version: 66.06
glider: 139
mission: 8
dive: 225
start: 8 20 110 5 5 47
data:
$ID,139
$MISSION,8
$DIVE,225
$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,-2155270
$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
$GPS1,045938,2100.551,-15751.420,14,1.8,14,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-70.5
$GPS2,050531,2100.574,-15751.406,49,1.5,49,9.8
$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,298.2,23357,-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,-58.4,0.0,0.0,0,77,0.00,0.00,-59.40,0.000,2,0.000,0.000,429,1660,2625,0,0,0,0,0,0
$GC,80,-1.56,-58.4,3.2,-3.5,11,104,12.52,2.38,-4.72,0.000,4,0.136,0.055,2753,289,2871,0,0,0,0,0,0
$GC,309,-1.39,-58.4,60.4,-24.6,41,316,0.17,2.33,0.00,0.000,6,0.094,0.018,2791,1727,2873,0,0,0,0,0,0
$GC,571,-1.45,-58.4,98.2,-11.7,62,575,0.00,2.47,0.00,0.000,4,0.000,0.045,2791,285,2874,0,0,0,0,0,0
$GC,616,-1.49,-58.4,104.6,-13.8,65,622,0.00,2.25,0.00,0.000,6,0.000,0.018,2791,1706,2874,0,0,0,0,0,0
$GC,876,-1.59,-58.4,136.0,-10.3,86,881,0.17,2.47,0.00,0.000,4,0.051,0.046,2739,282,2875,0,0,0,0,0,0
$GC,905,-1.50,-58.4,139.9,-14.0,88,910,0.15,2.25,0.00,0.000,6,0.100,0.018,2769,1706,2875,0,0,0,0,0,0
$GC,1172,-1.58,-58.4,168.9,-10.5,109,1176,0.00,2.22,0.00,0.000,4,0.000,0.022,2770,3071,2876,0,0,0,0,0,0
$GC,1227,-1.70,-58.4,175.0,-9.8,113,1232,0.17,2.33,0.00,0.000,6,0.053,0.031,2717,1682,2876,0,0,0,0,0,0
$GC,1497,-1.70,-58.4,208.3,-11.9,132,1501,0.00,2.25,0.00,0.000,4,0.000,0.023,2717,3065,2877,0,0,0,0,0,0
$GC,1580,-1.76,-58.4,218.1,-11.2,135,1585,0.00,2.30,0.00,0.000,6,0.000,0.033,2717,1695,2877,0,0,0,0,0,0
$GC,1898,-1.76,-58.4,253.0,-11.3,151,1902,0.00,2.25,0.00,0.000,4,0.000,0.024,2717,3070,2877,0,0,0,0,0,0
$GC,2092,-1.81,-58.4,273.2,-9.5,159,2096,0.00,2.33,0.00,0.000,6,0.000,0.033,2717,1693,2877,0,0,0,0,0,0
$GC,2407,-1.81,-58.4,305.8,-11.0,173,2408,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1692,2876,0,0,0,0,0,0
$GC,2732,-1.81,-58.4,343.1,-11.3,181,2736,0.00,2.28,0.00,0.000,4,0.000,0.028,2717,3070,2875,0,0,0,0,0,0
$GC,2829,-1.88,-58.4,353.2,-9.5,183,2834,0.12,2.35,0.00,0.000,6,0.067,0.037,2679,1694,2875,0,0,0,0,0,0
$GC,3153,-1.84,-58.4,389.5,-11.1,191,3157,0.00,2.28,0.00,0.000,4,0.000,0.029,2679,3066,2872,0,0,0,0,0,0
$GC,3213,-1.84,-58.4,396.2,-10.1,192,3217,0.00,2.35,0.00,0.000,6,0.000,0.039,2680,1692,2872,0,0,0,0,0,0
$GC,3565,-1.81,-58.4,432.8,-10.2,201,3567,0.12,0.00,0.00,0.000,6,0.108,0.000,2703,1691,2870,0,0,0,0,0,0
$STATE,3763,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3763,begin apogee
$GC,3769,-0.31,0.0,451.2,9.0,206,3822,1.58,0.00,49.03,0.838,6,0.083,0.000,3031,1692,2630,0,0,0,0,0,0
$STATE,3823,end apogee,CONTROL_FINISHED_OK
$STATE,3823,begin climb
$GC,3825,1.56,58.4,451.6,0.0,207,3884,1.75,2.50,50.47,0.821,4,0.031,0.031,3450,3134,2390,0,0,0,0,0,0
$GC,3944,1.33,101.7,448.2,4.0,209,3990,0.30,2.38,38.42,0.811,6,0.107,0.038,3393,1772,2214,0,0,0,0,0,0
$GC,4326,1.15,101.7,410.7,10.3,219,4331,0.22,2.53,0.00,0.000,4,0.110,0.055,3350,355,2205,0,0,0,0,0,0
$GC,4346,0.96,101.7,408.7,9.3,219,4351,0.20,2.35,0.00,0.000,6,0.108,0.028,3313,1747,2202,0,0,0,0,0,0
$GC,4693,0.99,128.4,387.7,5.5,228,4721,0.00,2.55,22.30,0.794,4,0.000,0.056,3313,366,2106,0,0,0,0,0,0
$GC,4824,0.91,128.4,376.8,8.8,230,4829,0.00,2.35,0.00,0.000,6,0.000,0.028,3313,1772,2100,0,0,0,0,0,0
$GC,5156,0.91,130.1,349.7,7.7,239,5157,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1776,2099,0,0,0,0,0,0
$GC,5480,0.92,141.2,325.4,6.9,247,5496,0.00,2.55,11.27,0.724,4,0.000,0.055,3313,355,2054,0,0,0,0,0,0
$GC,5502,0.93,142.6,323.7,7.8,247,5507,0.00,2.38,0.00,0.000,6,0.000,0.028,3314,1770,2052,0,0,0,0,0,0
$GC,5828,0.93,142.6,297.4,8.0,256,5832,0.00,2.35,0.00,0.000,4,0.000,0.032,3313,3181,2050,0,0,0,0,0,0
$GC,5838,0.96,142.6,296.4,8.0,256,5842,0.00,2.45,0.00,0.000,6,0.000,0.038,3313,1765,2050,0,0,0,0,0,0
$GC,6155,1.01,142.6,270.6,8.2,271,6159,0.00,2.47,0.00,0.000,4,0.000,0.053,3313,352,2049,0,0,0,0,0,0
$GC,6235,0.96,142.6,263.2,8.9,274,6239,0.00,2.38,0.00,0.000,6,0.000,0.026,3313,1780,2046,0,0,0,0,0,0
$GC,6552,1.05,171.8,243.3,5.3,289,6585,0.00,2.58,27.58,0.725,4,0.000,0.053,3313,360,1928,0,0,0,0,0,0
$GC,6617,1.01,171.8,238.4,9.7,292,6621,0.00,2.38,0.00,0.000,6,0.000,0.026,3313,1772,1925,0,0,0,0,0,0
$GC,6951,1.09,171.8,211.1,8.4,308,6956,0.10,2.50,0.00,0.000,4,0.079,0.051,3343,357,1923,0,0,0,0,0,0
$GC,7008,1.02,171.8,205.0,11.0,310,7013,0.12,2.35,0.00,0.000,6,0.112,0.025,3320,1775,1922,0,0,0,0,0,0
$GC,7330,1.10,183.0,181.2,6.9,333,7347,0.00,2.55,10.15,0.607,4,0.000,0.049,3320,358,1882,0,0,0,0,0,0
$GC,7367,1.10,189.7,178.5,7.3,335,7379,0.00,2.35,7.50,0.563,6,0.000,0.023,3319,1783,1855,0,0,0,0,0,0
$GC,7640,1.20,196.3,158.2,7.3,357,7655,0.17,2.50,7.18,0.543,4,0.056,0.048,3369,358,1828,0,0,0,0,0,0
$GC,7729,1.10,196.3,148.7,12.0,363,7734,0.15,2.30,0.00,0.000,6,0.104,0.021,3340,1772,1827,0,0,0,0,0,0
$GC,7995,1.18,196.3,123.5,9.1,384,7999,0.00,2.45,0.00,0.000,4,0.000,0.046,3340,353,1826,0,0,0,0,0,0
$GC,8047,1.18,196.3,118.2,10.5,388,8051,0.00,2.30,0.00,0.000,6,0.000,0.021,3340,1783,1825,0,0,0,0,0,0
$GC,8314,1.25,214.4,97.6,6.3,409,8342,0.15,2.47,17.15,0.559,4,0.058,0.043,3385,358,1754,0,0,0,0,0,0
$GC,8509,1.18,214.4,77.4,9.3,423,8514,0.15,2.28,0.00,0.000,6,0.102,0.019,3356,1775,1751,0,0,0,0,0,0
$GC,8778,1.29,225.3,58.0,6.9,444,8794,0.10,2.47,10.45,0.492,4,0.075,0.043,3390,350,1711,0,0,0,0,0,0
$GC,8855,1.22,225.3,50.9,8.9,449,8860,0.12,2.30,0.00,0.000,6,0.107,0.018,3366,1781,1709,0,0,0,0,0,0
$GC,9118,1.30,225.3,30.4,8.8,469,9122,0.00,2.42,0.00,0.000,4,0.000,0.044,3366,357,1709,0,0,0,0,0,0
$GC,9278,1.30,225.3,16.1,8.4,505,9285,0.00,2.28,0.00,0.000,6,0.000,0.018,3366,1769,1707,0,0,0,0,0,0
$STATE,9431,end climb,SURFACE_DEPTH_REACHED
$STATE,9431,begin surface coast
$FINISH,0.8,1.006764
$STATE,9468,end surface coast,CONTROL_FINISHED_OK
$STATE,9468,begin surface
$SM_CCo,9491,97.38,0.488,0,0,957,410.14
$SM_GC,1.55,0.00,0.00,97.38,0.000,0.000,0.488,432,1664,957,-12.27,-0.90,410.14
$IRIDIUM_FIX,2050.21,-15749.62,141199,020239
$TT8_MAMPS,0.028379
$HUMID,51.77
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.5,19.649
$10V_AH,10.4,15.922
$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,31.150,104.925,251.500,97.375,0.000,27.403,30.454,144.418,4.500,0.000,49.613,1086.005,6280.832,404.195,1721.274,449.215,0.000,1144.360,0.000,1662.673,0.000,29.261,0.000
$DEVICE_MAMPS,135.759,68.263,838.331,487.812,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,369.261,352.284,802.801,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,31812,548
$CAP_FILE_SIZE,107570,0
$CFSIZE,260165632,201789440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,200810,074730,2101.202,-15752.084,70,1.4,75,9.8