version: 66.06
glider: 139
mission: 8
dive: 223
start: 8 19 110 23 27 36
data:
$ID,139
$MISSION,8
$DIVE,223
$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,-2155205
$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
$GPS1,232206,2059.288,-15750.241,40,1.0,46,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-70.7
$GPS2,232719,2059.322,-15750.259,15,1.5,15,9.8
$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,299.5,26352,-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,-64.55,0.000,2,0.000,0.000,426,1664,2769,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.4,-3.4,12,110,12.50,2.47,-1.85,0.000,4,0.134,0.037,2754,3110,2871,0,0,0,0,0,0
$GC,287,-1.56,-58.4,47.4,-17.2,42,293,0.00,2.42,0.00,0.000,6,0.000,0.035,2754,1698,2873,0,0,0,0,0,0
$GC,547,-1.56,-58.4,95.0,-17.1,63,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1698,2874,0,0,0,0,0,0
$GC,801,-1.56,-58.4,131.2,-13.5,83,805,0.00,2.33,0.00,0.000,4,0.000,0.022,2754,3107,2875,0,0,0,0,0,0
$GC,835,-1.65,-58.4,136.1,-12.3,85,840,0.00,2.40,0.00,0.000,6,0.000,0.034,2753,1685,2875,0,0,0,0,0,0
$GC,1096,-1.70,-58.4,164.9,-12.1,106,1098,0.10,0.00,0.00,0.000,6,0.077,0.000,2720,1685,2876,0,0,0,0,0,0
$GC,1346,-1.70,-58.4,200.0,-12.7,126,1350,0.00,2.35,0.00,0.000,4,0.000,0.023,2720,3107,2876,0,0,0,0,0,0
$GC,1442,-1.74,-58.4,211.3,-11.3,131,1446,0.00,2.35,0.00,0.000,6,0.000,0.031,2720,1692,2876,0,0,0,0,0,0
$GC,1774,-1.74,-58.4,253.4,-13.4,147,1778,0.00,2.40,0.00,0.000,4,0.000,0.048,2719,293,2876,0,0,0,0,0,0
$GC,1798,-1.68,-58.4,257.1,-13.8,148,1803,0.00,2.30,0.00,0.000,6,0.000,0.020,2720,1725,2876,0,0,0,0,0,0
$GC,2123,-1.68,-58.4,292.9,-10.0,164,2127,0.00,2.22,0.00,0.000,4,0.000,0.025,2719,3078,2876,0,0,0,0,0,0
$GC,2169,-1.75,-58.4,297.4,-9.2,166,2173,0.00,2.35,0.00,0.000,6,0.000,0.035,2719,1689,2875,0,0,0,0,0,0
$GC,2490,-1.75,-58.4,327.9,-9.6,175,2494,0.00,2.33,0.00,0.000,4,0.000,0.026,2719,3085,2875,0,0,0,0,0,0
$GC,2552,-1.83,-58.4,334.6,-10.6,176,2556,0.00,2.38,0.00,0.000,6,0.000,0.036,2719,1692,2875,0,0,0,0,0,0
$GC,2903,-1.87,-58.4,373.9,-11.3,185,2908,0.12,2.35,0.00,0.000,4,0.067,0.030,2683,3080,2873,0,0,0,0,0,0
$GC,2957,-1.87,-58.4,380.2,-12.4,186,2961,0.00,2.38,0.00,0.000,6,0.000,0.038,2682,1690,2872,0,0,0,0,0,0
$GC,3276,-1.84,-58.4,416.9,-11.2,194,3280,0.00,2.33,0.00,0.000,4,0.000,0.031,2683,3081,2870,0,0,0,0,0,0
$GC,3505,-1.84,-58.4,440.8,-9.5,199,3509,0.00,2.40,0.00,0.000,6,0.000,0.041,2682,1688,2868,0,0,0,0,0,0
$STATE,3626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3626,begin apogee
$GC,3634,-0.31,0.0,453.8,10.4,202,3687,1.67,0.00,49.08,0.838,6,0.084,0.000,3030,1775,2630,0,0,0,0,0,0
$STATE,3688,end apogee,CONTROL_FINISHED_OK
$STATE,3688,begin climb
$GC,3690,1.56,58.4,454.9,0.0,203,3751,1.77,2.53,50.55,0.821,4,0.030,0.051,3453,359,2389,0,0,0,0,0,0
$GC,3946,1.17,91.4,444.8,4.9,208,3983,0.50,2.35,28.73,0.807,6,0.109,0.027,3357,1756,2256,0,0,0,0,0,0
$GC,4293,1.08,101.9,421.0,7.0,217,4309,0.12,2.47,9.77,0.725,4,0.120,0.035,3335,3171,2214,0,0,0,0,0,0
$GC,4316,1.03,117.8,419.5,6.5,217,4338,0.00,2.45,15.95,0.770,6,0.000,0.039,3334,1772,2149,0,0,0,0,0,0
$GC,4664,0.99,122.0,393.8,7.5,226,4674,0.00,2.40,4.28,0.539,4,0.000,0.034,3335,3176,2131,0,0,0,0,0,0
$GC,4697,0.99,122.0,391.1,8.0,226,4702,0.00,2.45,0.00,0.000,6,0.000,0.040,3335,1768,2131,0,0,0,0,0,0
$GC,5030,0.96,125.7,365.7,7.6,234,5042,0.12,2.42,4.47,0.553,4,0.121,0.033,3312,3178,2116,0,0,0,0,0,0
$GC,5096,1.02,140.4,361.3,6.6,235,5116,0.00,2.42,15.02,0.764,6,0.000,0.039,3312,1771,2056,0,0,0,0,0,0
$GC,5447,1.02,143.6,335.5,7.6,244,5452,0.00,2.47,0.00,0.000,4,0.000,0.056,3312,358,2051,0,0,0,0,0,0
$GC,5523,0.96,143.6,328.7,8.8,245,5527,0.00,2.38,0.00,0.000,6,0.000,0.028,3312,1775,2048,0,0,0,0,0,0
$GC,5859,1.02,162.6,305.9,6.2,254,5881,0.00,0.00,20.00,0.756,6,0.000,0.000,3313,1779,1967,0,0,0,0,0,0
$GC,6169,1.07,162.6,276.6,9.9,267,6174,0.00,2.47,0.00,0.000,4,0.000,0.053,3313,359,1963,0,0,0,0,0,0
$GC,6225,1.02,162.6,270.7,10.0,269,6229,0.00,2.38,0.00,0.000,6,0.000,0.026,3312,1782,1961,0,0,0,0,0,0
$GC,6542,1.09,162.6,242.9,8.2,284,6544,0.12,0.00,0.00,0.000,6,0.071,0.000,3348,1788,1960,0,0,0,0,0,0
$GC,6851,1.09,162.6,215.8,8.9,299,6855,0.00,2.50,0.00,0.000,4,0.000,0.051,3348,355,1960,0,0,0,0,0,0
$GC,6871,1.02,162.6,213.6,10.6,300,6876,0.12,2.35,0.00,0.000,6,0.113,0.025,3325,1776,1958,0,0,0,0,0,0
$GC,7205,1.08,164.9,185.7,7.7,321,7206,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1782,1958,0,0,0,0,0,0
$GC,7454,1.14,170.3,167.7,7.4,341,7468,0.10,2.38,6.85,0.545,4,0.078,0.028,3356,3176,1935,0,0,0,0,0,0
$GC,7486,1.14,170.3,164.9,8.9,343,7491,0.00,2.42,0.00,0.000,6,0.000,0.033,3356,1757,1935,0,0,0,0,0,0
$GC,7749,1.14,170.3,139.9,9.1,364,7753,0.00,2.42,0.00,0.000,4,0.000,0.048,3356,352,1935,0,0,0,0,0,0
$GC,7906,1.08,172.0,123.7,7.7,375,7913,0.10,2.33,0.00,0.000,6,0.120,0.021,3338,1803,1932,0,0,0,0,0,0
$GC,8167,1.16,179.4,105.4,7.2,396,8183,0.00,2.25,9.55,0.534,4,0.000,0.023,3338,3159,1897,0,0,0,0,0,0
$GC,8217,1.27,179.4,101.6,8.4,399,8221,0.17,2.35,0.00,0.000,6,0.054,0.031,3387,1769,1896,0,0,0,0,0,0
$GC,8478,1.27,179.4,77.5,8.6,419,8479,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,1768,1897,0,0,0,0,0,0
$GC,8730,1.30,204.2,59.5,5.7,439,8759,0.00,2.45,22.95,0.534,4,0.000,0.044,3387,360,1796,0,0,0,0,0,0
$GC,8845,1.24,204.2,51.1,8.3,447,8849,0.00,2.28,0.00,0.000,6,0.000,0.018,3387,1766,1793,0,0,0,0,0,0
$GC,9105,1.26,220.1,33.5,6.5,467,9127,0.00,2.45,14.82,0.492,4,0.000,0.041,3387,358,1730,0,0,0,0,0,0
$GC,9231,1.21,220.1,21.5,9.7,489,9238,0.10,2.30,0.00,0.000,6,0.084,0.018,3364,1770,1727,0,0,0,0,0,0
$GC,9433,1.31,239.2,7.2,6.2,535,9457,0.10,0.00,17.10,0.475,6,0.074,0.000,3398,1776,1653,0,0,0,0,0,0
$STATE,9479,end climb,SURFACE_DEPTH_REACHED
$STATE,9479,begin surface coast
$FINISH,0.8,1.009511
$STATE,9513,end surface coast,CONTROL_FINISHED_OK
$STATE,9513,begin surface
$SM_CCo,9536,99.93,0.490,0,0,957,410.14
$SM_GC,1.51,0.00,0.00,99.93,0.000,0.000,0.490,428,1676,957,-12.29,-0.54,410.14
$IRIDIUM_FIX,2047.91,-15750.49,131199,202050
$TT8_MAMPS,0.029146
$HUMID,52.44
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,19.487
$10V_AH,10.3,15.773
$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,30.575,95.650,269.125,99.925,0.000,28.885,27.938,137.295,4.500,0.000,15.178,1087.935,6299.955,424.170,1701.812,434.699,0.000,1171.742,0.000,1681.230,0.000,29.258,0.000
$DEVICE_MAMPS,134.225,75.166,837.564,490.113,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,371.022,350.654,817.386,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,31860,551
$CAP_FILE_SIZE,106040,0
$CFSIZE,260165632,201895936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200810,021101,2059.919,-15750.904,130,0.9,130,9.8