version: 66.06
glider: 139
mission: 8
dive: 77
start: 8 3 110 11 57 22
data:
$ID,139
$MISSION,8
$DIVE,77
$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,-2151876.8
$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,1850
$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,2690
$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
$GPS1,114927,2102.963,-15747.741,17,2.2,36,9.8
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-66.8
$GPS2,115706,2103.026,-15747.841,15,1.9,31,9.8
$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,190.5,10085,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.56,-58.4,0.0,0.0,0,105,0.00,0.00,-85.50,0.000,6,0.000,0.000,427,1699,2931,0,0,0,0,0,0
$GC,108,-1.56,-58.4,3.9,-5.4,16,126,12.62,2.42,0.00,0.000,4,0.138,0.038,2755,281,2933,0,0,0,0,0,0
$GC,301,-1.45,-58.4,52.9,-19.9,42,306,0.15,2.30,0.00,0.000,6,0.114,0.018,2784,1725,2934,0,0,0,0,0,0
$GC,562,-1.51,-58.4,90.2,-13.6,62,563,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1725,2935,0,0,0,0,0,0
$GC,813,-1.61,-58.4,124.4,-12.4,82,818,0.15,2.50,0.00,0.000,4,0.058,0.047,2738,283,2936,0,0,0,0,0,0
$GC,882,-1.54,-58.4,135.0,-16.4,87,887,0.12,2.25,0.00,0.000,6,0.107,0.018,2763,1704,2936,0,0,0,0,0,0
$GC,1150,-1.61,-58.4,168.3,-11.2,108,1154,0.00,2.22,0.00,0.000,4,0.000,0.025,2762,3062,2936,0,0,0,0,0,0
$GC,1190,-1.74,-58.4,172.3,-10.3,111,1195,0.17,2.30,0.00,0.000,6,0.053,0.033,2710,1687,2936,0,0,0,0,0,0
$GC,1466,-1.74,-58.4,209.1,-13.1,131,1470,0.00,2.28,0.00,0.000,4,0.000,0.025,2710,3062,2937,0,0,0,0,0,0
$GC,1580,-1.79,-58.4,223.2,-12.6,136,1584,0.00,2.33,0.00,0.000,6,0.000,0.034,2710,1687,2937,0,0,0,0,0,0
$GC,1910,-1.79,-58.4,266.9,-13.0,152,1914,0.00,2.28,0.00,0.000,4,0.000,0.026,2710,3058,2936,0,0,0,0,0,0
$GC,1983,-1.85,-58.4,276.1,-11.9,155,1987,0.00,2.33,0.00,0.000,6,0.000,0.032,2710,1680,2936,0,0,0,0,0,0
$GC,2324,-1.85,-58.4,317.4,-12.5,169,2328,0.00,2.30,0.00,0.000,4,0.000,0.027,2710,3061,2936,0,0,0,0,0,0
$GC,2367,-1.93,-58.4,322.9,-12.8,170,2372,0.15,2.35,0.00,0.000,6,0.059,0.035,2665,1681,2935,0,0,0,0,0,0
$GC,2699,-1.88,-58.4,369.1,-13.2,178,2701,0.12,0.00,0.00,0.000,6,0.110,0.000,2689,1680,2934,0,0,0,0,0,0
$GC,3019,-1.88,-58.4,405.7,-12.0,186,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1680,2932,0,0,0,0,0,0
$GC,3344,-1.88,-58.4,447.7,-13.3,194,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1680,2929,0,0,0,0,0,0
$STATE,3383,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3383,begin apogee
$GC,3390,-0.31,0.0,453.9,13.5,195,3444,1.62,0.00,49.65,0.844,6,0.084,0.000,3028,1845,2690,0,0,0,0,0,0
$STATE,3444,end apogee,CONTROL_FINISHED_OK
$STATE,3444,begin climb
$GC,3447,1.56,58.4,455.8,0.0,196,3505,1.80,0.00,51.15,0.825,6,0.030,0.000,3455,1844,2450,0,0,0,0,0,0
$GC,3831,1.39,172.0,467.1,-2.3,206,3942,0.25,2.45,100.12,0.854,4,0.111,0.038,3404,3234,1987,0,0,0,0,0,0
$GC,4157,1.24,172.0,430.7,14.4,213,4162,0.17,2.40,0.00,0.000,6,0.120,0.041,3373,1854,1981,0,0,0,0,0,0
$GC,4473,1.13,172.0,386.7,14.0,221,4478,0.15,2.50,0.00,0.000,4,0.117,0.057,3345,441,1976,0,0,0,0,0,0
$GC,4535,0.97,172.0,377.8,14.2,222,4540,0.17,2.35,0.00,0.000,6,0.113,0.029,3313,1850,1972,0,0,0,0,0,0
$GC,4886,1.00,172.0,339.3,10.8,231,4890,0.00,2.50,0.00,0.000,4,0.000,0.055,3312,434,1970,0,0,0,0,0,0
$GC,5026,0.94,172.0,322.6,12.3,234,5030,0.00,2.38,0.00,0.000,6,0.000,0.029,3312,1857,1967,0,0,0,0,0,0
$GC,5351,0.98,172.0,293.7,8.1,243,5355,0.00,2.35,0.00,0.000,4,0.000,0.035,3313,3241,1967,0,0,0,0,0,0
$GC,5389,1.06,172.0,290.4,8.1,244,5395,0.00,2.42,0.00,0.000,6,0.000,0.039,3313,1854,1966,0,0,0,0,0,0
$GC,5705,1.12,177.5,267.4,7.4,260,5710,0.15,2.47,0.00,0.000,4,0.065,0.054,3352,439,1965,0,0,0,0,0,0
$GC,5895,1.00,177.5,246.1,10.3,268,5900,0.17,2.30,0.00,0.000,6,0.107,0.027,3319,1858,1962,0,0,0,0,0,0
$GC,6218,1.06,184.9,220.9,7.2,284,6231,0.00,2.53,7.65,0.603,4,0.000,0.051,3319,435,1936,0,0,0,0,0,0
$GC,6386,1.06,184.9,208.2,8.4,291,6391,0.00,2.30,0.00,0.000,6,0.000,0.025,3319,1860,1933,0,0,0,0,0,0
$GC,6714,1.13,186.3,181.8,7.8,313,6719,0.12,2.50,0.00,0.000,4,0.069,0.048,3356,434,1933,0,0,0,0,0,0
$GC,6742,1.05,186.3,179.0,10.6,315,6747,0.12,2.30,0.00,0.000,6,0.113,0.024,3332,1857,1932,0,0,0,0,0,0
$GC,7007,1.11,186.3,155.6,9.1,336,7011,0.00,2.28,0.00,0.000,4,0.000,0.029,3332,3233,1932,0,0,0,0,0,0
$GC,7136,1.19,186.3,143.7,9.4,345,7141,0.12,2.35,0.00,0.000,6,0.068,0.031,3368,1838,1932,0,0,0,0,0,0
$GC,7401,1.19,186.3,118.6,8.8,366,7405,0.00,2.40,0.00,0.000,4,0.000,0.045,3368,437,1932,0,0,0,0,0,0
$GC,7513,1.09,186.3,107.4,10.6,374,7518,0.15,2.28,0.00,0.000,6,0.105,0.021,3339,1864,1930,0,0,0,0,0,0
$GC,7780,1.16,187.1,83.8,7.8,395,7784,0.00,2.45,0.00,0.000,4,0.000,0.044,3339,438,1931,0,0,0,0,0,0
$GC,7827,1.16,187.4,79.9,7.9,398,7834,0.00,2.30,0.00,0.000,6,0.000,0.021,3339,1868,1931,0,0,0,0,0,0
$GC,8089,1.26,209.0,64.3,5.9,419,8119,0.15,2.47,22.33,0.551,4,0.059,0.043,3384,443,1836,0,0,0,0,0,0
$GC,8190,1.16,209.0,54.8,12.1,426,8195,0.15,2.22,0.00,0.000,6,0.105,0.020,3354,1841,1833,0,0,0,0,0,0
$GC,8457,1.24,220.1,32.8,6.9,447,8473,0.00,2.45,10.85,0.488,4,0.000,0.042,3354,435,1791,0,0,0,0,0,0
$GC,8723,1.28,228.9,12.6,7.1,501,8737,0.05,2.30,8.57,0.453,6,0.048,0.019,3382,1869,1756,0,0,0,0,0,0
$STATE,8832,end climb,SURFACE_DEPTH_REACHED
$STATE,8832,begin surface coast
$FINISH,0.3,1.023261
$STATE,8864,end surface coast,CONTROL_FINISHED_OK
$STATE,8864,begin surface
$SM_CCo,8887,103.28,0.506,0,0,1017,410.14
$SM_GC,1.00,0.00,0.00,103.28,0.000,0.000,0.506,431,1672,1017,-12.28,-0.51,410.14
$IRIDIUM_FIX,2054.83,-15749.62,281099,090937
$TT8_MAMPS,0.028379
$HUMID,52.04
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.4,7.628
$10V_AH,10.4,5.051
$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,31.550,85.625,250.325,103.275,0.000,24.170,31.086,269.995,4.500,0.000,31.445,1058.557,5699.047,418.697,1715.300,556.367,0.000,1149.121,0.000,1676.586,0.000,29.251,0.000
$DEVICE_MAMPS,138.060,56.758,854.438,506.220,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,358.540,343.932,806.681,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,28611,532
$CAP_FILE_SIZE,103602,0
$CFSIZE,260165632,209440768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030810,142901,2102.294,-15748.361,69,1.1,69,9.8