version: 66.06
glider: 139
mission: 8
dive: 124
start: 8 8 110 17 16 14
data:
$ID,139
$MISSION,8
$DIVE,124
$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,-2152933.5
$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,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
$GPS1,170946,2105.230,-15745.501,15,2.2,34,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-70.9
$GPS2,171558,2105.249,-15745.510,13,2.5,32,9.8
$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,67.1,4599,-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,14,begin dive
$GC,16,-1.56,-58.4,0.0,0.0,0,83,0.00,0.00,-64.22,0.000,2,0.000,0.000,421,1675,2792,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.4,-3.9,12,105,12.65,0.00,-1.80,0.000,6,0.140,0.000,2751,1675,2892,0,0,0,0,0,0
$GC,302,-1.51,-58.4,50.6,-17.5,43,306,0.00,2.40,0.00,0.000,4,0.000,0.023,2752,3108,2894,0,0,0,0,0,0
$GC,402,-1.59,-58.4,65.2,-13.0,50,408,0.00,2.42,0.00,0.000,6,0.000,0.035,2751,1694,2894,0,0,0,0,0,0
$GC,661,-1.59,-58.4,99.5,-12.6,71,668,0.00,2.42,0.00,0.000,4,0.000,0.045,2751,279,2896,0,0,0,0,0,0
$GC,724,-1.59,-58.4,108.6,-13.6,75,728,0.00,2.30,0.00,0.000,6,0.000,0.018,2751,1722,2897,0,0,0,0,0,0
$GC,990,-1.59,-58.4,141.4,-11.7,96,994,0.00,2.22,0.00,0.000,4,0.000,0.024,2751,3080,2897,0,0,0,0,0,0
$GC,1151,-1.70,-58.4,159.3,-10.0,108,1155,0.00,2.35,0.00,0.000,6,0.000,0.032,2751,1686,2897,0,0,0,0,0,0
$GC,1417,-1.76,-58.4,189.4,-11.2,129,1422,0.15,2.42,0.00,0.000,4,0.059,0.048,2705,286,2898,0,0,0,0,0,0
$GC,1472,-1.65,-58.4,197.1,-15.6,133,1477,0.17,2.25,0.00,0.000,6,0.097,0.019,2740,1698,2898,0,0,0,0,0,0
$GC,1747,-1.70,-58.4,227.4,-10.4,147,1751,0.00,2.22,0.00,0.000,4,0.000,0.025,2740,3069,2898,0,0,0,0,0,0
$GC,1830,-1.81,-58.4,236.0,-10.3,150,1837,0.12,2.35,0.00,0.000,6,0.032,0.035,2695,1692,2898,0,0,0,0,0,0
$GC,2147,-1.77,-58.4,276.4,-13.1,166,2149,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1692,2897,0,0,0,0,0,0
$GC,2473,-1.77,-58.4,318.4,-13.3,179,2477,0.00,2.28,0.00,0.000,4,0.000,0.027,2695,3065,2897,0,0,0,0,0,0
$GC,2567,-1.82,-58.4,330.2,-12.6,181,2571,0.00,2.35,0.00,0.000,6,0.000,0.036,2694,1684,2897,0,0,0,0,0,0
$GC,2889,-1.82,-58.4,368.0,-11.1,189,2894,0.00,2.35,0.00,0.000,4,0.000,0.029,2695,3072,2895,0,0,0,0,0,0
$GC,2969,-1.87,-58.4,375.8,-10.0,190,2974,0.00,2.35,0.00,0.000,6,0.000,0.038,2695,1689,2895,0,0,0,0,0,0
$GC,3302,-1.87,-58.4,408.8,-10.4,198,3303,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1689,2893,0,0,0,0,0,0
$GC,3627,-1.87,-58.4,444.9,-11.5,206,3628,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1689,2891,0,0,0,0,0,0
$STATE,3704,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3704,begin apogee
$GC,3711,-0.31,0.0,454.0,11.4,208,3765,1.60,0.00,49.58,0.840,6,0.082,0.000,3029,1825,2650,0,0,0,0,0,0
$STATE,3766,end apogee,CONTROL_FINISHED_OK
$STATE,3766,begin climb
$GC,3768,1.56,58.4,455.6,0.0,209,3826,1.80,0.00,50.85,0.825,6,0.028,0.000,3459,1825,2410,0,0,0,0,0,0
$GC,4153,1.30,108.0,449.1,3.4,219,4202,0.35,2.45,43.17,0.831,4,0.104,0.037,3387,3212,2209,0,0,0,0,0,0
$GC,4227,1.15,113.8,445.4,7.4,220,4240,0.17,2.42,6.70,0.657,6,0.112,0.041,3355,1834,2186,0,0,0,0,0,0
$GC,4570,1.06,113.8,415.6,8.3,229,4575,0.12,2.53,0.00,0.000,4,0.117,0.056,3332,421,2178,0,0,0,0,0,0
$GC,4581,0.96,113.8,414.5,8.1,229,4586,0.12,2.30,0.00,0.000,6,0.122,0.028,3310,1825,2176,0,0,0,0,0,0
$GC,4895,0.99,139.7,395.7,5.6,237,4920,0.00,0.00,22.98,0.805,6,0.000,0.000,3310,1830,2080,0,0,0,0,0,0
$GC,5221,0.99,139.7,370.0,8.1,245,5225,0.00,2.50,0.00,0.000,4,0.000,0.056,3309,421,2074,0,0,0,0,0,0
$GC,5430,0.92,139.7,350.5,9.6,249,5435,0.00,2.35,0.00,0.000,6,0.000,0.028,3310,1837,2069,0,0,0,0,0,0
$GC,5771,0.95,139.7,323.3,8.1,258,5775,0.00,2.47,0.00,0.000,4,0.000,0.053,3309,421,2069,0,0,0,0,0,0
$GC,5794,0.91,139.7,321.2,8.5,258,5799,0.00,2.33,0.00,0.000,6,0.000,0.028,3310,1834,2068,0,0,0,0,0,0
$GC,6117,0.96,153.8,297.4,6.6,267,6134,0.00,2.55,11.73,0.716,4,0.000,0.053,3310,421,2023,0,0,0,0,0,0
$GC,6282,0.92,153.8,283.4,9.0,273,6286,0.00,2.33,0.00,0.000,6,0.000,0.027,3309,1832,2018,0,0,0,0,0,0
$GC,6604,0.98,153.8,256.9,8.9,289,6608,0.00,2.33,0.00,0.000,4,0.000,0.032,3310,3215,2018,0,0,0,0,0,0
$GC,6675,1.07,153.8,250.7,8.6,292,6680,0.10,2.40,0.00,0.000,6,0.077,0.037,3340,1819,2018,0,0,0,0,0,0
$GC,7001,1.09,171.2,226.5,6.3,308,7025,0.00,2.47,16.40,0.687,4,0.000,0.051,3340,422,1951,0,0,0,0,0,0
$GC,7092,1.01,171.2,219.1,9.3,311,7097,0.00,2.33,0.00,0.000,6,0.000,0.025,3340,1841,1947,0,0,0,0,0,0
$GC,7414,1.01,171.2,189.5,9.7,330,7415,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,1846,1947,0,0,0,0,0,0
$GC,7665,1.01,171.2,164.0,10.3,350,7669,0.00,2.47,0.00,0.000,4,0.000,0.048,3340,420,1946,0,0,0,0,0,0
$GC,7760,0.94,171.2,153.9,11.7,357,7765,0.17,2.28,0.00,0.000,6,0.100,0.023,3306,1838,1944,0,0,0,0,0,0
$GC,8026,1.10,203.1,135.9,5.0,378,8062,0.15,2.55,28.35,0.625,4,0.059,0.047,3351,427,1822,0,0,0,0,0,0
$GC,8112,1.03,203.1,128.4,11.1,384,8117,0.15,2.28,0.00,0.000,6,0.100,0.022,3322,1842,1818,0,0,0,0,0,0
$GC,8379,1.13,203.1,104.8,9.2,405,8384,0.10,2.50,0.00,0.000,4,0.075,0.046,3356,414,1817,0,0,0,0,0,0
$GC,8492,1.09,203.1,92.7,10.4,413,8497,0.00,2.28,0.00,0.000,6,0.000,0.021,3356,1842,1816,0,0,0,0,0,0
$GC,8757,1.15,203.1,69.0,9.4,434,8761,0.00,2.45,0.00,0.000,4,0.000,0.044,3356,421,1816,0,0,0,0,0,0
$GC,8994,1.15,203.1,47.1,8.1,451,9001,0.00,2.28,0.00,0.000,6,0.000,0.020,3356,1840,1816,0,0,0,0,0,0
$GC,9256,1.25,214.1,29.7,6.9,472,9274,0.00,2.30,10.40,0.482,4,0.000,0.025,3357,3202,1777,0,0,0,0,0,0
$GC,9406,1.38,214.1,18.1,8.5,505,9414,0.15,2.35,0.00,0.000,6,0.030,0.029,3409,1820,1777,0,0,0,0,0,0
$STATE,9547,end climb,SURFACE_DEPTH_REACHED
$STATE,9547,begin surface coast
$FINISH,0.8,1.023131
$STATE,9574,end surface coast,CONTROL_FINISHED_OK
$STATE,9574,begin surface
$SM_CCo,9597,110.97,0.503,0,0,977,410.14
$SM_GC,1.38,0.00,0.00,110.97,0.000,0.000,0.503,424,1668,977,-12.31,-0.62,410.14
$IRIDIUM_FIX,2059.45,-15745.74,021199,141437
$TT8_MAMPS,0.029146
$HUMID,51.77
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,11.502
$10V_AH,10.4,8.486
$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,30.875,90.550,240.150,110.975,0.000,29.953,30.567,175.765,4.500,0.000,34.068,1077.297,6397.470,429.650,1710.055,465.129,0.000,1154.114,0.000,1669.784,0.000,29.260,0.000
$DEVICE_MAMPS,139.594,59.059,839.865,503.152,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,366.064,342.062,789.956,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,28733,543
$CAP_FILE_SIZE,103152,0
$CFSIZE,260165632,207028224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080810,195925,2105.702,-15744.195,43,1.1,43,9.8