600,1.00,170.7,241.2,12.3,294,6605,0.15,2.35,0.00,0.000,6,0.108,0.025,3317,1772,1927,0,0,0,0,0,0
$GC,6919,1.09,188.9,218.5,6.3,309,6941,0.00,2.53,17.05,0.670,4,0.000,0.049,3317,349,1857,0,0,0,0,0,0
$GC,6993,1.09,188.9,212.5,8.8,312,6997,0.00,2.38,0.00,0.000,6,0.000,0.024,3317,1778,1854,0,0,0,0,0,0
$GC,7320,1.16,188.9,186.9,8.2,333,7325,0.15,2.50,0.00,0.000,4,0.061,0.050,3359,350,1853,0,0,0,0,0,0
$GC,7440,1.05,188.9,172.8,12.7,341,7446,0.15,2.33,0.00,0.000,6,0.106,0.022,3331,1772,1852,0,0,0,0,0,0
$GC,7700,1.10,188.9,146.4,10.0,362,7704,0.00,2.45,0.00,0.000,4,0.000,0.048,3331,357,1851,0,0,0,0,0,0
$GC,7734,1.06,188.9,142.6,10.6,364,7740,0.00,2.35,0.00,0.000,6,0.000,0.021,3330,1781,1851,0,0,0,0,0,0
$GC,7994,1.14,188.9,118.3,9.6,385,7998,0.00,2.47,0.00,0.000,4,0.000,0.047,3331,353,1851,0,0,0,0,0,0
$GC,8026,1.14,188.9,114.9,9.5,387,8032,0.00,2.30,0.00,0.000,6,0.000,0.021,3331,1775,1851,0,0,0,0,0,0
$GC,8288,1.24,200.6,98.0,6.8,408,8304,0.17,2.53,10.57,0.530,4,0.054,0.044,3381,355,1812,0,0,0,0,0,0
$GC,8394,1.15,200.6,88.0,9.8,415,8399,0.15,2.30,0.00,0.000,6,0.103,0.020,3352,1771,1809,0,0,0,0,0,0
$GC,8656,1.25,212.7,69.3,6.8,435,8674,0.00,2.50,11.85,0.505,4,0.000,0.045,3352,363,1762,0,0,0,0,0,0
$GC,8932,1.26,223.0,47.1,7.0,455,8950,0.10,2.28,10.00,0.478,6,0.075,0.019,3385,1795,1721,0,0,0,0,0,0
$GC,9209,1.30,223.0,23.7,9.0,486,9215,0.00,2.50,0.00,0.000,4,0.000,0.044,3385,355,1720,0,0,0,0,0,0
$GC,9282,1.25,223.0,15.4,11.5,502,9289,0.00,2.28,0.00,0.000,6,0.000,0.018,3385,1761,1718,0,0,0,0,0,0
$STATE,9405,end climb,SURFACE_DEPTH_REACHED
$STATE,9406,begin surface coast
$FINISH,0.9,1.023020
$STATE,9445,end surface coast,CONTROL_FINISHED_OK
$STATE,9445,begin surface
$SM_CCo,9468,109.82,0.490,0,0,957,410.14
$SM_GC,1.52,0.00,0.00,109.82,0.000,0.000,0.490,429,1656,957,-12.29,-1.10,410.14
$IRIDIUM_FIX,2054.83,-15756.91,141199,191958
$TT8_MAMPS,0.029146
$HUMID,52.44
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,20.138
$10V_AH,10.4,16.366
$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,30.675,96.525,247.875,109.825,0.000,23.666,37.677,133.424,4.500,0.000,16.998,1077.468,6273.810,427.263,1682.630,435.925,0.000,1151.852,0.000,1658.680,0.000,29.261,0.000
$DEVICE_MAMPS,134.992,69.030,829.127,490.113,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,363.167,340.216,785.246,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,28733,539
$CAP_FILE_SIZE,102723,0
$CFSIZE,260165632,201465856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210810,001937,2104.728,-15758.460,42,1.2,42,9.8