version: 66.06
glider: 139
mission: 8
dive: 139
start: 8 10 110 10 12 53
data:
$ID,139
$MISSION,8
$DIVE,139
$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,-2153286.5
$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
$GPS1,100737,2100.678,-15752.209,39,1.1,46,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-72.6
$GPS2,101237,2100.686,-15752.274,13,1.1,19,9.8
$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,300.1,22059,-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,-64.70,0.000,2,0.000,0.000,430,1666,2792,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.6,-4.5,12,104,12.55,2.45,-1.42,0.000,4,0.137,0.037,2753,3101,2870,0,0,0,0,0,0
$GC,279,-1.59,-58.4,44.0,-14.6,42,284,0.00,2.40,0.00,0.000,6,0.000,0.032,2752,1686,2873,0,0,0,0,0,0
$GC,545,-1.59,-58.4,83.6,-16.2,63,549,0.00,2.33,0.00,0.000,4,0.000,0.023,2753,3102,2873,0,0,0,0,0,0
$GC,696,-1.66,-58.4,106.4,-14.1,74,700,0.00,2.40,0.00,0.000,6,0.000,0.031,2752,1681,2874,0,0,0,0,0,0
$GC,963,-1.66,-58.4,144.5,-13.5,95,967,0.00,2.38,0.00,0.000,4,0.000,0.046,2752,286,2875,0,0,0,0,0,0
$GC,1032,-1.61,-58.4,154.9,-14.7,100,1036,0.00,2.30,0.00,0.000,6,0.000,0.018,2752,1722,2875,0,0,0,0,0,0
$GC,1295,-1.65,-58.4,184.8,-9.9,120,1299,0.00,2.20,0.00,0.000,4,0.000,0.023,2753,3081,2875,0,0,0,0,0,0
$GC,1347,-1.78,-58.4,190.5,-10.0,124,1352,0.17,2.35,0.00,0.000,6,0.053,0.033,2701,1689,2875,0,0,0,0,0,0
$GC,1624,-1.75,-58.4,224.9,-13.3,140,1628,0.00,2.28,0.00,0.000,4,0.000,0.024,2701,3080,2876,0,0,0,0,0,0
$GC,1693,-1.75,-58.4,233.1,-10.6,143,1697,0.00,2.35,0.00,0.000,6,0.000,0.032,2702,1684,2876,0,0,0,0,0,0
$GC,2019,-1.75,-58.4,268.2,-11.3,159,2023,0.00,2.30,0.00,0.000,4,0.000,0.025,2701,3074,2876,0,0,0,0,0,0
$GC,2043,-1.79,-58.4,271.4,-12.9,160,2047,0.00,2.35,0.00,0.000,6,0.000,0.035,2701,1687,2876,0,0,0,0,0,0
$GC,2366,-1.79,-58.4,310.5,-11.3,174,2370,0.00,2.28,0.00,0.000,4,0.000,0.027,2701,3071,2875,0,0,0,0,0,0
$GC,2386,-1.79,-58.4,312.7,-11.0,174,2390,0.00,2.35,0.00,0.000,6,0.000,0.036,2701,1685,2875,0,0,0,0,0,0
$GC,2730,-1.79,-58.4,351.4,-11.0,183,2734,0.00,2.33,0.00,0.000,4,0.000,0.028,2701,3073,2874,0,0,0,0,0,0
$GC,2758,-1.85,-58.4,354.7,-11.5,183,2763,0.00,2.38,0.00,0.000,6,0.000,0.038,2701,1688,2874,0,0,0,0,0,0
$GC,3095,-1.85,-58.4,389.3,-9.8,192,3096,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1688,2872,0,0,0,0,0,0
$GC,3420,-1.85,-58.4,422.5,-10.7,200,3424,0.00,2.35,0.00,0.000,4,0.000,0.033,2701,3075,2869,0,0,0,0,0,0
$GC,3463,-1.91,-58.4,426.9,-9.5,201,3467,0.00,2.40,0.00,0.000,6,0.000,0.041,2701,1684,2869,0,0,0,0,0,0
$STATE,3706,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3706,begin apogee
$GC,3713,-0.31,0.0,453.5,11.1,207,3766,1.58,0.00,48.97,0.854,6,0.084,0.000,3029,1833,2630,0,0,0,0,0,0
$STATE,3767,end apogee,CONTROL_FINISHED_OK
$STATE,3767,begin climb
$GC,3770,1.56,58.4,454.9,0.0,208,3831,1.77,2.53,50.78,0.835,4,0.031,0.051,3449,422,2388,0,0,0,0,0,0
$GC,3844,1.33,163.6,455.6,-1.6,209,3947,0.32,2.35,92.60,0.839,6,0.113,0.027,3389,1838,1962,0,0,0,0,0,0
$GC,4272,1.18,163.6,404.0,14.8,220,4278,0.15,2.53,0.00,0.000,4,0.116,0.056,3360,423,1952,0,0,0,0,0,0
$GC,4297,0.99,163.6,400.1,14.1,220,4302,0.22,2.33,0.00,0.000,6,0.110,0.029,3318,1817,1949,0,0,0,0,0,0
$GC,4638,0.99,163.6,362.1,11.1,229,4642,0.00,2.47,0.00,0.000,4,0.000,0.057,3318,422,1947,0,0,0,0,0,0
$GC,4748,0.91,163.6,348.8,12.2,231,4752,0.00,2.35,0.00,0.000,6,0.000,0.028,3318,1837,1943,0,0,0,0,0,0
$GC,5097,0.91,163.6,311.4,10.4,240,5101,0.00,2.53,0.00,0.000,4,0.000,0.055,3318,418,1942,0,0,0,0,0,0
$GC,5231,0.85,163.6,295.8,10.6,242,5237,0.17,2.35,0.00,0.000,6,0.114,0.028,3286,1836,1940,0,0,0,0,0,0
$GC,5547,0.96,170.0,272.4,7.3,258,5552,0.10,2.50,0.00,0.000,4,0.082,0.055,3314,422,1939,0,0,0,0,0,0
$GC,5763,0.96,170.0,248.2,10.1,267,5767,0.00,2.30,0.00,0.000,6,0.000,0.028,3314,1833,1937,0,0,0,0,0,0
$GC,6085,1.03,170.0,218.1,8.7,283,6086,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1840,1937,0,0,0,0,0,0
$GC,6402,1.11,181.7,195.5,6.8,300,6421,0.12,2.55,12.25,0.650,4,0.069,0.051,3350,421,1889,0,0,0,0,0,0
$GC,6517,1.04,181.7,183.5,12.2,308,6522,0.12,2.33,0.00,0.000,6,0.112,0.024,3327,1840,1885,0,0,0,0,0,0
$GC,6778,1.10,181.7,162.8,8.0,328,6782,0.00,2.28,0.00,0.000,4,0.000,0.028,3327,3218,1884,0,0,0,0,0,0
$GC,6829,1.20,181.7,158.1,9.1,331,6835,0.15,2.38,0.00,0.000,6,0.061,0.033,3369,1825,1884,0,0,0,0,0,0
$GC,7089,1.20,181.7,134.6,8.1,352,7093,0.00,2.42,0.00,0.000,4,0.000,0.048,3369,420,1884,0,0,0,0,0,0
$GC,7355,1.12,181.7,106.3,11.6,371,7361,0.12,2.25,0.00,0.000,6,0.110,0.021,3346,1840,1883,0,0,0,0,0,0
$GC,7617,1.20,190.8,86.4,7.1,392,7632,0.00,2.47,8.90,0.516,4,0.000,0.044,3345,414,1851,0,0,0,0,0,0
$GC,7638,1.26,196.0,84.6,7.4,393,7651,0.12,2.28,6.40,0.470,6,0.066,0.021,3384,1841,1829,0,0,0,0,0,0
$GC,7916,1.26,196.0,59.6,9.8,415,7920,0.00,2.42,0.00,0.000,4,0.000,0.044,3383,419,1829,0,0,0,0,0,0
$GC,7941,1.18,196.0,56.9,11.7,417,7946,0.12,2.25,0.00,0.000,6,0.110,0.020,3360,1828,1827,0,0,0,0,0,0
$GC,8209,1.28,204.6,32.3,7.1,438,8225,0.00,2.47,8.95,0.475,4,0.000,0.043,3359,423,1794,0,0,0,0,0,0
$GC,8292,1.29,215.6,26.3,6.9,452,8310,0.05,2.28,11.05,0.483,6,0.051,0.019,3387,1850,1749,0,0,0,0,0,0
$GC,8508,1.33,215.6,8.9,9.6,500,8514,0.00,2.47,0.00,0.000,4,0.000,0.041,3386,419,1748,0,0,0,0,0,0
$GC,8556,1.27,215.6,4.2,10.4,510,8563,0.00,2.25,0.00,0.000,6,0.000,0.018,3386,1815,1746,0,0,0,0,0,0
$STATE,8568,end climb,SURFACE_DEPTH_REACHED
$STATE,8568,begin surface coast
$FINISH,0.8,1.023115
$STATE,8599,end surface coast,CONTROL_FINISHED_OK
$STATE,8599,begin surface
$SM_CCo,8623,113.53,0.505,0,0,957,410.14
$SM_GC,1.19,0.00,0.00,113.53,0.000,0.000,0.505,428,1669,957,-12.29,-0.59,410.14
$IRIDIUM_FIX,2052.52,-15752.63,041199,070746
$TT8_MAMPS,0.029146
$HUMID,51.92
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.10
$XPDR_PINGS,2
$24V_AH,23.4,12.733
$10V_AH,10.4,9.587
$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,30.550,99.875,239.900,113.525,0.000,25.346,26.675,128.644,5.000,0.000,19.090,1030.728,5548.475,407.288,1642.681,405.795,0.000,1125.302,0.000,1612.145,0.000,29.249,0.000
$DEVICE_MAMPS,136.526,58.292,854.438,504.686,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,349.471,337.363,787.368,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,28705,519
$CAP_FILE_SIZE,101323,0
$CFSIZE,260165632,206262272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100810,123920,2101.269,-15753.352,12,1.8,12,9.8