version: 66.06
glider: 139
mission: 8
dive: 325
start: 8 31 110 16 28 36
data:
$ID,139
$MISSION,8
$DIVE,325
$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,-2157654
$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
$GPS1,162306,2105.785,-15801.701,33,1.5,33,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-72.5
$GPS2,162819,2105.776,-15801.676,12,1.5,17,9.8
$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,342.1,4785,-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,-64.70,0.000,2,0.000,0.000,429,1667,2785,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.7,-3.9,12,104,12.50,0.00,-1.52,0.000,6,0.135,0.000,2751,1668,2872,0,0,0,0,0,0
$GC,301,-1.45,-58.4,55.5,-19.1,41,306,0.17,2.42,0.00,0.000,4,0.102,0.021,2785,3122,2874,0,0,0,0,0,0
$GC,388,-1.51,-58.4,70.6,-15.6,47,394,0.00,2.42,0.00,0.000,6,0.000,0.033,2785,1700,2874,0,0,0,0,0,0
$GC,647,-1.58,-58.4,103.7,-10.0,68,652,0.12,2.45,0.00,0.000,4,0.064,0.045,2744,287,2875,0,0,0,0,0,0
$GC,732,-1.51,-58.4,115.5,-13.0,74,737,0.12,2.30,0.00,0.000,6,0.106,0.018,2768,1735,2875,0,0,0,0,0,0
$GC,993,-1.57,-58.4,145.3,-11.0,94,997,0.00,2.50,0.00,0.000,4,0.000,0.045,2768,289,2877,0,0,0,0,0,0
$GC,1048,-1.57,-58.4,152.6,-12.4,98,1052,0.00,2.22,0.00,0.000,6,0.000,0.018,2768,1711,2876,0,0,0,0,0,0
$GC,1310,-1.65,-58.4,181.9,-12.4,118,1315,0.12,2.47,0.00,0.000,4,0.065,0.046,2728,289,2877,0,0,0,0,0,0
$GC,1324,-1.65,-58.4,184.2,-12.5,119,1328,0.00,2.22,0.00,0.000,6,0.000,0.019,2728,1710,2877,0,0,0,0,0,0
$GC,1590,-1.65,-58.4,219.6,-13.3,135,1597,0.00,2.20,0.00,0.000,4,0.000,0.023,2728,3070,2876,0,0,0,0,0,0
$GC,1658,-1.72,-58.4,228.8,-12.4,137,1664,0.00,2.33,0.00,0.000,6,0.000,0.033,2728,1689,2877,0,0,0,0,0,0
$GC,1976,-1.72,-58.4,266.8,-12.1,153,1980,0.00,2.28,0.00,0.000,4,0.000,0.024,2728,3066,2877,0,0,0,0,0,0
$GC,2165,-1.80,-58.4,287.4,-10.3,161,2169,0.00,2.30,0.00,0.000,6,0.000,0.033,2728,1695,2877,0,0,0,0,0,0
$GC,2508,-1.83,-58.4,324.8,-11.4,173,2513,0.12,2.28,0.00,0.000,4,0.066,0.026,2689,3068,2876,0,0,0,0,0,0
$GC,2717,-1.83,-58.4,350.9,-12.3,177,2721,0.00,2.33,0.00,0.000,6,0.000,0.036,2689,1699,2875,0,0,0,0,0,0
$GC,3059,-1.80,-58.4,393.4,-12.6,186,3063,0.00,2.25,0.00,0.000,4,0.000,0.028,2689,3061,2874,0,0,0,0,0,0
$GC,3251,-1.80,-58.4,416.0,-11.0,190,3255,0.00,2.33,0.00,0.000,6,0.000,0.038,2689,1699,2873,0,0,0,0,0,0
$STATE,3525,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3525,begin apogee
$GC,3531,-0.31,0.0,450.2,12.4,197,3585,1.62,0.00,49.35,0.815,6,0.082,0.000,3028,1698,2630,0,0,0,0,0,0
$STATE,3585,end apogee,CONTROL_FINISHED_OK
$STATE,3586,begin climb
$GC,3588,1.56,58.4,452.1,0.0,198,3649,1.80,2.47,50.05,0.798,4,0.029,0.030,3455,3101,2391,0,0,0,0,0,0
$GC,3671,1.41,167.8,453.7,-2.0,200,3776,0.25,2.35,95.45,0.806,6,0.107,0.035,3407,1734,1945,0,0,0,0,0,0
$GC,4108,1.24,167.8,400.1,15.1,211,4113,0.20,2.47,0.00,0.000,4,0.109,0.054,3369,332,1935,0,0,0,0,0,0
$GC,4137,1.03,167.8,395.3,16.0,211,4142,0.22,2.30,0.00,0.000,6,0.106,0.026,3327,1716,1932,0,0,0,0,0,0
$GC,4474,1.03,167.8,355.2,11.6,220,4478,0.00,2.40,0.00,0.000,4,0.000,0.031,3327,3130,1930,0,0,0,0,0,0
$GC,4521,1.08,167.8,349.9,11.1,221,4525,0.00,2.40,0.00,0.000,6,0.000,0.039,3327,1745,1930,0,0,0,0,0,0
$GC,4843,1.08,167.8,319.5,8.8,229,4848,0.00,2.47,0.00,0.000,4,0.000,0.054,3327,332,1928,0,0,0,0,0,0
$GC,4900,1.00,167.8,313.1,11.8,230,4905,0.00,2.35,0.00,0.000,6,0.000,0.026,3327,1742,1925,0,0,0,0,0,0
$GC,5216,1.00,167.8,280.0,9.3,242,5220,0.00,2.33,0.00,0.000,4,0.000,0.030,3327,3130,1924,0,0,0,0,0,0
$GC,5254,1.07,167.8,276.6,8.4,243,5259,0.00,2.40,0.00,0.000,6,0.000,0.038,3327,1736,1924,0,0,0,0,0,0
$GC,5570,1.11,167.8,250.9,8.1,258,5574,0.00,2.45,0.00,0.000,4,0.000,0.051,3327,329,1922,0,0,0,0,0,0
$GC,5603,1.05,167.8,247.8,9.4,259,5607,0.00,2.35,0.00,0.000,6,0.000,0.025,3327,1749,1921,0,0,0,0,0,0
$GC,5920,1.09,167.8,219.9,8.9,274,5924,0.00,2.47,0.00,0.000,4,0.000,0.050,3327,334,1920,0,0,0,0,0,0
$GC,6017,1.06,167.8,209.5,10.6,278,6021,0.00,2.33,0.00,0.000,6,0.000,0.023,3327,1751,1919,0,0,0,0,0,0
$GC,6350,1.12,167.8,182.2,8.3,301,6354,0.00,2.28,0.00,0.000,4,0.000,0.026,3327,3126,1919,0,0,0,0,0,0
$GC,6382,1.21,167.8,178.7,9.6,303,6389,0.15,2.38,0.00,0.000,6,0.060,0.033,3370,1728,1919,0,0,0,0,0,0
$GC,6644,1.21,169.9,154.7,7.7,324,6645,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1728,1919,0,0,0,0,0,0
$GC,6893,1.21,169.9,134.0,8.0,344,6897,0.00,2.38,0.00,0.000,4,0.000,0.047,3370,331,1919,0,0,0,0,0,0
$GC,7158,1.12,177.8,111.4,7.2,363,7169,0.12,2.28,4.70,0.421,6,0.109,0.020,3346,1756,1905,0,0,0,0,0,0
$GC,7431,1.26,210.5,98.1,5.0,385,7470,0.12,2.50,29.98,0.568,4,0.065,0.044,3385,328,1770,0,0,0,0,0,0
$GC,7732,1.20,210.5,76.6,8.2,407,7737,0.12,2.28,0.00,0.000,6,0.106,0.019,3361,1751,1764,0,0,0,0,0,0
$GC,8000,1.33,234.0,61.7,5.8,428,8029,0.12,2.53,20.85,0.512,4,0.064,0.044,3401,331,1673,0,0,0,0,0,0
$GC,8036,1.35,255.1,59.3,6.0,430,8061,0.00,2.28,19.15,0.502,6,0.000,0.018,3402,1747,1588,0,0,0,0,0,0
$GC,8313,1.35,255.1,27.6,12.5,454,8319,0.00,2.47,0.00,0.000,4,0.000,0.045,3401,334,1586,0,0,0,0,0,0
$GC,8337,1.32,255.1,24.3,12.9,458,8343,0.00,2.28,0.00,0.000,6,0.000,0.018,3401,1749,1585,0,0,0,0,0,0
$STATE,8498,end climb,SURFACE_DEPTH_REACHED
$STATE,8499,begin surface coast
$FINISH,1.0,1.023076
$STATE,8522,end surface coast,CONTROL_FINISHED_OK
$STATE,8522,begin surface
$SM_CCo,8546,86.18,0.476,0,0,957,410.14
$SM_GC,1.65,0.00,0.00,86.18,0.000,0.000,0.476,426,1682,957,-12.31,-0.51,410.14
$IRIDIUM_FIX,2054.83,-15804.20,251199,131343
$TT8_MAMPS,0.029146
$HUMID,53.46
$INTERNAL_PRESSURE,9.30354
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.5,28.225
$10V_AH,10.3,23.350
$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,30.750,94.550,269.525,86.175,0.000,25.125,28.201,135.351,4.500,0.000,17.391,1009.594,5446.407,406.240,1655.715,425.396,0.000,1146.349,0.000,1633.620,0.000,29.260,0.000
$DEVICE_MAMPS,134.992,103.545,814.554,476.307,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,335.769,328.187,727.784,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355724
$DATA_FILE_SIZE,28599,500
$CAP_FILE_SIZE,100396,0
$CFSIZE,260165632,196567040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310810,185340,2106.778,-15801.883,14,3.2,33,9.8