version: 66.06
glider: 139
mission: 8
dive: 147
start: 8 11 110 7 16 22
data:
$ID,139
$MISSION,8
$DIVE,147
$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,-2153487.8
$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,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
$GPS1,071006,2105.030,-15800.267,71,0.9,74,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-72.7
$GPS2,071606,2104.865,-15800.271,64,1.0,64,9.8
$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,324.4,7134,-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,-58.4,0.0,0.0,0,76,0.00,0.00,-58.83,0.000,2,0.000,0.000,430,1704,2617,0,0,0,0,0,0
$GC,79,-1.56,-58.4,3.3,-3.9,11,104,12.55,2.33,-4.85,0.000,4,0.137,0.034,2752,3106,2870,0,0,0,0,0,0
$GC,142,-1.50,-58.4,19.0,-19.7,23,149,0.08,2.42,0.00,0.000,6,0.091,0.034,2769,1696,2872,0,0,0,0,0,0
$GC,348,-1.45,-58.4,54.3,-16.8,48,352,0.00,2.33,0.00,0.000,4,0.000,0.023,2769,3109,2873,0,0,0,0,0,0
$GC,394,-1.54,-58.4,62.2,-15.4,51,401,0.00,2.42,0.00,0.000,6,0.000,0.035,2769,1690,2873,0,0,0,0,0,0
$GC,653,-1.59,-58.4,96.0,-11.4,72,657,0.00,2.33,0.00,0.000,4,0.000,0.021,2769,3110,2874,0,0,0,0,0,0
$GC,671,-1.67,-58.4,98.0,-11.1,73,677,0.15,2.38,0.00,0.000,6,0.058,0.030,2724,1679,2874,0,0,0,0,0,0
$GC,933,-1.61,-58.4,137.6,-15.8,94,937,0.12,2.38,0.00,0.000,4,0.105,0.023,2749,3106,2875,0,0,0,0,0,0
$GC,1057,-1.71,-58.4,153.0,-10.3,103,1061,0.00,2.35,0.00,0.000,6,0.000,0.032,2748,1689,2875,0,0,0,0,0,0
$GC,1319,-1.75,-58.4,179.3,-9.8,123,1320,0.15,0.00,0.00,0.000,6,0.058,0.000,2704,1688,2876,0,0,0,0,0,0
$GC,1578,-1.70,-58.4,211.4,-12.8,141,1583,0.12,2.35,0.00,0.000,4,0.109,0.024,2729,3101,2876,0,0,0,0,0,0
$GC,1716,-1.79,-58.4,226.6,-10.5,147,1721,0.00,2.38,0.00,0.000,6,0.000,0.033,2728,1689,2876,0,0,0,0,0,0
$GC,2045,-1.83,-58.4,264.2,-11.0,163,2050,0.12,2.35,0.00,0.000,4,0.066,0.025,2689,3103,2876,0,0,0,0,0,0
$GC,2142,-1.83,-58.4,276.7,-12.5,167,2146,0.00,2.35,0.00,0.000,6,0.000,0.033,2689,1689,2876,0,0,0,0,0,0
$GC,2461,-1.79,-58.4,315.1,-11.9,180,2466,0.10,2.38,0.00,0.000,4,0.117,0.028,2707,3099,2876,0,0,0,0,0,0
$GC,2644,-1.84,-58.4,334.9,-11.3,184,2648,0.00,2.40,0.00,0.000,6,0.000,0.036,2707,1689,2874,0,0,0,0,0,0
$GC,2971,-1.84,-58.4,368.6,-11.4,192,2975,0.00,2.38,0.00,0.000,4,0.000,0.030,2707,3107,2872,0,0,0,0,0,0
$GC,3060,-1.91,-58.4,380.3,-13.2,193,3066,0.10,2.42,0.00,0.000,6,0.080,0.038,2676,1689,2872,0,0,0,0,0,0
$GC,3393,-1.86,-58.4,424.0,-12.5,202,3397,0.00,2.38,0.00,0.000,4,0.000,0.032,2676,3103,2870,0,0,0,0,0,0
$GC,3472,-1.86,-58.4,433.3,-11.2,203,3476,0.00,2.42,0.00,0.000,6,0.000,0.040,2676,1693,2869,0,0,0,0,0,0
$STATE,3637,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3638,begin apogee
$GC,3645,-0.31,0.0,451.6,11.0,207,3698,1.70,0.00,49.05,0.841,6,0.087,0.000,3028,1859,2630,0,0,0,0,0,0
$STATE,3699,end apogee,CONTROL_FINISHED_OK
$STATE,3699,begin climb
$GC,3701,1.56,58.4,452.5,0.0,208,3759,1.77,2.38,50.33,0.823,4,0.030,0.034,3448,3216,2391,0,0,0,0,0,0
$GC,3902,1.30,75.0,444.3,6.4,212,3925,0.32,2.42,14.88,0.769,6,0.109,0.038,3387,1823,2324,0,0,0,0,0,0
$GC,4252,1.13,85.1,420.4,7.0,221,4269,0.20,2.55,9.62,0.724,4,0.109,0.056,3349,428,2281,0,0,0,0,0,0
$GC,4404,0.97,100.8,409.4,6.5,224,4425,0.20,2.30,14.75,0.770,6,0.113,0.028,3312,1838,2218,0,0,0,0,0,0
$GC,4764,0.99,120.0,388.2,6.2,233,4788,0.00,2.58,17.92,0.782,4,0.000,0.054,3312,432,2139,0,0,0,0,0,0
$GC,4891,0.92,120.0,376.9,9.8,235,4895,0.00,2.30,0.00,0.000,6,0.000,0.028,3312,1819,2134,0,0,0,0,0,0
$GC,5227,0.92,120.0,347.8,9.1,244,5228,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,1824,2133,0,0,0,0,0,0
$GC,5551,0.92,124.5,320.9,7.5,252,5560,0.00,2.40,3.83,0.489,4,0.000,0.035,3312,3217,2122,0,0,0,0,0,0
$GC,5695,0.98,135.5,309.9,6.9,255,5712,0.00,2.40,11.80,0.722,6,0.000,0.038,3312,1826,2077,0,0,0,0,0,0
$GC,6037,0.99,146.8,284.3,6.9,268,6053,0.00,2.45,11.00,0.701,4,0.000,0.035,3312,3216,2031,0,0,0,0,0,0
$GC,6143,1.08,156.5,276.6,7.0,272,6162,0.10,2.40,10.55,0.689,6,0.081,0.038,3340,1832,1991,0,0,0,0,0,0
$GC,6488,1.08,156.5,241.7,10.5,289,6492,0.00,2.47,0.00,0.000,4,0.000,0.054,3340,424,1987,0,0,0,0,0,0
$GC,6509,1.01,156.5,239.2,11.5,290,6513,0.00,2.33,0.00,0.000,6,0.000,0.028,3341,1843,1985,0,0,0,0,0,0
$GC,6838,1.02,162.2,213.8,7.4,306,6850,0.00,2.55,5.57,0.558,4,0.000,0.051,3340,425,1967,0,0,0,0,0,0
$GC,6963,0.95,162.2,202.2,9.2,311,6968,0.17,2.33,0.00,0.000,6,0.105,0.025,3307,1841,1965,0,0,0,0,0,0
$GC,7286,1.07,179.4,179.7,6.3,336,7308,0.12,2.55,16.27,0.657,4,0.070,0.050,3343,418,1898,0,0,0,0,0,0
$GC,7324,1.02,179.4,176.8,8.1,338,7331,0.00,2.35,0.00,0.000,6,0.000,0.025,3344,1833,1896,0,0,0,0,0,0
$GC,7584,1.02,179.4,152.7,8.9,359,7588,0.00,2.45,0.00,0.000,4,0.000,0.048,3343,413,1895,0,0,0,0,0,0
$GC,7789,0.99,179.4,132.0,11.1,374,7794,0.15,2.30,0.00,0.000,6,0.105,0.022,3315,1837,1892,0,0,0,0,0,0
$GC,8057,1.12,179.4,110.4,8.3,395,8062,0.12,2.47,0.00,0.000,4,0.067,0.047,3353,422,1892,0,0,0,0,0,0
$GC,8195,1.05,179.4,97.2,9.6,405,8200,0.12,2.25,0.00,0.000,6,0.109,0.021,3329,1840,1891,0,0,0,0,0,0
$GC,8463,1.17,182.4,78.0,7.6,426,8468,0.12,2.28,0.00,0.000,4,0.064,0.025,3370,3213,1891,0,0,0,0,0,0
$GC,8727,1.31,235.4,64.3,3.1,445,8781,0.00,2.35,48.62,0.558,6,0.000,0.029,3369,1824,1669,0,0,0,0,0,0
$GC,9044,1.37,236.1,40.5,7.8,470,9049,0.12,2.40,0.00,0.000,4,0.065,0.046,3409,427,1665,0,0,0,0,0,0
$GC,9063,1.32,236.1,38.3,9.4,471,9070,0.08,2.28,0.00,0.000,6,0.091,0.019,3390,1834,1664,0,0,0,0,0,0
$GC,9325,1.32,236.1,5.6,13.0,520,9332,0.00,2.45,0.00,0.000,4,0.000,0.043,3390,427,1664,0,0,0,0,0,0
$STATE,9346,end climb,SURFACE_DEPTH_REACHED
$STATE,9346,begin surface coast
$FINISH,1.2,1.023174
$STATE,9356,end surface coast,CONTROL_FINISHED_OK
$STATE,9356,begin surface
$SM_CCo,9381,97.55,0.499,0,0,957,410.14
$SM_GC,1.33,0.00,0.00,97.55,0.000,0.000,0.499,429,1713,957,-12.29,0.65,410.14
$IRIDIUM_FIX,2054.83,-15759.05,051199,040455
$TT8_MAMPS,0.029146
$HUMID,52.00
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,13.392
$10V_AH,10.3,10.167
$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,31.550,104.950,264.200,97.550,0.000,30.526,26.764,137.570,4.500,0.000,64.698,1089.282,6031.891,408.247,1868.035,440.451,0.000,1218.566,0.000,1792.386,0.000,29.253,0.000
$DEVICE_MAMPS,137.293,55.991,840.632,498.550,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,354.313,335.773,759.889,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,28651,526
$CAP_FILE_SIZE,111246,0
$CFSIZE,260165632,205852672
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110810,095534,2105.470,-15800.625,15,2.4,34,9.8