version: 66.06
glider: 139
mission: 8
dive: 152
start: 8 11 110 20 51 43
data:
$ID,139
$MISSION,8
$DIVE,152
$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,-2153607.5
$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,1695
$C_ROLL_CLIMB,1790
$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
$GPS1,204620,2107.480,-15801.417,13,1.6,13,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-71.9
$GPS2,205126,2107.427,-15801.426,15,1.6,15,9.8
$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,85.5,32118,-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,-64.65,0.000,2,0.000,0.000,429,1663,2774,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.3,-3.6,12,104,12.55,0.00,-1.75,0.000,6,0.137,0.000,2754,1663,2871,0,0,0,0,0,0
$GC,305,-1.48,-58.4,50.4,-18.0,44,310,0.10,2.40,0.00,0.000,4,0.127,0.023,2772,3108,2874,0,0,0,0,0,0
$GC,324,-1.48,-58.4,54.3,-17.6,45,330,0.00,2.42,0.00,0.000,6,0.000,0.032,2772,1688,2874,0,0,0,0,0,0
$GC,583,-1.48,-58.4,99.3,-15.7,66,588,0.00,2.40,0.00,0.000,4,0.000,0.047,2772,289,2875,0,0,0,0,0,0
$GC,613,-1.42,-58.4,104.3,-16.8,68,617,0.00,2.30,0.00,0.000,6,0.000,0.018,2772,1733,2875,0,0,0,0,0,0
$GC,879,-1.50,-58.4,138.7,-11.0,89,884,0.00,2.47,0.00,0.000,4,0.000,0.045,2772,289,2876,0,0,0,0,0,0
$GC,1001,-1.55,-58.4,153.7,-13.3,98,1005,0.00,2.22,0.00,0.000,6,0.000,0.018,2772,1704,2877,0,0,0,0,0,0
$GC,1273,-1.64,-58.4,182.7,-9.6,119,1275,0.15,0.00,0.00,0.000,6,0.058,0.000,2726,1710,2877,0,0,0,0,0,0
$GC,1537,-1.64,-58.4,214.7,-13.2,137,1541,0.00,2.22,0.00,0.000,4,0.000,0.024,2726,3069,2878,0,0,0,0,0,0
$GC,1560,-1.69,-58.4,218.1,-12.4,138,1564,0.00,2.30,0.00,0.000,6,0.000,0.031,2726,1685,2877,0,0,0,0,0,0
$GC,1888,-1.73,-58.4,259.8,-12.9,154,1893,0.00,2.30,0.00,0.000,4,0.000,0.025,2726,3076,2878,0,0,0,0,0,0
$GC,1916,-1.80,-58.4,262.8,-10.7,155,1920,0.00,2.30,0.00,0.000,6,0.000,0.033,2726,1695,2878,0,0,0,0,0,0
$GC,2247,-1.85,-58.4,296.3,-9.8,171,2252,0.12,2.45,0.00,0.000,4,0.066,0.050,2687,289,2878,0,0,0,0,0,0
$GC,2272,-1.77,-58.4,299.1,-11.4,172,2277,0.15,2.25,0.00,0.000,6,0.102,0.022,2716,1696,2877,0,0,0,0,0,0
$GC,2617,-1.77,-58.4,328.8,-8.5,181,2621,0.00,2.28,0.00,0.000,4,0.000,0.029,2717,3078,2876,0,0,0,0,0,0
$GC,2760,-1.84,-58.4,342.8,-9.6,184,2764,0.00,2.35,0.00,0.000,6,0.000,0.038,2716,1690,2876,0,0,0,0,0,0
$GC,3081,-1.87,-58.4,375.9,-10.4,192,3083,0.12,0.00,0.00,0.000,6,0.071,0.000,2681,1689,2873,0,0,0,0,0,0
$GC,3404,-1.87,-58.4,406.5,-8.5,200,3406,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1689,2871,0,0,0,0,0,0
$GC,3728,-1.87,-58.4,437.7,-8.9,208,3732,0.00,2.33,0.00,0.000,4,0.000,0.033,2681,3071,2868,0,0,0,0,0,0
$GC,3846,-1.87,-58.4,449.1,-10.0,210,3850,0.00,2.38,0.00,0.000,6,0.000,0.043,2681,1697,2867,0,0,0,0,0,0
$STATE,3853,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3853,begin apogee
$GC,3859,-0.31,0.0,450.3,10.2,210,3912,1.65,0.00,48.92,0.852,6,0.088,0.000,3025,1781,2630,0,0,0,0,0,0
$STATE,3913,end apogee,CONTROL_FINISHED_OK
$STATE,3913,begin climb
$GC,3916,1.56,58.4,451.5,0.0,212,3971,1.83,0.00,50.95,0.834,6,0.031,0.000,3455,1782,2391,0,0,0,0,0,0
$GC,4276,1.29,99.9,440.3,4.2,221,4320,0.35,2.42,36.35,0.829,4,0.107,0.035,3384,3193,2221,0,0,0,0,0,0
$GC,4372,1.15,99.9,433.8,9.4,223,4378,0.17,2.45,0.00,0.000,6,0.120,0.041,3353,1791,2220,0,0,0,0,0,0
$GC,4697,1.05,99.9,404.0,9.5,231,4702,0.12,2.40,0.00,0.000,4,0.120,0.037,3330,3187,2213,0,0,0,0,0,0
$GC,4828,1.05,99.9,392.6,8.2,233,4833,0.00,2.45,0.00,0.000,6,0.000,0.041,3331,1786,2213,0,0,0,0,0,0
$GC,5159,1.04,124.6,371.4,5.7,242,5187,0.00,2.55,21.05,0.798,4,0.000,0.056,3330,379,2120,0,0,0,0,0,0
$GC,5437,0.91,124.6,348.5,9.6,248,5442,0.15,2.35,0.00,0.000,6,0.119,0.029,3302,1788,2114,0,0,0,0,0,0
$GC,5765,0.91,124.6,322.7,8.2,256,5769,0.00,2.38,0.00,0.000,4,0.000,0.035,3302,3192,2112,0,0,0,0,0,0
$GC,5799,0.98,124.6,319.7,9.6,256,5803,0.00,2.42,0.00,0.000,6,0.000,0.041,3302,1788,2112,0,0,0,0,0,0
$GC,6112,1.04,135.3,294.4,6.9,265,6129,0.10,2.55,9.40,0.699,4,0.082,0.054,3330,381,2077,0,0,0,0,0,0
$GC,6261,0.97,154.6,284.1,6.2,271,6286,0.00,2.38,18.67,0.746,6,0.000,0.028,3330,1807,1998,0,0,0,0,0,0
$GC,6606,0.97,156.4,262.2,7.7,288,6607,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,1807,1994,0,0,0,0,0,0
$GC,6918,0.97,158.1,233.1,7.7,303,6922,0.00,2.53,0.00,0.000,4,0.000,0.051,3330,367,1993,0,0,0,0,0,0
$GC,7035,0.91,158.1,223.7,8.3,308,7040,0.15,2.33,0.00,0.000,6,0.111,0.025,3301,1779,1990,0,0,0,0,0,0
$GC,7363,1.05,198.1,209.3,4.3,324,7404,0.12,0.00,38.67,0.702,6,0.070,0.000,3337,1785,1822,0,0,0,0,0,0
$GC,7724,1.09,198.1,172.5,10.9,349,7729,0.00,2.47,0.00,0.000,4,0.000,0.050,3337,370,1817,0,0,0,0,0,0
$GC,7794,1.04,198.1,163.3,13.1,354,7799,0.00,2.35,0.00,0.000,6,0.000,0.023,3337,1812,1815,0,0,0,0,0,0
$GC,8055,1.08,198.1,134.5,10.6,374,8059,0.00,2.50,0.00,0.000,4,0.000,0.048,3337,377,1815,0,0,0,0,0,0
$GC,8149,1.04,198.1,124.1,11.3,381,8154,0.00,2.30,0.00,0.000,6,0.000,0.021,3337,1783,1813,0,0,0,0,0,0
$GC,8414,1.10,198.1,99.0,9.3,402,8418,0.00,2.42,0.00,0.000,4,0.000,0.046,3337,376,1813,0,0,0,0,0,0
$GC,8461,1.11,203.1,94.9,7.4,405,8470,0.00,2.30,4.57,0.421,6,0.000,0.021,3337,1803,1801,0,0,0,0,0,0
$GC,8734,1.19,209.2,78.0,7.4,427,8750,0.10,2.53,7.15,0.482,4,0.076,0.046,3370,370,1776,0,0,0,0,0,0
$GC,8940,1.16,209.2,56.2,8.6,441,8947,0.00,2.30,0.00,0.000,6,0.000,0.020,3370,1775,1774,0,0,0,0,0,0
$GC,9201,1.22,209.2,35.5,8.3,462,9205,0.00,2.40,0.00,0.000,4,0.000,0.044,3370,368,1774,0,0,0,0,0,0
$GC,9246,1.22,209.2,31.2,9.8,465,9253,0.00,2.30,0.00,0.000,6,0.000,0.019,3370,1788,1774,0,0,0,0,0,0
$GC,9508,1.27,209.2,10.1,9.1,524,9515,0.00,2.45,0.00,0.000,4,0.000,0.044,3370,376,1774,0,0,0,0,0,0
$STATE,9570,end climb,SURFACE_DEPTH_REACHED
$STATE,9571,begin surface coast
$FINISH,1.2,1.023148
$STATE,9599,end surface coast,CONTROL_FINISHED_OK
$STATE,9599,begin surface
$SM_CCo,9625,118.40,0.501,0,0,958,410.14
$SM_GC,1.40,0.00,0.00,118.40,0.000,0.000,0.501,424,1726,958,-12.31,0.90,410.14
$IRIDIUM_FIX,2057.14,-15801.19,051199,181835
$TT8_MAMPS,0.029146
$HUMID,52.16
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.5,13.788
$10V_AH,10.4,10.538
$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,30.525,95.150,235.750,118.400,0.000,30.090,26.773,130.916,4.500,0.000,15.881,1091.739,6373.972,435.987,1718.794,427.515,0.000,1171.160,0.000,1693.857,0.000,29.264,0.000
$DEVICE_MAMPS,136.526,73.632,852.137,500.851,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,366.927,342.625,792.730,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,28649,544
$CAP_FILE_SIZE,104250,0
$CFSIZE,260165632,205598720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110810,233524,2107.364,-15800.465,39,1.6,39,9.8