version: 66.06
glider: 139
mission: 8
dive: 811
start: 11 2 110 6 8 52
data:
$ID,139
$MISSION,8
$DIVE,811
$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,120
$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,-2168511.8
$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,3050
$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,1450
$C_ROLL_CLIMB,1420
$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
$GPS1,060207,2100.692,-15753.509,35,1.0,35,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-74.2
$GPS2,060832,2100.703,-15753.514,15,1.1,15,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_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,303.9,20442,-16.6,-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,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.75,0.000,2,0.000,0.000,428,1460,2726,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.5,-3.7,12,116,12.60,2.20,-7.45,0.000,4,0.130,0.060,2785,220,3110,0,0,0,0,0,0
$GC,207,-0.94,-116.8,26.2,-15.3,37,213,0.22,2.05,0.00,0.000,6,0.077,0.019,2844,1508,3111,0,0,0,0,0,0
$GC,415,-0.84,-116.8,48.4,-10.2,57,420,0.10,2.20,0.00,0.000,4,0.109,0.045,2865,237,3111,0,0,0,0,0,0
$GC,443,-0.75,-116.8,51.1,-10.4,59,448,0.10,2.00,0.00,0.000,6,0.106,0.019,2885,1518,3112,0,0,0,0,0,0
$GC,712,-0.79,-116.8,73.5,-7.4,80,716,0.00,2.22,0.00,0.000,4,0.000,0.044,2886,230,3113,0,0,0,0,0,0
$GC,760,-0.84,-116.8,77.4,-7.7,83,766,0.00,2.00,0.00,0.000,6,0.000,0.019,2886,1508,3112,0,0,0,0,0,0
$GC,1019,-0.92,-116.8,98.3,-8.8,104,1023,0.17,2.22,0.00,0.000,4,0.048,0.021,2826,2877,3113,0,0,0,0,0,0
$GC,1053,-0.96,-116.8,101.7,-10.3,106,1060,0.00,2.42,0.00,0.000,6,0.000,0.031,2826,1451,3113,0,0,0,0,0,0
$GC,1315,-0.96,-116.8,126.0,-7.7,127,1319,0.00,2.08,0.00,0.000,4,0.000,0.044,2826,230,3113,0,0,0,0,0,0
$GC,1346,-0.92,-116.8,128.5,-7.7,129,1351,0.10,1.98,0.00,0.000,6,0.099,0.019,2848,1522,3114,0,0,0,0,0,0
$GC,1614,-0.98,-116.8,147.0,-7.0,150,1618,0.00,2.17,0.00,0.000,4,0.000,0.021,2848,2877,3114,0,0,0,0,0,0
$GC,1647,-1.12,-116.8,149.8,-7.3,152,1654,0.17,2.42,0.00,0.000,6,0.026,0.029,2783,1446,3114,0,0,0,0,0,0
$STATE,1767,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1767,begin apogee
$GC,1775,-0.31,0.0,161.0,9.9,162,1872,0.88,0.00,93.35,0.561,6,0.064,0.000,2977,1446,2630,0,0,0,0,0,0
$STATE,1872,end apogee,CONTROL_FINISHED_OK
$STATE,1872,begin climb
$GC,1875,1.18,116.8,166.5,0.0,170,1984,1.42,2.38,94.80,0.557,4,0.035,0.019,3312,2854,2152,0,0,0,0,0,0
$GC,2124,1.10,154.4,162.4,6.2,188,2166,0.10,2.45,31.88,0.538,6,0.111,0.031,3292,1415,1999,0,0,0,0,0,0
$GC,2418,1.05,192.7,143.3,6.2,211,2458,0.00,2.42,32.67,0.531,4,0.000,0.021,3292,2857,1843,0,0,0,0,0,0
$GC,2519,1.02,198.7,136.5,7.6,218,2536,0.00,2.45,6.88,0.434,6,0.000,0.031,3292,1422,1817,0,0,0,0,0,0
$GC,2789,1.03,240.6,118.3,6.0,239,2832,0.00,2.12,35.60,0.523,4,0.000,0.045,3291,235,1648,0,0,0,0,0,0
$GC,2847,1.04,283.2,115.0,6.0,243,2889,0.00,1.95,36.25,0.518,6,0.000,0.019,3291,1493,1474,0,0,0,0,0,0
$GC,3155,1.10,335.1,96.0,5.6,267,3209,0.00,2.33,43.30,0.514,4,0.000,0.020,3291,2858,1261,0,0,0,0,0,0
$GC,3217,1.20,377.9,92.3,6.0,271,3259,0.00,2.45,36.00,0.505,6,0.000,0.033,3291,1419,1088,0,0,0,0,0,0
$GC,3520,1.29,388.4,72.1,7.4,295,3535,0.17,2.05,9.38,0.439,4,0.048,0.044,3349,236,1045,0,0,0,0,0,0
$GC,3555,1.19,388.4,68.9,9.5,297,3559,0.20,1.95,0.00,0.000,6,0.078,0.019,3307,1498,1043,0,0,0,0,0,0
$GC,3819,1.27,402.3,50.4,7.3,317,3836,0.00,2.25,12.18,0.440,4,0.000,0.046,3307,239,989,0,0,0,0,0,0
$GC,3882,1.27,402.3,44.7,8.6,321,3889,0.00,1.98,0.00,0.000,6,0.000,0.019,3307,1488,987,0,0,0,0,0,0
$GC,4146,1.34,414.0,26.0,7.4,350,4165,0.15,2.22,10.88,0.428,4,0.053,0.046,3359,233,941,0,0,0,0,0,0
$GC,4186,1.28,414.0,21.7,9.7,357,4193,0.12,1.98,0.00,0.000,6,0.065,0.019,3328,1491,939,0,0,0,0,0,0
$GC,4391,1.28,414.0,3.5,8.9,403,4397,0.00,2.17,0.00,0.000,4,0.000,0.044,3328,240,939,0,0,0,0,0,0
$STATE,4404,end climb,SURFACE_DEPTH_REACHED
$STATE,4404,begin surface coast
$FINISH,1.5,1.023056
$STATE,4410,end surface coast,CONTROL_FINISHED_OK
$STATE,4410,begin surface
$SM_CCo,4496,0.00,0.000,0,0,935,415.78
$SM_GC,1.88,12.35,0.00,0.00,0.021,0.000,0.000,428,1520,935,-11.98,1.98,415.78
$IRIDIUM_FIX,2052.52,-15759.92,270100,020237
$TT8_MAMPS,0.028379
$HUMID,58.89
$INTERNAL_PRESSURE,9.33284
$TCM_TEMP,22.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,161.0,7.5
$24V_AH,23.5,78.627
$10V_AH,10.0,62.959
$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,28.875,61.150,443.150,0.000,0.000,28.920,36.394,177.408,1.250,0.000,15.672,702.439,2121.940,406.754,1177.233,463.640,0.000,975.661,0.000,1171.498,0.000,10.155,0.000
$DEVICE_MAMPS,130.390,59.826,560.677,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,267.224,297.454,763.566,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,22377,406
$CAP_FILE_SIZE,70812,0
$CFSIZE,260165632,168198144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021110,072438,2100.861,-15753.742,13,1.4,13,9.8