version: 66.06
glider: 139
mission: 8
dive: 193
start: 8 16 110 12 53 0
data:
$ID,139
$MISSION,8
$DIVE,193
$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,-2154490.8
$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
$GPS1,124721,2105.861,-15750.163,13,1.6,14,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-71.4
$GPS2,125243,2105.840,-15750.174,12,1.7,12,9.8
$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,80.4,12537,-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,-64.60,0.000,2,0.000,0.000,425,1681,2770,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.4,-3.7,12,104,12.57,0.00,-1.83,0.000,6,0.137,0.000,2753,1681,2871,0,0,0,0,0,0
$GC,296,-1.56,-58.4,50.3,-16.1,42,300,0.00,2.40,0.00,0.000,4,0.000,0.048,2753,290,2874,0,0,0,0,0,0
$GC,328,-1.41,-58.4,56.2,-19.1,44,335,0.15,2.33,0.00,0.000,6,0.088,0.018,2786,1727,2874,0,0,0,0,0,0
$GC,590,-1.48,-58.4,88.7,-12.7,65,595,0.00,2.50,0.00,0.000,4,0.000,0.048,2786,290,2875,0,0,0,0,0,0
$GC,637,-1.48,-58.4,96.1,-15.2,68,644,0.00,2.28,0.00,0.000,6,0.000,0.018,2786,1711,2875,0,0,0,0,0,0
$GC,899,-1.59,-58.4,124.9,-11.7,89,904,0.15,2.45,0.00,0.000,4,0.057,0.046,2739,290,2876,0,0,0,0,0,0
$GC,919,-1.59,-58.4,128.2,-13.0,90,925,0.00,2.25,0.00,0.000,6,0.000,0.019,2739,1704,2876,0,0,0,0,0,0
$GC,1180,-1.59,-58.4,158.7,-10.8,111,1184,0.00,2.20,0.00,0.000,4,0.000,0.023,2739,3066,2877,0,0,0,0,0,0
$GC,1239,-1.66,-58.4,164.9,-9.9,115,1245,0.00,2.30,0.00,0.000,6,0.000,0.033,2739,1689,2877,0,0,0,0,0,0
$GC,1500,-1.70,-58.4,191.9,-10.0,136,1504,0.00,2.22,0.00,0.000,4,0.000,0.022,2739,3061,2877,0,0,0,0,0,0
$GC,1525,-1.77,-58.4,194.2,-9.2,138,1530,0.12,2.28,0.00,0.000,6,0.066,0.032,2699,1695,2877,0,0,0,0,0,0
$GC,1796,-1.72,-58.4,229.5,-14.6,153,1801,0.12,2.25,0.00,0.000,4,0.110,0.024,2724,3064,2877,0,0,0,0,0,0
$GC,1921,-1.78,-58.4,245.1,-11.5,158,1925,0.00,2.28,0.00,0.000,6,0.000,0.032,2724,1695,2877,0,0,0,0,0,0
$GC,2239,-1.78,-58.4,280.6,-10.8,173,2240,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1694,2877,0,0,0,0,0,0
$GC,2545,-1.78,-58.4,309.4,-10.1,186,2549,0.00,2.25,0.00,0.000,4,0.000,0.025,2724,3065,2876,0,0,0,0,0,0
$GC,2687,-1.87,-58.4,324.0,-9.9,189,2692,0.15,2.33,0.00,0.000,6,0.060,0.036,2679,1694,2876,0,0,0,0,0,0
$GC,3014,-1.83,-58.4,362.3,-12.5,197,3019,0.10,2.28,0.00,0.000,4,0.117,0.028,2698,3062,2875,0,0,0,0,0,0
$GC,3024,-1.83,-58.4,364.0,-12.2,197,3028,0.00,2.30,0.00,0.000,6,0.000,0.035,2698,1695,2875,0,0,0,0,0,0
$GC,3338,-1.83,-58.4,396.9,-10.5,205,3342,0.00,2.25,0.00,0.000,4,0.000,0.029,2698,3057,2873,0,0,0,0,0,0
$GC,3376,-1.89,-58.4,400.8,-10.0,205,3382,0.00,2.30,0.00,0.000,6,0.000,0.038,2698,1692,2873,0,0,0,0,0,0
$STATE,3587,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3587,begin apogee
$GC,3593,-0.31,0.0,423.5,10.9,211,3646,1.60,0.00,49.53,0.806,6,0.084,0.000,3031,1692,2630,0,0,0,0,0,0
$STATE,3647,end apogee,CONTROL_FINISHED_OK
$STATE,3647,begin climb
$GC,3651,1.56,58.4,425.4,0.0,212,3709,1.75,2.50,50.25,0.792,4,0.031,0.031,3447,3139,2391,0,0,0,0,0,0
$GC,3975,1.34,107.4,418.3,3.5,219,4026,0.28,2.35,42.85,0.794,6,0.110,0.037,3396,1772,2191,0,0,0,0,0,0
$GC,4340,1.17,107.4,388.4,8.5,228,4345,0.20,2.47,0.00,0.000,4,0.107,0.053,3358,360,2182,0,0,0,0,0,0
$GC,4361,0.99,107.4,386.7,8.2,228,4366,0.22,2.28,0.00,0.000,6,0.104,0.027,3315,1737,2180,0,0,0,0,0,0
$GC,4707,1.01,128.0,364.9,6.0,237,4726,0.00,0.00,17.62,0.755,6,0.000,0.000,3315,1738,2107,0,0,0,0,0,0
$GC,5033,1.03,141.0,342.9,6.7,245,5047,0.00,0.00,12.27,0.721,6,0.000,0.000,3315,1738,2055,0,0,0,0,0,0
$GC,5356,1.03,141.0,317.3,8.0,253,5361,0.00,2.42,0.00,0.000,4,0.000,0.053,3315,354,2051,0,0,0,0,0,0
$GC,5524,0.97,141.0,302.2,9.2,256,5528,0.00,2.35,0.00,0.000,6,0.000,0.026,3315,1766,2048,0,0,0,0,0,0
$GC,5850,1.01,148.4,276.8,7.2,271,5862,0.00,2.40,7.07,0.622,4,0.000,0.031,3315,3177,2024,0,0,0,0,0,0
$GC,5882,1.08,148.4,274.1,8.1,272,5886,0.00,2.42,0.00,0.000,6,0.000,0.037,3315,1763,2024,0,0,0,0,0,0
$GC,6203,1.15,160.2,248.4,6.8,288,6223,0.15,0.00,12.25,0.672,6,0.063,0.000,3356,1763,1975,0,0,0,0,0,0
$GC,6532,1.12,172.0,223.9,6.8,304,6547,0.00,0.00,11.40,0.644,6,0.000,0.000,3356,1763,1928,0,0,0,0,0,0
$GC,6862,1.12,172.0,195.2,9.3,321,6866,0.00,2.42,0.00,0.000,4,0.000,0.048,3356,359,1925,0,0,0,0,0,0
$GC,6894,0.99,172.0,191.3,11.6,323,6901,0.20,2.35,0.00,0.000,6,0.100,0.023,3318,1790,1923,0,0,0,0,0,0
$GC,7156,1.06,172.0,163.3,9.9,344,7160,0.00,2.50,0.00,0.000,4,0.000,0.048,3317,352,1923,0,0,0,0,0,0
$GC,7222,1.06,172.0,156.3,10.0,349,7226,0.00,2.30,0.00,0.000,6,0.000,0.021,3318,1772,1922,0,0,0,0,0,0
$GC,7488,1.15,181.0,134.6,7.1,370,7504,0.15,2.33,8.88,0.548,4,0.061,0.025,3361,3171,1890,0,0,0,0,0,0
$GC,7523,1.15,186.2,131.6,7.4,372,7535,0.00,2.40,6.35,0.498,6,0.000,0.031,3361,1758,1870,0,0,0,0,0,0
$GC,7790,1.16,191.1,112.6,7.5,393,7804,0.00,2.45,5.70,0.469,4,0.000,0.046,3361,366,1850,0,0,0,0,0,0
$GC,7833,1.09,191.1,107.8,11.4,396,7838,0.12,2.28,0.00,0.000,6,0.110,0.021,3338,1773,1849,0,0,0,0,0,0
$GC,8106,1.18,194.6,84.7,7.6,417,8119,0.00,2.45,4.68,0.415,4,0.000,0.044,3338,356,1835,0,0,0,0,0,0
$GC,8272,1.18,194.6,69.5,9.0,429,8277,0.00,2.28,0.00,0.000,6,0.000,0.020,3338,1775,1833,0,0,0,0,0,0
$GC,8541,1.29,194.6,46.6,8.8,450,8546,0.17,2.42,0.00,0.000,4,0.053,0.044,3389,361,1833,0,0,0,0,0,0
$GC,8683,1.21,194.6,32.0,8.1,460,8690,0.10,2.30,0.00,0.000,6,0.084,0.019,3365,1786,1833,0,0,0,0,0,0
$GC,8946,1.31,221.8,18.6,5.5,517,8980,0.00,2.33,24.73,0.502,4,0.000,0.022,3365,3146,1725,0,0,0,0,0,0
$GC,9066,1.42,230.8,10.1,7.1,542,9085,0.15,2.35,9.40,0.443,6,0.031,0.030,3417,1773,1688,0,0,0,0,0,0
$STATE,9128,end climb,SURFACE_DEPTH_REACHED
$STATE,9128,begin surface coast
$FINISH,0.9,1.023103
$STATE,9154,end surface coast,CONTROL_FINISHED_OK
$STATE,9154,begin surface
$SM_CCo,9178,102.70,0.492,0,0,958,410.14
$SM_GC,1.36,0.00,0.00,102.70,0.000,0.000,0.492,428,1676,958,-12.29,-0.54,410.14
$IRIDIUM_FIX,2057.14,-15748.75,101199,101053
$TT8_MAMPS,0.029146
$HUMID,52.83
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,423.5,10.1
$24V_AH,23.5,17.106
$10V_AH,10.4,13.551
$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,31.350,93.900,262.975,102.700,0.000,29.982,30.280,143.669,4.500,0.000,12.193,1083.875,5926.390,432.081,1704.750,454.984,0.000,1175.686,0.000,1689.414,0.000,30.565,0.000
$DEVICE_MAMPS,136.526,78.234,806.117,492.414,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,376.369,366.221,857.456,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,31940,560
$CAP_FILE_SIZE,104766,0
$CFSIZE,260165632,203468800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160810,152900,2105.773,-15749.890,41,1.2,41,9.8