version: 66.06
glider: 139
mission: 8
dive: 233
start: 8 21 110 3 11 6
data:
$ID,139
$MISSION,8
$DIVE,233
$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,-2155468
$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
$GPS1,025823,2105.720,-15759.722,39,1.1,42,9.8
$_CALLS,2
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-73.7
$GPS2,031050,2105.792,-15759.783,17,1.2,17,9.8
$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,310.3,6140,-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,-64.60,0.000,2,0.000,0.000,427,1720,2761,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.2,-3.4,12,110,12.52,2.35,-2.05,0.000,4,0.136,0.037,2751,3109,2872,0,0,0,0,0,0
$GC,323,-1.61,-58.4,49.7,-13.5,45,327,0.00,2.42,0.00,0.000,6,0.000,0.037,2751,1689,2873,0,0,0,0,0,0
$GC,584,-1.57,-58.4,93.4,-17.1,65,588,0.00,2.35,0.00,0.000,4,0.000,0.021,2751,3113,2874,0,0,0,0,0,0
$GC,617,-1.62,-58.4,99.5,-16.4,67,624,0.00,2.40,0.00,0.000,6,0.000,0.034,2751,1691,2874,0,0,0,0,0,0
$GC,877,-1.62,-58.4,135.6,-11.4,88,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1691,2875,0,0,0,0,0,0
$GC,1130,-1.65,-58.4,163.6,-10.2,108,1134,0.00,2.40,0.00,0.000,4,0.000,0.047,2751,283,2876,0,0,0,0,0,0
$GC,1162,-1.60,-58.4,167.2,-11.2,110,1168,0.00,2.33,0.00,0.000,6,0.000,0.018,2751,1726,2876,0,0,0,0,0,0
$GC,1425,-1.65,-58.4,196.3,-12.4,131,1429,0.00,2.20,0.00,0.000,4,0.000,0.023,2751,3075,2876,0,0,0,0,0,0
$GC,1490,-1.76,-58.4,204.6,-11.5,136,1495,0.17,2.33,0.00,0.000,6,0.054,0.033,2701,1694,2876,0,0,0,0,0,0
$GC,1823,-1.71,-58.4,248.8,-15.0,152,1827,0.12,2.28,0.00,0.000,4,0.110,0.025,2725,3074,2876,0,0,0,0,0,0
$GC,2017,-1.77,-58.4,270.6,-7.9,160,2021,0.00,2.30,0.00,0.000,6,0.000,0.032,2725,1694,2876,0,0,0,0,0,0
$GC,2357,-1.81,-58.4,310.1,-11.6,175,2358,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1693,2875,0,0,0,0,0,0
$GC,2682,-1.85,-58.4,350.1,-13.0,183,2687,0.12,2.33,0.00,0.000,4,0.067,0.028,2688,3079,2874,0,0,0,0,0,0
$GC,2762,-1.85,-58.4,361.1,-13.6,184,2766,0.00,2.35,0.00,0.000,6,0.000,0.036,2688,1695,2874,0,0,0,0,0,0
$GC,3093,-1.85,-58.4,405.5,-12.2,192,3097,0.00,2.33,0.00,0.000,4,0.000,0.029,2688,3071,2872,0,0,0,0,0,0
$GC,3264,-1.88,-58.4,426.0,-10.4,195,3268,0.00,2.35,0.00,0.000,6,0.000,0.038,2688,1693,2871,0,0,0,0,0,0
$STATE,3511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3511,begin apogee
$GC,3518,-0.31,0.0,451.2,10.0,201,3572,1.65,0.00,49.10,0.822,6,0.083,0.000,3031,1772,2630,0,0,0,0,0,0
$STATE,3572,end apogee,CONTROL_FINISHED_OK
$STATE,3572,begin climb
$GC,3575,1.56,58.4,452.3,0.0,202,3633,1.77,0.00,50.62,0.808,6,0.030,0.000,3450,1772,2390,0,0,0,0,0,0
$GC,3959,1.30,98.7,439.8,4.3,212,4002,0.30,2.55,34.72,0.810,4,0.106,0.053,3388,355,2226,0,0,0,0,0,0
$GC,4166,1.03,98.7,421.6,10.7,216,4171,0.32,2.35,0.00,0.000,6,0.104,0.027,3326,1755,2219,0,0,0,0,0,0
$GC,4513,1.07,131.0,403.3,5.0,225,4549,0.00,2.47,28.58,0.802,4,0.000,0.032,3326,3184,2094,0,0,0,0,0,0
$GC,4555,1.10,158.8,401.1,5.4,226,4588,0.00,2.45,26.27,0.785,6,0.000,0.038,3326,1774,1981,0,0,0,0,0,0
$GC,4926,1.10,158.8,362.4,11.8,235,4931,0.00,2.47,0.00,0.000,4,0.000,0.055,3326,359,1974,0,0,0,0,0,0
$GC,4950,1.02,158.8,359.0,12.9,235,4954,0.00,2.38,0.00,0.000,6,0.000,0.028,3326,1773,1971,0,0,0,0,0,0
$GC,5290,1.02,158.8,327.3,8.6,244,5294,0.00,2.50,0.00,0.000,4,0.000,0.054,3325,350,1970,0,0,0,0,0,0
$GC,5309,0.97,158.8,325.0,11.7,244,5314,0.00,2.40,0.00,0.000,6,0.000,0.028,3326,1784,1968,0,0,0,0,0,0
$GC,5639,0.97,158.8,288.5,10.7,255,5643,0.00,2.50,0.00,0.000,4,0.000,0.053,3325,352,1967,0,0,0,0,0,0
$GC,5729,0.90,158.8,279.2,9.8,259,5734,0.15,2.38,0.00,0.000,6,0.116,0.027,3298,1779,1964,0,0,0,0,0,0
$GC,6064,1.00,163.2,257.6,7.5,275,6065,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,1784,1964,0,0,0,0,0,0
$GC,6369,1.11,174.6,234.3,6.9,290,6387,0.20,2.53,11.88,0.660,4,0.055,0.050,3352,358,1918,0,0,0,0,0,0
$GC,6398,1.05,174.6,231.8,9.0,290,6403,0.12,2.38,0.00,0.000,6,0.113,0.025,3329,1787,1916,0,0,0,0,0,0
$GC,6721,1.10,174.6,201.7,9.7,306,6725,0.00,2.50,0.00,0.000,4,0.000,0.050,3329,354,1915,0,0,0,0,0,0
$GC,6742,1.10,174.6,199.4,10.8,307,6748,0.00,2.33,0.00,0.000,6,0.000,0.024,3329,1780,1913,0,0,0,0,0,0
$GC,7002,1.16,174.6,175.5,8.4,328,7007,0.10,2.47,0.00,0.000,4,0.079,0.048,3360,357,1913,0,0,0,0,0,0
$GC,7031,1.03,174.6,172.3,11.0,330,7036,0.17,2.33,0.00,0.000,6,0.103,0.023,3326,1779,1912,0,0,0,0,0,0
$GC,7292,1.10,179.7,151.1,7.4,350,7307,0.00,2.47,5.30,0.469,4,0.000,0.046,3326,351,1896,0,0,0,0,0,0
$GC,7482,1.10,179.7,131.3,10.1,363,7488,0.00,2.30,0.00,0.000,6,0.000,0.021,3326,1779,1894,0,0,0,0,0,0
$GC,7743,1.25,210.5,114.3,5.1,384,7777,0.20,2.50,28.27,0.586,4,0.051,0.045,3382,356,1771,0,0,0,0,0,0
$GC,7871,1.16,210.5,100.9,12.9,393,7876,0.15,2.30,0.00,0.000,6,0.104,0.020,3353,1783,1766,0,0,0,0,0,0
$GC,8133,1.27,231.1,80.5,6.0,413,8161,0.10,2.55,18.58,0.540,4,0.074,0.045,3386,352,1686,0,0,0,0,0,0
$GC,8410,1.21,231.1,54.7,9.8,433,8415,0.12,2.30,0.00,0.000,6,0.107,0.019,3362,1779,1682,0,0,0,0,0,0
$GC,8678,1.29,231.1,30.2,9.5,454,8682,0.00,2.42,0.00,0.000,4,0.000,0.041,3362,348,1681,0,0,0,0,0,0
$GC,8736,1.29,231.1,24.8,8.7,466,8743,0.00,2.30,0.00,0.000,6,0.000,0.018,3362,1776,1681,0,0,0,0,0,0
$GC,8940,1.41,231.1,7.1,9.7,512,8947,0.20,0.00,0.00,0.000,6,0.048,0.000,3420,1782,1681,0,0,0,0,0,0
$STATE,8981,end climb,SURFACE_DEPTH_REACHED
$STATE,8981,begin surface coast
$FINISH,0.8,1.023102
$STATE,9013,end surface coast,CONTROL_FINISHED_OK
$STATE,9013,begin surface
$SM_CCo,9037,97.60,0.485,0,0,957,410.14
$SM_GC,1.51,0.00,0.00,97.60,0.000,0.000,0.485,426,1659,957,-12.30,-1.02,410.14
$IRIDIUM_FIX,2059.45,-15537.38,151199,030304
$TT8_MAMPS,0.028379
$HUMID,52.71
$INTERNAL_PRESSURE,9.30354
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.5,20.332
$10V_AH,10.3,16.513
$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,31.350,91.050,253.325,97.600,0.000,58.120,114.899,391.727,4.500,0.000,17.596,1041.704,5952.294,426.118,1654.826,805.471,0.000,1140.652,0.000,1634.411,0.000,29.263,0.000
$DEVICE_MAMPS,135.759,89.739,822.224,484.744,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,355.299,337.146,780.251,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355804
$DATA_FILE_SIZE,28704,528
$CAP_FILE_SIZE,105136,0
$CFSIZE,260165632,201367552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210810,054414,2106.748,-15800.445,15,2.0,15,9.8