version: 66.06
glider: 139
mission: 8
dive: 157
start: 8 12 110 10 17 41
data:
$ID,139
$MISSION,8
$DIVE,157
$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,-2153701
$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
$GPS1,101207,2107.152,-15758.590,30,1.0,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-71.4
$GPS2,101725,2107.108,-15758.615,18,1.2,23,9.8
$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,85.3,27228,-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,-64.80,0.000,2,0.000,0.000,428,1675,2787,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.7,-4.2,12,104,12.57,0.00,-1.50,0.000,6,0.137,0.000,2754,1675,2871,0,0,0,0,0,0
$GC,296,-1.49,-58.4,51.9,-19.5,42,298,0.10,0.00,0.00,0.000,6,0.125,0.000,2772,1676,2873,0,0,0,0,0,0
$GC,547,-1.53,-58.4,95.7,-14.4,62,552,0.00,2.38,0.00,0.000,4,0.000,0.047,2772,289,2875,0,0,0,0,0,0
$GC,566,-1.53,-58.4,98.3,-13.4,63,572,0.00,2.30,0.00,0.000,6,0.000,0.018,2772,1734,2875,0,0,0,0,0,0
$GC,827,-1.59,-58.4,131.8,-14.1,84,831,0.00,2.50,0.00,0.000,4,0.000,0.046,2772,287,2876,0,0,0,0,0,0
$GC,888,-1.59,-58.4,140.6,-14.0,88,895,0.00,2.28,0.00,0.000,6,0.000,0.018,2772,1704,2876,0,0,0,0,0,0
$GC,1152,-1.67,-58.4,169.3,-11.7,109,1157,0.17,2.45,0.00,0.000,4,0.053,0.047,2721,288,2877,0,0,0,0,0,0
$GC,1185,-1.56,-58.4,174.4,-14.2,111,1191,0.20,2.22,0.00,0.000,6,0.095,0.019,2761,1701,2877,0,0,0,0,0,0
$GC,1462,-1.64,-58.4,204.7,-10.9,132,1466,0.00,2.42,0.00,0.000,4,0.000,0.047,2760,287,2878,0,0,0,0,0,0
$GC,1536,-1.68,-58.4,214.0,-11.6,135,1541,0.12,2.25,0.00,0.000,6,0.066,0.019,2722,1699,2878,0,0,0,0,0,0
$GC,1862,-1.68,-58.4,251.9,-11.6,151,1866,0.00,2.42,0.00,0.000,4,0.000,0.048,2722,287,2878,0,0,0,0,0,0
$GC,1875,-1.68,-58.4,254.4,-11.7,151,1881,0.00,2.22,0.00,0.000,6,0.000,0.021,2722,1697,2878,0,0,0,0,0,0
$GC,2193,-1.68,-58.4,286.0,-10.2,167,2197,0.00,2.28,0.00,0.000,4,0.000,0.027,2722,3073,2878,0,0,0,0,0,0
$GC,2262,-1.75,-58.4,292.9,-9.5,170,2266,0.00,2.33,0.00,0.000,6,0.000,0.036,2722,1687,2878,0,0,0,0,0,0
$GC,2583,-1.80,-58.4,326.3,-10.7,180,2587,0.00,2.40,0.00,0.000,4,0.000,0.051,2722,292,2877,0,0,0,0,0,0
$GC,2630,-1.80,-58.4,332.1,-12.4,181,2634,0.00,2.22,0.00,0.000,6,0.000,0.023,2722,1687,2877,0,0,0,0,0,0
$GC,2953,-1.84,-58.4,370.0,-12.1,189,2957,0.00,2.33,0.00,0.000,4,0.000,0.031,2722,3079,2876,0,0,0,0,0,0
$GC,2997,-1.92,-58.4,375.2,-11.3,190,3002,0.17,2.35,0.00,0.000,6,0.058,0.038,2674,1694,2875,0,0,0,0,0,0
$GC,3329,-1.88,-58.4,421.7,-13.4,198,3333,0.00,2.35,0.00,0.000,4,0.000,0.031,2675,3072,2873,0,0,0,0,0,0
$GC,3409,-1.88,-58.4,432.2,-11.2,199,3413,0.00,2.35,0.00,0.000,6,0.000,0.041,2674,1698,2872,0,0,0,0,0,0
$STATE,3575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3575,begin apogee
$GC,3581,-0.31,0.0,452.8,12.2,203,3635,1.73,0.00,49.53,0.842,6,0.086,0.000,3032,1772,2630,0,0,0,0,0,0
$STATE,3635,end apogee,CONTROL_FINISHED_OK
$STATE,3636,begin climb
$GC,3638,1.56,58.4,454.6,0.0,204,3696,1.75,2.42,50.35,0.825,4,0.030,0.034,3449,3155,2390,0,0,0,0,0,0
$GC,3783,1.34,113.7,453.8,2.9,207,3840,0.30,2.40,48.65,0.824,6,0.108,0.038,3393,1765,2165,0,0,0,0,0,0
$GC,4184,1.16,113.7,415.1,9.8,217,4189,0.20,2.47,0.00,0.000,4,0.110,0.054,3355,359,2156,0,0,0,0,0,0
$GC,4199,0.97,113.7,413.4,9.8,217,4204,0.22,2.35,0.00,0.000,6,0.105,0.028,3313,1752,2153,0,0,0,0,0,0
$GC,4550,0.97,113.7,382.2,9.3,226,4554,0.00,2.42,0.00,0.000,4,0.000,0.035,3313,3181,2151,0,0,0,0,0,0
$GC,4587,0.97,113.7,378.5,10.0,226,4593,0.00,2.42,0.00,0.000,6,0.000,0.040,3314,1771,2151,0,0,0,0,0,0
$GC,4918,0.99,130.2,353.2,6.4,235,4933,0.00,0.00,12.88,0.748,6,0.000,0.000,3313,1771,2099,0,0,0,0,0,0
$GC,5244,1.00,142.0,331.1,6.8,243,5260,0.00,2.45,11.43,0.726,4,0.000,0.035,3313,3181,2051,0,0,0,0,0,0
$GC,5312,1.07,154.9,326.6,6.7,244,5334,0.00,2.45,13.38,0.734,6,0.000,0.040,3313,1771,1998,0,0,0,0,0,0
$GC,5660,1.11,156.1,299.9,7.8,253,5665,0.12,2.50,0.00,0.000,4,0.072,0.055,3347,357,1993,0,0,0,0,0,0
$GC,5785,0.97,156.1,284.5,13.5,258,5790,0.17,2.38,0.00,0.000,6,0.107,0.028,3314,1773,1990,0,0,0,0,0,0
$GC,6103,1.01,156.1,249.9,10.3,273,6105,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1779,1989,0,0,0,0,0,0
$GC,6411,1.12,193.8,230.2,4.5,288,6455,0.12,2.55,34.35,0.722,4,0.071,0.051,3349,359,1837,0,0,0,0,0,0
$GC,6561,1.03,193.8,213.3,12.6,294,6566,0.12,2.38,0.00,0.000,6,0.113,0.025,3326,1778,1833,0,0,0,0,0,0
$GC,6884,1.09,193.8,176.8,12.7,315,6888,0.00,2.50,0.00,0.000,4,0.000,0.051,3326,356,1831,0,0,0,0,0,0
$GC,6939,1.05,193.8,168.7,14.5,319,6944,0.00,2.33,0.00,0.000,6,0.000,0.024,3326,1779,1829,0,0,0,0,0,0
$GC,7201,1.12,193.8,138.2,10.5,339,7206,0.00,2.47,0.00,0.000,4,0.000,0.048,3326,348,1829,0,0,0,0,0,0
$GC,7244,1.12,193.8,133.0,11.2,342,7248,0.00,2.33,0.00,0.000,6,0.000,0.022,3326,1787,1828,0,0,0,0,0,0
$GC,7504,1.21,193.8,109.0,8.9,362,7509,0.15,2.47,0.00,0.000,4,0.061,0.046,3370,355,1828,0,0,0,0,0,0
$GC,7537,1.11,193.8,105.4,10.9,364,7544,0.12,2.33,0.00,0.000,6,0.085,0.021,3342,1765,1828,0,0,0,0,0,0
$GC,7800,1.17,193.8,80.1,10.0,385,7805,0.00,2.45,0.00,0.000,4,0.000,0.046,3341,348,1827,0,0,0,0,0,0
$GC,7929,1.17,193.8,66.6,9.9,394,7935,0.00,2.33,0.00,0.000,6,0.000,0.021,3341,1766,1827,0,0,0,0,0,0
$GC,8192,1.33,227.4,53.0,4.9,415,8227,0.20,2.53,28.48,0.545,4,0.050,0.044,3398,355,1702,0,0,0,0,0,0
$GC,8359,1.23,227.4,36.0,12.6,427,8364,0.15,2.30,0.00,0.000,6,0.105,0.019,3369,1775,1698,0,0,0,0,0,0
$GC,8622,1.29,227.4,9.8,10.3,479,8629,0.00,2.47,0.00,0.000,4,0.000,0.045,3369,357,1698,0,0,0,0,0,0
$GC,8670,1.29,227.4,4.3,12.3,489,8677,0.00,2.30,0.00,0.000,6,0.000,0.019,3369,1771,1696,0,0,0,0,0,0
$STATE,8682,end climb,SURFACE_DEPTH_REACHED
$STATE,8682,begin surface coast
$FINISH,0.8,1.023205
$STATE,8705,end surface coast,CONTROL_FINISHED_OK
$STATE,8705,begin surface
$SM_CCo,8729,98.12,0.502,0,0,957,410.14
$SM_GC,1.37,0.00,0.00,98.12,0.000,0.000,0.502,426,1668,957,-12.31,-0.76,410.14
$IRIDIUM_FIX,2059.45,-15801.19,061199,070724
$TT8_MAMPS,0.029146
$HUMID,52.79
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.5,14.206
$10V_AH,10.4,10.890
$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,31.325,100.275,249.025,98.125,0.000,29.252,34.785,126.816,4.500,0.000,23.646,994.101,5779.049,412.526,1533.718,423.772,0.000,1097.673,0.000,1502.180,0.000,29.247,0.000
$DEVICE_MAMPS,136.526,90.506,842.166,501.618,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,333.848,314.852,724.906,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,28668,496
$CAP_FILE_SIZE,100072,0
$CFSIZE,260165632,205357056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120810,124558,2107.298,-15758.104,12,2.3,31,9.8