version: 66.06
glider: 139
mission: 8
dive: 342
start: 9 2 110 15 31 3
data:
$ID,139
$MISSION,8
$DIVE,342
$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,-2158055
$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,1700
$C_ROLL_CLIMB,1700
$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
$GPS1,152458,2102.698,-15753.765,12,6.3,31,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-72.1
$GPS2,153047,2102.610,-15753.731,17,2.5,36,9.8
$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,62.6,19603,-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,-64.72,0.000,2,0.000,0.000,430,1703,2760,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.3,-3.2,12,104,12.48,0.00,-2.08,0.000,6,0.133,0.000,2755,1703,2871,0,0,0,0,0,0
$GC,301,-1.50,-58.4,51.1,-17.7,43,305,0.00,2.42,0.00,0.000,4,0.000,0.047,2754,292,2873,0,0,0,0,0,0
$GC,353,-1.36,-58.4,61.4,-21.9,47,358,0.25,2.30,0.00,0.000,6,0.100,0.018,2804,1738,2874,0,0,0,0,0,0
$GC,621,-1.43,-58.4,101.7,-12.4,68,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1739,2875,0,0,0,0,0,0
$GC,870,-1.55,-58.4,129.5,-10.2,88,872,0.17,0.00,0.00,0.000,6,0.051,0.000,2749,1740,2876,0,0,0,0,0,0
$GC,1124,-1.55,-58.4,160.9,-12.9,108,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1740,2877,0,0,0,0,0,0
$GC,1374,-1.55,-58.4,193.6,-12.8,128,1379,0.00,2.47,0.00,0.000,4,0.000,0.046,2748,293,2877,0,0,0,0,0,0
$GC,1408,-1.50,-58.4,198.3,-14.6,130,1415,0.08,2.30,0.00,0.000,6,0.081,0.019,2768,1719,2876,0,0,0,0,0,0
$GC,1677,-1.59,-58.4,227.7,-10.1,144,1682,0.00,2.47,0.00,0.000,4,0.000,0.047,2768,289,2877,0,0,0,0,0,0
$GC,1706,-1.64,-58.4,231.2,-11.3,145,1710,0.12,2.25,0.00,0.000,6,0.065,0.019,2729,1702,2877,0,0,0,0,0,0
$GC,2030,-1.67,-58.4,265.0,-11.5,161,2032,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1707,2877,0,0,0,0,0,0
$GC,2338,-1.70,-58.4,300.3,-10.8,176,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1708,2877,0,0,0,0,0,0
$GC,2662,-1.74,-58.4,331.0,-8.9,184,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1708,2876,0,0,0,0,0,0
$GC,2986,-1.79,-58.4,359.3,-8.2,192,2990,0.00,2.28,0.00,0.000,4,0.000,0.029,2729,3069,2874,0,0,0,0,0,0
$GC,3004,-1.86,-58.4,360.9,-8.3,192,3009,0.15,2.33,0.00,0.000,6,0.059,0.037,2684,1692,2874,0,0,0,0,0,0
$GC,3352,-1.83,-58.4,400.5,-12.0,201,3356,0.00,2.35,0.00,0.000,4,0.000,0.031,2684,3073,2872,0,0,0,0,0,0
$GC,3566,-1.83,-58.4,425.9,-10.9,205,3571,0.00,2.33,0.00,0.000,6,0.000,0.040,2684,1700,2871,0,0,0,0,0,0
$STATE,3818,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3818,begin apogee
$GC,3824,-0.31,0.0,453.3,10.9,212,3877,1.65,0.00,48.90,0.828,6,0.084,0.000,3028,1699,2630,0,0,0,0,0,0
$STATE,3878,end apogee,CONTROL_FINISHED_OK
$STATE,3878,begin climb
$GC,3880,1.56,58.4,454.4,0.0,213,3938,1.77,2.38,50.03,0.811,4,0.030,0.032,3451,3069,2390,0,0,0,0,0,0
$GC,3956,1.38,148.6,454.1,-0.2,214,4044,0.25,2.38,78.95,0.811,6,0.109,0.038,3405,1697,2024,0,0,0,0,0,0
$GC,4377,1.20,148.6,405.8,12.8,225,4379,0.22,0.00,0.00,0.000,6,0.105,0.000,3362,1697,2014,0,0,0,0,0,0
$GC,4700,1.11,148.6,369.1,11.4,233,4705,0.00,2.33,0.00,0.000,4,0.000,0.033,3362,3069,2010,0,0,0,0,0,0
$GC,4744,1.08,148.6,364.1,12.3,234,4749,0.15,2.40,0.00,0.000,6,0.124,0.042,3335,1696,2010,0,0,0,0,0,0
$GC,5073,1.08,148.6,327.3,10.9,242,5077,0.00,2.33,0.00,0.000,4,0.000,0.031,3335,3073,2007,0,0,0,0,0,0
$GC,5193,1.08,148.6,313.7,10.7,244,5197,0.00,2.38,0.00,0.000,6,0.000,0.041,3335,1697,2007,0,0,0,0,0,0
$GC,5518,1.08,148.6,281.8,8.5,257,5522,0.00,2.47,0.00,0.000,4,0.000,0.056,3335,294,2004,0,0,0,0,0,0
$GC,5615,0.98,148.6,273.0,8.1,261,5620,0.12,2.30,0.00,0.000,6,0.120,0.027,3313,1692,2000,0,0,0,0,0,0
$GC,5940,1.05,163.9,253.7,6.5,277,5956,0.00,2.55,10.52,0.651,4,0.000,0.053,3313,291,1961,0,0,0,0,0,0
$GC,6109,1.05,163.9,239.5,9.0,284,6113,0.00,2.30,0.00,0.000,6,0.000,0.025,3313,1707,1957,0,0,0,0,0,0
$GC,6430,1.13,169.4,216.2,7.4,300,6443,0.15,2.53,5.57,0.532,4,0.061,0.050,3355,300,1939,0,0,0,0,0,0
$GC,6482,1.03,169.4,211.1,10.7,302,6487,0.15,2.30,0.00,0.000,6,0.106,0.024,3326,1705,1937,0,0,0,0,0,0
$GC,6812,1.09,169.4,184.8,8.4,323,6816,0.00,2.45,0.00,0.000,4,0.000,0.049,3326,293,1938,0,0,0,0,0,0
$GC,6830,1.09,169.4,182.7,8.9,324,6837,0.00,2.30,0.00,0.000,6,0.000,0.023,3325,1703,1936,0,0,0,0,0,0
$GC,7093,1.17,192.4,165.6,5.8,345,7122,0.12,2.50,21.83,0.624,4,0.067,0.046,3363,293,1844,0,0,0,0,0,0
$GC,7141,1.08,192.4,161.4,8.7,348,7146,0.15,2.30,0.00,0.000,6,0.105,0.021,3335,1703,1841,0,0,0,0,0,0
$GC,7403,1.14,192.4,139.8,7.9,368,7407,0.00,2.47,0.00,0.000,4,0.000,0.047,3335,287,1840,0,0,0,0,0,0
$GC,7435,1.14,192.4,136.9,8.8,370,7442,0.00,2.30,0.00,0.000,6,0.000,0.021,3335,1705,1838,0,0,0,0,0,0
$GC,7698,1.25,216.8,120.0,5.7,391,7727,0.15,2.50,22.02,0.575,4,0.058,0.046,3379,293,1744,0,0,0,0,0,0
$GC,7772,1.17,216.8,113.1,10.7,396,7776,0.12,2.28,0.00,0.000,6,0.107,0.020,3356,1706,1742,0,0,0,0,0,0
$GC,8040,1.26,233.6,93.9,6.4,417,8061,0.00,2.53,15.25,0.532,4,0.000,0.047,3356,300,1676,0,0,0,0,0,0
$GC,8141,1.26,233.6,84.6,9.8,424,8145,0.00,2.22,0.00,0.000,6,0.000,0.019,3356,1703,1673,0,0,0,0,0,0
$GC,8402,1.34,233.6,63.7,8.1,444,8404,0.15,0.00,0.00,0.000,6,0.057,0.000,3402,1710,1673,0,0,0,0,0,0
$GC,8653,1.34,233.6,37.8,11.0,464,8657,0.00,2.45,0.00,0.000,4,0.000,0.044,3402,289,1673,0,0,0,0,0,0
$GC,8808,1.23,233.6,19.0,13.2,487,8815,0.12,2.25,0.00,0.000,6,0.081,0.018,3372,1711,1672,0,0,0,0,0,0
$STATE,8973,end climb,SURFACE_DEPTH_REACHED
$STATE,8973,begin surface coast
$FINISH,0.9,1.011043
$STATE,9012,end surface coast,CONTROL_FINISHED_OK
$STATE,9013,begin surface
$SM_CCo,9036,101.60,0.482,0,0,958,410.14
$SM_GC,1.53,0.00,0.00,101.60,0.000,0.000,0.482,423,1713,958,-12.31,0.37,410.14
$IRIDIUM_FIX,2054.83,-15751.76,271199,121249
$TT8_MAMPS,0.029146
$HUMID,53.85
$INTERNAL_PRESSURE,9.30354
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.5,29.574
$10V_AH,10.3,24.608
$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,31.000,80.675,253.075,101.600,0.000,27.321,27.154,148.038,4.500,0.000,37.918,1032.132,6029.538,394.259,1587.051,440.968,0.000,1073.270,0.000,1543.644,0.000,29.255,0.000
$DEVICE_MAMPS,133.458,55.991,828.360,481.676,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,359.680,344.591,780.272,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,28628,534
$CAP_FILE_SIZE,97009,0
$CFSIZE,260165632,195653632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020910,180437,2102.348,-15753.506,38,0.9,38,9.8