version: 66.06
glider: 139
mission: 8
dive: 128
start: 8 9 110 4 0 33
data:
$ID,139
$MISSION,8
$DIVE,128
$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,-2153048.2
$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
$GPS1,035437,2104.634,-15746.024,31,1.7,31,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-69.9
$GPS2,040016,2104.638,-15746.003,11,2.0,13,9.8
$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,198.4,14122,-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,16,-1.56,-58.4,0.0,0.0,0,83,0.00,0.00,-64.18,0.000,2,0.000,0.000,428,1674,2812,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.8,-4.7,12,106,12.52,2.45,-1.38,0.000,4,0.137,0.038,2751,3105,2891,0,0,0,0,0,0
$GC,238,-1.56,-58.4,39.1,-14.9,37,242,0.00,2.38,0.00,0.000,6,0.000,0.033,2751,1689,2893,0,0,0,0,0,0
$GC,503,-1.56,-58.4,84.2,-16.3,58,507,0.00,2.33,0.00,0.000,4,0.000,0.021,2751,3110,2894,0,0,0,0,0,0
$GC,569,-1.62,-58.4,94.2,-15.3,63,573,0.00,2.40,0.00,0.000,6,0.000,0.035,2751,1687,2894,0,0,0,0,0,0
$GC,835,-1.62,-58.4,131.8,-13.6,84,839,0.00,2.35,0.00,0.000,4,0.000,0.023,2751,3107,2895,0,0,0,0,0,0
$GC,887,-1.71,-58.4,138.8,-12.6,88,892,0.12,2.40,0.00,0.000,6,0.067,0.030,2712,1679,2896,0,0,0,0,0,0
$GC,1152,-1.67,-58.4,178.0,-14.7,109,1157,0.10,2.38,0.00,0.000,4,0.114,0.024,2732,3105,2897,0,0,0,0,0,0
$GC,1256,-1.76,-58.4,190.9,-11.8,116,1262,0.00,2.40,0.00,0.000,6,0.000,0.032,2732,1692,2896,0,0,0,0,0,0
$GC,1524,-1.76,-58.4,225.4,-13.0,132,1528,0.00,2.33,0.00,0.000,4,0.000,0.024,2732,3101,2897,0,0,0,0,0,0
$GC,1570,-1.87,-58.4,231.8,-13.2,134,1575,0.17,2.38,0.00,0.000,6,0.052,0.034,2682,1690,2897,0,0,0,0,0,0
$GC,1897,-1.82,-58.4,270.3,-11.7,150,1902,0.10,2.35,0.00,0.000,4,0.117,0.026,2701,3106,2897,0,0,0,0,0,0
$GC,2063,-1.85,-58.4,291.6,-13.1,157,2068,0.00,2.40,0.00,0.000,6,0.000,0.034,2701,1685,2897,0,0,0,0,0,0
$GC,2380,-1.85,-58.4,332.7,-12.7,167,2384,0.00,2.38,0.00,0.000,4,0.000,0.028,2701,3104,2896,0,0,0,0,0,0
$GC,2436,-1.90,-58.4,338.7,-9.7,168,2440,0.00,2.40,0.00,0.000,6,0.000,0.035,2701,1690,2895,0,0,0,0,0,0
$GC,2754,-1.90,-58.4,373.9,-11.6,176,2758,0.00,2.45,0.00,0.000,4,0.000,0.054,2701,288,2894,0,0,0,0,0,0
$GC,2769,-1.90,-58.4,375.8,-12.7,176,2773,0.00,2.33,0.00,0.000,6,0.000,0.025,2701,1713,2893,0,0,0,0,0,0
$GC,3118,-1.90,-58.4,418.7,-12.2,185,3122,0.00,2.30,0.00,0.000,4,0.000,0.032,2701,3082,2891,0,0,0,0,0,0
$GC,3133,-1.93,-58.4,420.5,-11.8,185,3138,0.00,2.40,0.00,0.000,6,0.000,0.041,2701,1685,2891,0,0,0,0,0,0
$STATE,3399,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3399,begin apogee
$GC,3406,-0.31,0.0,450.0,10.9,192,3460,1.58,0.00,49.38,0.840,6,0.081,0.000,3030,1837,2649,0,0,0,0,0,0
$STATE,3461,end apogee,CONTROL_FINISHED_OK
$STATE,3461,begin climb
$GC,3463,1.56,58.4,451.6,0.0,193,3521,1.77,0.00,51.03,0.822,6,0.028,0.000,3452,1837,2410,0,0,0,0,0,0
$GC,3848,1.32,116.6,447.2,2.7,203,3905,0.30,2.58,50.85,0.835,4,0.110,0.055,3391,423,2174,0,0,0,0,0,0
$GC,3987,1.03,116.6,435.3,13.1,206,3992,0.35,2.33,0.00,0.000,6,0.104,0.028,3324,1825,2167,0,0,0,0,0,0
$GC,4312,1.00,116.6,406.4,8.2,214,4316,0.00,2.50,0.00,0.000,4,0.000,0.056,3324,424,2163,0,0,0,0,0,0
$GC,4465,0.88,116.6,392.1,8.6,217,4470,0.17,2.35,0.00,0.000,6,0.116,0.029,3292,1834,2160,0,0,0,0,0,0
$GC,4816,0.95,137.6,369.7,6.0,226,4841,0.00,2.45,17.45,0.779,4,0.000,0.035,3292,3213,2088,0,0,0,0,0,0
$GC,4862,1.03,138.1,366.3,7.9,227,4866,0.15,2.42,0.00,0.000,6,0.066,0.040,3331,1831,2088,0,0,0,0,0,0
$GC,5190,1.03,138.1,332.8,10.4,235,5195,0.00,2.50,0.00,0.000,4,0.000,0.054,3330,414,2084,0,0,0,0,0,0
$GC,5343,0.92,138.1,316.2,10.7,238,5348,0.15,2.35,0.00,0.000,6,0.114,0.028,3303,1830,2081,0,0,0,0,0,0
$GC,5679,0.96,138.1,290.8,8.7,249,5683,0.00,2.33,0.00,0.000,4,0.000,0.035,3303,3215,2080,0,0,0,0,0,0
$GC,5725,1.04,138.1,286.9,7.9,251,5730,0.10,2.38,0.00,0.000,6,0.081,0.038,3331,1828,2080,0,0,0,0,0,0
$GC,6053,1.06,153.7,261.8,6.5,267,6069,0.00,0.00,14.15,0.717,6,0.000,0.000,3331,1828,2023,0,0,0,0,0,0
$GC,6380,1.08,166.1,236.3,6.8,282,6403,0.00,2.50,12.45,0.684,4,0.000,0.051,3331,414,1971,0,0,0,0,0,0
$GC,6504,1.01,166.1,225.9,9.0,287,6509,0.00,2.33,0.00,0.000,6,0.000,0.025,3331,1840,1967,0,0,0,0,0,0
$GC,6826,1.05,166.1,198.4,9.2,303,6830,0.00,2.28,0.00,0.000,4,0.000,0.031,3331,3213,1967,0,0,0,0,0,0
$GC,6881,1.11,166.1,194.2,7.9,307,6885,0.00,2.38,0.00,0.000,6,0.000,0.035,3331,1820,1966,0,0,0,0,0,0
$GC,7150,1.17,179.4,174.9,6.7,328,7169,0.10,2.47,12.45,0.628,4,0.081,0.049,3361,424,1917,0,0,0,0,0,0
$GC,7245,1.07,179.4,166.2,10.6,334,7252,0.12,2.33,0.00,0.000,6,0.084,0.023,3333,1832,1914,0,0,0,0,0,0
$GC,7507,1.12,179.4,143.7,9.2,355,7511,0.00,2.45,0.00,0.000,4,0.000,0.047,3333,424,1913,0,0,0,0,0,0
$GC,7534,1.12,179.4,141.0,9.9,357,7538,0.00,2.30,0.00,0.000,6,0.000,0.022,3333,1850,1913,0,0,0,0,0,0
$GC,7800,1.19,179.8,119.9,7.9,378,7801,0.12,0.00,0.00,0.000,6,0.067,0.000,3371,1855,1913,0,0,0,0,0,0
$GC,8051,1.19,179.8,98.8,8.0,398,8052,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,1855,1913,0,0,0,0,0,0
$GC,8302,1.20,187.7,79.7,7.2,418,8318,0.00,2.47,8.48,0.504,4,0.000,0.044,3371,423,1883,0,0,0,0,0,0
$GC,8579,1.15,192.0,59.8,7.5,438,8594,0.00,2.22,4.97,0.413,6,0.000,0.020,3371,1844,1867,0,0,0,0,0,0
$GC,8851,1.22,217.5,42.0,5.6,459,8880,0.00,2.25,23.98,0.528,4,0.000,0.021,3371,3196,1761,0,0,0,0,0,0
$GC,8897,1.33,250.5,39.1,4.9,462,8933,0.00,2.33,29.42,0.524,6,0.000,0.028,3370,1826,1627,0,0,0,0,0,0
$GC,9192,1.41,250.5,10.7,10.6,512,9199,0.15,2.45,0.00,0.000,4,0.057,0.044,3416,425,1622,0,0,0,0,0,0
$GC,9219,1.41,250.5,7.3,11.1,517,9226,0.00,2.25,0.00,0.000,6,0.000,0.018,3416,1816,1621,0,0,0,0,0,0
$STATE,9252,end climb,SURFACE_DEPTH_REACHED
$STATE,9252,begin surface coast
$FINISH,0.6,1.023023
$STATE,9275,end surface coast,CONTROL_FINISHED_OK
$STATE,9275,begin surface
$SM_CCo,9299,89.30,0.500,0,0,977,410.14
$SM_GC,1.20,0.00,0.00,89.30,0.000,0.000,0.500,427,1675,977,-12.30,-0.40,410.14
$IRIDIUM_FIX,2059.45,-15746.61,031199,010124
$TT8_MAMPS,0.029146
$HUMID,52.00
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,11.835
$10V_AH,10.4,8.780
$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,30.925,100.350,274.600,89.300,0.000,29.572,28.658,166.797,4.500,0.000,13.747,1065.590,6098.735,424.836,1677.705,460.144,0.000,1169.476,0.000,1658.677,0.000,29.255,0.000
$DEVICE_MAMPS,136.526,61.360,839.865,500.084,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,356.642,337.668,767.772,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,28660,529
$CAP_FILE_SIZE,106116,0
$CFSIZE,260165632,206831616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090810,063806,2104.177,-15746.556,27,2.0,27,9.8