version: 66.06
glider: 139
mission: 8
dive: 318
start: 8 30 110 21 45 25
data:
$ID,139
$MISSION,8
$DIVE,318
$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,-2157501.2
$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,1700
$C_ROLL_CLIMB,1740
$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
$GPS1,213836,2101.729,-15754.851,31,1.0,31,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-72.6
$GPS2,214508,2101.585,-15754.916,17,1.6,17,9.8
$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,305.5,17570,-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,-59.12,0.000,2,0.000,0.000,427,1675,2603,0,0,0,0,0,0
$GC,80,-1.56,-58.4,3.0,-3.0,11,104,12.45,2.40,-5.43,0.000,4,0.133,0.032,2753,3122,2869,0,0,0,0,0,0
$GC,299,-1.56,-58.4,41.5,-15.9,49,304,0.00,2.42,0.00,0.000,6,0.000,0.032,2752,1690,2871,0,0,0,0,0,0
$GC,564,-1.48,-58.4,89.4,-17.4,70,569,0.12,2.38,0.00,0.000,4,0.114,0.021,2775,3118,2872,0,0,0,0,0,0
$GC,612,-1.56,-58.4,97.4,-15.1,73,617,0.00,2.40,0.00,0.000,6,0.000,0.033,2774,1700,2872,0,0,0,0,0,0
$GC,873,-1.60,-58.4,134.1,-12.2,94,877,0.00,2.45,0.00,0.000,4,0.000,0.045,2774,287,2873,0,0,0,0,0,0
$GC,917,-1.56,-58.4,141.4,-17.3,97,921,0.00,2.28,0.00,0.000,6,0.000,0.018,2775,1738,2873,0,0,0,0,0,0
$GC,1180,-1.63,-58.4,169.9,-9.1,117,1182,0.15,0.00,0.00,0.000,6,0.057,0.000,2730,1739,2874,0,0,0,0,0,0
$GC,1430,-1.63,-58.4,200.0,-11.6,137,1434,0.00,2.17,0.00,0.000,4,0.000,0.023,2730,3084,2875,0,0,0,0,0,0
$GC,1564,-1.71,-58.4,214.6,-10.1,143,1570,0.00,2.33,0.00,0.000,6,0.000,0.031,2730,1698,2875,0,0,0,0,0,0
$GC,1881,-1.71,-58.4,246.4,-9.8,159,1885,0.00,2.25,0.00,0.000,4,0.000,0.024,2730,3078,2876,0,0,0,0,0,0
$GC,1972,-1.79,-58.4,256.2,-10.1,163,1976,0.00,2.33,0.00,0.000,6,0.000,0.032,2730,1696,2875,0,0,0,0,0,0
$GC,2304,-1.83,-58.4,290.9,-11.3,179,2309,0.12,2.42,0.00,0.000,4,0.065,0.048,2690,297,2875,0,0,0,0,0,0
$GC,2367,-1.72,-58.4,300.5,-15.7,181,2373,0.17,2.25,0.00,0.000,6,0.098,0.021,2725,1703,2876,0,0,0,0,0,0
$GC,2698,-1.76,-58.4,335.9,-9.8,190,2702,0.00,2.28,0.00,0.000,4,0.000,0.028,2725,3078,2874,0,0,0,0,0,0
$GC,2727,-1.84,-58.4,338.6,-9.1,190,2732,0.12,2.35,0.00,0.000,6,0.067,0.035,2686,1693,2874,0,0,0,0,0,0
$GC,3065,-1.80,-58.4,379.7,-12.2,199,3070,0.10,2.33,0.00,0.000,4,0.116,0.030,2705,3074,2872,0,0,0,0,0,0
$GC,3191,-1.85,-58.4,392.4,-9.3,201,3195,0.00,2.35,0.00,0.000,6,0.000,0.038,2705,1699,2871,0,0,0,0,0,0
$GC,3527,-1.85,-58.4,427.7,-10.9,210,3531,0.00,2.30,0.00,0.000,4,0.000,0.031,2706,3078,2869,0,0,0,0,0,0
$GC,3654,-1.92,-58.4,442.6,-10.9,212,3659,0.10,2.38,0.00,0.000,6,0.080,0.041,2676,1698,2868,0,0,0,0,0,0
$STATE,3738,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3739,begin apogee
$GC,3745,-0.31,0.0,453.1,11.8,214,3798,1.70,0.00,48.53,0.828,6,0.085,0.000,3030,1698,2630,0,0,0,0,0,0
$STATE,3799,end apogee,CONTROL_FINISHED_OK
$STATE,3799,begin climb
$GC,3802,1.56,58.4,454.4,0.0,215,3859,1.75,2.45,50.17,0.811,4,0.030,0.032,3445,3109,2391,0,0,0,0,0,0
$GC,3869,1.41,155.4,454.0,-0.8,216,3964,0.20,2.38,85.03,0.813,6,0.115,0.038,3409,1738,1995,0,0,0,0,0,0
$GC,4297,1.22,155.4,402.2,13.2,227,4302,0.22,2.50,0.00,0.000,4,0.107,0.054,3366,335,1986,0,0,0,0,0,0
$GC,4308,1.02,155.4,400.4,13.5,227,4313,0.22,2.30,0.00,0.000,6,0.107,0.027,3324,1725,1984,0,0,0,0,0,0
$GC,4622,1.02,155.4,366.5,10.0,235,4626,0.00,2.35,0.00,0.000,4,0.000,0.032,3323,3125,1981,0,0,0,0,0,0
$GC,4642,1.02,155.4,364.5,10.3,235,4646,0.00,2.40,0.00,0.000,6,0.000,0.041,3323,1732,1981,0,0,0,0,0,0
$GC,4987,1.02,155.4,331.8,9.8,244,4991,0.00,2.45,0.00,0.000,4,0.000,0.056,3323,334,1979,0,0,0,0,0,0
$GC,5030,0.93,155.4,326.6,13.1,245,5034,0.00,2.35,0.00,0.000,6,0.000,0.028,3323,1738,1976,0,0,0,0,0,0
$GC,5361,0.93,155.4,290.1,11.6,255,5362,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,1738,1975,0,0,0,0,0,0
$GC,5668,0.93,155.4,258.3,8.8,270,5672,0.00,2.47,0.00,0.000,4,0.000,0.052,3323,331,1973,0,0,0,0,0,0
$GC,5696,0.86,155.4,255.7,9.0,271,5701,0.17,2.35,0.00,0.000,6,0.110,0.026,3290,1745,1972,0,0,0,0,0,0
$GC,6021,0.99,172.7,236.1,6.3,287,6039,0.12,2.53,11.82,0.659,4,0.070,0.052,3326,334,1926,0,0,0,0,0,0
$GC,6181,0.94,172.7,219.6,10.1,293,6186,0.12,2.35,0.00,0.000,6,0.112,0.025,3304,1746,1922,0,0,0,0,0,0
$GC,6501,1.03,172.7,193.8,9.6,310,6506,0.00,2.47,0.00,0.000,4,0.000,0.049,3303,333,1921,0,0,0,0,0,0
$GC,6521,1.07,172.7,191.4,10.9,311,6528,0.12,2.33,0.00,0.000,6,0.068,0.024,3340,1747,1920,0,0,0,0,0,0
$GC,6782,1.11,205.5,169.9,4.9,332,6816,0.00,2.38,29.40,0.644,4,0.000,0.028,3340,3136,1792,0,0,0,0,0,0
$GC,6889,1.24,228.7,164.7,5.8,339,6918,0.12,2.42,21.65,0.623,6,0.067,0.035,3377,1729,1696,0,0,0,0,0,0
$GC,7169,1.24,228.7,125.9,15.4,361,7174,0.00,2.42,0.00,0.000,4,0.000,0.048,3376,335,1692,0,0,0,0,0,0
$GC,7198,1.14,228.7,121.2,16.0,363,7203,0.15,2.30,0.00,0.000,6,0.104,0.021,3348,1751,1690,0,0,0,0,0,0
$GC,7460,1.25,228.7,90.4,9.7,383,7465,0.10,2.47,0.00,0.000,4,0.075,0.046,3381,335,1690,0,0,0,0,0,0
$GC,7591,1.19,228.7,73.6,13.3,392,7598,0.08,2.30,0.00,0.000,6,0.086,0.020,3362,1746,1688,0,0,0,0,0,0
$GC,7853,1.26,228.7,46.1,10.5,413,7857,0.00,2.42,0.00,0.000,4,0.000,0.044,3362,331,1688,0,0,0,0,0,0
$GC,7868,1.26,228.7,44.0,11.1,414,7872,0.00,2.25,0.00,0.000,6,0.000,0.019,3362,1748,1688,0,0,0,0,0,0
$GC,8131,1.35,228.7,20.5,8.2,450,8138,0.12,2.25,0.00,0.000,4,0.064,0.023,3405,3110,1688,0,0,0,0,0,0
$GC,8189,1.39,228.7,14.8,10.6,462,8196,0.00,2.35,0.00,0.000,6,0.000,0.032,3404,1735,1688,0,0,0,0,0,0
$STATE,8312,end climb,SURFACE_DEPTH_REACHED
$STATE,8312,begin surface coast
$FINISH,0.9,1.009994
$STATE,8347,end surface coast,CONTROL_FINISHED_OK
$STATE,8347,begin surface
$SM_CCo,8371,98.90,0.487,0,0,957,410.14
$SM_GC,1.74,0.00,0.00,98.90,0.000,0.000,0.487,425,1730,957,-12.31,0.85,410.14
$IRIDIUM_FIX,2054.83,-15751.76,241199,181833
$TT8_MAMPS,0.029146
$HUMID,54.60
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,27.667
$10V_AH,10.4,22.851
$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,31.300,99.300,246.600,98.900,0.000,29.258,30.292,203.815,4.500,0.000,17.179,990.500,5417.259,398.728,1540.392,512.287,0.000,1077.843,0.000,1519.991,0.000,29.272,0.000
$DEVICE_MAMPS,133.458,55.991,827.593,487.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,334.956,320.953,752.361,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355780
$DATA_FILE_SIZE,28604,498
$CAP_FILE_SIZE,100027,0
$CFSIZE,260165632,196919296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310810,000754,2101.978,-15755.952,41,1.5,41,9.8