version: 66.06
glider: 139
mission: 8
dive: 91
start: 8 5 110 0 30 31
data:
$ID,139
$MISSION,8
$DIVE,91
$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,-2152200.8
$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,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,1690
$C_ROLL_CLIMB,1840
$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,2680
$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
$GPS1,002507,2103.823,-15756.732,41,1.9,41,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-70.1
$GPS2,003014,2103.772,-15756.771,17,1.8,17,9.8
$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,302.9,12449,-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,-64.62,0.000,2,0.000,0.000,429,1662,2837,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.5,-4.5,12,105,12.57,2.47,-1.45,0.000,4,0.137,0.035,2752,3110,2921,0,0,0,0,0,0
$GC,340,-1.59,-58.4,56.2,-17.1,46,346,0.00,2.42,0.00,0.000,6,0.000,0.035,2752,1695,2923,0,0,0,0,0,0
$GC,600,-1.59,-58.4,99.3,-15.8,67,607,0.00,2.30,0.00,0.000,4,0.000,0.023,2752,3102,2924,0,0,0,0,0,0
$GC,681,-1.68,-58.4,111.0,-13.7,72,687,0.00,2.40,0.00,0.000,6,0.000,0.032,2752,1689,2924,0,0,0,0,0,0
$GC,943,-1.72,-58.4,146.4,-13.1,93,945,0.12,0.00,0.00,0.000,6,0.067,0.000,2714,1688,2925,0,0,0,0,0,0
$GC,1194,-1.72,-58.4,182.0,-15.8,113,1198,0.00,2.35,0.00,0.000,4,0.000,0.024,2713,3107,2926,0,0,0,0,0,0
$GC,1219,-1.72,-58.4,186.0,-14.9,115,1223,0.00,2.40,0.00,0.000,6,0.000,0.032,2714,1685,2926,0,0,0,0,0,0
$GC,1485,-1.72,-58.4,223.4,-12.4,131,1489,0.00,2.35,0.00,0.000,4,0.000,0.025,2713,3100,2927,0,0,0,0,0,0
$GC,1559,-1.78,-58.4,231.7,-9.9,134,1563,0.00,2.38,0.00,0.000,6,0.000,0.032,2713,1688,2926,0,0,0,0,0,0
$GC,1880,-1.78,-58.4,270.7,-13.1,150,1884,0.00,2.33,0.00,0.000,4,0.000,0.026,2713,3099,2926,0,0,0,0,0,0
$GC,2007,-1.86,-58.4,285.3,-10.5,155,2012,0.00,2.38,0.00,0.000,6,0.000,0.035,2713,1692,2926,0,0,0,0,0,0
$GC,2320,-1.86,-58.4,317.5,-10.1,167,2325,0.00,2.42,0.00,0.000,4,0.000,0.050,2713,281,2925,0,0,0,0,0,0
$GC,2345,-1.82,-58.4,320.0,-11.6,167,2349,0.00,2.33,0.00,0.000,6,0.000,0.022,2713,1715,2925,0,0,0,0,0,0
$GC,2685,-1.86,-58.4,355.2,-10.2,176,2689,0.00,2.25,0.00,0.000,4,0.000,0.029,2713,3081,2924,0,0,0,0,0,0
$GC,2798,-1.95,-58.4,366.7,-10.7,178,2803,0.17,2.38,0.00,0.000,6,0.059,0.038,2666,1687,2924,0,0,0,0,0,0
$GC,3145,-1.89,-58.4,414.4,-14.1,187,3149,0.12,2.38,0.00,0.000,4,0.112,0.032,2690,3078,2921,0,0,0,0,0,0
$GC,3327,-1.95,-58.4,438.5,-13.2,191,3331,0.00,2.40,0.00,0.000,6,0.000,0.042,2689,1690,2920,0,0,0,0,0,0
$STATE,3448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3448,begin apogee
$GC,3455,-0.31,0.0,453.5,11.7,194,3509,1.62,0.00,49.80,0.842,6,0.084,0.000,3028,1857,2680,0,0,0,0,0,0
$STATE,3510,end apogee,CONTROL_FINISHED_OK
$STATE,3510,begin climb
$GC,3512,1.56,58.4,454.8,0.0,195,3571,1.77,2.40,50.55,0.827,4,0.030,0.036,3449,3230,2440,0,0,0,0,0,0
$GC,3599,1.41,177.3,457.0,-2.8,197,3711,0.22,2.42,103.80,0.834,6,0.113,0.038,3408,1830,1957,0,0,0,0,0,0
$GC,4052,1.23,177.3,400.0,15.7,208,4058,0.20,2.47,0.00,0.000,4,0.111,0.055,3370,435,1947,0,0,0,0,0,0
$GC,4097,1.01,177.3,392.2,16.9,209,4102,0.25,2.35,0.00,0.000,6,0.107,0.028,3323,1841,1943,0,0,0,0,0,0
$GC,4425,1.01,177.3,350.0,11.8,217,4430,0.00,2.47,0.00,0.000,4,0.000,0.055,3322,436,1941,0,0,0,0,0,0
$GC,4469,0.93,177.3,344.8,12.0,218,4473,0.00,2.35,0.00,0.000,6,0.000,0.028,3322,1848,1939,0,0,0,0,0,0
$GC,4796,0.93,177.3,310.7,10.2,226,4800,0.00,2.53,0.00,0.000,4,0.000,0.055,3323,431,1938,0,0,0,0,0,0
$GC,5063,0.87,177.3,278.6,11.4,234,5070,0.15,2.35,0.00,0.000,6,0.095,0.028,3290,1839,1935,0,0,0,0,0,0
$GC,5380,0.97,177.3,254.9,8.0,250,5385,0.10,2.45,0.00,0.000,4,0.081,0.052,3317,435,1934,0,0,0,0,0,0
$GC,5410,0.92,177.3,251.6,12.0,251,5414,0.00,2.33,0.00,0.000,6,0.000,0.027,3318,1848,1933,0,0,0,0,0,0
$GC,5732,0.97,177.3,221.5,8.5,267,5736,0.00,2.47,0.00,0.000,4,0.000,0.051,3318,428,1932,0,0,0,0,0,0
$GC,5828,0.97,177.3,210.6,10.8,271,5833,0.00,2.33,0.00,0.000,6,0.000,0.025,3318,1852,1931,0,0,0,0,0,0
$GC,6157,1.05,185.8,184.1,7.1,293,6165,0.00,2.50,3.67,0.417,4,0.000,0.049,3318,432,1922,0,0,0,0,0,0
$GC,6277,1.05,185.8,173.9,9.2,301,6282,0.00,2.30,0.00,0.000,6,0.000,0.024,3318,1847,1921,0,0,0,0,0,0
$GC,6542,1.12,185.8,150.3,8.0,322,6547,0.10,2.45,0.00,0.000,4,0.078,0.047,3350,432,1921,0,0,0,0,0,0
$GC,6746,1.05,185.8,130.6,9.7,337,6751,0.10,2.28,0.00,0.000,6,0.120,0.022,3332,1847,1920,0,0,0,0,0,0
$GC,7013,1.14,206.9,113.5,6.0,358,7039,0.00,0.00,20.38,0.593,6,0.000,0.000,3331,1852,1835,0,0,0,0,0,0
$GC,7295,1.25,218.5,93.7,6.9,380,7313,0.17,2.35,11.27,0.536,4,0.054,0.026,3383,3216,1789,0,0,0,0,0,0
$GC,7400,1.25,218.5,81.4,11.5,387,7406,0.00,2.35,0.00,0.000,6,0.000,0.031,3383,1832,1788,0,0,0,0,0,0
$GC,7661,1.25,218.5,57.7,10.6,408,7664,0.00,2.30,0.00,0.000,4,0.000,0.025,3383,3223,1788,0,0,0,0,0,0
$GC,7683,1.30,218.5,54.9,10.3,409,7690,0.00,2.35,0.00,0.000,6,0.000,0.029,3383,1841,1788,0,0,0,0,0,0
$GC,7943,1.34,218.5,34.4,8.1,430,7947,0.00,2.40,0.00,0.000,4,0.000,0.044,3383,434,1788,0,0,0,0,0,0
$GC,7970,1.29,218.5,32.0,9.8,432,7974,0.00,2.25,0.00,0.000,6,0.000,0.019,3383,1854,1786,0,0,0,0,0,0
$GC,8232,1.29,218.5,10.4,8.2,490,8239,0.00,2.45,0.00,0.000,4,0.000,0.041,3383,435,1786,0,0,0,0,0,0
$GC,8263,1.29,218.5,7.0,10.7,496,8270,0.00,2.25,0.00,0.000,6,0.000,0.019,3383,1858,1786,0,0,0,0,0,0
$STATE,8309,end climb,SURFACE_DEPTH_REACHED
$STATE,8309,begin surface coast
$FINISH,0.5,1.022946
$STATE,8351,end surface coast,CONTROL_FINISHED_OK
$STATE,8351,begin surface
$SM_CCo,8375,110.85,0.502,0,0,1007,410.14
$SM_GC,1.14,0.00,0.00,110.85,0.000,0.000,0.502,432,1673,1007,-12.28,-0.48,410.14
$IRIDIUM_FIX,2057.14,-15753.90,291099,212138
$TT8_MAMPS,0.029146
$HUMID,51.65
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.4,8.804
$10V_AH,10.4,6.058
$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,30.325,95.575,239.475,110.850,0.000,29.830,29.298,126.956,4.500,0.000,17.518,1036.263,5229.358,408.752,1710.584,406.278,0.000,1149.722,0.000,1681.901,0.000,29.256,0.000
$DEVICE_MAMPS,137.293,55.224,842.166,501.618,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,346.638,334.405,792.489,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,28656,515
$CAP_FILE_SIZE,100231,0
$CFSIZE,260165632,208752640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050810,025244,2104.457,-15757.332,9,1.8,9,9.8