version: 66.06
glider: 139
mission: 8
dive: 213
start: 8 18 110 20 22 18
data:
$ID,139
$MISSION,8
$DIVE,213
$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,-2154938.5
$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
$GPS1,201701,2105.321,-15745.079,40,1.5,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-72.8
$GPS2,202202,2105.368,-15745.060,19,1.2,19,9.8
$SPEED_LIMITS,0.137,0.159
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$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,201.2,16103,-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,-58.4,0.0,0.0,0,82,0.00,0.00,-64.78,0.000,2,0.000,0.000,426,1664,2785,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.5,-4.1,12,105,12.52,2.42,-1.55,0.000,4,0.136,0.055,2751,289,2871,0,0,0,0,0,0
$GC,199,-1.40,-58.4,36.1,-23.0,33,204,0.20,2.33,0.00,0.000,6,0.110,0.018,2789,1735,2874,0,0,0,0,0,0
$GC,461,-1.44,-58.4,75.1,-14.1,53,462,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1736,2874,0,0,0,0,0,0
$GC,714,-1.50,-58.4,107.2,-12.8,73,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1737,2875,0,0,0,0,0,0
$GC,964,-1.60,-58.4,136.5,-10.2,93,969,0.17,2.50,0.00,0.000,4,0.052,0.046,2736,287,2877,0,0,0,0,0,0
$GC,992,-1.56,-58.4,140.1,-13.8,95,997,0.12,2.22,0.00,0.000,6,0.107,0.018,2761,1706,2876,0,0,0,0,0,0
$GC,1262,-1.61,-58.4,175.7,-12.0,116,1266,0.00,2.22,0.00,0.000,4,0.000,0.022,2761,3074,2877,0,0,0,0,0,0
$GC,1305,-1.74,-58.4,180.3,-11.5,119,1310,0.17,2.30,0.00,0.000,6,0.052,0.033,2707,1693,2876,0,0,0,0,0,0
$GC,1568,-1.70,-58.4,215.9,-12.6,136,1573,0.10,2.25,0.00,0.000,4,0.116,0.023,2727,3067,2877,0,0,0,0,0,0
$GC,1706,-1.77,-58.4,234.5,-13.1,142,1710,0.00,2.30,0.00,0.000,6,0.000,0.031,2727,1685,2877,0,0,0,0,0,0
$GC,2033,-1.81,-58.4,272.7,-10.3,158,2037,0.00,2.38,0.00,0.000,4,0.000,0.048,2726,290,2878,0,0,0,0,0,0
$GC,2056,-1.81,-58.4,275.7,-12.5,159,2061,0.00,2.25,0.00,0.000,6,0.000,0.021,2727,1695,2878,0,0,0,0,0,0
$GC,2402,-1.85,-58.4,309.7,-9.7,174,2404,0.15,0.00,0.00,0.000,6,0.058,0.000,2681,1702,2877,0,0,0,0,0,0
$GC,2726,-1.81,-58.4,351.2,-13.3,182,2730,0.12,2.30,0.00,0.000,4,0.106,0.028,2705,3073,2876,0,0,0,0,0,0
$GC,2847,-1.88,-58.4,365.1,-11.3,184,2851,0.00,2.33,0.00,0.000,6,0.000,0.038,2705,1692,2875,0,0,0,0,0,0
$GC,3184,-1.88,-58.4,402.3,-11.9,193,3188,0.00,2.42,0.00,0.000,4,0.000,0.054,2705,291,2873,0,0,0,0,0,0
$GC,3209,-1.83,-58.4,405.9,-14.0,193,3213,0.00,2.28,0.00,0.000,6,0.000,0.025,2705,1685,2873,0,0,0,0,0,0
$STATE,3510,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3511,begin apogee
$GC,3517,-0.31,0.0,442.7,11.6,201,3570,1.55,0.00,49.33,0.823,6,0.079,0.000,3031,1781,2630,0,0,0,0,0,0
$STATE,3571,end apogee,CONTROL_FINISHED_OK
$STATE,3571,begin climb
$GC,3575,1.56,58.4,444.8,0.0,202,3629,1.77,0.00,50.58,0.808,6,0.028,0.000,3454,1782,2391,0,0,0,0,0,0
$GC,3954,1.31,105.3,436.1,3.7,212,4003,0.32,2.58,40.75,0.813,4,0.107,0.053,3388,358,2199,0,0,0,0,0,0
$GC,4021,1.05,105.3,432.0,8.9,213,4026,0.30,2.35,0.00,0.000,6,0.107,0.027,3331,1752,2196,0,0,0,0,0,0
$GC,4367,1.01,112.4,404.5,7.3,222,4380,0.00,2.47,6.05,0.632,4,0.000,0.034,3330,3174,2171,0,0,0,0,0,0
$GC,4400,1.04,133.8,402.3,6.0,222,4428,0.00,2.42,20.77,0.785,6,0.000,0.038,3331,1776,2084,0,0,0,0,0,0
$GC,4743,1.04,133.8,372.6,9.1,231,4748,0.00,2.50,0.00,0.000,4,0.000,0.057,3330,355,2078,0,0,0,0,0,0
$GC,4848,0.93,133.8,361.2,11.8,233,4853,0.15,2.38,0.00,0.000,6,0.116,0.028,3304,1779,2074,0,0,0,0,0,0
$GC,5163,0.97,133.8,332.9,9.2,241,5167,0.00,2.38,0.00,0.000,4,0.000,0.033,3304,3185,2073,0,0,0,0,0,0
$GC,5195,1.05,133.8,329.5,10.0,241,5200,0.12,2.45,0.00,0.000,6,0.071,0.039,3337,1770,2073,0,0,0,0,0,0
$GC,5527,1.05,133.8,296.4,9.5,249,5531,0.00,2.50,0.00,0.000,4,0.000,0.054,3337,349,2071,0,0,0,0,0,0
$GC,5630,0.93,133.8,286.6,9.1,253,5635,0.17,2.38,0.00,0.000,6,0.108,0.027,3304,1772,2068,0,0,0,0,0,0
$GC,5949,1.03,165.7,268.2,5.0,268,5982,0.00,2.58,26.92,0.738,4,0.000,0.053,3304,363,1953,0,0,0,0,0,0
$GC,6041,1.03,165.7,260.6,10.0,272,6045,0.00,2.35,0.00,0.000,6,0.000,0.026,3304,1777,1949,0,0,0,0,0,0
$GC,6371,1.14,183.5,234.6,6.3,288,6395,0.20,2.55,16.33,0.684,4,0.054,0.051,3357,353,1880,0,0,0,0,0,0
$GC,6463,1.02,183.5,227.2,8.7,291,6469,0.17,2.38,0.00,0.000,6,0.103,0.025,3324,1785,1877,0,0,0,0,0,0
$GC,6781,1.07,183.5,200.4,9.0,307,6782,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1790,1876,0,0,0,0,0,0
$GC,7102,1.14,183.5,174.1,9.1,332,7107,0.10,2.53,0.00,0.000,4,0.078,0.049,3355,350,1875,0,0,0,0,0,0
$GC,7186,1.05,183.5,163.4,12.8,338,7191,0.15,2.33,0.00,0.000,6,0.104,0.022,3327,1780,1873,0,0,0,0,0,0
$GC,7447,1.12,183.5,140.4,8.1,358,7451,0.00,2.28,0.00,0.000,4,0.000,0.026,3327,3166,1873,0,0,0,0,0,0
$GC,7564,1.26,184.0,130.4,7.8,366,7569,0.20,2.38,0.00,0.000,6,0.050,0.032,3382,1764,1873,0,0,0,0,0,0
$GC,7824,1.26,184.0,108.2,9.0,386,7828,0.00,2.33,0.00,0.000,4,0.000,0.024,3383,3172,1873,0,0,0,0,0,0
$GC,7871,1.26,184.0,103.9,9.3,389,7877,0.00,2.38,0.00,0.000,6,0.000,0.031,3382,1766,1873,0,0,0,0,0,0
$GC,8130,1.26,187.3,80.5,7.6,410,8134,0.00,2.30,0.00,0.000,4,0.000,0.024,3383,3178,1873,0,0,0,0,0,0
$GC,8361,1.31,195.6,65.6,7.1,427,8379,0.00,2.38,10.93,0.505,6,0.000,0.030,3383,1764,1832,0,0,0,0,0,0
$GC,8644,1.32,203.6,43.2,7.2,449,8659,0.00,2.42,8.65,0.464,4,0.000,0.044,3382,356,1799,0,0,0,0,0,0
$GC,8679,1.27,203.6,40.0,8.9,451,8683,0.00,2.28,0.00,0.000,6,0.000,0.018,3383,1780,1797,0,0,0,0,0,0
$GC,8942,1.33,222.9,22.6,6.2,489,8965,0.00,2.28,17.85,0.490,4,0.000,0.021,3383,3161,1720,0,0,0,0,0,0
$GC,9016,1.43,231.6,17.7,7.1,504,9035,0.08,2.38,9.32,0.445,6,0.038,0.029,3417,1773,1683,0,0,0,0,0,0
$STATE,9160,end climb,SURFACE_DEPTH_REACHED
$STATE,9160,begin surface coast
$FINISH,0.8,1.009950
$STATE,9187,end surface coast,CONTROL_FINISHED_OK
$STATE,9187,begin surface
$SM_CCo,9211,106.70,0.490,0,0,959,410.14
$SM_GC,1.43,0.00,0.00,106.70,0.000,0.000,0.490,429,1682,959,-12.29,-0.37,410.14
$IRIDIUM_FIX,2059.45,-15743.60,121199,171744
$TT8_MAMPS,0.029146
$HUMID,52.44
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,442.7,7.7
$24V_AH,23.5,18.693
$10V_AH,10.3,15.045
$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,31.750,95.200,257.475,106.700,0.000,25.574,28.051,122.854,4.750,0.000,19.747,1065.025,6078.869,425.104,1627.029,421.221,0.000,1127.197,0.000,1601.793,0.000,32.130,0.000
$DEVICE_MAMPS,135.759,79.001,822.991,490.113,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,364.695,351.184,814.007,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,28668,542
$CAP_FILE_SIZE,103298,0
$CFSIZE,260165632,202407936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180810,225826,2104.555,-15745.742,11,1.5,11,9.8