version: 66.06
glider: 139
mission: 8
dive: 156
start: 8 12 110 7 39 5
data:
$ID,139
$MISSION,8
$DIVE,156
$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,-2153676.5
$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,1770
$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
$GPS1,072457,2107.155,-15759.500,31,2.3,50,9.8
$_CALLS,3
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-71.5
$GPS2,073849,2107.120,-15759.546,14,2.0,19,9.8
$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,85.0,28832,-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,13,begin dive
$GC,16,-1.56,-58.4,0.0,0.0,0,82,0.00,0.00,-64.28,0.000,2,0.000,0.000,428,1682,2768,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.4,-3.6,12,110,12.60,2.42,-1.88,0.000,4,0.137,0.038,2756,3105,2872,0,0,0,0,0,0
$GC,157,-1.59,-58.4,21.5,-15.9,26,163,0.00,2.42,0.00,0.000,6,0.000,0.035,2755,1697,2873,0,0,0,0,0,0
$GC,360,-1.53,-58.4,59.0,-19.2,49,364,0.00,2.33,0.00,0.000,4,0.000,0.021,2755,3115,2873,0,0,0,0,0,0
$GC,379,-1.53,-58.4,62.8,-17.7,50,386,0.00,2.42,0.00,0.000,6,0.000,0.034,2755,1697,2873,0,0,0,0,0,0
$GC,639,-1.53,-58.4,105.5,-15.1,71,643,0.00,2.30,0.00,0.000,4,0.000,0.021,2755,3107,2874,0,0,0,0,0,0
$GC,653,-1.53,-58.4,107.8,-14.3,72,657,0.00,2.35,0.00,0.000,6,0.000,0.030,2755,1692,2874,0,0,0,0,0,0
$GC,914,-1.57,-58.4,144.2,-12.7,92,917,0.00,2.33,0.00,0.000,4,0.000,0.022,2756,3114,2875,0,0,0,0,0,0
$GC,930,-1.64,-58.4,146.4,-12.9,93,934,0.00,2.38,0.00,0.000,6,0.000,0.031,2756,1688,2875,0,0,0,0,0,0
$GC,1195,-1.69,-58.4,175.7,-10.2,114,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1688,2875,0,0,0,0,0,0
$GC,1450,-1.75,-58.4,205.7,-13.1,133,1452,0.17,0.00,0.00,0.000,6,0.055,0.000,2705,1687,2875,0,0,0,0,0,0
$GC,1758,-1.75,-58.4,244.7,-11.6,148,1762,0.00,2.38,0.00,0.000,4,0.000,0.025,2704,3110,2875,0,0,0,0,0,0
$GC,1800,-1.80,-58.4,249.0,-10.1,149,1806,0.00,2.38,0.00,0.000,6,0.000,0.034,2705,1690,2875,0,0,0,0,0,0
$GC,2117,-1.80,-58.4,278.6,-10.6,165,2121,0.00,2.35,0.00,0.000,4,0.000,0.026,2705,3103,2875,0,0,0,0,0,0
$GC,2231,-1.85,-58.4,292.4,-12.6,170,2235,0.00,2.38,0.00,0.000,6,0.000,0.035,2705,1689,2875,0,0,0,0,0,0
$GC,2576,-1.85,-58.4,335.5,-11.7,180,2580,0.00,2.42,0.00,0.000,4,0.000,0.051,2704,291,2874,0,0,0,0,0,0
$GC,2614,-1.77,-58.4,339.7,-11.5,180,2623,0.00,2.30,0.00,0.000,6,0.000,0.023,2704,1720,2873,0,0,0,0,0,0
$GC,2945,-1.77,-58.4,378.5,-11.7,189,2946,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1721,2871,0,0,0,0,0,0
$GC,3270,-1.77,-58.4,416.8,-11.0,197,3274,0.00,2.28,0.00,0.000,4,0.000,0.031,2705,3082,2869,0,0,0,0,0,0
$GC,3429,-1.83,-58.4,432.9,-11.1,200,3433,0.00,2.38,0.00,0.000,6,0.000,0.040,2705,1699,2867,0,0,0,0,0,0
$STATE,3568,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3568,begin apogee
$GC,3575,-0.31,0.0,450.0,12.1,204,3627,1.55,0.00,48.58,0.834,6,0.082,0.000,3029,1780,2630,0,0,0,0,0,0
$STATE,3628,end apogee,CONTROL_FINISHED_OK
$STATE,3628,begin climb
$GC,3632,1.56,58.4,451.9,0.0,205,3690,1.80,0.00,50.40,0.818,6,0.030,0.000,3454,1781,2390,0,0,0,0,0,0
$GC,4018,1.32,108.9,446.2,3.4,215,4068,0.30,2.60,43.78,0.826,4,0.109,0.055,3391,354,2186,0,0,0,0,0,0
$GC,4152,1.03,108.9,433.2,13.5,218,4157,0.35,2.33,0.00,0.000,6,0.102,0.027,3325,1747,2179,0,0,0,0,0,0
$GC,4476,0.99,108.9,402.8,9.0,226,4480,0.00,2.42,0.00,0.000,4,0.000,0.035,3325,3176,2176,0,0,0,0,0,0
$GC,4566,1.00,111.5,395.1,7.7,228,4570,0.00,2.42,0.00,0.000,6,0.000,0.039,3325,1771,2176,0,0,0,0,0,0
$GC,4894,1.01,123.2,371.5,6.8,236,4910,0.00,2.45,11.82,0.742,4,0.000,0.035,3325,3181,2127,0,0,0,0,0,0
$GC,4953,1.01,123.2,366.8,8.1,237,4958,0.00,2.45,0.00,0.000,6,0.000,0.039,3324,1765,2126,0,0,0,0,0,0
$GC,5303,1.01,123.2,338.0,8.1,246,5307,0.00,2.40,0.00,0.000,4,0.000,0.034,3324,3182,2123,0,0,0,0,0,0
$GC,5364,1.03,140.6,334.0,6.3,247,5389,0.00,2.42,16.52,0.757,6,0.000,0.038,3325,1770,2055,0,0,0,0,0,0
$GC,5714,1.03,140.6,304.3,9.6,256,5718,0.00,2.53,0.00,0.000,4,0.000,0.055,3324,351,2051,0,0,0,0,0,0
$GC,5832,0.94,140.6,292.2,10.7,260,5836,0.00,2.38,0.00,0.000,6,0.000,0.027,3325,1769,2048,0,0,0,0,0,0
$GC,6157,0.94,140.6,261.7,8.8,276,6161,0.00,2.38,0.00,0.000,4,0.000,0.033,3325,3182,2048,0,0,0,0,0,0
$GC,6354,0.99,140.6,243.6,8.9,284,6358,0.00,2.45,0.00,0.000,6,0.000,0.038,3325,1761,2047,0,0,0,0,0,0
$GC,6671,0.99,140.6,217.4,8.5,299,6675,0.00,2.45,0.00,0.000,4,0.000,0.053,3324,356,2046,0,0,0,0,0,0
$GC,6762,0.92,140.6,208.6,11.3,303,6767,0.12,2.35,0.00,0.000,6,0.121,0.025,3302,1775,2044,0,0,0,0,0,0
$GC,7085,1.08,195.3,194.2,3.0,324,7139,0.15,2.40,47.20,0.694,4,0.063,0.030,3344,3184,1833,0,0,0,0,0,0
$GC,7154,1.10,207.9,190.6,6.8,329,7173,0.00,2.47,12.62,0.624,6,0.000,0.036,3344,1764,1782,0,0,0,0,0,0
$GC,7433,1.10,207.9,157.4,12.9,351,7437,0.00,2.45,0.00,0.000,4,0.000,0.051,3343,351,1777,0,0,0,0,0,0
$GC,7544,1.03,207.9,142.6,14.1,359,7548,0.00,2.35,0.00,0.000,6,0.000,0.022,3343,1792,1773,0,0,0,0,0,0
$GC,7809,1.09,209.4,114.9,7.8,380,7813,0.00,2.50,0.00,0.000,4,0.000,0.047,3343,349,1773,0,0,0,0,0,0
$GC,7951,1.09,209.4,100.5,12.2,390,7958,0.00,2.33,0.00,0.000,6,0.000,0.021,3344,1758,1771,0,0,0,0,0,0
$GC,8211,1.18,209.4,76.3,8.6,411,8215,0.00,2.40,0.00,0.000,4,0.000,0.046,3344,356,1770,0,0,0,0,0,0
$GC,8244,1.22,215.2,73.7,7.4,413,8257,0.00,2.33,6.03,0.460,6,0.000,0.020,3344,1779,1752,0,0,0,0,0,0
$GC,8520,1.35,226.9,54.4,6.8,435,8539,0.22,2.50,11.77,0.511,4,0.047,0.044,3406,359,1705,0,0,0,0,0,0
$GC,8717,1.22,226.9,29.0,16.4,450,8724,0.17,2.30,0.00,0.000,6,0.082,0.019,3367,1768,1701,0,0,0,0,0,0
$GC,8920,1.28,226.9,8.1,10.2,496,8925,0.00,0.00,0.00,0.000,6,0.000,0.000,3366,1773,1700,0,0,0,0,0,0
$STATE,8960,end climb,SURFACE_DEPTH_REACHED
$STATE,8960,begin surface coast
$FINISH,0.8,1.001640
$STATE,8987,end surface coast,CONTROL_FINISHED_OK
$STATE,8987,begin surface
$SM_CCo,9011,103.00,0.505,0,0,958,410.14
$SM_GC,1.43,0.00,0.00,103.00,0.000,0.000,0.505,428,1674,958,-12.29,-0.59,410.14
$IRIDIUM_FIX,2059.45,-15756.04,061199,070708
$TT8_MAMPS,0.029146
$HUMID,52.59
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,22.00
$XPDR_PINGS,1
$24V_AH,23.5,14.127
$10V_AH,10.3,10.823
$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,30.000,96.075,248.725,103.000,0.000,76.187,118.652,377.163,4.750,0.000,19.886,1012.850,6066.531,414.181,1631.564,819.761,0.000,1142.132,0.000,1603.812,0.000,29.265,0.000
$DEVICE_MAMPS,137.293,89.739,833.729,504.686,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,343.672,323.882,734.869,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,28582,511
$CAP_FILE_SIZE,108367,0
$CFSIZE,260165632,205398016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120810,101207,2107.152,-15758.590,30,1.0,30,9.8