version: 66.06
glider: 139
mission: 8
dive: 160
start: 8 12 110 18 22 37
data:
$ID,139
$MISSION,8
$DIVE,160
$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,-2153788
$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
$GPS1,181637,2107.059,-15758.490,32,2.0,32,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-72.6
$GPS2,182221,2107.055,-15758.564,13,2.7,32,9.8
$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,85.1,27132,-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,-64.60,0.000,2,0.000,0.000,428,1675,2779,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.3,-3.7,12,110,12.52,2.45,-1.67,0.000,4,0.136,0.037,2752,3107,2872,0,0,0,0,0,0
$GC,131,-0.91,-58.4,18.8,-32.9,20,138,0.65,2.45,0.00,0.000,6,0.080,0.035,2900,1688,2873,0,0,0,0,0,0
$GC,341,-1.15,-58.4,41.9,-10.5,48,346,0.22,2.42,0.00,0.000,4,0.044,0.047,2831,283,2873,0,0,0,0,0,0
$GC,368,-1.25,-58.4,45.5,-14.2,50,373,0.00,2.30,0.00,0.000,6,0.000,0.018,2831,1730,2874,0,0,0,0,0,0
$GC,634,-1.39,-58.4,78.5,-10.3,71,639,0.15,2.50,0.00,0.000,4,0.058,0.045,2782,287,2874,0,0,0,0,0,0
$GC,681,-1.43,-58.4,84.6,-13.1,74,688,0.00,2.28,0.00,0.000,6,0.000,0.018,2782,1701,2874,0,0,0,0,0,0
$GC,942,-1.50,-58.4,115.9,-13.4,95,946,0.00,2.25,0.00,0.000,4,0.000,0.021,2782,3080,2875,0,0,0,0,0,0
$GC,1068,-1.68,-58.4,132.3,-13.2,104,1073,0.22,2.33,0.00,0.000,6,0.044,0.031,2717,1684,2875,0,0,0,0,0,0
$GC,1326,-1.64,-58.4,173.4,-15.9,124,1331,0.12,2.30,0.00,0.000,4,0.106,0.023,2741,3074,2876,0,0,0,0,0,0
$GC,1343,-1.64,-58.4,175.5,-14.1,125,1347,0.00,2.30,0.00,0.000,6,0.000,0.032,2741,1694,2876,0,0,0,0,0,0
$GC,1622,-1.67,-58.4,207.7,-11.2,145,1626,0.00,2.25,0.00,0.000,4,0.000,0.023,2741,3074,2876,0,0,0,0,0,0
$GC,1655,-1.77,-58.4,211.5,-9.6,146,1659,0.12,2.30,0.00,0.000,6,0.067,0.031,2701,1693,2876,0,0,0,0,0,0
$GC,1974,-1.72,-58.4,250.4,-13.6,161,1979,0.12,2.30,0.00,0.000,4,0.109,0.025,2726,3075,2876,0,0,0,0,0,0
$GC,2042,-1.78,-58.4,258.5,-9.7,164,2046,0.00,2.33,0.00,0.000,6,0.000,0.033,2725,1695,2876,0,0,0,0,0,0
$GC,2372,-1.78,-58.4,294.9,-10.4,180,2376,0.00,2.25,0.00,0.000,4,0.000,0.025,2725,3074,2876,0,0,0,0,0,0
$GC,2409,-1.83,-58.4,298.4,-9.4,181,2415,0.10,2.30,0.00,0.000,6,0.077,0.033,2692,1694,2876,0,0,0,0,0,0
$GC,2720,-1.83,-58.4,335.2,-12.9,190,2724,0.00,2.28,0.00,0.000,4,0.000,0.026,2692,3077,2876,0,0,0,0,0,0
$GC,2990,-1.83,-58.4,369.1,-12.5,195,2995,0.00,2.35,0.00,0.000,6,0.000,0.037,2692,1697,2875,0,0,0,0,0,0
$GC,3322,-1.83,-58.4,409.6,-11.9,204,3323,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1697,2873,0,0,0,0,0,0
$GC,3646,-1.83,-58.4,446.8,-10.4,212,3650,0.00,2.30,0.00,0.000,4,0.000,0.031,2692,3072,2871,0,0,0,0,0,0
$STATE,3680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3680,begin apogee
$GC,3690,-0.31,0.0,450.3,9.0,212,3743,1.60,0.00,49.53,0.828,6,0.086,0.000,3027,1775,2629,0,0,0,0,0,0
$STATE,3744,end apogee,CONTROL_FINISHED_OK
$STATE,3744,begin climb
$GC,3747,1.56,58.4,451.6,0.0,214,3805,1.77,2.58,50.22,0.812,4,0.030,0.053,3452,351,2390,0,0,0,0,0,0
$GC,4043,1.23,136.5,445.4,0.9,220,4121,0.43,2.33,67.82,0.824,6,0.108,0.026,3371,1746,2073,0,0,0,0,0,0
$GC,4435,1.12,136.5,417.1,9.7,230,4440,0.15,2.42,0.00,0.000,4,0.115,0.035,3343,3177,2064,0,0,0,0,0,0
$GC,4483,1.12,136.5,412.1,10.0,231,4488,0.00,2.45,0.00,0.000,6,0.000,0.040,3343,1771,2064,0,0,0,0,0,0
$GC,4807,1.06,136.5,381.1,9.1,239,4808,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,1771,2060,0,0,0,0,0,0
$GC,5133,1.01,136.5,351.2,8.9,247,5138,0.12,2.50,0.00,0.000,4,0.118,0.054,3320,349,2058,0,0,0,0,0,0
$GC,5194,0.92,136.5,345.0,9.8,248,5199,0.00,2.40,0.00,0.000,6,0.000,0.028,3320,1783,2054,0,0,0,0,0,0
$GC,5545,0.93,150.0,321.0,6.7,257,5561,0.00,2.58,9.80,0.700,4,0.000,0.053,3320,364,2018,0,0,0,0,0,0
$GC,5585,0.85,150.0,316.5,12.5,257,5592,0.17,2.35,0.00,0.000,6,0.114,0.027,3288,1769,2015,0,0,0,0,0,0
$GC,5901,0.95,156.5,288.3,7.3,269,5913,0.00,2.53,7.12,0.639,4,0.000,0.054,3288,359,1990,0,0,0,0,0,0
$GC,5942,0.96,159.5,285.0,7.6,270,5952,0.00,2.40,4.35,0.513,6,0.000,0.027,3288,1771,1978,0,0,0,0,0,0
$GC,6286,1.08,172.2,259.7,6.8,287,6307,0.20,2.40,12.60,0.692,4,0.055,0.030,3340,3187,1927,0,0,0,0,0,0
$GC,6490,1.12,172.2,243.2,9.2,295,6495,0.00,2.45,0.00,0.000,6,0.000,0.038,3341,1762,1926,0,0,0,0,0,0
$GC,6806,1.12,172.2,213.7,8.8,311,6810,0.00,2.45,0.00,0.000,4,0.000,0.051,3341,356,1924,0,0,0,0,0,0
$GC,6933,1.03,172.2,200.9,9.7,316,6937,0.00,2.33,0.00,0.000,6,0.000,0.024,3341,1784,1921,0,0,0,0,0,0
$GC,7266,1.03,172.2,171.2,9.3,341,7267,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,1790,1921,0,0,0,0,0,0
$GC,7516,1.03,172.2,149.7,7.9,361,7520,0.00,2.47,0.00,0.000,4,0.000,0.048,3341,355,1921,0,0,0,0,0,0
$GC,7618,0.97,172.2,139.3,11.0,368,7625,0.10,2.33,0.00,0.000,6,0.089,0.021,3318,1765,1919,0,0,0,0,0,0
$GC,7880,1.11,201.5,121.4,5.3,389,7914,0.10,2.47,26.00,0.604,4,0.077,0.044,3350,352,1806,0,0,0,0,0,0
$GC,7967,1.07,201.5,114.9,8.3,395,7971,0.00,2.30,0.00,0.000,6,0.000,0.020,3350,1778,1804,0,0,0,0,0,0
$GC,8230,1.16,201.8,95.5,7.9,415,8234,0.00,2.28,0.00,0.000,4,0.000,0.024,3350,3163,1803,0,0,0,0,0,0
$GC,8249,1.28,210.7,93.8,7.1,416,8264,0.08,2.40,8.90,0.512,6,0.041,0.031,3384,1764,1770,0,0,0,0,0,0
$GC,8519,1.28,210.7,69.6,8.8,437,8523,0.00,2.40,0.00,0.000,4,0.000,0.044,3384,352,1769,0,0,0,0,0,0
$GC,8782,1.21,210.7,42.3,9.5,456,8789,0.08,2.30,0.00,0.000,6,0.086,0.018,3366,1766,1766,0,0,0,0,0,0
$GC,9046,1.27,210.7,20.3,7.9,495,9052,0.00,2.45,0.00,0.000,4,0.000,0.044,3365,354,1766,0,0,0,0,0,0
$GC,9192,1.27,210.7,5.5,10.5,528,9199,0.00,2.30,0.00,0.000,6,0.000,0.018,3365,1779,1766,0,0,0,0,0,0
$STATE,9221,end climb,SURFACE_DEPTH_REACHED
$STATE,9221,begin surface coast
$FINISH,0.7,1.010571
$STATE,9252,end surface coast,CONTROL_FINISHED_OK
$STATE,9252,begin surface
$SM_CCo,9274,114.25,0.497,0,0,957,410.14
$SM_GC,1.43,0.00,0.00,114.25,0.000,0.000,0.497,423,1681,957,-12.32,-0.40,410.14
$IRIDIUM_FIX,2057.14,-15801.19,061199,151506
$TT8_MAMPS,0.029146
$HUMID,51.22
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.5,14.444
$10V_AH,10.4,11.116
$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,31.475,104.500,236.350,114.250,0.000,25.303,31.294,148.923,4.500,0.000,33.061,1089.948,5988.252,415.142,1790.460,446.258,0.000,1191.420,0.000,1746.708,0.000,29.250,0.000
$DEVICE_MAMPS,135.759,72.865,827.593,497.016,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,363.472,345.900,810.033,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,28693,541
$CAP_FILE_SIZE,107452,0
$CFSIZE,260165632,205185024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120810,210016,2106.884,-15757.893,11,2.5,30,9.8