version: 66.06
glider: 139
mission: 8
dive: 108
start: 8 6 110 22 19 32
data:
$ID,139
$MISSION,8
$DIVE,108
$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,-2152530
$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,1830
$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,2650
$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
$GPS1,221255,2106.664,-15752.299,39,1.5,39,9.8
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-72.7
$GPS2,221913,2106.658,-15752.400,14,1.2,14,9.8
$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,85.6,16458,-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,-58.4,0.0,0.0,0,87,0.00,0.00,-68.32,0.000,6,0.000,0.000,430,1708,2891,0,0,0,0,0,0
$GC,91,-1.56,-58.4,4.0,-4.7,13,109,12.55,0.00,0.00,0.000,6,0.137,0.000,2755,1708,2893,0,0,0,0,0,0
$GC,303,-1.51,-58.4,57.5,-21.3,41,307,0.00,2.33,0.00,0.000,4,0.000,0.024,2755,3107,2895,0,0,0,0,0,0
$GC,346,-1.57,-58.4,65.6,-17.2,44,351,0.00,2.38,0.00,0.000,6,0.000,0.031,2755,1687,2895,0,0,0,0,0,0
$GC,613,-1.57,-58.4,109.0,-16.5,65,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1688,2895,0,0,0,0,0,0
$GC,864,-1.57,-58.4,149.0,-15.9,85,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1688,2897,0,0,0,0,0,0
$GC,1117,-1.61,-58.4,182.9,-12.0,105,1121,0.00,2.35,0.00,0.000,4,0.000,0.025,2755,3108,2897,0,0,0,0,0,0
$GC,1223,-1.74,-58.4,195.1,-10.0,112,1230,0.12,2.40,0.00,0.000,6,0.035,0.032,2710,1697,2897,0,0,0,0,0,0
$GC,1496,-1.74,-58.4,228.4,-12.2,127,1500,0.00,2.30,0.00,0.000,4,0.000,0.025,2710,3100,2898,0,0,0,0,0,0
$GC,1524,-1.78,-58.4,232.3,-12.3,128,1528,0.00,2.38,0.00,0.000,6,0.000,0.032,2710,1682,2898,0,0,0,0,0,0
$GC,1844,-1.78,-58.4,274.4,-12.8,144,1849,0.00,2.38,0.00,0.000,4,0.000,0.026,2710,3107,2898,0,0,0,0,0,0
$GC,1904,-1.83,-58.4,281.8,-12.2,146,1911,0.00,2.42,0.00,0.000,6,0.000,0.034,2710,1687,2898,0,0,0,0,0,0
$GC,2218,-1.83,-58.4,320.5,-12.0,158,2222,0.00,2.38,0.00,0.000,4,0.000,0.028,2710,3102,2898,0,0,0,0,0,0
$GC,2289,-1.90,-58.4,328.5,-11.3,159,2293,0.12,2.38,0.00,0.000,6,0.067,0.036,2672,1690,2898,0,0,0,0,0,0
$GC,2630,-1.85,-58.4,373.6,-13.4,168,2635,0.12,2.40,0.00,0.000,4,0.107,0.031,2696,3099,2897,0,0,0,0,0,0
$GC,2692,-1.90,-58.4,381.4,-11.7,169,2696,0.00,2.40,0.00,0.000,6,0.000,0.038,2696,1693,2897,0,0,0,0,0,0
$GC,3044,-1.90,-58.4,421.9,-11.1,178,3048,0.00,2.38,0.00,0.000,4,0.000,0.035,2696,3099,2894,0,0,0,0,0,0
$GC,3158,-1.97,-58.4,435.5,-11.1,180,3162,0.12,2.40,0.00,0.000,6,0.071,0.041,2661,1691,2893,0,0,0,0,0,0
$STATE,3297,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3298,begin apogee
$GC,3304,-0.31,0.0,454.5,13.4,184,3358,1.77,0.00,50.03,0.836,6,0.087,0.000,3028,1857,2650,0,0,0,0,0,0
$STATE,3359,end apogee,CONTROL_FINISHED_OK
$STATE,3359,begin climb
$GC,3362,1.56,58.4,456.3,0.0,185,3423,1.77,2.38,50.70,0.820,4,0.029,0.036,3453,3220,2410,0,0,0,0,0,0
$GC,3444,1.40,167.3,457.4,-1.9,186,3550,0.25,2.40,95.65,0.825,6,0.114,0.037,3407,1829,1967,0,0,0,0,0,0
$GC,3859,1.21,167.3,406.7,15.3,197,3864,0.22,2.53,0.00,0.000,4,0.109,0.055,3364,415,1957,0,0,0,0,0,0
$GC,3908,1.01,167.3,399.2,14.5,198,3913,0.22,2.35,0.00,0.000,6,0.107,0.028,3322,1832,1954,0,0,0,0,0,0
$GC,4231,1.01,167.3,358.0,12.8,206,4235,0.00,2.53,0.00,0.000,4,0.000,0.055,3321,414,1952,0,0,0,0,0,0
$GC,4320,0.92,167.3,346.2,14.1,208,4325,0.00,2.33,0.00,0.000,6,0.000,0.028,3321,1832,1949,0,0,0,0,0,0
$GC,4649,0.92,167.3,309.4,10.8,216,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,1837,1948,0,0,0,0,0,0
$GC,4955,0.92,167.3,280.7,9.9,228,4959,0.00,2.50,0.00,0.000,4,0.000,0.054,3321,419,1946,0,0,0,0,0,0
$GC,5053,0.86,167.3,268.7,13.1,232,5058,0.17,2.33,0.00,0.000,6,0.111,0.028,3289,1829,1944,0,0,0,0,0,0
$GC,5374,0.98,167.3,238.8,9.3,248,5379,0.10,2.47,0.00,0.000,4,0.081,0.052,3318,418,1943,0,0,0,0,0,0
$GC,5491,0.98,168.6,228.6,7.8,253,5495,0.00,2.30,0.00,0.000,6,0.000,0.026,3318,1837,1941,0,0,0,0,0,0
$GC,5822,1.06,179.7,206.2,6.9,269,5834,0.00,2.53,7.35,0.591,4,0.000,0.051,3318,417,1917,0,0,0,0,0,0
$GC,5864,1.06,179.7,202.3,9.3,270,5870,0.00,2.35,0.00,0.000,6,0.000,0.025,3318,1840,1915,0,0,0,0,0,0
$GC,6192,1.13,179.7,170.5,10.3,295,6197,0.12,2.47,0.00,0.000,4,0.069,0.048,3355,422,1915,0,0,0,0,0,0
$GC,6259,1.04,179.7,162.4,11.7,300,6264,0.15,2.28,0.00,0.000,6,0.106,0.023,3326,1841,1913,0,0,0,0,0,0
$GC,6527,1.11,185.2,140.5,7.4,321,6542,0.00,2.53,5.88,0.504,4,0.000,0.047,3326,420,1895,0,0,0,0,0,0
$GC,6607,1.11,185.2,133.9,7.9,326,6614,0.00,2.30,0.00,0.000,6,0.000,0.022,3326,1837,1893,0,0,0,0,0,0
$GC,6869,1.21,190.8,116.2,7.4,347,6884,0.17,2.50,6.82,0.503,4,0.055,0.045,3376,404,1870,0,0,0,0,0,0
$GC,7004,1.10,190.8,101.2,11.5,356,7011,0.15,2.30,0.00,0.000,6,0.083,0.021,3342,1824,1869,0,0,0,0,0,0
$GC,7266,1.18,190.8,80.0,10.0,377,7270,0.00,2.40,0.00,0.000,4,0.000,0.044,3341,421,1869,0,0,0,0,0,0
$GC,7404,1.18,190.8,64.3,10.2,387,7408,0.00,2.22,0.00,0.000,6,0.000,0.020,3342,1825,1869,0,0,0,0,0,0
$GC,7670,1.31,217.4,46.7,5.5,408,7702,0.20,2.38,24.48,0.532,4,0.049,0.025,3401,3210,1763,0,0,0,0,0,0
$GC,7924,1.34,217.4,26.5,8.9,432,7931,0.00,2.35,0.00,0.000,6,0.000,0.028,3401,1826,1762,0,0,0,0,0,0
$GC,8125,1.34,217.4,9.4,8.7,478,8132,0.00,2.30,0.00,0.000,4,0.000,0.025,3401,3205,1761,0,0,0,0,0,0
$GC,8164,1.34,217.4,5.7,9.2,486,8171,0.00,2.33,0.00,0.000,6,0.000,0.028,3401,1832,1761,0,0,0,0,0,0
$STATE,8190,end climb,SURFACE_DEPTH_REACHED
$STATE,8190,begin surface coast
$FINISH,0.6,1.009652
$STATE,8217,end surface coast,CONTROL_FINISHED_OK
$STATE,8217,begin surface
$SM_CCo,8241,111.97,0.500,0,0,978,410.14
$SM_GC,1.32,0.00,0.00,111.97,0.000,0.000,0.500,428,1682,978,-12.30,-0.23,410.14
$IRIDIUM_FIX,2059.45,-15753.90,311099,191917
$TT8_MAMPS,0.029146
$HUMID,51.26
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.4,10.212
$10V_AH,10.4,7.326
$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,31.300,91.025,240.900,111.975,0.000,30.098,33.069,199.449,4.500,0.000,14.261,985.904,5265.909,410.011,1589.093,481.634,0.000,1118.076,0.000,1570.180,0.000,29.257,0.000
$DEVICE_MAMPS,136.526,65.195,836.030,500.084,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,334.168,321.598,752.165,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,28656,497
$CAP_FILE_SIZE,97891,0
$CFSIZE,260165632,207855616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070810,003938,2106.425,-15751.748,15,1.5,15,9.8