version: 66.06
glider: 139
mission: 8
dive: 178
start: 8 14 110 19 52 43
data:
$ID,139
$MISSION,8
$DIVE,178
$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,-2154196.5
$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
$GPS1,194724,2106.198,-15753.809,43,1.4,43,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-72.4
$GPS2,195226,2106.236,-15753.860,12,1.4,12,9.8
$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,82.6,18923,-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,-64.43,0.000,2,0.000,0.000,427,1684,2778,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.5,-4.3,12,104,12.50,2.47,-1.67,0.000,4,0.134,0.064,2753,285,2871,0,0,0,0,0,0
$GC,117,-0.34,-58.4,15.7,-28.2,17,125,1.27,2.38,0.00,0.000,6,0.093,0.019,3021,1737,2873,0,0,0,0,0,0
$GC,320,-0.91,-58.4,26.7,-3.9,63,327,0.50,2.50,0.00,0.000,4,0.033,0.041,2887,288,2874,0,0,0,0,0,0
$GC,348,-1.32,-58.4,28.7,-5.9,68,356,0.30,2.28,0.00,0.000,6,0.025,0.018,2797,1707,2874,0,0,0,0,0,0
$GC,554,-1.37,-58.4,57.1,-13.7,85,558,0.00,2.47,0.00,0.000,4,0.000,0.045,2797,282,2874,0,0,0,0,0,0
$GC,574,-1.37,-58.4,60.1,-14.0,86,580,0.00,2.25,0.00,0.000,6,0.000,0.018,2797,1703,2874,0,0,0,0,0,0
$GC,834,-1.46,-58.4,91.2,-10.6,107,838,0.00,2.20,0.00,0.000,4,0.000,0.021,2797,3056,2875,0,0,0,0,0,0
$GC,899,-1.63,-58.4,98.7,-11.9,112,904,0.22,2.30,0.00,0.000,6,0.042,0.031,2732,1684,2875,0,0,0,0,0,0
$GC,1164,-1.63,-58.4,134.8,-14.0,133,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1684,2876,0,0,0,0,0,0
$GC,1416,-1.63,-58.4,170.0,-13.7,153,1420,0.00,2.22,0.00,0.000,4,0.000,0.022,2732,3055,2877,0,0,0,0,0,0
$GC,1449,-1.68,-58.4,174.3,-12.0,155,1455,0.00,2.25,0.00,0.000,6,0.000,0.031,2732,1695,2877,0,0,0,0,0,0
$GC,1706,-1.68,-58.4,209.6,-14.5,174,1710,0.00,2.40,0.00,0.000,4,0.000,0.046,2732,293,2877,0,0,0,0,0,0
$GC,1728,-1.65,-58.4,212.5,-15.0,175,1733,0.00,2.17,0.00,0.000,6,0.000,0.019,2732,1685,2877,0,0,0,0,0,0
$GC,2062,-1.69,-58.4,256.2,-12.2,191,2066,0.00,2.28,0.00,0.000,4,0.000,0.025,2732,3068,2878,0,0,0,0,0,0
$GC,2223,-1.78,-58.4,277.0,-11.8,198,2227,0.00,2.30,0.00,0.000,6,0.000,0.033,2732,1690,2878,0,0,0,0,0,0
$GC,2566,-1.84,-58.4,311.9,-9.4,212,2571,0.15,2.42,0.00,0.000,4,0.058,0.048,2686,287,2877,0,0,0,0,0,0
$GC,2582,-1.84,-58.4,313.7,-9.7,212,2586,0.00,2.22,0.00,0.000,6,0.000,0.021,2686,1693,2877,0,0,0,0,0,0
$GC,2931,-1.84,-58.4,358.6,-13.1,221,2935,0.00,2.28,0.00,0.000,4,0.000,0.028,2686,3076,2877,0,0,0,0,0,0
$GC,3014,-1.84,-58.4,369.5,-12.1,222,3018,0.00,2.33,0.00,0.000,6,0.000,0.037,2687,1697,2877,0,0,0,0,0,0
$GC,3346,-1.84,-58.4,407.7,-10.9,230,3350,0.00,2.33,0.00,0.000,4,0.000,0.030,2686,3077,2874,0,0,0,0,0,0
$GC,3525,-1.84,-58.4,426.6,-9.8,233,3531,0.00,2.38,0.00,0.000,6,0.000,0.040,2686,1697,2873,0,0,0,0,0,0
$STATE,3773,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3773,begin apogee
$GC,3780,-0.31,0.0,451.4,10.0,240,3834,1.65,0.00,49.65,0.831,6,0.082,0.000,3031,1769,2630,0,0,0,0,0,0
$STATE,3834,end apogee,CONTROL_FINISHED_OK
$STATE,3835,begin climb
$GC,3837,1.56,58.4,452.4,0.0,241,3895,1.75,2.55,50.22,0.815,4,0.029,0.053,3450,357,2390,0,0,0,0,0,0
$GC,3927,1.23,119.5,450.6,2.4,243,3988,0.43,2.35,54.00,0.813,6,0.106,0.025,3369,1764,2141,0,0,0,0,0,0
$GC,4337,1.09,119.5,410.1,10.7,253,4342,0.15,2.40,0.00,0.000,4,0.112,0.035,3341,3180,2131,0,0,0,0,0,0
$GC,4402,1.09,119.5,403.8,9.5,254,4407,0.00,2.45,0.00,0.000,6,0.000,0.041,3341,1770,2131,0,0,0,0,0,0
$GC,4748,1.04,119.5,374.1,8.4,263,4752,0.00,2.40,0.00,0.000,4,0.000,0.036,3341,3182,2127,0,0,0,0,0,0
$GC,5016,1.10,163.1,357.4,4.0,268,5061,0.00,2.42,36.80,0.793,6,0.000,0.040,3341,1769,1964,0,0,0,0,0,0
$GC,5389,1.10,163.1,331.5,8.2,278,5393,0.00,2.47,0.00,0.000,4,0.000,0.056,3341,358,1958,0,0,0,0,0,0
$GC,5404,1.03,163.1,329.5,10.3,278,5408,0.00,2.35,0.00,0.000,6,0.000,0.027,3341,1770,1956,0,0,0,0,0,0
$GC,5734,1.03,163.1,289.1,12.1,288,5739,0.00,2.50,0.00,0.000,4,0.000,0.054,3341,358,1955,0,0,0,0,0,0
$GC,5877,0.93,163.1,271.0,11.9,294,5882,0.20,2.35,0.00,0.000,6,0.108,0.026,3304,1775,1951,0,0,0,0,0,0
$GC,6200,1.01,163.1,243.4,9.2,310,6205,0.00,2.50,0.00,0.000,4,0.000,0.051,3303,352,1951,0,0,0,0,0,0
$GC,6237,1.01,163.1,239.3,10.3,311,6243,0.00,2.35,0.00,0.000,6,0.000,0.025,3303,1781,1949,0,0,0,0,0,0
$GC,6554,1.10,163.1,211.9,7.9,327,6559,0.15,2.50,0.00,0.000,4,0.061,0.050,3346,347,1949,0,0,0,0,0,0
$GC,6624,1.01,163.1,205.1,10.5,330,6629,0.12,2.35,0.00,0.000,6,0.110,0.024,3323,1771,1947,0,0,0,0,0,0
$GC,6955,1.08,165.0,177.8,7.7,354,6959,0.00,2.47,0.00,0.000,4,0.000,0.048,3322,345,1947,0,0,0,0,0,0
$GC,7147,1.08,165.0,158.6,10.3,368,7151,0.00,2.35,0.00,0.000,6,0.000,0.021,3323,1780,1947,0,0,0,0,0,0
$GC,7408,1.15,165.0,135.6,8.9,388,7413,0.12,2.47,0.00,0.000,4,0.141,0.047,3361,346,1947,0,0,0,0,0,0
$GC,7455,1.05,165.0,130.4,10.2,391,7462,0.15,2.33,0.00,0.000,6,0.104,0.021,3332,1777,1946,0,0,0,0,0,0
$GC,7717,1.12,171.1,112.3,7.3,412,7732,0.00,2.45,5.32,0.458,4,0.000,0.044,3332,353,1931,0,0,0,0,0,0
$GC,7872,1.12,171.1,100.0,9.0,423,7876,0.00,2.30,0.00,0.000,6,0.000,0.020,3332,1772,1930,0,0,0,0,0,0
$GC,8138,1.23,186.3,81.0,6.5,444,8160,0.15,2.35,15.00,0.540,4,0.058,0.024,3378,3161,1869,0,0,0,0,0,0
$GC,8278,1.29,201.2,70.5,6.6,454,8299,0.00,2.38,14.50,0.525,6,0.000,0.030,3378,1757,1808,0,0,0,0,0,0
$GC,8559,1.29,201.2,44.6,10.3,476,8563,0.00,2.38,0.00,0.000,4,0.000,0.044,3378,358,1807,0,0,0,0,0,0
$GC,8786,1.24,201.2,22.4,8.9,505,8792,0.00,2.30,0.00,0.000,6,0.000,0.018,3379,1769,1804,0,0,0,0,0,0
$GC,8989,1.29,213.9,9.8,6.8,551,9007,0.00,2.30,11.80,0.466,4,0.000,0.022,3379,3162,1757,0,0,0,0,0,0
$STATE,9071,end climb,SURFACE_DEPTH_REACHED
$STATE,9071,begin surface coast
$FINISH,0.8,1.023072
$STATE,9112,end surface coast,CONTROL_FINISHED_OK
$STATE,9112,begin surface
$SM_CCo,9138,109.53,0.493,0,0,957,410.14
$SM_GC,1.47,0.00,0.00,109.53,0.000,0.000,0.493,428,1686,957,-12.30,-0.25,410.14
$IRIDIUM_FIX,2057.14,-15756.04,081199,171742
$TT8_MAMPS,0.029146
$HUMID,51.37
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.20
$XPDR_PINGS,2
$24V_AH,23.5,15.882
$10V_AH,10.4,12.452
$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,32.550,109.025,237.300,109.525,0.000,23.528,31.381,130.798,5.000,0.000,12.938,1134.660,5688.379,414.231,1871.256,439.733,0.000,1214.540,0.000,1855.832,0.000,29.252,0.000
$DEVICE_MAMPS,141.128,89.739,831.428,493.181,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,388.735,380.223,917.736,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,31804,578
$CAP_FILE_SIZE,108272,0
$CFSIZE,260165632,204251136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140810,222837,2106.338,-15753.142,68,1.1,68,9.8