version: 66.06
glider: 139
mission: 8
dive: 232
start: 8 21 110 0 28 47
data:
$ID,139
$MISSION,8
$DIVE,232
$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,-2155449.8
$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
$GPS1,001937,2104.728,-15758.460,42,1.2,42,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-71.8
$GPS2,002831,2104.779,-15758.558,10,1.9,10,9.8
$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,307.6,8946,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.56,-58.4,0.0,0.0,0,84,0.00,0.00,-64.70,0.000,2,0.000,0.000,428,1656,2753,0,0,0,0,0,0
$GC,87,-1.56,-58.4,3.0,-2.9,12,112,12.55,2.45,-2.20,0.000,4,0.137,0.035,2753,3107,2871,0,0,0,0,0,0
$GC,205,-1.56,-58.4,30.8,-17.7,37,210,0.00,2.42,0.00,0.000,6,0.000,0.035,2753,1686,2872,0,0,0,0,0,0
$GC,466,-1.52,-58.4,77.8,-17.0,57,470,0.00,2.40,0.00,0.000,4,0.000,0.047,2753,287,2873,0,0,0,0,0,0
$GC,498,-1.41,-58.4,85.0,-21.0,59,504,0.20,2.30,0.00,0.000,6,0.100,0.018,2792,1732,2874,0,0,0,0,0,0
$GC,759,-1.50,-58.4,119.0,-11.5,80,764,0.00,2.47,0.00,0.000,4,0.000,0.045,2792,290,2874,0,0,0,0,0,0
$GC,797,-1.53,-58.4,124.5,-14.3,82,804,0.10,2.25,0.00,0.000,6,0.035,0.018,2753,1707,2875,0,0,0,0,0,0
$GC,1060,-1.58,-58.4,158.5,-12.6,103,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1711,2875,0,0,0,0,0,0
$GC,1310,-1.62,-58.4,190.1,-12.4,123,1314,0.00,2.20,0.00,0.000,4,0.000,0.023,2754,3069,2875,0,0,0,0,0,0
$GC,1371,-1.73,-58.4,197.0,-10.4,127,1377,0.15,2.33,0.00,0.000,6,0.058,0.032,2707,1686,2876,0,0,0,0,0,0
$GC,1634,-1.70,-58.4,229.8,-12.9,141,1639,0.12,2.30,0.00,0.000,4,0.107,0.024,2732,3069,2876,0,0,0,0,0,0
$GC,1721,-1.78,-58.4,241.4,-12.9,144,1727,0.00,2.35,0.00,0.000,6,0.000,0.032,2731,1688,2875,0,0,0,0,0,0
$GC,2037,-1.78,-58.4,281.6,-12.6,160,2041,0.00,2.25,0.00,0.000,4,0.000,0.025,2731,3064,2875,0,0,0,0,0,0
$GC,2087,-1.87,-58.4,288.3,-12.2,162,2092,0.17,2.33,0.00,0.000,6,0.054,0.034,2681,1688,2875,0,0,0,0,0,0
$GC,2427,-1.81,-58.4,333.6,-12.2,173,2432,0.12,2.28,0.00,0.000,4,0.110,0.026,2704,3062,2874,0,0,0,0,0,0
$GC,2567,-1.85,-58.4,349.0,-11.3,176,2571,0.00,2.33,0.00,0.000,6,0.000,0.035,2705,1686,2874,0,0,0,0,0,0
$GC,2889,-1.85,-58.4,385.6,-11.3,184,2893,0.00,2.30,0.00,0.000,4,0.000,0.028,2704,3065,2872,0,0,0,0,0,0
$GC,2918,-1.89,-58.4,388.6,-10.2,184,2923,0.00,2.35,0.00,0.000,6,0.000,0.038,2705,1692,2872,0,0,0,0,0,0
$GC,3260,-1.89,-58.4,426.8,-11.0,193,3264,0.00,2.30,0.00,0.000,4,0.000,0.030,2705,3060,2870,0,0,0,0,0,0
$GC,3316,-1.96,-58.4,433.0,-10.5,194,3321,0.15,2.35,0.00,0.000,6,0.064,0.040,2663,1694,2869,0,0,0,0,0,0
$STATE,3465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3465,begin apogee
$GC,3472,-0.31,0.0,450.6,11.8,198,3525,1.77,0.00,49.03,0.824,6,0.087,0.000,3030,1694,2630,0,0,0,0,0,0
$STATE,3526,end apogee,CONTROL_FINISHED_OK
$STATE,3526,begin climb
$GC,3529,1.56,58.4,451.9,0.0,199,3584,1.77,0.00,50.33,0.808,6,0.029,0.000,3450,1693,2391,0,0,0,0,0,0
$GC,3899,1.33,120.6,443.4,2.3,208,3960,0.28,2.45,53.95,0.819,4,0.108,0.055,3393,362,2137,0,0,0,0,0,0
$GC,4005,1.03,120.6,436.4,10.8,210,4010,0.35,2.33,0.00,0.000,6,0.102,0.027,3326,1734,2132,0,0,0,0,0,0
$GC,4357,1.03,121.1,408.1,7.8,219,4361,0.00,2.42,0.00,0.000,4,0.000,0.054,3326,362,2127,0,0,0,0,0,0
$GC,4431,0.92,121.1,400.8,9.2,220,4436,0.12,2.38,0.00,0.000,6,0.120,0.028,3303,1766,2124,0,0,0,0,0,0
$GC,4774,0.98,143.6,379.0,5.9,229,4799,0.00,2.47,19.42,0.779,4,0.000,0.035,3304,3186,2043,0,0,0,0,0,0
$GC,4839,1.06,152.8,374.8,7.1,230,4855,0.12,2.45,9.88,0.709,6,0.071,0.039,3337,1769,2006,0,0,0,0,0,0
$GC,5188,1.06,152.8,336.7,11.6,239,5189,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,1769,2002,0,0,0,0,0,0
$GC,5512,1.06,152.8,305.8,9.3,247,5516,0.00,2.47,0.00,0.000,4,0.000,0.054,3337,349,1999,0,0,0,0,0,0
$GC,5596,0.94,152.8,296.4,11.4,248,5602,0.17,2.40,0.00,0.000,6,0.107,0.027,3304,1786,1996,0,0,0,0,0,0
$GC,5913,1.03,169.9,272.3,6.4,264,5936,0.00,2.60,14.70,0.705,4,0.000,0.053,3304,358,1937,0,0,0,0,0,0
$GC,5996,1.03,169.9,265.2,9.1,267,6001,0.00,2.35,0.00,0.000,6,0.000,0.026,3304,1765,1933,0,0,0,0,0,0
$GC,6313,1.15,196.3,243.2,5.5,282,6344,0.20,2.45,24.52,0.706,4,0.054,0.031,3357,3185,1829,0,0,0,0,0,0
$GC,6354,1.15,196.3,240.1,7.9,283,6359,0.00,2.47,0.00,0.000,6,0.000,0.036,3358,1767,1828,0,0,0,0,0,0
$GC,6671,1.15,196.3,202.9,13.6,299,6675,0.00,2.45,0.00,0.000,4,0.000,0.050,3357,359,1825,0,0,0,0,0,0
$GC,6686,1.09,196.3,200.6,13.2,299,6691,0.00,2.35,0.00,0.000,6,0.000,0.024,3358,1781,1824,0,0,0,0,0,0
$GC,7011,1.09,196.3,160.6,12.6,325,7016,0.00,2.50,0.00,0.000,4,0.000,0.049,3357,351,1823,0,0,0,0,0,0
$GC,7030,1.02,196.3,157.4,13.4,326,7037,0.15,2.35,0.00,0.000,6,0.084,0.023,3324,1771,1822,0,0,0,0,0,0
$GC,7292,1.11,196.3,130.9,11.5,347,7296,0.00,2.45,0.00,0.000,4,0.000,0.048,3324,348,1822,0,0,0,0,0,0
$GC,7560,1.16,196.3,104.0,10.0,366,7567,0.08,2.35,0.00,0.000,6,0.041,0.021,3357,1779,1819,0,0,0,0,0,0
$GC,7822,1.21,196.3,82.8,8.5,387,7826,0.00,2.25,0.00,0.000,4,0.000,0.024,3357,3167,1819,0,0,0,0,0,0
$GC,7833,1.29,200.2,81.7,7.5,388,7838,0.10,2.35,0.00,0.000,6,0.075,0.031,3390,1762,1819,0,0,0,0,0,0
$GC,8103,1.31,218.9,60.1,6.2,409,8125,0.00,0.00,19.70,0.532,6,0.000,0.000,3390,1761,1736,0,0,0,0,0,0
$GC,8377,1.36,237.0,44.5,6.3,431,8399,0.00,2.45,16.60,0.504,4,0.000,0.045,3390,359,1663,0,0,0,0,0,0
$GC,8543,1.30,237.0,27.3,12.9,445,8550,0.00,2.30,0.00,0.000,6,0.000,0.018,3390,1773,1658,0,0,0,0,0,0
$GC,8746,1.30,237.0,5.0,12.7,491,8753,0.00,2.45,0.00,0.000,4,0.000,0.043,3390,362,1658,0,0,0,0,0,0
$STATE,8758,end climb,SURFACE_DEPTH_REACHED
$STATE,8758,begin surface coast
$FINISH,1.6,1.023018
$STATE,8768,end surface coast,CONTROL_FINISHED_OK
$STATE,8768,begin surface
$SM_CCo,8793,101.68,0.491,0,0,957,410.14
$SM_GC,1.51,0.00,0.00,101.68,0.000,0.000,0.491,428,1720,957,-12.29,0.74,410.14
$IRIDIUM_FIX,2057.14,-15756.04,141199,212143
$TT8_MAMPS,0.029146
$HUMID,53.62
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,20.233
$10V_AH,10.3,16.437
$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,31.450,99.625,258.125,101.675,0.000,24.419,37.951,356.718,4.500,0.000,10.318,987.186,5852.184,422.707,1500.274,666.007,0.000,1107.630,0.000,1495.053,0.000,29.271,0.000
$DEVICE_MAMPS,136.526,55.224,823.758,490.880,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,332.562,315.722,719.621,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355752
$DATA_FILE_SIZE,28690,495
$CAP_FILE_SIZE,102423,0
$CFSIZE,260165632,201416704
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210810,025823,2105.720,-15759.722,39,1.1,42,9.8