version: 66.06
glider: 139
mission: 8
dive: 321
start: 8 31 110 5 35 40
data:
$ID,139
$MISSION,8
$DIVE,321
$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,-2157583.2
$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
$GPS1,052958,2102.730,-15758.744,10,6.8,29,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-71.1
$GPS2,053524,2102.704,-15758.762,27,1.1,45,9.8
$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,321.5,11886,-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,-64.53,0.000,2,0.000,0.000,431,1719,2752,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.4,-3.2,12,110,12.48,2.35,-2.17,0.000,4,0.134,0.036,2755,3109,2871,0,0,0,0,0,0
$GC,336,-1.62,-58.4,51.4,-14.1,48,341,0.00,2.40,0.00,0.000,6,0.000,0.035,2755,1691,2873,0,0,0,0,0,0
$GC,596,-1.62,-58.4,90.6,-14.4,68,600,0.00,2.33,0.00,0.000,4,0.000,0.021,2755,3115,2875,0,0,0,0,0,0
$GC,650,-1.69,-58.4,98.9,-14.9,72,655,0.10,2.38,0.00,0.000,6,0.075,0.031,2722,1699,2874,0,0,0,0,0,0
$GC,912,-1.64,-58.4,136.9,-12.3,92,917,0.10,2.40,0.00,0.000,4,0.116,0.045,2740,296,2875,0,0,0,0,0,0
$GC,981,-1.57,-58.4,146.1,-12.7,97,986,0.00,2.30,0.00,0.000,6,0.000,0.018,2741,1739,2876,0,0,0,0,0,0
$GC,1245,-1.57,-58.4,181.2,-14.2,117,1246,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1740,2876,0,0,0,0,0,0
$GC,1502,-1.57,-58.4,215.7,-11.9,134,1506,0.00,2.50,0.00,0.000,4,0.000,0.044,2740,287,2876,0,0,0,0,0,0
$GC,1562,-1.52,-58.4,224.2,-14.5,136,1569,0.10,2.28,0.00,0.000,6,0.080,0.019,2765,1699,2877,0,0,0,0,0,0
$GC,1880,-1.61,-58.4,259.2,-11.9,152,1885,0.00,2.25,0.00,0.000,4,0.000,0.025,2765,3079,2877,0,0,0,0,0,0
$GC,2052,-1.77,-58.4,274.2,-7.8,159,2057,0.22,2.33,0.00,0.000,6,0.046,0.032,2700,1696,2877,0,0,0,0,0,0
$GC,2391,-1.77,-58.4,319.5,-14.7,173,2396,0.00,2.28,0.00,0.000,4,0.000,0.025,2700,3078,2877,0,0,0,0,0,0
$GC,2440,-1.80,-58.4,326.1,-14.0,174,2444,0.00,2.30,0.00,0.000,6,0.000,0.035,2700,1700,2877,0,0,0,0,0,0
$GC,2768,-1.80,-58.4,364.2,-10.4,182,2769,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1700,2875,0,0,0,0,0,0
$GC,3092,-1.80,-58.4,397.3,-10.8,190,3093,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1699,2874,0,0,0,0,0,0
$GC,3417,-1.80,-58.4,430.8,-9.9,198,3421,0.00,2.33,0.00,0.000,4,0.000,0.031,2700,3076,2872,0,0,0,0,0,0
$GC,3546,-1.86,-58.4,445.5,-11.2,200,3552,0.00,2.35,0.00,0.000,6,0.000,0.041,2700,1699,2871,0,0,0,0,0,0
$STATE,3590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3591,begin apogee
$GC,3596,-0.31,0.0,450.7,11.5,202,3650,1.58,0.00,49.38,0.818,6,0.081,0.000,3029,1699,2630,0,0,0,0,0,0
$STATE,3650,end apogee,CONTROL_FINISHED_OK
$STATE,3651,begin climb
$GC,3654,1.56,58.4,451.8,0.0,203,3713,1.80,0.00,50.72,0.804,6,0.030,0.000,3452,1699,2390,0,0,0,0,0,0
$GC,4038,1.34,119.0,443.4,2.4,213,4099,0.28,2.47,52.78,0.813,4,0.110,0.052,3395,328,2142,0,0,0,0,0,0
$GC,4117,1.09,124.8,439.5,7.4,214,4130,0.30,2.35,5.90,0.607,6,0.106,0.025,3339,1728,2121,0,0,0,0,0,0
$GC,4460,1.03,124.8,412.0,8.0,223,4464,0.00,2.47,0.00,0.000,4,0.000,0.054,3339,333,2115,0,0,0,0,0,0
$GC,4476,0.94,124.8,410.4,8.4,223,4481,0.17,2.35,0.00,0.000,6,0.112,0.027,3306,1734,2113,0,0,0,0,0,0
$GC,4826,0.95,132.5,386.4,7.2,232,4838,0.00,2.42,6.88,0.653,4,0.000,0.033,3306,3128,2089,0,0,0,0,0,0
$GC,4881,1.01,133.8,382.0,7.8,233,4885,0.00,2.42,0.00,0.000,6,0.000,0.038,3306,1733,2089,0,0,0,0,0,0
$GC,5201,1.05,135.0,356.3,7.8,241,5206,0.10,2.50,0.00,0.000,4,0.081,0.054,3335,324,2085,0,0,0,0,0,0
$GC,5230,0.92,135.0,353.6,8.9,241,5235,0.17,2.38,0.00,0.000,6,0.110,0.027,3302,1745,2083,0,0,0,0,0,0
$GC,5568,1.01,166.4,334.0,5.1,250,5604,0.00,2.60,30.85,0.771,4,0.000,0.054,3302,332,1951,0,0,0,0,0,0
$GC,5692,1.01,166.4,323.6,10.5,252,5696,0.00,2.38,0.00,0.000,6,0.000,0.026,3301,1746,1945,0,0,0,0,0,0
$GC,6007,1.08,166.4,293.1,10.4,261,6012,0.15,2.53,0.00,0.000,4,0.064,0.053,3344,330,1944,0,0,0,0,0,0
$GC,6052,0.96,166.4,287.2,13.8,263,6057,0.17,2.35,0.00,0.000,6,0.107,0.026,3310,1742,1942,0,0,0,0,0,0
$GC,6387,1.06,188.8,259.2,5.9,279,6409,0.00,0.00,19.80,0.705,6,0.000,0.000,3310,1743,1860,0,0,0,0,0,0
$GC,6713,1.14,188.8,230.5,9.5,295,6718,0.17,2.47,0.00,0.000,4,0.058,0.050,3358,332,1857,0,0,0,0,0,0
$GC,6738,1.06,188.8,227.9,10.5,296,6743,0.12,2.33,0.00,0.000,6,0.112,0.024,3335,1746,1854,0,0,0,0,0,0
$GC,7066,1.11,188.8,199.5,10.2,312,7070,0.00,2.47,0.00,0.000,4,0.000,0.049,3335,326,1854,0,0,0,0,0,0
$GC,7176,1.07,188.8,186.2,12.1,320,7180,0.00,2.33,0.00,0.000,6,0.000,0.022,3335,1746,1852,0,0,0,0,0,0
$GC,7443,1.13,188.8,162.5,8.4,341,7447,0.00,2.45,0.00,0.000,4,0.000,0.047,3335,326,1852,0,0,0,0,0,0
$GC,7665,1.13,188.8,142.4,9.6,357,7669,0.00,2.28,0.00,0.000,6,0.000,0.021,3335,1746,1851,0,0,0,0,0,0
$GC,7927,1.22,201.5,123.3,6.7,377,7941,0.12,0.00,11.57,0.547,6,0.065,0.000,3374,1748,1808,0,0,0,0,0,0
$GC,8190,1.22,201.5,95.5,10.5,398,8194,0.00,2.45,0.00,0.000,4,0.000,0.046,3374,331,1807,0,0,0,0,0,0
$GC,8286,1.16,201.5,83.7,11.1,405,8290,0.00,2.28,0.00,0.000,6,0.000,0.019,3374,1742,1805,0,0,0,0,0,0
$GC,8548,1.23,211.1,64.3,7.0,425,8563,0.00,0.00,9.82,0.486,6,0.000,0.000,3374,1742,1768,0,0,0,0,0,0
$GC,8819,1.31,225.6,45.5,6.6,446,8839,0.00,2.45,13.82,0.489,4,0.000,0.041,3374,327,1709,0,0,0,0,0,0
$GC,8876,1.25,225.6,40.1,10.6,450,8880,0.00,2.28,0.00,0.000,6,0.000,0.018,3374,1755,1707,0,0,0,0,0,0
$GC,9139,1.30,225.6,13.1,11.3,496,9145,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,1760,1707,0,0,0,0,0,0
$STATE,9229,end climb,SURFACE_DEPTH_REACHED
$STATE,9229,begin surface coast
$FINISH,0.9,1.010453
$STATE,9263,end surface coast,CONTROL_FINISHED_OK
$STATE,9263,begin surface
$SM_CCo,9286,104.93,0.483,0,0,958,410.14
$SM_GC,1.48,0.00,0.00,104.93,0.000,0.000,0.483,426,1675,958,-12.31,-0.71,410.14
$IRIDIUM_FIX,2054.83,-15759.05,251199,030356
$TT8_MAMPS,0.029146
$HUMID,53.26
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.5,27.910
$10V_AH,10.4,23.068
$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,30.800,85.850,251.525,104.925,0.000,25.658,39.482,109.844,4.500,0.000,47.360,1033.849,6206.588,431.678,1629.365,414.547,0.000,1118.940,0.000,1578.489,0.000,29.273,0.000
$DEVICE_MAMPS,134.225,85.904,817.622,483.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,352.875,331.836,767.384,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,28575,524
$CAP_FILE_SIZE,99230,0
$CFSIZE,260165632,196771840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310810,081336,2103.388,-15759.761,41,1.0,46,9.8