version: 66.06
glider: 139
mission: 8
dive: 137
start: 8 10 110 4 40 0
data:
$ID,139
$MISSION,8
$DIVE,137
$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,-2153249
$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
$GPS1,043424,2059.156,-15751.055,36,1.3,53,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-71.4
$GPS2,043944,2059.108,-15751.081,19,1.8,19,9.8
$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,302.2,25532,-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,-64.53,0.000,2,0.000,0.000,424,1657,2775,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.3,-3.5,12,110,12.60,2.47,-1.73,0.000,4,0.137,0.035,2754,3108,2872,0,0,0,0,0,0
$GC,350,-1.62,-58.4,53.9,-16.7,47,354,0.00,2.40,0.00,0.000,6,0.000,0.034,2754,1688,2874,0,0,0,0,0,0
$GC,610,-1.62,-58.4,90.9,-13.7,67,615,0.00,2.35,0.00,0.000,4,0.000,0.023,2755,3108,2875,0,0,0,0,0,0
$GC,657,-1.67,-58.4,97.1,-12.8,70,663,0.00,2.40,0.00,0.000,6,0.000,0.032,2754,1695,2875,0,0,0,0,0,0
$GC,919,-1.71,-58.4,130.5,-11.8,91,921,0.12,0.00,0.00,0.000,6,0.066,0.000,2715,1694,2876,0,0,0,0,0,0
$GC,1170,-1.67,-58.4,163.3,-13.0,111,1175,0.00,2.33,0.00,0.000,4,0.000,0.023,2715,3102,2876,0,0,0,0,0,0
$GC,1196,-1.67,-58.4,167.0,-13.5,113,1200,0.00,2.40,0.00,0.000,6,0.000,0.033,2715,1682,2877,0,0,0,0,0,0
$GC,1464,-1.67,-58.4,200.5,-12.2,134,1468,0.00,2.33,0.00,0.000,4,0.000,0.024,2715,3104,2877,0,0,0,0,0,0
$GC,1477,-1.67,-58.4,202.8,-11.7,134,1484,0.00,2.40,0.00,0.000,6,0.000,0.032,2715,1692,2877,0,0,0,0,0,0
$GC,1794,-1.67,-58.4,239.8,-11.5,150,1801,0.00,2.35,0.00,0.000,4,0.000,0.025,2715,3107,2877,0,0,0,0,0,0
$GC,1904,-1.74,-58.4,252.2,-11.2,154,1908,0.00,2.40,0.00,0.000,6,0.000,0.034,2715,1684,2877,0,0,0,0,0,0
$GC,2226,-1.74,-58.4,288.8,-11.3,170,2230,0.00,2.35,0.00,0.000,4,0.000,0.028,2715,3102,2876,0,0,0,0,0,0
$GC,2269,-1.83,-58.4,293.7,-11.1,172,2273,0.00,2.40,0.00,0.000,6,0.000,0.035,2715,1689,2876,0,0,0,0,0,0
$GC,2614,-1.83,-58.4,331.0,-10.6,182,2618,0.00,2.35,0.00,0.000,4,0.000,0.028,2715,3103,2875,0,0,0,0,0,0
$GC,2767,-1.91,-58.4,347.9,-11.2,185,2772,0.15,2.40,0.00,0.000,6,0.062,0.036,2673,1691,2875,0,0,0,0,0,0
$GC,3118,-1.86,-58.4,394.0,-12.7,194,3123,0.10,2.40,0.00,0.000,4,0.117,0.031,2693,3103,2872,0,0,0,0,0,0
$GC,3166,-1.91,-58.4,399.4,-10.5,195,3170,0.00,2.42,0.00,0.000,6,0.000,0.040,2693,1692,2872,0,0,0,0,0,0
$GC,3488,-1.91,-58.4,434.3,-10.8,203,3489,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1691,2870,0,0,0,0,0,0
$STATE,3648,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3648,begin apogee
$GC,3656,-0.31,0.0,451.5,10.6,207,3709,1.62,0.00,49.20,0.844,6,0.082,0.000,3032,1857,2630,0,0,0,0,0,0
$STATE,3710,end apogee,CONTROL_FINISHED_OK
$STATE,3710,begin climb
$GC,3712,1.56,58.4,452.7,0.0,208,3773,1.75,2.60,50.60,0.827,4,0.031,0.051,3450,420,2388,0,0,0,0,0,0
$GC,3950,1.18,85.5,446.2,5.5,213,3979,0.47,2.35,23.50,0.808,6,0.106,0.027,3359,1847,2281,0,0,0,0,0,0
$GC,4308,1.07,93.4,421.8,7.2,221,4321,0.12,2.38,7.35,0.686,4,0.120,0.037,3336,3208,2249,0,0,0,0,0,0
$GC,4542,1.05,109.3,406.8,6.5,226,4563,0.00,2.40,15.55,0.781,6,0.000,0.039,3337,1830,2184,0,0,0,0,0,0
$GC,4910,1.01,116.8,381.2,7.2,235,4923,0.00,2.50,7.40,0.686,4,0.000,0.056,3336,425,2153,0,0,0,0,0,0
$GC,4957,0.87,116.8,377.4,8.1,236,4962,0.22,2.35,0.00,0.000,6,0.108,0.028,3293,1833,2150,0,0,0,0,0,0
$GC,5281,0.95,140.3,358.1,5.8,244,5309,0.00,2.60,21.95,0.795,4,0.000,0.054,3293,426,2056,0,0,0,0,0,0
$GC,5397,0.95,140.3,348.6,9.1,246,5401,0.00,2.35,0.00,0.000,6,0.000,0.028,3293,1835,2052,0,0,0,0,0,0
$GC,5738,1.02,145.8,322.5,7.4,255,5751,0.12,2.55,5.40,0.601,4,0.071,0.053,3327,428,2034,0,0,0,0,0,0
$GC,5790,0.93,145.8,318.1,9.2,256,5795,0.12,2.33,0.00,0.000,6,0.117,0.028,3305,1831,2032,0,0,0,0,0,0
$GC,6116,1.00,161.8,296.1,6.5,265,6137,0.00,0.00,15.68,0.742,6,0.000,0.000,3305,1836,1970,0,0,0,0,0,0
$GC,6450,1.07,161.8,264.9,8.8,281,6455,0.12,2.50,0.00,0.000,4,0.071,0.054,3340,418,1965,0,0,0,0,0,0
$GC,6542,0.97,161.8,255.1,11.8,285,6547,0.15,2.35,0.00,0.000,6,0.110,0.027,3312,1842,1963,0,0,0,0,0,0
$GC,6877,1.02,161.8,228.1,8.4,301,6881,0.00,2.28,0.00,0.000,4,0.000,0.031,3312,3212,1963,0,0,0,0,0,0
$GC,6891,1.09,161.8,226.2,9.1,301,6897,0.12,2.38,0.00,0.000,6,0.070,0.036,3347,1829,1963,0,0,0,0,0,0
$GC,7211,1.09,161.8,196.9,8.8,318,7215,0.00,2.45,0.00,0.000,4,0.000,0.051,3347,423,1963,0,0,0,0,0,0
$GC,7280,1.01,161.8,189.6,10.7,323,7285,0.15,2.28,0.00,0.000,6,0.107,0.025,3319,1831,1960,0,0,0,0,0,0
$GC,7542,1.08,164.1,167.7,7.7,343,7547,0.00,2.45,0.00,0.000,4,0.000,0.049,3318,414,1960,0,0,0,0,0,0
$GC,7602,1.08,164.1,161.2,11.1,347,7608,0.00,2.33,0.00,0.000,6,0.000,0.024,3318,1848,1960,0,0,0,0,0,0
$GC,7863,1.18,181.9,142.8,6.3,368,7887,0.17,2.53,17.45,0.624,4,0.056,0.048,3368,416,1888,0,0,0,0,0,0
$GC,7932,1.07,181.9,137.1,9.7,372,7937,0.17,2.30,0.00,0.000,6,0.101,0.022,3335,1828,1885,0,0,0,0,0,0
$GC,8200,1.16,206.0,118.5,5.7,393,8228,0.00,2.50,22.42,0.605,4,0.000,0.046,3334,419,1789,0,0,0,0,0,0
$GC,8290,1.16,206.0,111.6,9.2,399,8294,0.00,2.28,0.00,0.000,6,0.000,0.022,3335,1833,1786,0,0,0,0,0,0
$GC,8553,1.26,206.0,86.8,10.1,420,8558,0.17,2.47,0.00,0.000,4,0.053,0.046,3385,423,1785,0,0,0,0,0,0
$GC,8607,1.15,206.0,80.1,13.8,424,8612,0.17,2.28,0.00,0.000,6,0.100,0.021,3351,1838,1784,0,0,0,0,0,0
$GC,8876,1.23,206.0,55.6,9.2,445,8880,0.00,2.45,0.00,0.000,4,0.000,0.045,3351,421,1784,0,0,0,0,0,0
$GC,8916,1.23,206.0,51.3,10.5,448,8920,0.00,2.25,0.00,0.000,6,0.000,0.020,3351,1830,1784,0,0,0,0,0,0
$GC,9179,1.33,215.7,28.7,7.0,470,9198,0.17,2.47,9.18,0.474,4,0.053,0.043,3402,426,1749,0,0,0,0,0,0
$GC,9207,1.37,222.0,26.4,7.3,474,9220,0.00,2.28,7.07,0.443,6,0.000,0.020,3403,1835,1724,0,0,0,0,0,0
$GC,9414,1.37,222.0,9.2,11.4,521,9421,0.00,2.45,0.00,0.000,4,0.000,0.044,3402,423,1723,0,0,0,0,0,0
$STATE,9460,end climb,SURFACE_DEPTH_REACHED
$STATE,9460,begin surface coast
$FINISH,0.9,1.023027
$STATE,9478,end surface coast,CONTROL_FINISHED_OK
$STATE,9478,begin surface
$SM_CCo,9504,111.85,0.509,0,0,957,410.14
$SM_GC,1.35,0.00,0.00,111.85,0.000,0.000,0.509,424,1701,957,-12.31,0.31,410.14
$IRIDIUM_FIX,2050.21,-15752.63,041199,010144
$TT8_MAMPS,0.029146
$HUMID,52.04
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,21.90
$XPDR_PINGS,1
$24V_AH,23.5,12.571
$10V_AH,10.4,9.443
$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,31.625,110.075,252.750,111.850,0.000,24.008,27.214,146.336,4.750,0.000,19.756,1087.462,6257.898,427.590,1722.653,438.333,0.000,1198.947,0.000,1692.510,0.000,29.262,0.000
$DEVICE_MAMPS,137.293,55.991,843.700,508.521,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,360.634,338.197,772.741,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,28615,535
$CAP_FILE_SIZE,110038,0
$CFSIZE,260165632,206364672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100810,072108,2100.032,-15751.538,14,1.7,14,9.8