version: 66.06
glider: 139
mission: 8
dive: 190
start: 8 16 110 4 41 37
data:
$ID,139
$MISSION,8
$DIVE,190
$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,-2154426.5
$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
$GPS1,043607,2105.785,-15750.655,34,1.3,34,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-71.8
$GPS2,044120,2105.792,-15750.678,15,1.3,15,9.8
$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,80.0,13408,-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,-64.25,0.000,2,0.000,0.000,426,1672,2777,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.7,-4.3,12,104,12.52,2.45,-1.67,0.000,4,0.134,0.037,2755,3107,2871,0,0,0,0,0,0
$GC,147,-1.50,-58.4,22.3,-21.7,24,153,0.00,2.42,0.00,0.000,6,0.000,0.033,2754,1690,2873,0,0,0,0,0,0
$GC,355,-1.46,-58.4,63.1,-18.2,46,356,0.12,0.00,0.00,0.000,6,0.110,0.000,2778,1690,2874,0,0,0,0,0,0
$GC,609,-1.52,-58.4,100.2,-13.2,66,613,0.00,2.35,0.00,0.000,4,0.000,0.021,2778,3112,2876,0,0,0,0,0,0
$GC,669,-1.65,-58.4,107.6,-10.0,70,676,0.15,2.42,0.00,0.000,6,0.031,0.033,2726,1688,2876,0,0,0,0,0,0
$GC,931,-1.65,-58.4,144.4,-15.0,91,935,0.00,2.40,0.00,0.000,4,0.000,0.045,2726,289,2877,0,0,0,0,0,0
$GC,964,-1.57,-58.4,150.2,-16.4,93,970,0.15,2.30,0.00,0.000,6,0.101,0.018,2755,1730,2877,0,0,0,0,0,0
$GC,1227,-1.62,-58.4,182.2,-12.0,114,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1733,2877,0,0,0,0,0,0
$GC,1490,-1.69,-58.4,212.4,-11.4,132,1495,0.10,2.50,0.00,0.000,4,0.075,0.046,2720,290,2877,0,0,0,0,0,0
$GC,1523,-1.61,-58.4,217.3,-15.2,133,1528,0.12,2.25,0.00,0.000,6,0.104,0.019,2745,1709,2877,0,0,0,0,0,0
$GC,1842,-1.67,-58.4,250.5,-9.4,148,1846,0.00,2.20,0.00,0.000,4,0.000,0.025,2745,3068,2878,0,0,0,0,0,0
$GC,1931,-1.79,-58.4,259.4,-9.7,152,1936,0.15,2.33,0.00,0.000,6,0.058,0.033,2699,1688,2878,0,0,0,0,0,0
$GC,2265,-1.79,-58.4,301.2,-12.4,168,2269,0.00,2.25,0.00,0.000,4,0.000,0.025,2699,3068,2878,0,0,0,0,0,0
$GC,2460,-1.79,-58.4,322.2,-10.9,172,2464,0.00,2.30,0.00,0.000,6,0.000,0.034,2699,1694,2877,0,0,0,0,0,0
$GC,2773,-1.79,-58.4,356.7,-10.8,180,2774,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1693,2876,0,0,0,0,0,0
$GC,3098,-1.79,-58.4,395.0,-11.6,188,3102,0.00,2.30,0.00,0.000,4,0.000,0.028,2699,3069,2875,0,0,0,0,0,0
$GC,3246,-1.85,-58.4,411.3,-10.2,191,3251,0.00,2.33,0.00,0.000,6,0.000,0.039,2699,1698,2874,0,0,0,0,0,0
$GC,3560,-1.85,-58.4,444.6,-10.5,199,3564,0.00,2.30,0.00,0.000,4,0.000,0.031,2699,3071,2872,0,0,0,0,0,0
$GC,3584,-1.88,-58.4,447.1,-10.4,199,3589,0.00,2.35,0.00,0.000,6,0.000,0.041,2699,1693,2872,0,0,0,0,0,0
$STATE,3642,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3642,begin apogee
$GC,3649,-0.31,0.0,452.9,9.8,201,3702,1.60,0.00,49.50,0.832,6,0.082,0.000,3032,1766,2630,0,0,0,0,0,0
$STATE,3703,end apogee,CONTROL_FINISHED_OK
$STATE,3703,begin climb
$GC,3706,1.56,58.4,453.9,0.0,202,3766,1.77,2.45,50.35,0.815,4,0.028,0.034,3454,3157,2390,0,0,0,0,0,0
$GC,3814,1.34,112.9,452.7,3.0,205,3870,0.32,2.42,48.25,0.812,6,0.106,0.037,3392,1764,2169,0,0,0,0,0,0
$GC,4185,1.17,112.9,416.5,10.7,214,4190,0.20,2.40,0.00,0.000,4,0.107,0.033,3354,3157,2159,0,0,0,0,0,0
$GC,4308,1.11,112.9,405.4,8.7,216,4313,0.00,2.40,0.00,0.000,6,0.000,0.040,3354,1772,2158,0,0,0,0,0,0
$GC,4645,1.03,112.9,375.9,8.3,225,4650,0.15,2.38,0.00,0.000,4,0.115,0.034,3326,3161,2155,0,0,0,0,0,0
$GC,4661,1.00,117.0,374.6,7.5,225,4665,0.00,2.42,0.00,0.000,6,0.000,0.038,3326,1765,2155,0,0,0,0,0,0
$GC,4974,1.02,134.5,354.7,6.3,233,4998,0.00,2.58,17.48,0.764,4,0.000,0.055,3326,358,2080,0,0,0,0,0,0
$GC,5101,0.90,134.5,343.1,11.3,235,5106,0.15,2.35,0.00,0.000,6,0.113,0.028,3299,1752,2075,0,0,0,0,0,0
$GC,5433,0.97,134.5,313.2,9.0,243,5434,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1752,2074,0,0,0,0,0,0
$GC,5739,1.04,144.0,286.9,7.0,254,5755,0.12,2.40,8.45,0.661,4,0.071,0.031,3334,3178,2042,0,0,0,0,0,0
$GC,5797,1.08,144.0,282.2,8.6,256,5801,0.00,2.45,0.00,0.000,6,0.000,0.038,3333,1770,2042,0,0,0,0,0,0
$GC,6115,1.08,144.0,255.6,7.9,271,6119,0.00,2.50,0.00,0.000,4,0.000,0.053,3333,354,2039,0,0,0,0,0,0
$GC,6148,0.98,144.0,252.5,8.5,272,6153,0.10,2.35,0.00,0.000,6,0.124,0.025,3316,1785,2037,0,0,0,0,0,0
$GC,6468,1.06,177.1,236.1,4.9,287,6504,0.00,2.40,29.95,0.710,4,0.000,0.029,3316,3164,1908,0,0,0,0,0,0
$GC,6535,1.19,195.2,232.3,6.3,290,6560,0.20,2.40,17.48,0.674,6,0.053,0.036,3369,1768,1834,0,0,0,0,0,0
$GC,6867,1.19,195.2,197.6,12.4,306,6868,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,1769,1829,0,0,0,0,0,0
$GC,7119,1.19,195.2,169.0,10.4,326,7123,0.00,2.45,0.00,0.000,4,0.000,0.048,3369,356,1827,0,0,0,0,0,0
$GC,7180,1.08,195.2,162.3,11.3,330,7187,0.12,2.35,0.00,0.000,6,0.084,0.022,3340,1775,1825,0,0,0,0,0,0
$GC,7442,1.14,201.7,142.4,7.3,351,7456,0.00,2.50,5.85,0.494,4,0.000,0.046,3340,365,1807,0,0,0,0,0,0
$GC,7517,1.14,201.7,134.7,11.3,356,7521,0.00,2.28,0.00,0.000,6,0.000,0.021,3340,1777,1805,0,0,0,0,0,0
$GC,7778,1.24,213.2,111.9,6.9,376,7792,0.12,0.00,11.48,0.549,6,0.065,0.000,3379,1783,1760,0,0,0,0,0,0
$GC,8044,1.24,213.2,89.5,8.7,397,8048,0.00,2.42,0.00,0.000,4,0.000,0.044,3378,358,1760,0,0,0,0,0,0
$GC,8058,1.21,213.2,87.6,9.3,398,8063,0.00,2.28,0.00,0.000,6,0.000,0.020,3379,1780,1758,0,0,0,0,0,0
$GC,8318,1.22,219.0,62.9,7.4,418,8334,0.00,2.30,6.47,0.451,4,0.000,0.023,3379,3154,1736,0,0,0,0,0,0
$GC,8345,1.28,235.3,61.0,6.4,419,8366,0.00,2.38,15.68,0.520,6,0.000,0.029,3379,1764,1669,0,0,0,0,0,0
$GC,8620,1.33,235.3,36.7,9.9,441,8624,0.00,2.40,0.00,0.000,4,0.000,0.044,3379,361,1668,0,0,0,0,0,0
$GC,8798,1.29,235.3,14.7,13.1,472,8805,0.00,2.28,0.00,0.000,6,0.000,0.018,3379,1762,1666,0,0,0,0,0,0
$STATE,8911,end climb,SURFACE_DEPTH_REACHED
$STATE,8914,begin surface coast
$FINISH,0.8,1.010614
$STATE,8945,end surface coast,CONTROL_FINISHED_OK
$STATE,8945,begin surface
$SM_CCo,8968,98.88,0.495,0,0,957,410.14
$SM_GC,1.41,0.00,0.00,98.88,0.000,0.000,0.495,426,1667,957,-12.30,-0.79,410.14
$IRIDIUM_FIX,2057.14,-15748.75,101199,020214
$TT8_MAMPS,0.029146
$HUMID,52.24
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,16.868
$10V_AH,10.3,13.325
$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,30.875,95.175,260.925,98.875,0.000,28.920,24.786,138.834,4.500,0.000,15.920,1007.656,5975.288,415.659,1538.280,441.127,0.000,1110.523,0.000,1525.307,0.000,29.252,0.000
$DEVICE_MAMPS,134.225,89.739,832.195,494.715,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,339.984,323.480,724.974,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,28569,505
$CAP_FILE_SIZE,101345,0
$CFSIZE,260165632,203636736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160810,071352,2105.819,-15750.812,10,3.0,29,9.8