version: 66.06
glider: 139
mission: 8
dive: 136
start: 8 10 110 1 54 33
data:
$ID,139
$MISSION,8
$DIVE,136
$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,-2153228.5
$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
$GPS1,014806,2058.434,-15750.228,32,1.3,32,9.8
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-72.2
$GPS2,015414,2058.424,-15750.231,13,1.6,13,9.8
$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,302.1,27471,-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,-64.75,0.000,2,0.000,0.000,426,1669,2801,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.8,-4.6,12,106,12.55,2.40,-1.20,0.000,4,0.137,0.037,2751,3100,2870,0,0,0,0,0,0
$GC,211,-1.59,-58.4,34.9,-17.7,35,216,0.00,2.38,0.00,0.000,6,0.000,0.032,2750,1686,2872,0,0,0,0,0,0
$GC,476,-1.59,-58.4,80.0,-16.8,56,480,0.00,2.33,0.00,0.000,4,0.000,0.021,2751,3103,2873,0,0,0,0,0,0
$GC,493,-1.59,-58.4,82.5,-15.9,57,497,0.00,2.40,0.00,0.000,6,0.000,0.033,2751,1684,2873,0,0,0,0,0,0
$GC,756,-1.59,-58.4,118.5,-13.5,78,760,0.00,2.33,0.00,0.000,4,0.000,0.023,2751,3104,2875,0,0,0,0,0,0
$GC,830,-1.68,-58.4,127.6,-12.5,83,835,0.00,2.38,0.00,0.000,6,0.000,0.031,2751,1689,2874,0,0,0,0,0,0
$GC,1089,-1.73,-58.4,158.2,-11.6,104,1094,0.12,2.42,0.00,0.000,4,0.068,0.047,2710,276,2875,0,0,0,0,0,0
$GC,1115,-1.62,-58.4,161.7,-14.2,106,1120,0.17,2.30,0.00,0.000,6,0.099,0.019,2745,1723,2875,0,0,0,0,0,0
$GC,1380,-1.66,-58.4,195.2,-11.7,127,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1725,2875,0,0,0,0,0,0
$GC,1638,-1.70,-58.4,222.6,-10.8,141,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,1725,2875,0,0,0,0,0,0
$GC,1945,-1.77,-58.4,255.9,-9.1,156,1947,0.15,0.00,0.00,0.000,6,0.059,0.000,2700,1725,2875,0,0,0,0,0,0
$GC,2256,-1.77,-58.4,290.8,-12.1,171,2260,0.00,2.20,0.00,0.000,4,0.000,0.026,2700,3071,2875,0,0,0,0,0,0
$GC,2284,-1.80,-58.4,294.8,-13.8,172,2288,0.00,2.35,0.00,0.000,6,0.000,0.036,2699,1689,2875,0,0,0,0,0,0
$GC,2620,-1.80,-58.4,337.5,-11.8,182,2621,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1688,2874,0,0,0,0,0,0
$GC,2946,-1.80,-58.4,370.8,-9.8,190,2950,0.00,2.30,0.00,0.000,4,0.000,0.029,2699,3068,2873,0,0,0,0,0,0
$GC,2959,-1.80,-58.4,372.2,-8.8,190,2964,0.00,2.35,0.00,0.000,6,0.000,0.038,2699,1690,2872,0,0,0,0,0,0
$GC,3309,-1.80,-58.4,407.3,-10.8,199,3313,0.00,2.50,0.00,0.000,4,0.000,0.057,2699,284,2870,0,0,0,0,0,0
$GC,3342,-1.74,-58.4,411.3,-13.2,199,3347,0.10,2.28,0.00,0.000,6,0.119,0.025,2719,1686,2870,0,0,0,0,0,0
$GC,3674,-1.79,-58.4,447.3,-11.0,207,3678,0.00,2.50,0.00,0.000,4,0.000,0.058,2718,277,2868,0,0,0,0,0,0
$STATE,3696,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3696,begin apogee
$GC,3705,-0.31,0.0,450.3,12.7,207,3759,1.45,0.00,49.08,0.844,6,0.083,0.000,3025,1832,2630,0,0,0,0,0,0
$STATE,3759,end apogee,CONTROL_FINISHED_OK
$STATE,3759,begin climb
$GC,3762,1.56,58.4,452.5,0.0,208,3820,1.77,2.42,50.62,0.828,4,0.031,0.037,3445,3223,2390,0,0,0,0,0,0
$GC,3944,1.35,112.9,451.6,3.0,212,3999,0.25,2.42,48.08,0.830,6,0.114,0.038,3398,1832,2169,0,0,0,0,0,0
$GC,4310,1.17,112.9,412.9,11.9,221,4315,0.22,2.50,0.00,0.000,4,0.110,0.055,3355,418,2159,0,0,0,0,0,0
$GC,4391,0.97,112.9,403.7,11.3,222,4396,0.22,2.38,0.00,0.000,6,0.107,0.028,3313,1840,2155,0,0,0,0,0,0
$GC,4722,0.98,118.8,378.2,7.4,230,4731,0.00,2.53,3.83,0.497,4,0.000,0.055,3313,423,2145,0,0,0,0,0,0
$GC,4857,0.90,118.8,366.3,9.0,233,4862,0.00,2.35,0.00,0.000,6,0.000,0.029,3313,1837,2141,0,0,0,0,0,0
$GC,5185,0.94,147.3,346.2,5.3,241,5217,0.00,2.60,26.38,0.793,4,0.000,0.056,3312,426,2029,0,0,0,0,0,0
$GC,5279,0.87,147.3,339.2,9.9,243,5284,0.12,2.35,0.00,0.000,6,0.121,0.029,3291,1831,2025,0,0,0,0,0,0
$GC,5608,0.95,147.7,311.7,7.9,251,5609,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,1836,2023,0,0,0,0,0,0
$GC,5915,1.05,159.4,290.8,6.8,261,5932,0.17,2.53,10.88,0.706,4,0.059,0.054,3337,422,1980,0,0,0,0,0,0
$GC,6032,0.95,159.4,279.2,10.5,266,6037,0.15,2.35,0.00,0.000,6,0.110,0.028,3310,1838,1977,0,0,0,0,0,0
$GC,6365,1.01,159.4,254.6,8.6,282,6369,0.00,2.50,0.00,0.000,4,0.000,0.052,3309,421,1976,0,0,0,0,0,0
$GC,6492,1.01,159.4,240.4,12.0,287,6496,0.00,2.33,0.00,0.000,6,0.000,0.026,3309,1840,1974,0,0,0,0,0,0
$GC,6807,1.10,159.4,211.6,8.9,302,6812,0.12,2.50,0.00,0.000,4,0.071,0.051,3345,413,1973,0,0,0,0,0,0
$GC,6877,1.00,159.4,203.7,12.2,305,6882,0.12,2.33,0.00,0.000,6,0.114,0.025,3322,1840,1972,0,0,0,0,0,0
$GC,7201,1.07,168.1,176.1,7.1,329,7215,0.00,2.50,8.00,0.588,4,0.000,0.048,3321,415,1944,0,0,0,0,0,0
$GC,7289,1.07,168.1,168.4,8.6,335,7294,0.00,2.30,0.00,0.000,6,0.000,0.024,3321,1837,1942,0,0,0,0,0,0
$GC,7551,1.15,180.9,148.6,6.7,355,7572,0.12,2.47,12.95,0.611,4,0.068,0.046,3359,422,1891,0,0,0,0,0,0
$GC,7786,1.08,180.9,121.7,11.7,372,7791,0.12,2.25,0.00,0.000,6,0.109,0.021,3335,1830,1887,0,0,0,0,0,0
$GC,8048,1.17,185.6,100.4,7.5,392,8063,0.00,2.47,5.12,0.454,4,0.000,0.045,3335,414,1871,0,0,0,0,0,0
$GC,8093,1.17,185.6,96.8,8.3,395,8097,0.00,2.30,0.00,0.000,6,0.000,0.021,3335,1841,1871,0,0,0,0,0,0
$GC,8365,1.27,185.6,76.9,8.2,416,8370,0.17,2.47,0.00,0.000,4,0.054,0.045,3386,421,1871,0,0,0,0,0,0
$GC,8418,1.16,185.6,71.4,10.0,420,8423,0.17,2.25,0.00,0.000,6,0.100,0.020,3352,1834,1871,0,0,0,0,0,0
$GC,8687,1.24,187.4,50.1,7.7,441,8692,0.00,2.40,0.00,0.000,4,0.000,0.043,3352,421,1870,0,0,0,0,0,0
$GC,8823,1.24,187.4,38.5,9.1,451,8827,0.00,2.25,0.00,0.000,6,0.000,0.019,3352,1842,1870,0,0,0,0,0,0
$GC,9087,1.40,232.6,26.0,3.8,489,9139,0.22,2.30,41.80,0.524,4,0.046,0.023,3416,3200,1680,0,0,0,0,0,0
$GC,9203,1.40,232.6,16.7,8.9,512,9209,0.00,2.35,0.00,0.000,6,0.000,0.030,3416,1827,1680,0,0,0,0,0,0
$STATE,9347,end climb,SURFACE_DEPTH_REACHED
$STATE,9347,begin surface coast
$FINISH,0.6,1.010794
$STATE,9375,end surface coast,CONTROL_FINISHED_OK
$STATE,9375,begin surface
$SM_CCo,9398,100.75,0.499,0,0,958,410.14
$SM_GC,1.27,0.00,0.00,100.75,0.000,0.000,0.499,425,1656,958,-12.31,-0.96,410.14
$IRIDIUM_FIX,2050.21,-15747.49,031199,232300
$TT8_MAMPS,0.028379
$HUMID,51.41
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,12.490
$10V_AH,10.5,9.369
$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,31.300,100.625,256.725,100.750,0.000,22.092,36.928,192.632,4.500,0.000,13.807,1086.378,6185.991,399.838,1707.912,488.331,0.000,1148.771,0.000,1686.830,0.000,30.846,0.000
$DEVICE_MAMPS,136.526,58.292,843.700,499.317,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,371.177,355.238,830.261,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,31832,551
$CAP_FILE_SIZE,107390,0
$CFSIZE,260165632,206409728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100810,043424,2059.156,-15751.055,36,1.3,53,9.8