version: 66.06
glider: 139
mission: 8
dive: 83
start: 8 4 110 3 32 42
data:
$ID,139
$MISSION,8
$DIVE,83
$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,-2152021
$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,1690
$C_ROLL_CLIMB,1840
$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,2680
$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
$GPS1,032724,2058.378,-15750.185,36,1.8,43,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-71.9
$GPS2,033225,2058.348,-15750.193,13,1.1,13,9.8
$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,302.2,27613,-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,-58.90,0.000,2,0.000,0.000,426,1693,2670,0,0,0,0,0,0
$GC,80,-1.56,-58.4,3.1,-3.7,11,104,12.57,2.35,-4.68,0.000,4,0.137,0.037,2753,3099,2921,0,0,0,0,0,0
$GC,207,-1.56,-58.4,31.7,-17.1,37,211,0.00,2.38,0.00,0.000,6,0.000,0.032,2753,1686,2922,0,0,0,0,0,0
$GC,471,-1.56,-58.4,75.7,-15.5,58,475,0.00,2.35,0.00,0.000,4,0.000,0.023,2753,3103,2923,0,0,0,0,0,0
$GC,511,-1.64,-58.4,81.8,-15.4,61,515,0.00,2.40,0.00,0.000,6,0.000,0.033,2753,1684,2923,0,0,0,0,0,0
$GC,776,-1.64,-58.4,124.3,-16.2,82,780,0.00,2.33,0.00,0.000,4,0.000,0.021,2753,3106,2925,0,0,0,0,0,0
$GC,790,-1.67,-58.4,127.0,-16.2,83,794,0.00,2.40,0.00,0.000,6,0.000,0.032,2753,1683,2925,0,0,0,0,0,0
$GC,1052,-1.72,-58.4,164.7,-14.0,103,1057,0.12,2.42,0.00,0.000,4,0.067,0.047,2714,283,2926,0,0,0,0,0,0
$GC,1079,-1.64,-58.4,169.0,-15.3,105,1084,0.12,2.30,0.00,0.000,6,0.109,0.018,2739,1721,2926,0,0,0,0,0,0
$GC,1339,-1.64,-58.4,203.4,-12.6,125,1343,0.00,2.20,0.00,0.000,4,0.000,0.023,2739,3077,2926,0,0,0,0,0,0
$GC,1470,-1.73,-58.4,217.9,-9.2,130,1474,0.00,2.33,0.00,0.000,6,0.000,0.031,2738,1684,2926,0,0,0,0,0,0
$GC,1791,-1.80,-58.4,251.7,-10.5,146,1796,0.15,2.33,0.00,0.000,4,0.060,0.025,2694,3075,2927,0,0,0,0,0,0
$GC,1834,-1.80,-58.4,256.8,-12.2,148,1838,0.00,2.35,0.00,0.000,6,0.000,0.034,2694,1685,2926,0,0,0,0,0,0
$GC,2163,-1.80,-58.4,294.2,-10.7,164,2167,0.00,2.30,0.00,0.000,4,0.000,0.027,2694,3075,2927,0,0,0,0,0,0
$GC,2314,-1.84,-58.4,311.0,-11.0,169,2318,0.00,2.35,0.00,0.000,6,0.000,0.035,2694,1687,2926,0,0,0,0,0,0
$GC,2630,-1.84,-58.4,349.3,-12.3,177,2634,0.00,2.30,0.00,0.000,4,0.000,0.029,2694,3071,2925,0,0,0,0,0,0
$GC,2719,-1.91,-58.4,359.6,-10.5,179,2724,0.00,2.35,0.00,0.000,6,0.000,0.039,2694,1691,2925,0,0,0,0,0,0
$GC,3052,-1.91,-58.4,399.2,-12.0,187,3056,0.00,2.35,0.00,0.000,4,0.000,0.031,2694,3068,2922,0,0,0,0,0,0
$GC,3085,-1.97,-58.4,403.3,-12.3,187,3089,0.00,2.38,0.00,0.000,6,0.000,0.040,2694,1688,2922,0,0,0,0,0,0
$GC,3419,-1.97,-58.4,442.0,-11.8,195,3424,0.00,2.33,0.00,0.000,4,0.000,0.034,2694,3067,2919,0,0,0,0,0,0
$STATE,3482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3482,begin apogee
$GC,3490,-0.31,0.0,450.1,11.2,196,3543,1.60,0.00,49.35,0.848,6,0.086,0.000,3029,1841,2681,0,0,0,0,0,0
$STATE,3544,end apogee,CONTROL_FINISHED_OK
$STATE,3544,begin climb
$GC,3547,1.56,58.4,451.5,0.0,197,3602,1.75,0.00,51.12,0.830,6,0.030,0.000,3453,1841,2441,0,0,0,0,0,0
$GC,3919,1.36,152.2,455.6,-0.6,207,4010,0.28,2.60,82.38,0.852,4,0.110,0.057,3397,433,2058,0,0,0,0,0,0
$GC,4128,1.07,152.2,433.6,16.1,211,4133,0.32,2.35,0.00,0.000,6,0.107,0.028,3336,1834,2050,0,0,0,0,0,0
$GC,4465,1.02,152.2,392.6,12.3,220,4469,0.00,2.50,0.00,0.000,4,0.000,0.056,3336,433,2046,0,0,0,0,0,0
$GC,4485,0.91,152.2,390.1,12.4,220,4490,0.20,2.35,0.00,0.000,6,0.112,0.029,3299,1845,2044,0,0,0,0,0,0
$GC,4831,0.96,152.2,354.9,10.0,229,4835,0.00,2.53,0.00,0.000,4,0.000,0.055,3298,428,2042,0,0,0,0,0,0
$GC,4859,0.91,152.2,351.9,10.5,229,4863,0.00,2.35,0.00,0.000,6,0.000,0.029,3298,1842,2040,0,0,0,0,0,0
$GC,5196,0.95,152.2,324.0,8.1,238,5200,0.00,2.47,0.00,0.000,4,0.000,0.054,3298,433,2039,0,0,0,0,0,0
$GC,5307,0.95,152.2,312.7,10.3,240,5311,0.00,2.33,0.00,0.000,6,0.000,0.029,3298,1843,2037,0,0,0,0,0,0
$GC,5637,1.02,157.1,285.5,7.5,253,5642,0.10,2.53,0.00,0.000,4,0.082,0.054,3326,424,2037,0,0,0,0,0,0
$GC,5698,0.93,157.1,279.8,9.4,255,5704,0.12,2.35,0.00,0.000,6,0.118,0.028,3304,1844,2035,0,0,0,0,0,0
$GC,6016,1.00,160.5,254.3,7.6,271,6025,0.00,2.35,4.22,0.509,4,0.000,0.033,3304,3232,2024,0,0,0,0,0,0
$GC,6037,1.09,171.1,252.6,6.9,272,6054,0.15,2.40,11.40,0.691,6,0.064,0.037,3345,1839,1983,0,0,0,0,0,0
$GC,6368,1.09,171.1,225.0,9.0,287,6372,0.00,2.45,0.00,0.000,4,0.000,0.052,3345,428,1979,0,0,0,0,0,0
$GC,6620,1.01,171.1,203.8,8.7,298,6625,0.12,2.33,0.00,0.000,6,0.114,0.025,3322,1849,1976,0,0,0,0,0,0
$GC,6949,1.10,185.8,184.4,6.6,322,6967,0.00,2.33,13.62,0.644,4,0.000,0.028,3322,3222,1921,0,0,0,0,0,0
$GC,7046,1.20,185.8,177.3,8.6,329,7051,0.17,2.38,0.00,0.000,6,0.056,0.034,3369,1837,1921,0,0,0,0,0,0
$GC,7311,1.20,185.8,150.5,9.7,350,7316,0.00,2.40,0.00,0.000,4,0.000,0.047,3369,434,1920,0,0,0,0,0,0
$GC,7379,1.08,185.8,143.6,9.6,355,7384,0.17,2.28,0.00,0.000,6,0.102,0.022,3336,1854,1918,0,0,0,0,0,0
$GC,7645,1.15,197.3,124.9,6.9,376,7663,0.00,2.55,11.38,0.571,4,0.000,0.044,3335,431,1874,0,0,0,0,0,0
$GC,7787,1.15,197.3,112.7,8.5,386,7791,0.00,2.25,0.00,0.000,6,0.000,0.021,3335,1843,1871,0,0,0,0,0,0
$GC,8054,1.25,204.9,93.2,7.2,407,8068,0.15,2.45,8.23,0.509,4,0.059,0.043,3380,428,1842,0,0,0,0,0,0
$GC,8131,1.15,204.9,85.7,10.1,412,8136,0.15,2.28,0.00,0.000,6,0.104,0.021,3351,1855,1841,0,0,0,0,0,0
$GC,8393,1.22,204.9,62.6,9.6,432,8397,0.00,2.45,0.00,0.000,4,0.000,0.044,3350,428,1841,0,0,0,0,0,0
$GC,8506,1.22,204.9,50.4,11.1,440,8513,0.00,2.28,0.00,0.000,6,0.000,0.020,3351,1840,1840,0,0,0,0,0,0
$GC,8768,1.35,234.4,31.9,5.2,461,8801,0.20,2.30,26.88,0.522,4,0.050,0.024,3408,3212,1723,0,0,0,0,0,0
$GC,8874,1.35,234.4,23.5,8.9,479,8880,0.00,2.33,0.00,0.000,6,0.000,0.027,3408,1839,1723,0,0,0,0,0,0
$STATE,9069,end climb,SURFACE_DEPTH_REACHED
$STATE,9069,begin surface coast
$FINISH,0.4,1.023007
$STATE,9096,end surface coast,CONTROL_FINISHED_OK
$STATE,9096,begin surface
$SM_CCo,9119,104.40,0.504,0,0,1007,410.14
$SM_GC,1.20,0.00,0.00,104.40,0.000,0.000,0.504,429,1674,1007,-12.29,-0.45,410.14
$IRIDIUM_FIX,2052.52,-15742.34,291099,010109
$TT8_MAMPS,0.029146
$HUMID,51.65
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.4,8.134
$10V_AH,10.4,5.483
$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,31.350,108.975,258.575,104.400,0.000,31.612,28.321,126.859,4.750,0.000,13.326,1073.288,5909.940,418.369,1704.574,418.275,0.000,1165.115,0.000,1679.105,0.000,32.162,0.000
$DEVICE_MAMPS,136.526,56.758,852.137,503.919,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,357.645,341.015,785.239,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,28625,530
$CAP_FILE_SIZE,106236,0
$CFSIZE,260165632,209145856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040810,060737,2059.028,-15751.047,33,1.4,33,9.8