version: 66.06
glider: 139
mission: 8
dive: 211
start: 8 18 110 14 55 48
data:
$ID,139
$MISSION,8
$DIVE,211
$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,-2154905.2
$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
$GPS1,145013,2105.563,-15744.580,12,1.5,29,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-70.7
$GPS2,145531,2105.548,-15744.579,13,1.8,13,9.8
$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,70.5,2912,-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,-64.60,0.000,2,0.000,0.000,425,1668,2796,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.7,-4.7,12,105,12.52,2.40,-1.33,0.000,4,0.135,0.034,2754,3112,2870,0,0,0,0,0,0
$GC,122,-0.56,-58.4,17.8,-33.2,18,129,1.00,2.42,0.00,0.000,6,0.079,0.031,2974,1695,2871,0,0,0,0,0,0
$GC,325,-1.00,-58.4,30.9,-5.3,62,330,0.38,2.42,0.00,0.000,4,0.032,0.043,2863,285,2873,0,0,0,0,0,0
$GC,379,-1.14,-58.4,35.9,-11.1,66,383,0.00,2.30,0.00,0.000,6,0.000,0.018,2863,1733,2873,0,0,0,0,0,0
$GC,644,-1.35,-58.4,64.7,-9.3,87,649,0.25,2.50,0.00,0.000,4,0.041,0.044,2785,283,2873,0,0,0,0,0,0
$GC,732,-1.35,-58.4,78.5,-16.4,93,738,0.00,2.28,0.00,0.000,6,0.000,0.018,2785,1698,2873,0,0,0,0,0,0
$GC,992,-1.43,-58.4,111.3,-11.5,114,996,0.00,2.45,0.00,0.000,4,0.000,0.046,2785,285,2874,0,0,0,0,0,0
$GC,1066,-1.43,-58.4,121.1,-12.9,119,1071,0.00,2.25,0.00,0.000,6,0.000,0.018,2785,1709,2875,0,0,0,0,0,0
$GC,1326,-1.54,-58.4,151.6,-10.5,140,1330,0.00,2.20,0.00,0.000,4,0.000,0.023,2785,3061,2875,0,0,0,0,0,0
$GC,1421,-1.72,-58.4,161.4,-10.7,147,1426,0.25,2.28,0.00,0.000,6,0.042,0.032,2713,1694,2875,0,0,0,0,0,0
$GC,1686,-1.69,-58.4,197.4,-13.1,168,1688,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1694,2876,0,0,0,0,0,0
$GC,1939,-1.69,-58.4,229.6,-12.8,181,1943,0.00,2.28,0.00,0.000,4,0.000,0.024,2713,3062,2876,0,0,0,0,0,0
$GC,2067,-1.73,-58.4,246.5,-14.1,186,2074,0.00,2.33,0.00,0.000,6,0.000,0.033,2713,1696,2876,0,0,0,0,0,0
$GC,2383,-1.73,-58.4,287.9,-12.9,202,2387,0.00,2.42,0.00,0.000,4,0.000,0.047,2713,284,2875,0,0,0,0,0,0
$GC,2397,-1.73,-58.4,289.8,-12.1,202,2404,0.00,2.25,0.00,0.000,6,0.000,0.021,2713,1683,2876,0,0,0,0,0,0
$GC,2729,-1.73,-58.4,330.2,-11.3,213,2733,0.00,2.28,0.00,0.000,4,0.000,0.027,2713,3065,2875,0,0,0,0,0,0
$GC,2809,-1.80,-58.4,339.1,-11.2,214,2813,0.00,2.33,0.00,0.000,6,0.000,0.035,2713,1694,2875,0,0,0,0,0,0
$GC,3140,-1.80,-58.4,375.9,-10.9,222,3144,0.00,2.42,0.00,0.000,4,0.000,0.051,2712,293,2873,0,0,0,0,0,0
$GC,3155,-1.80,-58.4,377.4,-10.4,222,3159,0.00,2.22,0.00,0.000,6,0.000,0.024,2712,1686,2873,0,0,0,0,0,0
$GC,3468,-1.83,-58.4,408.6,-9.9,230,3472,0.00,2.35,0.00,0.000,4,0.000,0.031,2713,3079,2872,0,0,0,0,0,0
$GC,3542,-1.91,-58.4,416.1,-9.9,231,3547,0.12,2.35,0.00,0.000,6,0.071,0.039,2677,1694,2871,0,0,0,0,0,0
$STATE,3836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3836,begin apogee
$GC,3843,-0.31,0.0,451.5,12.0,239,3896,1.70,0.00,49.10,0.828,6,0.082,0.000,3031,1766,2630,0,0,0,0,0,0
$STATE,3897,end apogee,CONTROL_FINISHED_OK
$STATE,3897,begin climb
$GC,3900,1.56,58.4,453.0,0.0,240,3958,1.75,2.55,50.17,0.812,4,0.028,0.052,3449,352,2390,0,0,0,0,0,0
$GC,3967,1.33,150.2,452.8,-0.4,241,4057,0.30,2.38,80.32,0.815,6,0.107,0.025,3393,1756,2016,0,0,0,0,0,0
$GC,4395,1.16,150.2,401.5,13.8,252,4397,0.20,0.00,0.00,0.000,6,0.109,0.000,3355,1756,2006,0,0,0,0,0,0
$GC,4719,1.10,150.2,366.8,10.1,260,4723,0.00,2.42,0.00,0.000,4,0.000,0.034,3355,3184,2002,0,0,0,0,0,0
$GC,4746,1.10,150.2,364.1,8.8,260,4751,0.00,2.47,0.00,0.000,6,0.000,0.041,3355,1766,2003,0,0,0,0,0,0
$GC,5083,1.04,150.2,336.5,8.1,269,5088,0.15,2.47,0.00,0.000,4,0.117,0.054,3328,358,2000,0,0,0,0,0,0
$GC,5127,0.95,150.2,332.0,10.2,270,5132,0.12,2.35,0.00,0.000,6,0.122,0.027,3306,1773,1996,0,0,0,0,0,0
$GC,5457,1.00,150.2,302.8,9.5,278,5458,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1777,1996,0,0,0,0,0,0
$GC,5765,1.07,150.2,273.9,9.2,292,5766,0.12,0.00,0.00,0.000,6,0.071,0.000,3341,1778,1994,0,0,0,0,0,0
$GC,6075,1.08,161.1,248.5,6.9,307,6087,0.00,2.53,6.32,0.584,4,0.000,0.051,3341,360,1973,0,0,0,0,0,0
$GC,6187,0.98,161.1,239.9,8.4,311,6193,0.15,2.33,0.00,0.000,6,0.108,0.025,3313,1776,1970,0,0,0,0,0,0
$GC,6504,1.05,161.1,213.8,8.7,327,6505,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1781,1970,0,0,0,0,0,0
$GC,6816,1.14,162.3,188.5,7.8,346,6821,0.15,2.47,0.00,0.000,4,0.061,0.048,3356,346,1970,0,0,0,0,0,0
$GC,6885,1.02,162.3,181.3,11.2,351,6890,0.17,2.33,0.00,0.000,6,0.101,0.022,3322,1779,1968,0,0,0,0,0,0
$GC,7148,1.09,168.8,161.8,7.3,371,7162,0.00,2.33,7.70,0.552,4,0.000,0.027,3322,3169,1941,0,0,0,0,0,0
$GC,7207,1.19,168.8,156.7,8.7,375,7212,0.15,2.38,0.00,0.000,6,0.061,0.031,3366,1760,1941,0,0,0,0,0,0
$GC,7473,1.19,168.8,129.7,9.7,396,7477,0.00,2.33,0.00,0.000,4,0.000,0.025,3366,3168,1940,0,0,0,0,0,0
$GC,7544,1.22,168.8,122.6,10.6,401,7548,0.00,2.38,0.00,0.000,6,0.000,0.032,3366,1768,1941,0,0,0,0,0,0
$GC,7808,1.25,192.4,102.4,5.8,422,7835,0.00,2.47,22.15,0.570,4,0.000,0.044,3366,354,1844,0,0,0,0,0,0
$GC,7920,1.19,192.4,93.0,10.6,430,7924,0.00,2.33,0.00,0.000,6,0.000,0.019,3366,1784,1841,0,0,0,0,0,0
$GC,8187,1.22,192.4,71.4,8.0,451,8191,0.00,2.45,0.00,0.000,4,0.000,0.044,3366,360,1840,0,0,0,0,0,0
$GC,8382,1.22,192.4,54.2,9.1,465,8388,0.00,2.30,0.00,0.000,6,0.000,0.019,3366,1774,1839,0,0,0,0,0,0
$GC,8642,1.34,225.2,38.2,4.9,486,8678,0.10,2.35,28.73,0.515,4,0.075,0.022,3401,3161,1711,0,0,0,0,0,0
$GC,8729,1.38,225.2,32.2,8.5,492,8733,0.00,2.35,0.00,0.000,6,0.000,0.029,3401,1761,1711,0,0,0,0,0,0
$GC,8991,1.38,225.2,5.7,10.2,550,8998,0.00,2.42,0.00,0.000,4,0.000,0.042,3401,354,1710,0,0,0,0,0,0
$STATE,9011,end climb,SURFACE_DEPTH_REACHED
$STATE,9011,begin surface coast
$FINISH,0.8,1.001482
$STATE,9038,end surface coast,CONTROL_FINISHED_OK
$STATE,9038,begin surface
$SM_CCo,9063,105.35,0.489,0,0,956,410.14
$SM_GC,1.51,0.00,0.00,105.35,0.000,0.000,0.489,429,1701,956,-12.29,0.17,410.14
$IRIDIUM_FIX,2057.14,-15746.61,121199,121243
$TT8_MAMPS,0.028379
$HUMID,52.48
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,18.535
$10V_AH,10.3,14.900
$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,32.375,99.350,244.500,105.350,0.000,29.773,29.106,141.714,4.750,0.000,13.177,1076.989,5893.549,406.802,1678.531,429.572,0.000,1126.930,0.000,1657.385,0.000,32.077,0.000
$DEVICE_MAMPS,134.992,89.739,827.593,489.346,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,376.741,362.803,875.031,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,31727,560
$CAP_FILE_SIZE,102313,0
$CFSIZE,260165632,202506240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180810,173001,2105.802,-15744.001,46,1.4,46,9.8