version: 66.06
glider: 139
mission: 8
dive: 226
start: 8 20 110 7 53 31
data:
$ID,139
$MISSION,8
$DIVE,226
$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,-2155284
$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
$GPS1,074730,2101.202,-15752.084,70,1.4,75,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-71.5
$GPS2,075314,2101.210,-15752.061,13,1.6,13,9.8
$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,297.6,21741,-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,-64.20,0.000,2,0.000,0.000,432,1664,2754,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.2,-3.1,12,110,12.52,2.45,-2.15,0.000,4,0.136,0.035,2753,3110,2872,0,0,0,0,0,0
$GC,300,-1.56,-58.4,46.4,-16.5,43,307,0.00,2.42,0.00,0.000,6,0.000,0.034,2753,1694,2874,0,0,0,0,0,0
$GC,560,-1.51,-58.4,93.0,-18.0,64,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1694,2874,0,0,0,0,0,0
$GC,811,-1.51,-58.4,127.3,-15.1,84,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1694,2876,0,0,0,0,0,0
$GC,1063,-1.51,-58.4,162.2,-13.4,104,1068,0.00,2.35,0.00,0.000,4,0.000,0.022,2753,3115,2876,0,0,0,0,0,0
$GC,1089,-1.58,-58.4,165.3,-13.6,106,1093,0.00,2.38,0.00,0.000,6,0.000,0.033,2753,1693,2876,0,0,0,0,0,0
$GC,1355,-1.63,-58.4,195.5,-10.9,127,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1693,2876,0,0,0,0,0,0
$GC,1611,-1.69,-58.4,225.7,-12.0,141,1615,0.00,2.33,0.00,0.000,4,0.000,0.024,2753,3110,2877,0,0,0,0,0,0
$GC,1713,-1.84,-58.4,237.2,-10.5,145,1718,0.22,2.40,0.00,0.000,6,0.045,0.033,2689,1685,2877,0,0,0,0,0,0
$GC,2037,-1.79,-58.4,277.9,-12.1,161,2042,0.10,2.35,0.00,0.000,4,0.117,0.025,2708,3105,2877,0,0,0,0,0,0
$GC,2146,-1.85,-58.4,291.0,-10.9,165,2151,0.00,2.38,0.00,0.000,6,0.000,0.034,2708,1695,2877,0,0,0,0,0,0
$GC,2479,-1.85,-58.4,330.3,-12.1,176,2480,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1695,2876,0,0,0,0,0,0
$GC,2803,-1.85,-58.4,368.7,-12.0,184,2807,0.00,2.40,0.00,0.000,4,0.000,0.030,2708,3108,2875,0,0,0,0,0,0
$GC,2846,-1.91,-58.4,373.6,-11.7,185,2851,0.12,2.40,0.00,0.000,6,0.067,0.037,2671,1697,2875,0,0,0,0,0,0
$GC,3177,-1.86,-58.4,417.6,-13.1,193,3182,0.12,2.40,0.00,0.000,4,0.108,0.031,2694,3106,2872,0,0,0,0,0,0
$GC,3215,-1.91,-58.4,422.6,-11.4,193,3221,0.00,2.42,0.00,0.000,6,0.000,0.040,2694,1694,2872,0,0,0,0,0,0
$STATE,3503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3503,begin apogee
$GC,3510,-0.31,0.0,452.3,9.6,201,3564,1.60,0.00,49.38,0.831,6,0.081,0.000,3029,1806,2630,0,0,0,0,0,0
$STATE,3564,end apogee,CONTROL_FINISHED_OK
$STATE,3565,begin climb
$GC,3567,1.56,58.4,453.2,0.0,202,3624,1.75,0.00,50.45,0.817,6,0.029,0.000,3449,1806,2390,0,0,0,0,0,0
$GC,3938,1.31,99.7,439.7,4.2,211,3981,0.30,2.35,35.90,0.816,4,0.105,0.032,3387,3146,2222,0,0,0,0,0,0
$GC,4037,1.17,99.7,433.5,8.1,213,4042,0.17,2.40,0.00,0.000,6,0.114,0.039,3355,1771,2221,0,0,0,0,0,0
$GC,4358,1.08,106.4,409.4,7.3,221,4370,0.00,2.40,5.82,0.627,4,0.000,0.034,3355,3138,2196,0,0,0,0,0,0
$GC,4405,1.02,108.1,405.7,7.7,222,4410,0.17,2.40,0.00,0.000,6,0.112,0.039,3323,1765,2196,0,0,0,0,0,0
$GC,4735,1.02,108.1,379.5,8.0,230,4740,0.00,2.47,0.00,0.000,4,0.000,0.055,3323,351,2192,0,0,0,0,0,0
$GC,4764,0.89,108.1,376.6,8.8,230,4769,0.15,2.35,0.00,0.000,6,0.114,0.028,3296,1751,2189,0,0,0,0,0,0
$GC,5102,0.95,122.8,352.4,6.6,239,5118,0.00,0.00,15.00,0.760,6,0.000,0.000,3295,1751,2129,0,0,0,0,0,0
$GC,5426,1.02,141.1,331.4,6.2,247,5446,0.12,0.00,17.67,0.759,6,0.070,0.000,3330,1751,2054,0,0,0,0,0,0
$GC,5750,1.02,141.1,305.9,8.3,255,5754,0.00,2.47,0.00,0.000,4,0.000,0.054,3330,354,2049,0,0,0,0,0,0
$GC,5794,0.93,141.1,301.6,10.1,256,5799,0.15,2.38,0.00,0.000,6,0.111,0.027,3302,1772,2047,0,0,0,0,0,0
$GC,6131,1.01,151.1,276.4,7.0,271,6147,0.00,2.53,9.12,0.670,4,0.000,0.052,3302,359,2013,0,0,0,0,0,0
$GC,6158,1.01,155.8,274.2,7.5,272,6170,0.00,2.38,6.12,0.594,6,0.000,0.027,3302,1772,1993,0,0,0,0,0,0
$GC,6488,1.12,169.6,254.0,6.7,288,6512,0.17,2.55,13.40,0.690,4,0.057,0.051,3350,366,1938,0,0,0,0,0,0
$GC,6519,1.06,169.6,251.0,9.3,289,6523,0.00,2.38,0.00,0.000,6,0.000,0.026,3350,1783,1936,0,0,0,0,0,0
$GC,6845,1.06,169.6,217.8,9.8,305,6849,0.00,2.47,0.00,0.000,4,0.000,0.051,3350,359,1935,0,0,0,0,0,0
$GC,6943,0.96,169.6,207.4,10.8,309,6948,0.20,2.35,0.00,0.000,6,0.098,0.024,3311,1778,1932,0,0,0,0,0,0
$GC,7266,1.06,175.5,183.0,7.4,332,7282,0.00,2.53,5.78,0.528,4,0.000,0.047,3311,358,1913,0,0,0,0,0,0
$GC,7369,1.06,175.5,174.2,9.8,339,7374,0.00,2.33,0.00,0.000,6,0.000,0.022,3310,1772,1912,0,0,0,0,0,0
$GC,7635,1.20,194.1,155.0,6.2,360,7657,0.22,0.00,17.98,0.618,6,0.047,0.000,3374,1777,1837,0,0,0,0,0,0
$GC,7912,1.20,194.1,130.7,8.0,382,7916,0.00,2.45,0.00,0.000,4,0.000,0.046,3374,348,1836,0,0,0,0,0,0
$GC,7972,1.10,194.1,125.0,9.2,386,7979,0.12,2.35,0.00,0.000,6,0.081,0.021,3344,1778,1833,0,0,0,0,0,0
$GC,8235,1.18,200.8,107.4,7.3,407,8249,0.00,2.50,6.95,0.492,4,0.000,0.045,3343,361,1811,0,0,0,0,0,0
$GC,8255,1.22,200.8,105.4,8.1,408,8259,0.00,2.30,0.00,0.000,6,0.000,0.020,3344,1775,1810,0,0,0,0,0,0
$GC,8516,1.31,200.8,83.1,8.4,428,8521,0.17,2.45,0.00,0.000,4,0.051,0.045,3396,357,1810,0,0,0,0,0,0
$GC,8697,1.20,200.8,63.4,11.3,441,8704,0.12,2.30,0.00,0.000,6,0.080,0.019,3366,1768,1809,0,0,0,0,0,0
$GC,8960,1.30,224.1,45.5,5.8,462,8989,0.00,2.35,21.80,0.518,4,0.000,0.021,3366,3162,1715,0,0,0,0,0,0
$GC,9020,1.43,240.0,41.9,6.5,466,9043,0.20,2.38,14.82,0.495,6,0.047,0.030,3424,1764,1650,0,0,0,0,0,0
$GC,9302,1.39,240.0,10.7,12.3,513,9309,0.10,2.42,0.00,0.000,4,0.117,0.043,3404,369,1648,0,0,0,0,0,0
$GC,9331,1.31,240.0,6.9,13.4,518,9337,0.00,2.30,0.00,0.000,6,0.000,0.019,3404,1804,1646,0,0,0,0,0,0
$STATE,9359,end climb,SURFACE_DEPTH_REACHED
$STATE,9359,begin surface coast
$FINISH,0.8,1.023083
$STATE,9382,end surface coast,CONTROL_FINISHED_OK
$STATE,9382,begin surface
$SM_CCo,9405,98.10,0.492,0,0,958,410.14
$SM_GC,1.61,0.00,0.00,98.10,0.000,0.000,0.492,425,1677,958,-12.31,-0.51,410.14
$IRIDIUM_FIX,2054.83,-15751.76,141199,050514
$TT8_MAMPS,0.028379
$HUMID,53.07
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,19.731
$10V_AH,10.3,15.993
$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,31.600,91.500,270.200,98.100,0.000,23.548,40.090,158.278,4.500,0.000,13.313,1032.542,6358.796,438.504,1545.428,472.047,0.000,1129.724,0.000,1534.603,0.000,29.253,0.000
$DEVICE_MAMPS,135.759,67.496,830.661,492.414,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,356.044,334.448,747.751,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,28578,529
$CAP_FILE_SIZE,102705,0
$CFSIZE,260165632,201744384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200810,103306,2101.554,-15753.142,32,1.3,32,9.8