version: 66.06
glider: 139
mission: 8
dive: 194
start: 8 16 110 15 35 8
data:
$ID,139
$MISSION,8
$DIVE,194
$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,-2154508
$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
$GPS1,152900,2105.773,-15749.890,41,1.2,41,9.8
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-72.3
$GPS2,153449,2105.767,-15749.936,11,1.3,16,9.8
$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,79.8,12126,-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,-58.4,0.0,0.0,0,81,0.00,0.00,-64.20,0.000,2,0.000,0.000,428,1677,2743,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.0,-2.9,12,110,12.52,2.42,-2.38,0.000,4,0.136,0.053,2751,289,2872,0,0,0,0,0,0
$GC,139,-1.14,-58.4,20.2,-29.1,22,146,0.43,2.35,0.00,0.000,6,0.087,0.018,2849,1729,2872,0,0,0,0,0,0
$GC,344,-1.32,-58.4,43.3,-9.3,49,346,0.17,0.00,0.00,0.000,6,0.051,0.000,2793,1734,2873,0,0,0,0,0,0
$GC,596,-1.38,-58.4,74.6,-13.6,69,600,0.00,2.50,0.00,0.000,4,0.000,0.046,2793,286,2874,0,0,0,0,0,0
$GC,628,-1.38,-58.4,80.1,-15.7,71,635,0.00,2.28,0.00,0.000,6,0.000,0.018,2793,1718,2875,0,0,0,0,0,0
$GC,888,-1.47,-58.4,110.1,-12.5,92,892,0.00,2.45,0.00,0.000,4,0.000,0.045,2793,288,2875,0,0,0,0,0,0
$GC,966,-1.52,-58.4,120.5,-13.5,98,971,0.12,2.22,0.00,0.000,6,0.064,0.018,2752,1703,2875,0,0,0,0,0,0
$GC,1234,-1.58,-58.4,154.1,-12.5,119,1238,0.00,2.17,0.00,0.000,4,0.000,0.023,2753,3058,2876,0,0,0,0,0,0
$GC,1287,-1.69,-58.4,160.6,-11.8,123,1291,0.00,2.30,0.00,0.000,6,0.000,0.031,2753,1685,2876,0,0,0,0,0,0
$GC,1553,-1.75,-58.4,192.7,-12.1,144,1557,0.15,2.25,0.00,0.000,4,0.058,0.023,2707,3060,2876,0,0,0,0,0,0
$GC,1593,-1.79,-58.4,198.3,-14.7,147,1597,0.00,2.28,0.00,0.000,6,0.000,0.034,2706,1697,2877,0,0,0,0,0,0
$GC,1852,-1.76,-58.4,237.2,-13.9,160,1857,0.00,2.42,0.00,0.000,4,0.000,0.046,2706,285,2877,0,0,0,0,0,0
$GC,1867,-1.69,-58.4,239.5,-13.4,160,1875,0.08,2.25,0.00,0.000,6,0.087,0.020,2726,1683,2877,0,0,0,0,0,0
$GC,2184,-1.69,-58.4,278.2,-11.7,176,2188,0.00,2.25,0.00,0.000,4,0.000,0.025,2726,3069,2877,0,0,0,0,0,0
$GC,2240,-1.76,-58.4,284.4,-10.2,178,2244,0.00,2.33,0.00,0.000,6,0.000,0.033,2726,1689,2877,0,0,0,0,0,0
$GC,2553,-1.80,-58.4,318.5,-11.4,189,2557,0.00,2.40,0.00,0.000,4,0.000,0.049,2725,285,2876,0,0,0,0,0,0
$GC,2587,-1.76,-58.4,322.3,-11.1,189,2591,0.00,2.25,0.00,0.000,6,0.000,0.021,2726,1697,2876,0,0,0,0,0,0
$GC,2918,-1.76,-58.4,353.2,-8.6,197,2919,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1702,2875,0,0,0,0,0,0
$GC,3243,-1.82,-58.4,386.2,-10.3,205,3244,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1702,2872,0,0,0,0,0,0
$GC,3570,-1.87,-58.4,420.4,-10.9,213,3575,0.15,2.47,0.00,0.000,4,0.062,0.054,2683,287,2871,0,0,0,0,0,0
$GC,3585,-1.87,-58.4,422.3,-10.8,213,3589,0.00,2.28,0.00,0.000,6,0.000,0.025,2683,1691,2870,0,0,0,0,0,0
$STATE,3814,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3814,begin apogee
$GC,3821,-0.31,0.0,450.2,12.2,219,3874,1.67,0.00,49.25,0.828,6,0.083,0.000,3032,1775,2630,0,0,0,0,0,0
$STATE,3875,end apogee,CONTROL_FINISHED_OK
$STATE,3875,begin climb
$GC,3878,1.56,58.4,451.5,0.0,220,3937,1.75,2.58,50.55,0.811,4,0.029,0.051,3450,359,2390,0,0,0,0,0,0
$GC,4043,1.18,96.4,449.1,4.5,223,4084,0.47,2.35,33.35,0.802,6,0.107,0.026,3360,1762,2237,0,0,0,0,0,0
$GC,4430,1.08,96.8,422.0,7.9,233,4435,0.12,2.42,0.00,0.000,4,0.118,0.036,3337,3183,2229,0,0,0,0,0,0
$GC,4691,1.09,108.4,404.9,6.8,238,4708,0.00,2.45,10.50,0.729,6,0.000,0.040,3337,1778,2187,0,0,0,0,0,0
$GC,5039,1.06,115.5,378.7,7.3,247,5051,0.00,2.58,6.85,0.660,4,0.000,0.055,3337,356,2159,0,0,0,0,0,0
$GC,5109,0.94,119.9,373.4,7.5,248,5122,0.17,2.38,5.35,0.600,6,0.114,0.028,3305,1792,2141,0,0,0,0,0,0
$GC,5461,0.97,120.2,347.1,7.9,257,5465,0.00,2.53,0.00,0.000,4,0.000,0.053,3304,357,2138,0,0,0,0,0,0
$GC,5517,0.91,120.2,342.0,8.9,258,5521,0.00,2.35,0.00,0.000,6,0.000,0.028,3304,1762,2136,0,0,0,0,0,0
$GC,5837,0.98,141.5,320.5,6.0,266,5862,0.00,2.42,20.02,0.755,4,0.000,0.032,3304,3179,2053,0,0,0,0,0,0
$GC,5960,1.06,141.5,311.4,7.9,268,5965,0.12,2.45,0.00,0.000,6,0.071,0.038,3339,1768,2052,0,0,0,0,0,0
$GC,6275,1.07,152.7,288.3,6.9,279,6291,0.00,2.53,11.18,0.690,4,0.000,0.053,3339,356,2007,0,0,0,0,0,0
$GC,6445,0.98,152.7,274.1,8.6,286,6450,0.12,2.35,0.00,0.000,6,0.116,0.026,3317,1784,2003,0,0,0,0,0,0
$GC,6769,1.04,162.3,253.9,7.0,302,6780,0.00,0.00,9.43,0.647,6,0.000,0.000,3316,1789,1968,0,0,0,0,0,0
$GC,7077,1.10,162.3,230.9,8.0,317,7079,0.10,0.00,0.00,0.000,6,0.079,0.000,3346,1789,1966,0,0,0,0,0,0
$GC,7385,1.10,162.3,199.7,10.3,332,7390,0.00,2.47,0.00,0.000,4,0.000,0.048,3346,355,1965,0,0,0,0,0,0
$GC,7520,1.01,162.3,186.3,9.3,342,7525,0.12,2.33,0.00,0.000,6,0.111,0.023,3322,1773,1961,0,0,0,0,0,0
$GC,7793,1.11,199.3,169.6,4.6,363,7833,0.00,2.38,33.25,0.646,4,0.000,0.026,3322,3170,1816,0,0,0,0,0,0
$GC,7859,1.25,214.6,165.6,6.5,367,7881,0.22,2.40,14.98,0.601,6,0.048,0.035,3382,1766,1755,0,0,0,0,0,0
$GC,8145,1.22,214.6,127.8,14.2,390,8149,0.00,2.42,0.00,0.000,4,0.000,0.045,3382,359,1751,0,0,0,0,0,0
$GC,8164,1.12,214.6,125.1,13.9,391,8170,0.20,2.30,0.00,0.000,6,0.099,0.021,3342,1779,1749,0,0,0,0,0,0
$GC,8425,1.20,214.6,98.1,10.1,412,8429,0.00,2.47,0.00,0.000,4,0.000,0.046,3342,353,1748,0,0,0,0,0,0
$GC,8536,1.20,214.6,85.4,10.3,420,8540,0.00,2.30,0.00,0.000,6,0.000,0.020,3342,1788,1746,0,0,0,0,0,0
$GC,8798,1.33,225.9,65.4,6.9,440,8815,0.20,2.50,10.25,0.500,4,0.050,0.044,3399,351,1708,0,0,0,0,0,0
$GC,9029,1.25,225.9,39.6,10.9,456,9035,0.10,2.33,0.00,0.000,6,0.084,0.019,3375,1777,1705,0,0,0,0,0,0
$GC,9291,1.30,225.9,15.9,8.2,499,9297,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,1783,1705,0,0,0,0,0,0
$STATE,9438,end climb,SURFACE_DEPTH_REACHED
$STATE,9438,begin surface coast
$FINISH,0.8,1.010211
$STATE,9465,end surface coast,CONTROL_FINISHED_OK
$STATE,9465,begin surface
$SM_CCo,9488,100.03,0.493,0,0,957,410.14
$SM_GC,1.55,0.00,0.00,100.03,0.000,0.000,0.493,429,1672,957,-12.29,-0.65,410.14
$IRIDIUM_FIX,2059.45,-15748.75,101199,121259
$TT8_MAMPS,0.028379
$HUMID,52.44
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,17.187
$10V_AH,10.4,13.625
$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,31.650,95.375,254.950,100.025,0.000,25.049,26.778,176.756,4.500,0.000,16.563,1076.418,6269.753,408.638,1705.852,478.826,0.000,1161.344,0.000,1683.865,0.000,29.266,0.000
$DEVICE_MAMPS,135.759,92.807,828.360,493.181,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,362.848,345.427,799.200,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,28651,539
$CAP_FILE_SIZE,107762,0
$CFSIZE,260165632,203415552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160810,181606,2106.051,-15749.933,31,0.9,31,9.8