version: 66.06
glider: 139
mission: 8
dive: 150
start: 8 11 110 15 36 0
data:
$ID,139
$MISSION,8
$DIVE,150
$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,-2153575.2
$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
$GPS1,153013,2107.021,-15802.570,35,1.8,47,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-71.8
$GPS2,153544,2107.023,-15802.609,18,1.9,18,9.8
$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,11.4,2604,-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,13,begin dive
$GC,15,-1.56,-58.4,0.0,0.0,0,82,0.00,0.00,-64.18,0.000,2,0.000,0.000,428,1636,2756,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.2,-3.6,12,110,12.55,2.50,-2.12,0.000,4,0.137,0.038,2752,3103,2872,0,0,0,0,0,0
$GC,169,-1.56,-58.4,26.0,-20.9,29,175,0.00,2.42,0.00,0.000,6,0.000,0.034,2751,1690,2873,0,0,0,0,0,0
$GC,377,-1.47,-58.4,67.2,-18.7,47,379,0.12,0.00,0.00,0.000,6,0.119,0.000,2774,1690,2874,0,0,0,0,0,0
$GC,630,-1.53,-58.4,104.2,-12.4,67,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1691,2875,0,0,0,0,0,0
$GC,882,-1.60,-58.4,135.0,-12.5,87,886,0.10,2.33,0.00,0.000,4,0.074,0.023,2740,3102,2876,0,0,0,0,0,0
$GC,1017,-1.70,-58.4,152.3,-12.9,97,1021,0.00,2.38,0.00,0.000,6,0.000,0.033,2740,1684,2877,0,0,0,0,0,0
$GC,1281,-1.70,-58.4,185.7,-12.7,118,1285,0.00,2.42,0.00,0.000,4,0.000,0.048,2739,276,2877,0,0,0,0,0,0
$GC,1328,-1.66,-58.4,192.6,-14.0,121,1334,0.00,2.30,0.00,0.000,6,0.000,0.019,2740,1723,2878,0,0,0,0,0,0
$GC,1592,-1.70,-58.4,225.9,-11.8,136,1596,0.00,2.22,0.00,0.000,4,0.000,0.025,2740,3078,2878,0,0,0,0,0,0
$GC,1630,-1.82,-58.4,230.7,-11.8,137,1636,0.17,2.33,0.00,0.000,6,0.054,0.033,2688,1687,2877,0,0,0,0,0,0
$GC,1949,-1.77,-58.4,274.5,-14.5,153,1954,0.12,2.42,0.00,0.000,4,0.108,0.047,2712,288,2878,0,0,0,0,0,0
$GC,1964,-1.70,-58.4,277.4,-14.7,153,1970,0.00,2.22,0.00,0.000,6,0.000,0.021,2712,1699,2878,0,0,0,0,0,0
$GC,2298,-1.70,-58.4,319.7,-11.9,166,2302,0.00,2.22,0.00,0.000,4,0.000,0.028,2712,3062,2878,0,0,0,0,0,0
$GC,2451,-1.77,-58.4,335.3,-9.0,169,2455,0.00,2.33,0.00,0.000,6,0.000,0.037,2712,1684,2877,0,0,0,0,0,0
$GC,2765,-1.77,-58.4,367.8,-10.5,177,2769,0.00,2.30,0.00,0.000,4,0.000,0.028,2712,3060,2876,0,0,0,0,0,0
$GC,3001,-1.87,-58.4,398.7,-11.4,182,3006,0.00,2.33,0.00,0.000,6,0.000,0.040,2712,1692,2875,0,0,0,0,0,0
$GC,3321,-1.90,-58.4,444.5,-14.9,190,3326,0.12,2.47,0.00,0.000,4,0.071,0.057,2678,283,2872,0,0,0,0,0,0
$GC,3351,-1.76,-58.4,449.5,-16.9,190,3357,0.20,2.28,0.00,0.000,2,0.099,0.025,2717,1672,2872,0,0,0,0,0,0
$STATE,3357,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3357,begin apogee
$GC,3364,-0.31,0.0,450.3,15.7,190,3417,1.48,0.00,49.55,0.828,6,0.083,0.000,3027,1852,2630,0,0,0,0,0,0
$STATE,3418,end apogee,CONTROL_FINISHED_OK
$STATE,3418,begin climb
$GC,3421,1.56,58.4,453.3,0.0,192,3479,1.77,2.38,50.10,0.815,4,0.029,0.035,3446,3205,2391,0,0,0,0,0,0
$GC,3580,1.36,120.0,453.4,2.4,195,3641,0.25,2.38,54.03,0.818,6,0.110,0.037,3400,1821,2139,0,0,0,0,0,0
$GC,3972,1.18,120.0,409.8,12.2,205,3977,0.22,2.47,0.00,0.000,4,0.110,0.054,3357,418,2130,0,0,0,0,0,0
$GC,4020,0.99,120.0,402.0,16.4,206,4025,0.22,2.30,0.00,0.000,6,0.106,0.027,3315,1824,2127,0,0,0,0,0,0
$GC,4344,0.99,120.0,367.9,9.4,214,4348,0.00,2.47,0.00,0.000,4,0.000,0.054,3316,426,2126,0,0,0,0,0,0
$GC,4437,0.90,120.0,358.9,8.8,216,4441,0.00,2.30,0.00,0.000,6,0.000,0.028,3316,1827,2123,0,0,0,0,0,0
$GC,4760,0.90,124.8,334.4,7.5,224,4764,0.00,2.45,0.00,0.000,4,0.000,0.053,3315,425,2122,0,0,0,0,0,0
$GC,4863,0.83,124.8,325.9,8.6,226,4868,0.17,2.33,0.00,0.000,6,0.111,0.027,3282,1838,2120,0,0,0,0,0,0
$GC,5179,0.98,159.7,311.5,4.8,234,5222,0.12,2.55,32.95,0.765,4,0.070,0.052,3318,420,1976,0,0,0,0,0,0
$GC,5243,0.95,169.6,307.2,7.0,235,5260,0.00,2.35,9.85,0.671,6,0.000,0.027,3318,1841,1937,0,0,0,0,0,0
$GC,5583,1.00,170.7,279.2,7.8,249,5587,0.00,2.47,0.00,0.000,4,0.000,0.053,3318,425,1933,0,0,0,0,0,0
$GC,5713,1.00,170.7,266.1,8.5,254,5720,0.00,2.33,0.00,0.000,6,0.000,0.026,3319,1829,1929,0,0,0,0,0,0
$GC,6030,1.05,170.7,237.8,9.9,270,6034,0.00,2.30,0.00,0.000,4,0.000,0.030,3318,3212,1929,0,0,0,0,0,0
$GC,6076,1.16,170.7,232.8,10.9,272,6081,0.15,2.35,0.00,0.000,6,0.061,0.035,3361,1829,1929,0,0,0,0,0,0
$GC,6402,1.16,170.7,199.0,11.0,288,6407,0.00,2.45,0.00,0.000,4,0.000,0.049,3361,424,1928,0,0,0,0,0,0
$GC,6490,1.04,170.7,188.8,11.9,294,6496,0.15,2.30,0.00,0.000,6,0.085,0.023,3327,1829,1926,0,0,0,0,0,0
$GC,6752,1.10,170.7,167.1,8.1,315,6756,0.00,2.45,0.00,0.000,4,0.000,0.048,3327,419,1926,0,0,0,0,0,0
$GC,6888,1.10,170.7,154.2,11.7,325,6892,0.00,2.25,0.00,0.000,6,0.000,0.022,3327,1832,1925,0,0,0,0,0,0
$GC,7154,1.18,177.8,132.1,7.3,346,7170,0.12,2.47,6.53,0.508,4,0.065,0.045,3366,427,1904,0,0,0,0,0,0
$GC,7175,1.18,177.8,130.1,8.1,347,7180,0.00,2.25,0.00,0.000,6,0.000,0.021,3367,1841,1904,0,0,0,0,0,0
$GC,7435,1.20,190.1,111.4,6.8,367,7455,0.00,2.47,12.68,0.557,4,0.000,0.044,3366,417,1852,0,0,0,0,0,0
$GC,7646,1.15,190.1,96.0,9.4,382,7650,0.00,2.25,0.00,0.000,6,0.000,0.020,3367,1826,1850,0,0,0,0,0,0
$GC,7913,1.25,221.5,77.2,5.1,403,7948,0.00,2.47,28.00,0.553,4,0.000,0.044,3366,417,1726,0,0,0,0,0,0
$GC,7975,1.26,222.5,73.0,7.8,407,7982,0.00,2.30,0.00,0.000,6,0.000,0.020,3367,1832,1723,0,0,0,0,0,0
$GC,8235,1.31,222.5,53.2,8.6,428,8239,0.00,2.42,0.00,0.000,4,0.000,0.044,3366,418,1722,0,0,0,0,0,0
$GC,8301,1.31,222.5,46.2,9.7,433,8305,0.00,2.22,0.00,0.000,6,0.000,0.019,3367,1834,1720,0,0,0,0,0,0
$GC,8563,1.38,222.5,21.7,10.3,465,8570,0.15,2.47,0.00,0.000,4,0.056,0.044,3413,423,1720,0,0,0,0,0,0
$GC,8666,1.24,222.5,7.9,13.4,487,8674,0.17,2.25,0.00,0.000,6,0.081,0.018,3373,1822,1720,0,0,0,0,0,0
$STATE,8700,end climb,SURFACE_DEPTH_REACHED
$STATE,8700,begin surface coast
$FINISH,0.7,1.002499
$STATE,8727,end surface coast,CONTROL_FINISHED_OK
$STATE,8727,begin surface
$SM_CCo,8751,100.60,0.493,0,0,956,410.14
$SM_GC,1.33,0.00,0.00,100.60,0.000,0.000,0.493,427,1669,956,-12.30,-0.59,410.14
$IRIDIUM_FIX,2057.14,-15801.19,051199,121242
$TT8_MAMPS,0.028379
$HUMID,51.77
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.5,13.629
$10V_AH,10.4,10.393
$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,31.025,104.400,243.675,100.600,0.000,30.960,34.162,140.855,4.500,0.000,18.883,1031.202,5624.387,408.079,1681.952,432.722,0.000,1168.118,0.000,1650.399,0.000,29.259,0.000
$DEVICE_MAMPS,136.526,56.758,828.360,493.181,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,335.668,316.140,722.421,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,28700,500
$CAP_FILE_SIZE,105842,0
$CFSIZE,260165632,205692928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110810,180455,2107.560,-15802.440,45,2.0,45,9.8