version: 66.06
glider: 139
mission: 8
dive: 229
start: 8 20 110 16 10 6
data:
$ID,139
$MISSION,8
$DIVE,229
$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,-2155360.2
$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
$GPS1,160436,2102.492,-15755.259,40,1.0,45,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-71.2
$GPS2,160950,2102.493,-15755.269,21,1.8,21,9.8
$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,302.9,15963,-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,-58.4,0.0,0.0,0,76,0.00,0.00,-59.25,0.000,2,0.000,0.000,424,1672,2614,0,0,0,0,0,0
$GC,80,-1.56,-58.4,3.2,-3.6,11,104,12.52,2.40,-5.00,0.000,4,0.135,0.033,2752,3115,2870,0,0,0,0,0,0
$GC,357,-1.59,-58.4,59.3,-17.3,49,361,0.00,2.40,0.00,0.000,6,0.000,0.033,2752,1694,2872,0,0,0,0,0,0
$GC,618,-1.59,-58.4,101.3,-14.2,69,622,0.00,2.35,0.00,0.000,4,0.000,0.021,2752,3116,2873,0,0,0,0,0,0
$GC,648,-1.64,-58.4,105.3,-12.1,71,653,0.00,2.40,0.00,0.000,6,0.000,0.031,2751,1692,2873,0,0,0,0,0,0
$GC,916,-1.64,-58.4,141.8,-12.5,92,921,0.00,2.40,0.00,0.000,4,0.000,0.055,2751,286,2874,0,0,0,0,0,0
$GC,956,-1.56,-58.4,147.8,-15.9,95,960,0.00,2.33,0.00,0.000,6,0.000,0.018,2752,1736,2874,0,0,0,0,0,0
$GC,1222,-1.60,-58.4,182.7,-11.9,116,1226,0.00,2.17,0.00,0.000,4,0.000,0.022,2752,3084,2875,0,0,0,0,0,0
$GC,1247,-1.68,-58.4,185.6,-10.1,118,1251,0.00,2.35,0.00,0.000,6,0.000,0.031,2752,1685,2875,0,0,0,0,0,0
$GC,1521,-1.73,-58.4,215.9,-12.3,136,1525,0.12,2.30,0.00,0.000,4,0.066,0.023,2712,3079,2876,0,0,0,0,0,0
$GC,1541,-1.77,-58.4,218.5,-12.9,136,1547,0.00,2.35,0.00,0.000,6,0.000,0.032,2711,1697,2876,0,0,0,0,0,0
$GC,1856,-1.77,-58.4,259.3,-12.7,152,1863,0.00,2.28,0.00,0.000,4,0.000,0.023,2712,3080,2875,0,0,0,0,0,0
$GC,1896,-1.82,-58.4,264.2,-11.8,153,1900,0.00,2.35,0.00,0.000,6,0.000,0.033,2711,1687,2876,0,0,0,0,0,0
$GC,2212,-1.82,-58.4,299.6,-10.5,168,2219,0.00,2.30,0.00,0.000,4,0.000,0.025,2711,3076,2876,0,0,0,0,0,0
$GC,2400,-1.89,-58.4,319.1,-9.8,173,2405,0.10,2.33,0.00,0.000,6,0.078,0.035,2680,1692,2875,0,0,0,0,0,0
$GC,2731,-1.84,-58.4,353.7,-10.8,181,2735,0.00,2.28,0.00,0.000,4,0.000,0.027,2680,3074,2874,0,0,0,0,0,0
$GC,2858,-1.84,-58.4,368.7,-10.6,183,2862,0.00,2.35,0.00,0.000,6,0.000,0.037,2680,1695,2873,0,0,0,0,0,0
$GC,3190,-1.80,-58.4,408.0,-11.5,191,3194,0.15,2.30,0.00,0.000,4,0.106,0.030,2709,3073,2871,0,0,0,0,0,0
$GC,3367,-1.87,-58.4,425.1,-10.0,194,3372,0.00,2.38,0.00,0.000,6,0.000,0.041,2709,1693,2870,0,0,0,0,0,0
$STATE,3656,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3656,begin apogee
$GC,3662,-0.31,0.0,453.5,9.7,202,3715,1.52,0.00,49.05,0.834,6,0.081,0.000,3028,1762,2630,0,0,0,0,0,0
$STATE,3716,end apogee,CONTROL_FINISHED_OK
$STATE,3716,begin climb
$GC,3719,1.56,58.4,454.8,0.0,203,3777,1.77,2.53,50.38,0.818,4,0.029,0.051,3453,353,2390,0,0,0,0,0,0
$GC,3860,1.18,104.3,452.5,3.8,206,3908,0.50,2.38,40.58,0.815,6,0.105,0.026,3357,1768,2204,0,0,0,0,0,0
$GC,4223,1.07,104.3,422.3,9.4,215,4227,0.12,2.38,0.00,0.000,4,0.117,0.034,3334,3174,2194,0,0,0,0,0,0
$GC,4298,1.08,109.9,416.5,7.4,216,4311,0.00,2.45,4.53,0.551,6,0.000,0.040,3334,1771,2181,0,0,0,0,0,0
$GC,4637,1.04,116.3,390.9,7.3,225,4646,0.00,0.00,6.95,0.669,6,0.000,0.000,3334,1771,2155,0,0,0,0,0,0
$GC,4961,1.00,116.3,365.9,8.3,233,4965,0.00,2.40,0.00,0.000,4,0.000,0.035,3334,3176,2151,0,0,0,0,0,0
$GC,5175,1.06,158.0,352.2,4.1,237,5219,0.00,2.45,38.22,0.802,6,0.000,0.039,3335,1760,1984,0,0,0,0,0,0
$GC,5555,1.06,158.0,316.4,12.2,247,5560,0.00,2.47,0.00,0.000,4,0.000,0.058,3334,353,1978,0,0,0,0,0,0
$GC,5678,0.96,158.0,301.2,10.8,249,5683,0.12,2.38,0.00,0.000,6,0.119,0.027,3312,1777,1973,0,0,0,0,0,0
$GC,6003,1.01,158.0,272.8,8.7,265,6008,0.00,2.50,0.00,0.000,4,0.000,0.053,3311,350,1972,0,0,0,0,0,0
$GC,6023,1.01,158.0,270.5,10.1,266,6027,0.00,2.38,0.00,0.000,6,0.000,0.026,3311,1775,1971,0,0,0,0,0,0
$GC,6353,1.09,167.8,244.2,7.0,282,6365,0.12,2.53,7.22,0.614,4,0.071,0.051,3347,355,1946,0,0,0,0,0,0
$GC,6372,1.09,167.8,242.7,8.1,282,6379,0.00,2.38,0.00,0.000,6,0.000,0.025,3347,1765,1944,0,0,0,0,0,0
$GC,6687,1.09,167.8,211.4,10.2,298,6692,0.00,2.45,0.00,0.000,4,0.000,0.050,3347,357,1944,0,0,0,0,0,0
$GC,6702,1.05,167.8,209.7,10.2,298,6708,0.00,2.38,0.00,0.000,6,0.000,0.025,3347,1781,1943,0,0,0,0,0,0
$GC,7028,1.05,167.8,178.6,9.6,321,7032,0.00,2.45,0.00,0.000,4,0.000,0.048,3347,358,1943,0,0,0,0,0,0
$GC,7080,0.96,167.8,173.3,10.3,325,7085,0.17,2.33,0.00,0.000,6,0.101,0.023,3313,1772,1941,0,0,0,0,0,0
$GC,7347,1.08,181.7,155.5,6.6,346,7365,0.00,2.53,13.30,0.606,4,0.000,0.048,3313,348,1888,0,0,0,0,0,0
$GC,7526,1.08,181.7,140.6,9.4,359,7531,0.10,2.33,0.00,0.000,6,0.077,0.021,3345,1779,1885,0,0,0,0,0,0
$GC,7788,1.13,181.7,118.3,8.4,379,7792,0.00,2.45,0.00,0.000,4,0.000,0.046,3345,351,1884,0,0,0,0,0,0
$GC,7927,1.13,181.7,106.1,8.6,389,7931,0.00,2.30,0.00,0.000,6,0.000,0.020,3345,1785,1884,0,0,0,0,0,0
$GC,8192,1.23,194.6,88.4,6.7,410,8210,0.00,2.33,12.45,0.533,4,0.000,0.024,3345,3162,1835,0,0,0,0,0,0
$GC,8253,1.36,199.6,83.8,7.4,414,8265,0.22,2.35,6.18,0.455,6,0.045,0.030,3407,1762,1816,0,0,0,0,0,0
$GC,8517,1.36,199.6,62.9,8.0,435,8521,0.00,2.38,0.00,0.000,4,0.000,0.044,3407,361,1815,0,0,0,0,0,0
$GC,8705,1.26,213.9,48.5,6.6,449,8724,0.15,2.28,13.68,0.501,6,0.104,0.018,3377,1789,1757,0,0,0,0,0,0
$GC,8985,1.31,213.9,29.2,8.6,471,8991,0.00,2.45,0.00,0.000,4,0.000,0.044,3377,369,1756,0,0,0,0,0,0
$GC,9003,1.31,213.9,27.4,8.9,474,9009,0.00,2.25,0.00,0.000,6,0.000,0.018,3377,1765,1755,0,0,0,0,0,0
$GC,9206,1.35,213.9,10.9,8.2,520,9213,0.00,2.42,0.00,0.000,4,0.000,0.043,3377,365,1755,0,0,0,0,0,0
$GC,9243,1.32,213.9,7.0,10.9,527,9249,0.00,2.25,0.00,0.000,6,0.000,0.018,3377,1779,1755,0,0,0,0,0,0
$STATE,9288,end climb,SURFACE_DEPTH_REACHED
$STATE,9288,begin surface coast
$FINISH,0.8,1.000084
$STATE,9343,end surface coast,CONTROL_FINISHED_OK
$STATE,9343,begin surface
$SM_CCo,9366,112.62,0.488,0,0,957,410.14
$SM_GC,1.54,0.00,0.00,112.62,0.000,0.000,0.488,429,1666,957,-12.29,-0.82,410.14
$IRIDIUM_FIX,2054.83,-15753.90,141199,131302
$TT8_MAMPS,0.028379
$HUMID,51.45
$INTERNAL_PRESSURE,9.30354
$TCM_TEMP,22.90
$XPDR_PINGS,1
$24V_AH,23.5,19.978
$10V_AH,10.4,16.217
$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,30.350,109.325,242.525,112.625,0.000,25.325,31.113,127.745,4.750,0.000,21.309,1110.749,6000.083,420.374,1816.388,442.796,0.000,1215.775,0.000,1786.794,0.000,29.275,0.000
$DEVICE_MAMPS,134.992,90.506,834.496,487.812,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,369.455,353.504,822.761,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,31834,549
$CAP_FILE_SIZE,109107,0
$CFSIZE,260165632,201576448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200810,184916,2103.139,-15756.144,13,2.7,32,9.8