version: 66.06
glider: 139
mission: 8
dive: 149
start: 8 11 110 12 44 12
data:
$ID,139
$MISSION,8
$DIVE,149
$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,-2153555.5
$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
$GPS1,123807,2106.091,-15801.415,29,1.9,29,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.8
$GPS2,124356,2106.078,-15801.437,16,1.9,34,9.8
$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,335.6,4316,-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,-64.72,0.000,2,0.000,0.000,426,1660,2803,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.8,-4.8,12,104,12.55,2.42,-1.17,0.000,4,0.136,0.035,2753,3109,2870,0,0,0,0,0,0
$GC,122,-0.53,-58.4,17.6,-32.9,18,129,1.05,2.45,0.00,0.000,6,0.081,0.035,2982,1687,2871,0,0,0,0,0,0
$GC,325,-1.01,-58.4,26.0,-1.4,64,332,0.43,2.42,0.00,0.000,4,0.031,0.045,2860,285,2872,0,0,0,0,0,0
$GC,395,-1.17,-58.4,31.9,-9.7,77,399,0.00,2.30,0.00,0.000,6,0.000,0.018,2859,1732,2872,0,0,0,0,0,0
$GC,661,-1.36,-58.4,61.3,-10.0,98,666,0.25,2.53,0.00,0.000,4,0.041,0.043,2783,275,2873,0,0,0,0,0,0
$GC,703,-1.36,-58.4,66.6,-14.2,101,707,0.00,2.22,0.00,0.000,6,0.000,0.018,2782,1698,2873,0,0,0,0,0,0
$GC,963,-1.43,-58.4,98.7,-12.2,121,967,0.00,2.20,0.00,0.000,4,0.000,0.022,2783,3064,2874,0,0,0,0,0,0
$GC,1023,-1.57,-58.4,105.8,-11.6,125,1029,0.12,2.33,0.00,0.000,6,0.063,0.031,2741,1681,2874,0,0,0,0,0,0
$GC,1282,-1.57,-58.4,145.4,-13.4,146,1283,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1681,2875,0,0,0,0,0,0
$GC,1535,-1.57,-58.4,176.3,-12.7,166,1539,0.00,2.38,0.00,0.000,4,0.000,0.045,2741,286,2875,0,0,0,0,0,0
$GC,1573,-1.57,-58.4,181.3,-13.8,169,1577,0.00,2.20,0.00,0.000,6,0.000,0.019,2741,1691,2875,0,0,0,0,0,0
$GC,1834,-1.61,-58.4,207.7,-8.9,187,1838,0.00,2.25,0.00,0.000,4,0.000,0.024,2741,3066,2876,0,0,0,0,0,0
$GC,1878,-1.73,-58.4,211.5,-8.4,189,1882,0.00,2.33,0.00,0.000,6,0.000,0.033,2742,1688,2876,0,0,0,0,0,0
$GC,2211,-1.78,-58.4,246.1,-10.9,205,2216,0.15,2.42,0.00,0.000,4,0.058,0.048,2694,281,2876,0,0,0,0,0,0
$GC,2263,-1.67,-58.4,253.3,-13.8,207,2268,0.20,2.22,0.00,0.000,6,0.097,0.021,2733,1689,2876,0,0,0,0,0,0
$GC,2587,-1.72,-58.4,287.2,-11.0,223,2591,0.00,2.28,0.00,0.000,4,0.000,0.026,2733,3070,2875,0,0,0,0,0,0
$GC,2671,-1.82,-58.4,296.9,-11.2,226,2679,0.10,2.35,0.00,0.000,6,0.038,0.036,2695,1695,2875,0,0,0,0,0,0
$GC,2984,-1.82,-58.4,334.4,-11.5,235,2988,0.00,2.28,0.00,0.000,4,0.000,0.028,2695,3073,2874,0,0,0,0,0,0
$GC,3252,-1.87,-58.4,359.5,-9.2,240,3257,0.00,2.35,0.00,0.000,6,0.000,0.038,2695,1687,2872,0,0,0,0,0,0
$GC,3584,-1.87,-58.4,398.2,-12.7,249,3588,0.00,2.30,0.00,0.000,4,0.000,0.030,2695,3068,2871,0,0,0,0,0,0
$GC,3644,-1.92,-58.4,405.7,-11.7,250,3648,0.00,2.38,0.00,0.000,6,0.000,0.040,2695,1688,2870,0,0,0,0,0,0
$GC,3996,-1.92,-58.4,441.8,-11.0,259,4000,0.00,2.47,0.00,0.000,4,0.000,0.058,2695,277,2868,0,0,0,0,0,0
$GC,4016,-1.88,-58.4,444.7,-13.5,259,4020,0.00,2.28,0.00,0.000,6,0.000,0.026,2694,1677,2868,0,0,0,0,0,0
$STATE,4074,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4074,begin apogee
$GC,4081,-0.31,0.0,452.6,13.1,261,4134,1.60,0.00,48.92,0.844,6,0.082,0.000,3030,1853,2630,0,0,0,0,0,0
$STATE,4134,end apogee,CONTROL_FINISHED_OK
$STATE,4134,begin climb
$GC,4137,1.56,58.4,454.6,0.0,262,4195,1.77,2.35,50.55,0.828,4,0.030,0.035,3451,3208,2390,0,0,0,0,0,0
$GC,4282,1.34,117.0,454.5,2.6,265,4340,0.30,2.40,51.60,0.828,6,0.109,0.038,3395,1829,2152,0,0,0,0,0,0
$GC,4679,1.17,117.0,416.0,10.6,275,4684,0.20,2.40,0.00,0.000,4,0.111,0.034,3358,3216,2143,0,0,0,0,0,0
$GC,4694,1.03,117.0,414.1,11.5,275,4700,0.17,2.40,0.00,0.000,6,0.117,0.041,3325,1832,2142,0,0,0,0,0,0
$GC,5046,1.03,117.0,384.0,8.2,284,5050,0.00,2.50,0.00,0.000,4,0.000,0.057,3325,422,2138,0,0,0,0,0,0
$GC,5148,0.91,117.0,374.9,8.8,286,5153,0.12,2.33,0.00,0.000,6,0.121,0.028,3302,1835,2135,0,0,0,0,0,0
$GC,5464,0.96,131.3,354.4,6.6,294,5476,0.00,0.00,10.93,0.736,6,0.000,0.000,3302,1840,2094,0,0,0,0,0,0
$GC,5788,1.02,138.5,332.4,7.2,302,5800,0.00,2.38,7.35,0.671,4,0.000,0.035,3303,3213,2065,0,0,0,0,0,0
$GC,5839,1.10,138.5,328.1,8.6,303,5844,0.15,2.40,0.00,0.000,6,0.064,0.039,3343,1822,2065,0,0,0,0,0,0
$GC,6163,1.06,138.5,297.7,8.8,311,6166,0.00,2.35,0.00,0.000,4,0.000,0.034,3343,3214,2062,0,0,0,0,0,0
$GC,6213,1.06,138.5,293.6,8.4,313,6217,0.00,2.38,0.00,0.000,6,0.000,0.038,3342,1825,2062,0,0,0,0,0,0
$GC,6540,1.06,138.5,262.9,10.1,329,6544,0.00,2.35,0.00,0.000,4,0.000,0.033,3342,3220,2061,0,0,0,0,0,0
$GC,6549,1.06,138.5,261.8,9.9,329,6553,0.00,2.38,0.00,0.000,6,0.000,0.036,3342,1827,2061,0,0,0,0,0,0
$GC,6865,1.09,157.3,239.2,6.2,344,6888,0.00,2.50,17.62,0.709,4,0.000,0.052,3342,425,1986,0,0,0,0,0,0
$GC,6895,1.06,157.3,236.8,8.5,345,6899,0.00,2.35,0.00,0.000,6,0.000,0.026,3343,1843,1985,0,0,0,0,0,0
$GC,7221,1.06,161.5,210.6,7.5,361,7232,0.00,2.50,4.68,0.506,4,0.000,0.050,3342,424,1970,0,0,0,0,0,0
$GC,7347,0.98,161.5,197.8,11.9,367,7352,0.15,2.33,0.00,0.000,6,0.110,0.025,3315,1844,1968,0,0,0,0,0,0
$GC,7613,1.05,170.0,175.3,7.1,388,7624,0.00,0.00,8.55,0.594,6,0.000,0.000,3314,1849,1937,0,0,0,0,0,0
$GC,7879,1.14,178.4,155.9,7.1,409,7894,0.15,2.50,9.27,0.584,4,0.061,0.047,3358,420,1901,0,0,0,0,0,0
$GC,7987,1.03,178.4,144.8,11.7,416,7994,0.12,2.33,0.00,0.000,6,0.084,0.023,3329,1829,1898,0,0,0,0,0,0
$GC,8248,1.09,178.4,122.7,9.0,437,8252,0.00,2.45,0.00,0.000,4,0.000,0.047,3328,421,1897,0,0,0,0,0,0
$GC,8370,1.09,178.4,109.8,8.6,446,8375,0.00,2.28,0.00,0.000,6,0.000,0.021,3329,1853,1896,0,0,0,0,0,0
$GC,8637,1.18,186.7,92.3,7.1,467,8648,0.12,0.00,8.12,0.517,6,0.066,0.000,3369,1860,1868,0,0,0,0,0,0
$GC,8902,1.18,186.7,71.6,8.0,488,8906,0.00,2.47,0.00,0.000,4,0.000,0.045,3368,423,1867,0,0,0,0,0,0
$GC,8961,1.12,186.7,66.1,8.1,492,8968,0.10,2.28,0.00,0.000,6,0.084,0.021,3345,1834,1866,0,0,0,0,0,0
$GC,9224,1.30,239.9,52.6,3.1,513,9280,0.17,2.35,46.80,0.553,4,0.052,0.023,3396,3207,1650,0,0,0,0,0,0
$GC,9305,1.34,239.9,48.0,8.1,518,9312,0.00,2.38,0.00,0.000,6,0.000,0.031,3396,1830,1649,0,0,0,0,0,0
$GC,9568,1.34,239.9,21.3,11.6,549,9575,0.00,2.47,0.00,0.000,4,0.000,0.045,3396,421,1647,0,0,0,0,0,0
$GC,9621,1.24,239.9,14.1,13.7,560,9628,0.10,2.28,0.00,0.000,6,0.084,0.019,3373,1830,1644,0,0,0,0,0,0
$STATE,9732,end climb,SURFACE_DEPTH_REACHED
$STATE,9732,begin surface coast
$FINISH,0.7,1.010683
$STATE,9759,end surface coast,CONTROL_FINISHED_OK
$STATE,9759,begin surface
$SM_CCo,9782,94.18,0.501,0,0,957,410.14
$SM_GC,1.28,0.00,0.00,94.18,0.000,0.000,0.501,428,1635,957,-12.29,-1.55,410.14
$IRIDIUM_FIX,2057.14,-15803.33,051199,101019
$TT8_MAMPS,0.028379
$HUMID,52.55
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,22.10
$XPDR_PINGS,2
$24V_AH,23.5,13.551
$10V_AH,10.3,10.323
$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,32.725,113.875,264.400,94.175,0.000,22.317,32.886,158.031,5.250,0.000,34.160,1156.083,6353.534,423.691,1824.833,465.331,0.000,1208.169,0.000,1784.092,0.000,32.073,0.000
$DEVICE_MAMPS,135.759,57.525,844.467,500.851,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,397.878,382.007,909.701,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31781,591
$CAP_FILE_SIZE,114022,0
$CFSIZE,260165632,205742080
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110810,153013,2107.021,-15802.570,35,1.8,47,9.8