version: 66.06
glider: 139
mission: 8
dive: 220
start: 8 19 110 15 22 1
data:
$ID,139
$MISSION,8
$DIVE,220
$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,-2155111.5
$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,1695
$C_ROLL_CLIMB,1770
$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
$GPS1,151619,2059.587,-15749.427,10,1.7,22,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-72.5
$GPS2,152145,2059.601,-15749.423,14,4.4,33,9.8
$SPEED_LIMITS,0.137,0.159
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$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,183.9,3207,-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,-58.4,0.0,0.0,0,81,0.00,0.00,-64.10,0.000,2,0.000,0.000,425,1722,2760,0,0,0,0,0,0
$GC,84,-1.56,-58.4,3.5,-4.0,12,109,12.50,2.53,-2.05,0.000,4,0.134,0.054,2751,283,2872,0,0,0,0,0,0
$GC,206,-1.39,-58.4,37.0,-22.2,34,214,0.17,2.35,0.00,0.000,6,0.092,0.018,2790,1732,2873,0,0,0,0,0,0
$GC,468,-1.43,-58.4,75.3,-13.2,55,469,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1734,2875,0,0,0,0,0,0
$GC,720,-1.50,-58.4,107.3,-12.2,75,724,0.00,2.17,0.00,0.000,4,0.000,0.021,2790,3081,2875,0,0,0,0,0,0
$GC,748,-1.61,-58.4,110.8,-11.9,77,753,0.17,2.30,0.00,0.000,6,0.051,0.031,2738,1692,2876,0,0,0,0,0,0
$GC,1012,-1.61,-58.4,149.1,-13.5,97,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1691,2876,0,0,0,0,0,0
$GC,1270,-1.61,-58.4,186.6,-13.7,118,1274,0.00,2.28,0.00,0.000,4,0.000,0.022,2738,3082,2876,0,0,0,0,0,0
$GC,1293,-1.67,-58.4,189.8,-13.5,119,1299,0.00,2.33,0.00,0.000,6,0.000,0.032,2738,1694,2876,0,0,0,0,0,0
$GC,1564,-1.70,-58.4,220.1,-10.1,135,1568,0.00,2.25,0.00,0.000,4,0.000,0.023,2738,3076,2877,0,0,0,0,0,0
$GC,1676,-1.79,-58.4,231.6,-9.9,139,1682,0.12,2.30,0.00,0.000,6,0.065,0.032,2698,1695,2877,0,0,0,0,0,0
$GC,1997,-1.76,-58.4,272.0,-13.2,155,2001,0.00,2.30,0.00,0.000,4,0.000,0.025,2698,3075,2877,0,0,0,0,0,0
$GC,2021,-1.79,-58.4,276.1,-13.7,156,2025,0.00,2.33,0.00,0.000,6,0.000,0.034,2698,1694,2877,0,0,0,0,0,0
$GC,2370,-1.79,-58.4,322.5,-13.0,169,2374,0.00,2.30,0.00,0.000,4,0.000,0.026,2698,3078,2876,0,0,0,0,0,0
$GC,2471,-1.79,-58.4,334.4,-11.6,171,2475,0.00,2.33,0.00,0.000,6,0.000,0.034,2698,1690,2876,0,0,0,0,0,0
$GC,2787,-1.79,-58.4,368.8,-11.0,179,2791,0.00,2.33,0.00,0.000,4,0.000,0.028,2698,3080,2875,0,0,0,0,0,0
$GC,2968,-1.84,-58.4,387.9,-9.3,183,2972,0.00,2.35,0.00,0.000,6,0.000,0.038,2698,1697,2874,0,0,0,0,0,0
$GC,3302,-1.84,-58.4,422.4,-11.0,191,3306,0.00,2.35,0.00,0.000,4,0.000,0.031,2698,3076,2872,0,0,0,0,0,0
$GC,3502,-1.90,-58.4,444.2,-11.2,195,3506,0.00,2.40,0.00,0.000,6,0.000,0.041,2698,1686,2871,0,0,0,0,0,0
$STATE,3564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3565,begin apogee
$GC,3571,-0.31,0.0,451.3,11.0,197,3624,1.60,0.00,49.38,0.833,6,0.082,0.000,3032,1760,2630,0,0,0,0,0,0
$STATE,3625,end apogee,CONTROL_FINISHED_OK
$STATE,3625,begin climb
$GC,3628,1.56,58.4,452.5,0.0,198,3688,1.77,2.47,50.38,0.817,4,0.028,0.035,3453,3165,2391,0,0,0,0,0,0
$GC,3777,1.33,102.0,449.9,4.0,201,3824,0.32,2.45,38.55,0.811,6,0.107,0.038,3392,1762,2213,0,0,0,0,0,0
$GC,4149,1.15,102.0,420.2,9.0,211,4154,0.20,2.40,0.00,0.000,4,0.110,0.033,3354,3170,2205,0,0,0,0,0,0
$GC,4206,1.10,111.6,415.8,7.0,212,4221,0.00,2.42,8.40,0.696,6,0.000,0.040,3354,1771,2174,0,0,0,0,0,0
$GC,4562,1.01,111.6,386.4,8.5,221,4567,0.17,2.40,0.00,0.000,4,0.114,0.035,3322,3160,2168,0,0,0,0,0,0
$GC,4702,1.03,125.1,376.5,6.7,224,4719,0.00,2.42,12.30,0.747,6,0.000,0.041,3322,1770,2120,0,0,0,0,0,0
$GC,5065,1.03,125.1,348.7,8.0,233,5069,0.00,2.53,0.00,0.000,4,0.000,0.057,3321,355,2116,0,0,0,0,0,0
$GC,5084,0.96,125.1,346.7,9.6,233,5088,0.00,2.33,0.00,0.000,6,0.000,0.028,3321,1756,2113,0,0,0,0,0,0
$GC,5429,0.96,125.1,319.0,7.9,242,5433,0.00,2.40,0.00,0.000,4,0.000,0.034,3322,3179,2112,0,0,0,0,0,0
$GC,5606,1.02,142.7,307.4,6.3,245,5627,0.00,2.45,15.88,0.742,6,0.000,0.038,3322,1761,2048,0,0,0,0,0,0
$GC,5948,1.03,149.8,284.6,7.3,259,5961,0.00,2.53,7.22,0.634,4,0.000,0.054,3321,352,2019,0,0,0,0,0,0
$GC,6044,0.96,149.8,275.5,10.3,263,6048,0.00,2.38,0.00,0.000,6,0.000,0.026,3321,1786,2016,0,0,0,0,0,0
$GC,6376,1.01,156.6,249.4,7.3,279,6388,0.00,2.55,7.20,0.614,4,0.000,0.052,3321,358,1991,0,0,0,0,0,0
$GC,6495,0.96,156.6,238.8,9.0,284,6499,0.00,2.33,0.00,0.000,6,0.000,0.025,3321,1768,1988,0,0,0,0,0,0
$GC,6821,1.03,169.3,214.6,6.8,300,6844,0.00,2.38,12.65,0.650,4,0.000,0.028,3322,3179,1938,0,0,0,0,0,0
$GC,6882,1.13,173.6,210.3,7.5,302,6894,0.10,2.45,5.43,0.525,6,0.078,0.034,3351,1757,1922,0,0,0,0,0,0
$GC,7205,1.13,173.6,181.6,8.7,324,7209,0.00,2.42,0.00,0.000,4,0.000,0.049,3351,359,1920,0,0,0,0,0,0
$GC,7272,1.03,173.6,175.4,9.9,329,7277,0.12,2.33,0.00,0.000,6,0.110,0.022,3328,1785,1917,0,0,0,0,0,0
$GC,7543,1.11,184.7,158.0,6.9,350,7559,0.00,2.38,10.77,0.586,4,0.000,0.025,3328,3170,1876,0,0,0,0,0,0
$GC,7647,1.25,189.4,150.8,7.5,357,7661,0.20,2.38,6.07,0.505,6,0.051,0.033,3382,1769,1856,0,0,0,0,0,0
$GC,7913,1.25,189.4,127.7,10.2,378,7917,0.00,2.42,0.00,0.000,4,0.000,0.046,3382,359,1856,0,0,0,0,0,0
$GC,8037,1.14,189.4,113.5,12.4,387,8042,0.17,2.30,0.00,0.000,6,0.099,0.020,3348,1769,1853,0,0,0,0,0,0
$GC,8303,1.25,207.6,94.3,6.3,408,8326,0.10,2.47,17.08,0.551,4,0.076,0.044,3381,348,1782,0,0,0,0,0,0
$GC,8463,1.18,207.6,81.0,9.4,419,8470,0.12,2.30,0.00,0.000,6,0.105,0.019,3357,1785,1779,0,0,0,0,0,0
$GC,8725,1.29,217.1,63.3,7.0,440,8741,0.10,2.28,9.38,0.482,4,0.075,0.021,3391,3165,1743,0,0,0,0,0,0
$GC,8773,1.35,217.1,59.3,8.6,443,8777,0.00,2.35,0.00,0.000,6,0.000,0.029,3391,1764,1743,0,0,0,0,0,0
$GC,9037,1.35,217.1,35.2,8.1,464,9041,0.00,2.38,0.00,0.000,4,0.000,0.043,3391,360,1743,0,0,0,0,0,0
$GC,9108,1.30,217.1,28.3,10.8,471,9114,0.00,2.30,0.00,0.000,6,0.000,0.018,3391,1780,1742,0,0,0,0,0,0
$GC,9311,1.31,230.1,11.4,6.7,517,9329,0.00,2.47,12.62,0.463,4,0.000,0.043,3391,352,1691,0,0,0,0,0,0
$GC,9366,1.26,230.1,5.1,12.6,528,9373,0.00,2.30,0.00,0.000,6,0.000,0.018,3391,1772,1689,0,0,0,0,0,0
$STATE,9387,end climb,SURFACE_DEPTH_REACHED
$STATE,9387,begin surface coast
$FINISH,0.7,1.012895
$STATE,9414,end surface coast,CONTROL_FINISHED_OK
$STATE,9414,begin surface
$SM_CCo,9438,105.45,0.489,0,0,957,410.14
$SM_GC,1.45,0.00,0.00,105.45,0.000,0.000,0.489,426,1669,957,-12.30,-0.74,410.14
$IRIDIUM_FIX,2050.21,-15749.62,131199,121242
$TT8_MAMPS,0.029146
$HUMID,52.40
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.5,19.248
$10V_AH,10.3,15.553
$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,30.675,109.350,263.300,105.450,0.000,25.092,29.222,134.882,4.500,0.000,34.133,1101.045,6049.178,430.629,1830.724,455.612,0.000,1240.434,0.000,1791.070,0.000,29.253,0.000
$DEVICE_MAMPS,134.225,91.273,832.962,488.579,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,361.445,344.930,786.506,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,28606,538
$CAP_FILE_SIZE,112434,0
$CFSIZE,260165632,202051584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190810,180225,2058.942,-15749.565,42,1.1,42,9.8