version: 66.06
glider: 139
mission: 8
dive: 143
start: 8 10 110 21 3 9
data:
$ID,139
$MISSION,8
$DIVE,143
$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,-2153351
$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,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
$GPS1,205337,2102.903,-15756.379,32,0.9,32,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-71.8
$GPS2,210250,2102.877,-15756.469,15,1.5,15,9.8
$SPEED_LIMITS,0.137,0.159
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$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,306.5,13984,-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,-64.40,0.000,2,0.000,0.000,426,1689,2762,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.3,-3.5,12,110,12.52,2.38,-2.05,0.000,4,0.135,0.035,2753,3098,2872,0,0,0,0,0,0
$GC,362,-1.56,-58.4,57.8,-17.6,49,367,0.00,2.40,0.00,0.000,6,0.000,0.034,2752,1687,2874,0,0,0,0,0,0
$GC,624,-1.56,-58.4,100.8,-14.1,69,628,0.00,2.33,0.00,0.000,4,0.000,0.022,2752,3102,2875,0,0,0,0,0,0
$GC,724,-1.64,-58.4,113.8,-12.4,76,728,0.00,2.38,0.00,0.000,6,0.000,0.031,2752,1686,2875,0,0,0,0,0,0
$GC,984,-1.64,-58.4,148.7,-13.9,96,988,0.00,2.33,0.00,0.000,4,0.000,0.023,2753,3105,2876,0,0,0,0,0,0
$GC,1066,-1.73,-58.4,159.2,-11.9,102,1071,0.15,2.40,0.00,0.000,6,0.058,0.032,2706,1681,2876,0,0,0,0,0,0
$GC,1326,-1.69,-58.4,193.3,-12.6,122,1331,0.12,2.40,0.00,0.000,4,0.107,0.045,2730,286,2876,0,0,0,0,0,0
$GC,1379,-1.64,-58.4,200.0,-12.4,126,1383,0.00,2.30,0.00,0.000,6,0.000,0.019,2731,1723,2876,0,0,0,0,0,0
$GC,1703,-1.68,-58.4,240.1,-11.9,142,1707,0.00,2.20,0.00,0.000,4,0.000,0.025,2731,3076,2877,0,0,0,0,0,0
$GC,1776,-1.79,-58.4,248.5,-10.5,145,1780,0.00,2.35,0.00,0.000,6,0.000,0.035,2730,1692,2876,0,0,0,0,0,0
$GC,2100,-1.83,-58.4,281.3,-9.5,161,2104,0.12,2.30,0.00,0.000,4,0.065,0.026,2692,3076,2877,0,0,0,0,0,0
$GC,2175,-1.87,-58.4,289.3,-10.6,164,2178,0.00,2.38,0.00,0.000,6,0.000,0.036,2692,1681,2877,0,0,0,0,0,0
$GC,2520,-1.87,-58.4,333.3,-12.4,175,2524,0.00,2.30,0.00,0.000,4,0.000,0.028,2692,3074,2875,0,0,0,0,0,0
$GC,2714,-1.91,-58.4,355.0,-9.7,179,2718,0.00,2.38,0.00,0.000,6,0.000,0.038,2692,1688,2874,0,0,0,0,0,0
$GC,3028,-1.91,-58.4,387.5,-10.5,187,3032,0.00,2.30,0.00,0.000,4,0.000,0.030,2691,3072,2873,0,0,0,0,0,0
$GC,3109,-1.94,-58.4,396.1,-10.9,188,3113,0.00,2.38,0.00,0.000,6,0.000,0.041,2692,1691,2871,0,0,0,0,0,0
$STATE,3358,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3358,begin apogee
$GC,3365,-0.31,0.0,425.2,12.0,194,3418,1.62,0.00,49.20,0.818,6,0.081,0.000,3031,1846,2630,0,0,0,0,0,0
$STATE,3419,end apogee,CONTROL_FINISHED_OK
$STATE,3419,begin climb
$GC,3422,1.56,58.4,427.3,0.0,195,3479,1.75,2.58,49.92,0.806,4,0.030,0.051,3446,422,2390,0,0,0,0,0,0
$GC,3699,1.21,107.9,423.0,3.4,201,3749,0.43,2.33,42.92,0.806,6,0.107,0.026,3366,1833,2190,0,0,0,0,0,0
$GC,4064,1.10,107.9,392.6,9.9,210,4069,0.12,2.47,0.00,0.000,4,0.120,0.053,3342,425,2181,0,0,0,0,0,0
$GC,4108,0.93,107.9,388.4,9.0,211,4113,0.20,2.30,0.00,0.000,6,0.107,0.028,3304,1818,2179,0,0,0,0,0,0
$GC,4436,0.93,112.9,362.9,7.4,219,4441,0.00,2.38,0.00,0.000,4,0.000,0.035,3304,3216,2177,0,0,0,0,0,0
$GC,4574,0.98,119.5,353.0,7.3,222,4591,0.00,2.40,9.35,0.702,6,0.000,0.038,3304,1831,2142,0,0,0,0,0,0
$GC,4905,0.98,119.5,325.0,8.3,230,4910,0.00,2.47,0.00,0.000,4,0.000,0.054,3304,417,2138,0,0,0,0,0,0
$GC,5014,0.93,125.6,315.6,7.3,232,5027,0.00,2.35,6.25,0.624,6,0.000,0.028,3304,1847,2117,0,0,0,0,0,0
$GC,5369,1.03,173.4,300.8,3.6,241,5415,0.00,0.00,43.85,0.775,6,0.000,0.000,3304,1847,1923,0,0,0,0,0,0
$GC,5718,1.10,173.4,268.1,8.8,257,5723,0.15,2.55,0.00,0.000,4,0.064,0.054,3345,420,1917,0,0,0,0,0,0
$GC,5923,1.00,173.4,243.5,9.5,266,5928,0.15,2.30,0.00,0.000,6,0.110,0.027,3317,1824,1912,0,0,0,0,0,0
$GC,6255,1.08,183.7,219.4,7.0,282,6270,0.00,2.50,8.73,0.631,4,0.000,0.050,3317,423,1880,0,0,0,0,0,0
$GC,6351,1.08,183.7,211.8,8.5,286,6355,0.00,2.33,0.00,0.000,6,0.000,0.025,3317,1836,1877,0,0,0,0,0,0
$GC,6681,1.17,183.7,181.5,9.2,308,6686,0.15,2.50,0.00,0.000,4,0.062,0.050,3359,417,1877,0,0,0,0,0,0
$GC,6716,1.05,183.7,177.5,11.4,310,6723,0.12,2.33,0.00,0.000,6,0.087,0.025,3331,1828,1875,0,0,0,0,0,0
$GC,6978,1.12,184.1,156.5,7.9,331,6982,0.00,2.42,0.00,0.000,4,0.000,0.048,3331,420,1875,0,0,0,0,0,0
$GC,7048,1.12,184.1,149.9,9.4,336,7052,0.00,2.30,0.00,0.000,6,0.000,0.022,3331,1848,1874,0,0,0,0,0,0
$GC,7314,1.19,184.1,127.0,8.5,357,7319,0.12,2.50,0.00,0.000,4,0.067,0.045,3370,414,1874,0,0,0,0,0,0
$GC,7329,1.19,184.1,125.1,9.5,358,7334,0.00,2.28,0.00,0.000,6,0.000,0.021,3369,1833,1874,0,0,0,0,0,0
$GC,7588,1.19,184.1,98.4,11.9,378,7592,0.00,2.25,0.00,0.000,4,0.000,0.025,3370,3205,1874,0,0,0,0,0,0
$GC,7612,1.22,184.1,95.6,11.4,380,7616,0.00,2.33,0.00,0.000,6,0.000,0.030,3369,1823,1874,0,0,0,0,0,0
$GC,7877,1.24,202.7,75.4,6.2,401,7900,0.00,2.42,17.38,0.553,4,0.000,0.044,3369,423,1802,0,0,0,0,0,0
$GC,7931,1.22,210.6,71.7,7.2,404,7946,0.00,2.25,8.20,0.492,6,0.000,0.020,3370,1843,1770,0,0,0,0,0,0
$GC,8203,1.30,221.0,55.0,7.0,425,8220,0.00,2.22,10.35,0.498,4,0.000,0.022,3370,3196,1728,0,0,0,0,0,0
$GC,8226,1.38,226.8,52.9,7.4,426,8240,0.15,2.33,6.85,0.450,6,0.057,0.029,3415,1824,1705,0,0,0,0,0,0
$GC,8500,1.35,226.8,24.4,11.9,454,8506,0.00,2.42,0.00,0.000,4,0.000,0.044,3414,426,1703,0,0,0,0,0,0
$GC,8553,1.22,226.8,18.0,12.1,465,8560,0.20,2.25,0.00,0.000,6,0.081,0.018,3370,1825,1700,0,0,0,0,0,0
$STATE,8715,end climb,SURFACE_DEPTH_REACHED
$STATE,8715,begin surface coast
$FINISH,0.7,1.010016
$STATE,8751,end surface coast,CONTROL_FINISHED_OK
$STATE,8751,begin surface
$SM_CCo,8774,102.47,0.502,0,0,958,410.14
$SM_GC,1.38,0.00,0.00,102.47,0.000,0.000,0.502,433,1672,958,-12.27,-0.51,410.14
$IRIDIUM_FIX,2057.14,-15759.05,041199,212114
$TT8_MAMPS,0.028379
$HUMID,51.85
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,401.0,52.0
$24V_AH,23.5,13.068
$10V_AH,10.4,9.884
$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,30.725,99.650,253.000,102.475,0.000,50.089,79.108,232.564,4.500,0.000,15.442,1053.786,5621.719,417.417,1719.766,618.727,0.000,1167.089,0.000,1695.610,0.000,32.018,0.000
$DEVICE_MAMPS,134.992,58.292,817.622,501.618,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,343.669,330.029,764.917,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,28625,510
$CAP_FILE_SIZE,107683,0
$CFSIZE,260165632,206061568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,100810,233216,2103.142,-15757.060,11,3.8,30,9.8