version: 66.06
glider: 139
mission: 8
dive: 234
start: 8 21 110 5 53 31
data:
$ID,139
$MISSION,8
$DIVE,234
$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,-2155486.5
$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
$GPS1,054414,2106.748,-15800.445,15,2.0,15,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-73.0
$GPS2,055314,2106.796,-15800.413,17,1.8,17,9.8
$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,305.1,4031,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.56,-58.4,0.0,0.0,0,79,0.00,0.00,-58.88,0.000,2,0.000,0.000,425,1660,2599,0,0,0,0,0,0
$GC,82,-1.56,-58.4,3.1,-3.1,11,107,12.50,2.40,-5.47,0.000,4,0.134,0.032,2753,3108,2870,0,0,0,0,0,0
$GC,209,-1.56,-58.4,28.3,-16.4,38,216,0.00,2.42,0.00,0.000,6,0.000,0.035,2753,1693,2871,0,0,0,0,0,0
$GC,413,-1.50,-58.4,66.8,-18.5,55,417,0.00,2.40,0.00,0.000,4,0.000,0.046,2753,289,2873,0,0,0,0,0,0
$GC,441,-1.37,-58.4,72.4,-19.6,57,446,0.22,2.30,0.00,0.000,6,0.100,0.018,2798,1733,2872,0,0,0,0,0,0
$GC,705,-1.44,-58.4,109.3,-13.5,77,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1735,2873,0,0,0,0,0,0
$GC,964,-1.55,-58.4,135.7,-9.3,98,969,0.15,2.53,0.00,0.000,4,0.057,0.045,2749,283,2874,0,0,0,0,0,0
$GC,1005,-1.51,-58.4,140.7,-13.9,101,1010,0.10,2.22,0.00,0.000,6,0.115,0.018,2769,1700,2874,0,0,0,0,0,0
$GC,1269,-1.57,-58.4,175.6,-14.1,122,1273,0.00,2.45,0.00,0.000,4,0.000,0.045,2769,281,2875,0,0,0,0,0,0
$GC,1308,-1.57,-58.4,181.1,-14.8,125,1312,0.00,2.25,0.00,0.000,6,0.000,0.019,2769,1705,2875,0,0,0,0,0,0
$GC,1578,-1.66,-58.4,209.8,-8.5,143,1583,0.15,2.22,0.00,0.000,4,0.058,0.023,2724,3063,2875,0,0,0,0,0,0
$GC,1603,-1.71,-58.4,212.7,-10.5,144,1607,0.00,2.28,0.00,0.000,6,0.000,0.031,2724,1692,2875,0,0,0,0,0,0
$GC,1932,-1.71,-58.4,254.3,-12.8,160,1936,0.00,2.22,0.00,0.000,4,0.000,0.023,2724,3062,2875,0,0,0,0,0,0
$GC,2016,-1.80,-58.4,264.0,-12.1,163,2021,0.00,2.30,0.00,0.000,6,0.000,0.033,2724,1691,2875,0,0,0,0,0,0
$GC,2333,-1.80,-58.4,300.6,-9.9,179,2337,0.00,2.22,0.00,0.000,4,0.000,0.025,2724,3060,2875,0,0,0,0,0,0
$GC,2380,-1.87,-58.4,305.8,-11.0,180,2385,0.15,2.30,0.00,0.000,6,0.058,0.034,2678,1695,2875,0,0,0,0,0,0
$GC,2708,-1.82,-58.4,348.3,-13.1,188,2713,0.12,2.28,0.00,0.000,4,0.107,0.028,2702,3065,2873,0,0,0,0,0,0
$GC,2835,-1.88,-58.4,365.4,-13.1,190,2839,0.00,2.35,0.00,0.000,6,0.000,0.038,2702,1689,2873,0,0,0,0,0,0
$GC,3169,-1.88,-58.4,403.8,-11.2,198,3173,0.00,2.28,0.00,0.000,4,0.000,0.029,2702,3060,2871,0,0,0,0,0,0
$GC,3401,-1.94,-58.4,428.8,-9.5,203,3406,0.12,2.33,0.00,0.000,6,0.070,0.040,2667,1697,2869,0,0,0,0,0,0
$STATE,3600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3600,begin apogee
$GC,3606,-0.31,0.0,451.9,11.6,208,3659,1.75,0.00,48.88,0.828,6,0.086,0.000,3029,1695,2630,0,0,0,0,0,0
$STATE,3660,end apogee,CONTROL_FINISHED_OK
$STATE,3660,begin climb
$GC,3664,1.56,58.4,452.9,0.0,209,3721,1.77,2.42,50.08,0.811,4,0.030,0.053,3449,351,2391,0,0,0,0,0,0
$GC,3729,1.33,142.7,451.5,0.3,210,3814,0.30,2.35,74.03,0.810,6,0.110,0.025,3393,1739,2047,0,0,0,0,0,0
$GC,4160,1.17,142.7,405.4,11.0,221,4165,0.20,2.45,0.00,0.000,4,0.106,0.054,3355,362,2037,0,0,0,0,0,0
$GC,4175,0.99,142.7,403.7,11.2,221,4180,0.20,2.38,0.00,0.000,6,0.107,0.028,3317,1765,2034,0,0,0,0,0,0
$GC,4526,0.99,142.7,369.4,10.7,230,4530,0.00,2.47,0.00,0.000,4,0.000,0.055,3317,362,2031,0,0,0,0,0,0
$GC,4550,0.92,142.7,366.7,11.0,230,4554,0.00,2.38,0.00,0.000,6,0.000,0.028,3317,1772,2029,0,0,0,0,0,0
$GC,4890,0.92,143.1,336.8,7.9,239,4894,0.00,2.35,0.00,0.000,4,0.000,0.033,3318,3180,2028,0,0,0,0,0,0
$GC,4910,0.97,155.8,335.5,6.7,239,4927,0.00,2.42,9.48,0.692,6,0.000,0.038,3317,1770,1994,0,0,0,0,0,0
$GC,5258,1.00,155.8,308.1,8.8,248,5263,0.00,2.47,0.00,0.000,4,0.000,0.055,3317,359,1990,0,0,0,0,0,0
$GC,5272,1.00,155.8,306.5,9.5,248,5277,0.00,2.38,0.00,0.000,6,0.000,0.027,3317,1785,1989,0,0,0,0,0,0
$GC,5606,1.05,161.6,278.7,7.4,262,5619,0.00,2.58,5.60,0.574,4,0.000,0.053,3317,359,1971,0,0,0,0,0,0
$GC,5696,1.00,161.6,271.2,9.0,265,5701,0.00,2.35,0.00,0.000,6,0.000,0.026,3318,1768,1968,0,0,0,0,0,0
$GC,6013,1.05,161.6,244.8,8.2,281,6018,0.00,2.45,0.00,0.000,4,0.000,0.051,3317,358,1968,0,0,0,0,0,0
$GC,6079,1.05,161.6,238.9,8.5,284,6083,0.00,2.35,0.00,0.000,6,0.000,0.025,3317,1778,1966,0,0,0,0,0,0
$GC,6409,1.11,161.6,214.5,8.5,300,6411,0.10,0.00,0.00,0.000,6,0.078,0.000,3349,1783,1966,0,0,0,0,0,0
$GC,6724,1.11,161.6,185.2,8.9,320,6729,0.00,2.47,0.00,0.000,4,0.000,0.048,3348,352,1966,0,0,0,0,0,0
$GC,6763,1.02,161.6,181.4,10.1,323,6768,0.12,2.30,0.00,0.000,6,0.111,0.022,3325,1775,1964,0,0,0,0,0,0
$GC,7029,1.09,165.5,160.6,7.5,344,7038,0.00,2.45,3.80,0.403,4,0.000,0.048,3325,357,1955,0,0,0,0,0,0
$GC,7089,1.09,165.5,155.2,8.8,347,7095,0.00,2.30,0.00,0.000,6,0.000,0.021,3325,1772,1954,0,0,0,0,0,0
$GC,7349,1.16,166.4,136.7,7.8,368,7353,0.12,2.45,0.00,0.000,4,0.067,0.046,3363,351,1954,0,0,0,0,0,0
$GC,7382,1.05,166.4,133.2,10.6,370,7389,0.15,2.33,0.00,0.000,6,0.081,0.021,3329,1769,1954,0,0,0,0,0,0
$GC,7645,1.12,166.4,110.6,9.4,391,7649,0.00,2.45,0.00,0.000,4,0.000,0.046,3329,348,1954,0,0,0,0,0,0
$GC,7663,1.12,166.4,108.3,9.9,392,7670,0.00,2.33,0.00,0.000,6,0.000,0.021,3329,1778,1954,0,0,0,0,0,0
$GC,7926,1.24,193.5,92.1,5.5,413,7960,0.17,2.47,26.35,0.563,4,0.053,0.043,3381,358,1839,0,0,0,0,0,0
$GC,8068,1.15,193.5,80.5,9.5,423,8073,0.15,2.30,0.00,0.000,6,0.101,0.020,3351,1773,1836,0,0,0,0,0,0
$GC,8330,1.26,204.0,61.0,6.9,443,8346,0.10,2.47,10.07,0.489,4,0.074,0.043,3386,349,1796,0,0,0,0,0,0
$GC,8521,1.21,208.9,44.3,7.4,456,8533,0.08,2.33,5.50,0.406,6,0.087,0.019,3366,1779,1778,0,0,0,0,0,0
$GC,8792,1.29,208.9,22.9,9.3,489,8798,0.00,2.28,0.00,0.000,4,0.000,0.022,3367,3150,1777,0,0,0,0,0,0
$GC,8810,1.37,208.9,21.0,9.7,492,8818,0.10,2.35,0.00,0.000,6,0.035,0.029,3407,1770,1777,0,0,0,0,0,0
$STATE,8967,end climb,SURFACE_DEPTH_REACHED
$STATE,8967,begin surface coast
$FINISH,0.9,1.002461
$STATE,8998,end surface coast,CONTROL_FINISHED_OK
$STATE,8999,begin surface
$SM_CCo,9023,118.72,0.490,0,0,957,410.14
$SM_GC,1.53,0.00,0.00,118.72,0.000,0.000,0.490,426,1674,957,-12.30,-0.59,410.14
$IRIDIUM_FIX,2059.45,-15806.34,151199,030357
$TT8_MAMPS,0.028379
$HUMID,52.67
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.5,20.423
$10V_AH,10.3,16.588
$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,31.625,108.950,233.775,118.725,0.000,23.760,28.220,368.325,4.750,0.000,17.823,1067.549,5892.315,419.363,1634.675,667.420,0.000,1142.035,0.000,1611.361,0.000,32.079,0.000
$DEVICE_MAMPS,134.225,78.234,827.593,490.113,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,359.953,349.093,795.275,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355820
$DATA_FILE_SIZE,28510,535
$CAP_FILE_SIZE,109968,0
$CFSIZE,260165632,201318400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210810,082707,2107.819,-15801.700,36,1.2,36,9.8