version: 66.06
glider: 139
mission: 8
dive: 140
start: 8 10 110 12 44 55
data:
$ID,139
$MISSION,8
$DIVE,140
$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,-2153300.8
$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,1830
$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
$GPS1,123920,2101.269,-15753.352,12,1.8,12,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-73.1
$GPS2,124438,2101.284,-15753.425,13,1.9,13,9.8
$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,301.4,19829,-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,-64.57,0.000,2,0.000,0.000,427,1670,2770,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.2,-3.7,12,110,12.55,2.45,-1.88,0.000,4,0.136,0.038,2754,3109,2871,0,0,0,0,0,0
$GC,335,-1.61,-58.4,49.3,-13.6,46,339,0.00,2.42,0.00,0.000,6,0.000,0.033,2754,1682,2874,0,0,0,0,0,0
$GC,600,-1.61,-58.4,91.8,-17.2,67,604,0.00,2.33,0.00,0.000,4,0.000,0.021,2754,3104,2874,0,0,0,0,0,0
$GC,646,-1.70,-58.4,99.6,-14.8,70,656,0.08,2.40,0.00,0.000,6,0.041,0.033,2721,1695,2875,0,0,0,0,0,0
$GC,909,-1.66,-58.4,138.5,-15.0,91,913,0.00,2.42,0.00,0.000,4,0.000,0.045,2721,285,2876,0,0,0,0,0,0
$GC,977,-1.57,-58.4,150.3,-16.6,96,982,0.17,2.28,0.00,0.000,6,0.098,0.018,2755,1723,2876,0,0,0,0,0,0
$GC,1239,-1.61,-58.4,180.8,-11.0,116,1243,0.00,2.20,0.00,0.000,4,0.000,0.024,2756,3079,2877,0,0,0,0,0,0
$GC,1408,-1.74,-58.4,199.6,-10.4,128,1416,0.12,2.38,0.00,0.000,6,0.034,0.034,2710,1689,2877,0,0,0,0,0,0
$GC,1663,-1.74,-58.4,233.7,-13.3,141,1668,0.00,2.42,0.00,0.000,4,0.000,0.046,2709,276,2877,0,0,0,0,0,0
$GC,1692,-1.63,-58.4,237.8,-14.0,142,1697,0.17,2.28,0.00,0.000,6,0.099,0.020,2744,1701,2877,0,0,0,0,0,0
$GC,2015,-1.70,-58.4,273.6,-10.3,158,2019,0.00,2.22,0.00,0.000,4,0.000,0.025,2744,3065,2877,0,0,0,0,0,0
$GC,2110,-1.83,-58.4,282.4,-9.2,162,2115,0.20,2.33,0.00,0.000,6,0.050,0.035,2688,1689,2877,0,0,0,0,0,0
$GC,2461,-1.80,-58.4,326.9,-13.2,174,2462,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1689,2876,0,0,0,0,0,0
$GC,2783,-1.80,-58.4,364.9,-11.2,182,2784,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1689,2875,0,0,0,0,0,0
$GC,3109,-1.80,-58.4,398.8,-10.0,190,3113,0.00,2.28,0.00,0.000,4,0.000,0.030,2688,3062,2873,0,0,0,0,0,0
$GC,3239,-1.84,-58.4,411.3,-9.3,192,3244,0.00,2.35,0.00,0.000,6,0.000,0.040,2688,1689,2873,0,0,0,0,0,0
$GC,3569,-1.84,-58.4,446.2,-11.4,201,3573,0.00,2.30,0.00,0.000,4,0.000,0.033,2688,3062,2870,0,0,0,0,0,0
$STATE,3599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3600,begin apogee
$GC,3608,-0.31,0.0,450.2,11.6,201,3662,1.62,0.00,49.50,0.845,6,0.085,0.000,3029,1826,2630,0,0,0,0,0,0
$STATE,3663,end apogee,CONTROL_FINISHED_OK
$STATE,3663,begin climb
$GC,3665,1.56,58.4,451.7,0.0,203,3726,1.77,2.53,50.50,0.829,4,0.030,0.051,3449,412,2388,0,0,0,0,0,0
$GC,3864,1.21,109.0,448.5,3.3,207,3917,0.45,2.35,44.40,0.828,6,0.110,0.027,3364,1825,2185,0,0,0,0,0,0
$GC,4258,1.09,109.0,415.4,9.0,217,4263,0.15,2.38,0.00,0.000,4,0.117,0.036,3336,3212,2176,0,0,0,0,0,0
$GC,4278,1.03,109.0,413.6,8.2,217,4282,0.00,2.40,0.00,0.000,6,0.000,0.039,3336,1830,2176,0,0,0,0,0,0
$GC,4623,0.99,113.9,387.4,7.4,226,4625,0.10,0.00,0.00,0.000,6,0.130,0.000,3319,1830,2172,0,0,0,0,0,0
$GC,4948,1.02,143.1,369.1,5.3,234,4984,0.00,2.55,29.05,0.808,4,0.000,0.056,3318,415,2045,0,0,0,0,0,0
$GC,5019,0.93,143.1,363.7,9.2,235,5024,0.00,2.38,0.00,0.000,6,0.000,0.028,3318,1836,2041,0,0,0,0,0,0
$GC,5360,0.93,143.1,332.4,9.7,244,5365,0.00,2.50,0.00,0.000,4,0.000,0.054,3318,419,2038,0,0,0,0,0,0
$GC,5422,0.86,143.1,325.8,10.6,245,5427,0.15,2.35,0.00,0.000,6,0.119,0.028,3290,1838,2035,0,0,0,0,0,0
$GC,5773,0.97,169.1,303.9,5.6,254,5801,0.00,2.60,22.77,0.767,4,0.000,0.054,3290,422,1940,0,0,0,0,0,0
$GC,5912,0.97,169.1,293.0,9.3,258,5916,0.00,2.35,0.00,0.000,6,0.000,0.028,3290,1838,1935,0,0,0,0,0,0
$GC,6238,1.08,169.1,265.2,9.9,274,6243,0.20,2.50,0.00,0.000,4,0.055,0.051,3343,418,1934,0,0,0,0,0,0
$GC,6337,0.98,169.1,253.4,12.1,278,6342,0.15,2.33,0.00,0.000,6,0.108,0.026,3315,1831,1931,0,0,0,0,0,0
$GC,6661,1.05,169.9,227.2,7.8,294,6665,0.00,2.33,0.00,0.000,4,0.000,0.031,3314,3217,1931,0,0,0,0,0,0
$GC,6689,1.15,178.8,224.9,7.1,295,6704,0.15,2.38,8.55,0.629,6,0.063,0.035,3355,1828,1901,0,0,0,0,0,0
$GC,7016,1.15,178.8,192.4,10.6,313,7020,0.00,2.42,0.00,0.000,4,0.000,0.049,3356,420,1899,0,0,0,0,0,0
$GC,7048,1.04,178.8,188.5,11.0,315,7054,0.15,2.33,0.00,0.000,6,0.106,0.024,3327,1847,1897,0,0,0,0,0,0
$GC,7309,1.11,182.4,167.5,7.6,336,7318,0.00,2.28,4.53,0.468,4,0.000,0.027,3327,3219,1885,0,0,0,0,0,0
$GC,7330,1.18,182.9,165.7,7.9,336,7337,0.10,2.40,0.00,0.000,6,0.039,0.033,3364,1829,1885,0,0,0,0,0,0
$GC,7589,1.18,182.9,141.2,11.2,357,7593,0.00,2.28,0.00,0.000,4,0.000,0.027,3364,3209,1885,0,0,0,0,0,0
$GC,7623,1.21,182.9,137.1,12.0,359,7628,0.00,2.35,0.00,0.000,6,0.000,0.034,3364,1826,1885,0,0,0,0,0,0
$GC,7881,1.21,182.9,113.3,8.4,380,7885,0.00,2.42,0.00,0.000,4,0.000,0.047,3364,417,1885,0,0,0,0,0,0
$GC,8148,1.15,182.9,86.5,8.9,399,8153,0.00,2.28,0.00,0.000,6,0.000,0.021,3364,1847,1883,0,0,0,0,0,0
$GC,8408,1.18,190.0,70.6,7.3,420,8423,0.00,2.47,8.40,0.499,4,0.000,0.043,3364,417,1854,0,0,0,0,0,0
$GC,8551,1.14,190.0,57.6,10.1,430,8555,0.00,2.25,0.00,0.000,6,0.000,0.020,3364,1829,1853,0,0,0,0,0,0
$GC,8819,1.24,223.1,37.7,4.9,451,8854,0.00,2.33,29.70,0.531,4,0.000,0.024,3364,3200,1720,0,0,0,0,0,0
$GC,8891,1.38,233.2,34.0,7.0,456,8907,0.15,2.33,10.23,0.478,6,0.058,0.030,3409,1819,1678,0,0,0,0,0,0
$GC,9161,1.38,233.2,10.4,11.5,509,9168,0.00,2.42,0.00,0.000,4,0.000,0.044,3408,423,1676,0,0,0,0,0,0
$STATE,9227,end climb,SURFACE_DEPTH_REACHED
$STATE,9227,begin surface coast
$FINISH,0.8,1.023068
$STATE,9242,end surface coast,CONTROL_FINISHED_OK
$STATE,9242,begin surface
$SM_CCo,9267,101.85,0.504,0,0,957,410.14
$SM_GC,1.36,0.00,0.00,101.85,0.000,0.000,0.504,426,1706,957,-12.30,0.45,410.14
$IRIDIUM_FIX,2054.83,-15753.90,041199,101010
$TT8_MAMPS,0.029146
$HUMID,52.32
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,12.815
$10V_AH,10.4,9.658
$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,31.300,103.725,257.625,101.850,0.000,24.039,32.875,146.651,4.500,0.000,13.467,1058.203,6083.988,416.966,1686.084,442.164,0.000,1168.194,0.000,1667.707,0.000,29.261,0.000
$DEVICE_MAMPS,135.759,55.991,845.234,503.919,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,354.926,335.510,777.524,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,28673,527
$CAP_FILE_SIZE,104964,0
$CFSIZE,260165632,206209024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100810,152324,2101.664,-15754.900,102,1.0,102,9.8