version: 66.06
glider: 139
mission: 8
dive: 162
start: 8 12 110 23 51 31
data:
$ID,139
$MISSION,8
$DIVE,162
$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,-2153857
$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
$GPS1,234600,2106.610,-15757.144,52,1.0,52,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-71.8
$GPS2,235114,2106.562,-15757.200,15,1.3,15,9.8
$SPEED_LIMITS,0.137,0.159
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$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,83.4,24717,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.56,-58.4,0.0,0.0,0,83,0.00,0.00,-64.75,0.000,2,0.000,0.000,430,1725,2766,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.1,-3.5,12,111,12.50,2.35,-1.98,0.000,4,0.135,0.037,2751,3108,2871,0,0,0,0,0,0
$GC,188,-1.59,-58.4,26.1,-16.5,33,195,0.00,2.45,0.00,0.000,6,0.000,0.035,2751,1689,2872,0,0,0,0,0,0
$GC,387,-1.51,-58.4,62.4,-18.4,51,392,0.00,2.33,0.00,0.000,4,0.000,0.022,2751,3108,2873,0,0,0,0,0,0
$GC,415,-1.51,-58.4,67.1,-15.4,53,420,0.00,2.35,0.00,0.000,6,0.000,0.031,2751,1692,2873,0,0,0,0,0,0
$GC,677,-1.48,-58.4,104.0,-16.5,73,682,0.12,2.33,0.00,0.000,4,0.108,0.021,2776,3109,2874,0,0,0,0,0,0
$GC,710,-1.62,-58.4,110.3,-16.3,75,716,0.12,2.38,0.00,0.000,6,0.062,0.036,2734,1696,2875,0,0,0,0,0,0
$GC,971,-1.62,-58.4,146.8,-11.9,96,975,0.00,2.33,0.00,0.000,4,0.000,0.024,2735,3106,2876,0,0,0,0,0,0
$GC,994,-1.62,-58.4,149.7,-11.3,98,999,0.00,2.38,0.00,0.000,6,0.000,0.031,2734,1683,2875,0,0,0,0,0,0
$GC,1262,-1.62,-58.4,181.0,-12.5,119,1266,0.00,2.38,0.00,0.000,4,0.000,0.024,2735,3112,2876,0,0,0,0,0,0
$GC,1360,-1.69,-58.4,193.3,-12.9,126,1364,0.00,2.40,0.00,0.000,6,0.000,0.032,2734,1689,2876,0,0,0,0,0,0
$GC,1630,-1.69,-58.4,225.9,-12.0,141,1633,0.00,2.33,0.00,0.000,4,0.000,0.024,2734,3105,2876,0,0,0,0,0,0
$GC,1667,-1.78,-58.4,230.8,-12.2,142,1672,0.10,2.38,0.00,0.000,6,0.075,0.034,2700,1696,2876,0,0,0,0,0,0
$GC,1985,-1.78,-58.4,267.7,-10.9,157,1989,0.00,2.38,0.00,0.000,4,0.000,0.025,2701,3108,2876,0,0,0,0,0,0
$GC,2136,-1.82,-58.4,282.9,-8.9,163,2141,0.00,2.40,0.00,0.000,6,0.000,0.034,2700,1688,2876,0,0,0,0,0,0
$GC,2470,-1.82,-58.4,317.2,-10.3,176,2474,0.00,2.38,0.00,0.000,4,0.000,0.028,2700,3105,2876,0,0,0,0,0,0
$GC,2592,-1.87,-58.4,331.9,-12.1,178,2596,0.00,2.38,0.00,0.000,6,0.000,0.036,2700,1691,2876,0,0,0,0,0,0
$GC,2932,-1.87,-58.4,374.7,-12.8,187,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1690,2874,0,0,0,0,0,0
$GC,3258,-1.87,-58.4,409.4,-10.0,195,3262,0.00,2.47,0.00,0.000,4,0.000,0.057,2700,284,2871,0,0,0,0,0,0
$GC,3291,-1.80,-58.4,412.9,-10.9,195,3295,0.00,2.33,0.00,0.000,6,0.000,0.025,2700,1715,2871,0,0,0,0,0,0
$GC,3623,-1.80,-58.4,446.2,-10.6,203,3627,0.00,2.30,0.00,0.000,4,0.000,0.034,2700,3082,2869,0,0,0,0,0,0
$STATE,3653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3653,begin apogee
$GC,3661,-0.31,0.0,450.2,11.3,203,3714,1.55,0.00,48.88,0.844,6,0.087,0.000,3024,1771,2630,0,0,0,0,0,0
$STATE,3715,end apogee,CONTROL_FINISHED_OK
$STATE,3715,begin climb
$GC,3718,1.56,58.4,452.5,0.0,205,3778,1.83,2.45,50.80,0.827,4,0.032,0.035,3452,3174,2389,0,0,0,0,0,0
$GC,3987,1.31,99.7,449.4,4.2,211,4029,0.32,2.45,36.03,0.828,6,0.107,0.040,3389,1769,2223,0,0,0,0,0,0
$GC,4349,1.14,99.7,419.4,9.3,220,4354,0.20,2.42,0.00,0.000,4,0.109,0.035,3351,3172,2215,0,0,0,0,0,0
$GC,4601,1.09,111.3,400.6,6.9,225,4618,0.00,2.45,9.82,0.733,6,0.000,0.040,3351,1770,2176,0,0,0,0,0,0
$GC,4949,1.00,111.3,373.7,8.1,234,4954,0.17,2.50,0.00,0.000,4,0.109,0.056,3318,353,2171,0,0,0,0,0,0
$GC,4994,0.90,111.3,369.9,8.5,235,4999,0.12,2.38,0.00,0.000,6,0.120,0.028,3296,1764,2168,0,0,0,0,0,0
$GC,5325,0.94,119.8,346.0,7.1,243,5338,0.00,2.55,7.72,0.690,4,0.000,0.055,3296,349,2141,0,0,0,0,0,0
$GC,5411,0.88,119.8,338.8,9.8,244,5416,0.00,2.38,0.00,0.000,6,0.000,0.028,3296,1772,2138,0,0,0,0,0,0
$GC,5742,0.94,131.8,314.8,6.8,253,5759,0.00,2.55,11.85,0.732,4,0.000,0.055,3296,359,2092,0,0,0,0,0,0
$GC,5913,0.90,131.8,300.0,9.7,256,5917,0.00,2.35,0.00,0.000,6,0.000,0.028,3296,1773,2088,0,0,0,0,0,0
$GC,6233,0.98,145.1,277.3,6.7,272,6256,0.00,2.40,12.88,0.719,4,0.000,0.031,3296,3183,2037,0,0,0,0,0,0
$GC,6263,1.08,162.2,275.4,6.4,273,6288,0.17,2.47,17.17,0.727,6,0.060,0.039,3342,1770,1968,0,0,0,0,0,0
$GC,6613,1.09,171.8,249.5,7.0,290,6629,0.00,2.40,9.32,0.662,4,0.000,0.030,3342,3176,1928,0,0,0,0,0,0
$GC,6672,1.14,171.8,244.0,10.1,292,6677,0.00,2.45,0.00,0.000,6,0.000,0.039,3342,1761,1928,0,0,0,0,0,0
$GC,6989,1.14,171.8,209.5,10.5,307,6990,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,1760,1924,0,0,0,0,0,0
$GC,7302,1.16,187.9,187.4,6.4,328,7324,0.00,2.47,15.00,0.652,4,0.000,0.050,3342,357,1862,0,0,0,0,0,0
$GC,7347,1.07,187.9,183.8,8.8,331,7352,0.00,2.35,0.00,0.000,6,0.000,0.024,3342,1783,1860,0,0,0,0,0,0
$GC,7608,1.07,187.9,161.1,9.0,351,7613,0.00,2.47,0.00,0.000,4,0.000,0.048,3342,355,1860,0,0,0,0,0,0
$GC,7622,1.07,187.9,159.4,9.5,352,7627,0.00,2.35,0.00,0.000,6,0.000,0.022,3342,1783,1858,0,0,0,0,0,0
$GC,7883,1.11,187.9,135.6,10.7,372,7887,0.00,2.47,0.00,0.000,4,0.000,0.048,3341,357,1857,0,0,0,0,0,0
$GC,7986,1.07,187.9,123.2,12.4,379,7991,0.00,2.30,0.00,0.000,6,0.000,0.021,3342,1776,1857,0,0,0,0,0,0
$GC,8245,1.13,190.5,102.6,7.7,400,8249,0.00,2.47,0.00,0.000,4,0.000,0.047,3342,346,1857,0,0,0,0,0,0
$GC,8397,1.13,190.5,85.7,12.8,411,8401,0.00,2.30,0.00,0.000,6,0.000,0.020,3342,1771,1857,0,0,0,0,0,0
$GC,8658,1.24,209.2,66.1,6.2,431,8680,0.12,0.00,19.15,0.545,6,0.064,0.000,3382,1777,1776,0,0,0,0,0,0
$GC,8936,1.27,209.2,41.2,8.5,452,8937,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,1776,1775,0,0,0,0,0,0
$GC,9192,1.28,213.0,20.0,7.6,490,9205,0.00,2.47,4.60,0.374,4,0.000,0.044,3381,361,1760,0,0,0,0,0,0
$STATE,9338,end climb,SURFACE_DEPTH_REACHED
$STATE,9338,begin surface coast
$FINISH,2.4,1.023196
$STATE,9344,end surface coast,CONTROL_FINISHED_OK
$STATE,9344,begin surface
$SM_CCo,9369,113.18,0.503,0,0,958,410.14
$SM_GC,1.47,0.00,0.00,113.18,0.000,0.000,0.503,431,1717,958,-12.28,0.62,410.14
$IRIDIUM_FIX,2059.45,-15756.04,061199,212153
$TT8_MAMPS,0.028379
$HUMID,52.87
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.5,14.601
$10V_AH,10.4,11.263
$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,29.975,105.350,243.225,113.175,0.000,27.198,28.402,131.585,4.500,0.000,15.861,1057.005,6181.803,427.647,1685.717,441.868,0.000,1173.513,0.000,1671.113,0.000,31.031,0.000
$DEVICE_MAMPS,134.992,56.758,844.467,503.152,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,353.293,337.248,760.250,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,28589,524
$CAP_FILE_SIZE,104017,0
$CFSIZE,260165632,205082624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130810,023036,2106.418,-15756.922,25,1.7,25,9.8