version: 66.06
glider: 139
mission: 8
dive: 227
start: 8 20 110 10 43 4
data:
$ID,139
$MISSION,8
$DIVE,227
$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,-2155299.2
$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,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
$GPS1,103306,2101.554,-15753.142,32,1.3,32,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-70.5
$GPS2,104244,2101.577,-15753.170,14,1.3,14,9.8
$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,299.4,19815,-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,-63.95,0.000,2,0.000,0.000,425,1677,2734,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.2,-3.1,12,109,12.52,2.42,-2.60,0.000,4,0.135,0.037,2753,3105,2872,0,0,0,0,0,0
$GC,280,-1.56,-58.4,44.1,-16.8,42,284,0.00,2.40,0.00,0.000,6,0.000,0.033,2753,1691,2874,0,0,0,0,0,0
$GC,544,-1.56,-58.4,87.7,-14.6,63,546,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1690,2874,0,0,0,0,0,0
$GC,798,-1.56,-58.4,126.6,-17.8,83,802,0.00,2.33,0.00,0.000,4,0.000,0.021,2753,3112,2876,0,0,0,0,0,0
$GC,852,-1.62,-58.4,134.9,-15.1,87,856,0.00,2.40,0.00,0.000,6,0.000,0.035,2753,1688,2876,0,0,0,0,0,0
$GC,1118,-1.65,-58.4,172.4,-15.1,108,1122,0.00,2.40,0.00,0.000,4,0.000,0.045,2753,289,2876,0,0,0,0,0,0
$GC,1136,-1.65,-58.4,175.7,-15.0,109,1143,0.00,2.30,0.00,0.000,6,0.000,0.018,2753,1736,2876,0,0,0,0,0,0
$GC,1395,-1.70,-58.4,207.6,-11.0,128,1397,0.10,0.00,0.00,0.000,6,0.075,0.000,2719,1738,2877,0,0,0,0,0,0
$GC,1705,-1.70,-58.4,245.4,-12.0,143,1709,0.00,2.17,0.00,0.000,4,0.000,0.024,2719,3075,2877,0,0,0,0,0,0
$GC,1774,-1.76,-58.4,253.0,-9.9,146,1778,0.00,2.33,0.00,0.000,6,0.000,0.033,2719,1692,2877,0,0,0,0,0,0
$GC,2100,-1.76,-58.4,289.2,-10.8,162,2104,0.00,2.30,0.00,0.000,4,0.000,0.025,2719,3081,2877,0,0,0,0,0,0
$GC,2221,-1.83,-58.4,301.9,-9.7,167,2225,0.00,2.35,0.00,0.000,6,0.000,0.034,2718,1689,2876,0,0,0,0,0,0
$GC,2558,-1.86,-58.4,337.3,-10.7,176,2563,0.10,2.42,0.00,0.000,4,0.077,0.051,2686,287,2875,0,0,0,0,0,0
$GC,2596,-1.74,-58.4,342.5,-13.5,176,2602,0.17,2.28,0.00,0.000,6,0.097,0.022,2721,1693,2875,0,0,0,0,0,0
$GC,2928,-1.78,-58.4,378.4,-10.9,185,2932,0.00,2.30,0.00,0.000,4,0.000,0.029,2721,3076,2874,0,0,0,0,0,0
$GC,2983,-1.87,-58.4,384.7,-10.6,186,2988,0.12,2.35,0.00,0.000,6,0.066,0.038,2684,1695,2873,0,0,0,0,0,0
$GC,3298,-1.87,-58.4,425.8,-13.4,194,3303,0.00,2.47,0.00,0.000,4,0.000,0.056,2684,286,2870,0,0,0,0,0,0
$GC,3313,-1.82,-58.4,428.0,-12.9,194,3317,0.00,2.30,0.00,0.000,6,0.000,0.025,2684,1701,2871,0,0,0,0,0,0
$STATE,3502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3502,begin apogee
$GC,3508,-0.31,0.0,451.2,12.2,199,3561,1.65,0.00,49.25,0.832,6,0.083,0.000,3028,1786,2630,0,0,0,0,0,0
$STATE,3562,end apogee,CONTROL_FINISHED_OK
$STATE,3562,begin climb
$GC,3566,1.56,58.4,452.6,0.0,200,3621,1.75,0.00,50.50,0.816,6,0.028,0.000,3451,1786,2391,0,0,0,0,0,0
$GC,3935,1.31,97.3,441.8,4.4,209,3978,0.30,2.40,33.65,0.815,4,0.104,0.034,3389,3142,2233,0,0,0,0,0,0
$GC,4044,1.16,98.3,434.6,7.8,211,4049,0.20,2.40,0.00,0.000,6,0.114,0.039,3352,1772,2232,0,0,0,0,0,0
$GC,4395,1.08,109.3,408.1,6.9,220,4408,0.00,0.00,10.93,0.738,6,0.000,0.000,3352,1772,2184,0,0,0,0,0,0
$GC,4721,1.02,123.3,385.8,6.6,228,4742,0.15,2.58,13.38,0.759,4,0.110,0.056,3324,360,2126,0,0,0,0,0,0
$GC,4748,1.00,144.0,384.0,6.0,228,4774,0.00,2.38,20.27,0.779,6,0.000,0.028,3324,1755,2041,0,0,0,0,0,0
$GC,5096,1.00,144.0,349.6,10.4,237,5101,0.00,2.47,0.00,0.000,4,0.000,0.054,3324,351,2035,0,0,0,0,0,0
$GC,5162,0.90,144.0,341.9,10.8,238,5167,0.15,2.40,0.00,0.000,6,0.115,0.028,3297,1776,2033,0,0,0,0,0,0
$GC,5509,0.97,144.6,313.1,7.8,247,5513,0.00,2.53,0.00,0.000,4,0.000,0.054,3296,349,2032,0,0,0,0,0,0
$GC,5690,0.97,144.6,295.9,10.9,251,5694,0.00,2.38,0.00,0.000,6,0.000,0.028,3297,1771,2028,0,0,0,0,0,0
$GC,6022,1.08,168.6,271.3,5.7,267,6051,0.17,2.40,20.98,0.733,4,0.056,0.030,3345,3181,1941,0,0,0,0,0,0
$GC,6079,1.08,168.6,267.2,8.7,269,6083,0.00,2.47,0.00,0.000,6,0.000,0.038,3345,1761,1941,0,0,0,0,0,0
$GC,6395,1.08,168.6,237.4,10.5,284,6399,0.00,2.40,0.00,0.000,4,0.000,0.030,3345,3185,1938,0,0,0,0,0,0
$GC,6514,1.12,168.6,226.3,9.1,289,6519,0.00,2.42,0.00,0.000,6,0.000,0.038,3345,1765,1937,0,0,0,0,0,0
$GC,6838,1.12,168.6,198.0,8.7,305,6839,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,1765,1936,0,0,0,0,0,0
$GC,7090,1.12,168.6,175.9,8.7,325,7094,0.00,2.45,0.00,0.000,4,0.000,0.050,3345,353,1935,0,0,0,0,0,0
$GC,7178,1.06,168.6,167.4,10.0,331,7184,0.00,2.35,0.00,0.000,6,0.000,0.022,3346,1793,1932,0,0,0,0,0,0
$GC,7438,1.09,168.6,145.9,8.3,352,7442,0.00,2.47,0.00,0.000,4,0.000,0.047,3345,352,1932,0,0,0,0,0,0
$GC,7447,1.09,168.6,144.8,8.5,352,7454,0.00,2.33,0.00,0.000,6,0.000,0.021,3345,1765,1932,0,0,0,0,0,0
$GC,7709,1.13,168.6,120.9,8.0,373,7710,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,1771,1932,0,0,0,0,0,0
$GC,7960,1.22,198.0,104.5,5.3,393,7991,0.00,2.47,25.50,0.580,4,0.000,0.044,3345,351,1822,0,0,0,0,0,0
$GC,8013,1.23,203.1,101.1,7.4,397,8028,0.10,2.30,6.03,0.460,6,0.074,0.020,3380,1779,1800,0,0,0,0,0,0
$GC,8281,1.23,203.1,74.3,10.9,418,8285,0.00,2.45,0.00,0.000,4,0.000,0.044,3379,356,1799,0,0,0,0,0,0
$GC,8382,1.17,203.1,62.7,11.4,425,8386,0.12,2.28,0.00,0.000,6,0.104,0.019,3356,1772,1796,0,0,0,0,0,0
$GC,8644,1.29,219.1,42.6,6.5,445,8666,0.10,2.53,14.77,0.502,4,0.074,0.044,3391,348,1735,0,0,0,0,0,0
$GC,8723,1.22,219.1,35.7,10.2,450,8730,0.10,2.33,0.00,0.000,6,0.080,0.019,3367,1770,1732,0,0,0,0,0,0
$GC,8987,1.30,227.5,15.9,7.1,501,9000,0.00,2.53,8.35,0.439,4,0.000,0.045,3367,352,1701,0,0,0,0,0,0
$GC,9028,1.30,227.5,12.0,9.1,509,9035,0.00,2.30,0.00,0.000,6,0.000,0.018,3367,1765,1699,0,0,0,0,0,0
$STATE,9137,end climb,SURFACE_DEPTH_REACHED
$STATE,9137,begin surface coast
$FINISH,0.8,1.023060
$STATE,9176,end surface coast,CONTROL_FINISHED_OK
$STATE,9176,begin surface
$SM_CCo,9199,110.32,0.492,0,0,957,410.14
$SM_GC,1.47,0.00,0.00,110.32,0.000,0.000,0.492,426,1661,957,-12.30,-1.02,410.14
$IRIDIUM_FIX,2052.52,-15751.76,141199,101052
$TT8_MAMPS,0.028379
$HUMID,52.32
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.5,19.820
$10V_AH,10.4,16.068
$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,30.400,95.725,253.600,110.325,0.000,59.726,66.206,247.870,4.500,0.000,14.499,1060.241,6143.709,424.156,1620.628,640.532,0.000,1133.885,0.000,1605.665,0.000,31.929,0.000
$DEVICE_MAMPS,134.992,95.108,832.195,491.647,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,364.679,345.503,804.902,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,31706,542
$CAP_FILE_SIZE,105344,0
$CFSIZE,260165632,201687040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200810,131922,2101.982,-15754.312,10,4.3,29,9.8