version: 66.06
glider: 139
mission: 8
dive: 214
start: 8 18 110 23 4 20
data:
$ID,139
$MISSION,8
$DIVE,214
$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,-2154974
$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
$GPS1,225826,2104.555,-15745.742,11,1.5,11,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-72.3
$GPS2,230404,2104.585,-15745.692,14,2.1,33,9.8
$SPEED_LIMITS,0.137,0.159
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$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,200.5,14298,-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,-64.35,0.000,2,0.000,0.000,429,1682,2774,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.4,-4.0,12,110,12.52,2.45,-1.75,0.000,4,0.136,0.053,2753,289,2871,0,0,0,0,0,0
$GC,208,-1.44,-58.4,37.1,-19.5,33,215,0.12,2.33,0.00,0.000,6,0.091,0.018,2781,1723,2873,0,0,0,0,0,0
$GC,467,-1.44,-58.4,77.9,-15.4,54,469,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1727,2874,0,0,0,0,0,0
$GC,720,-1.49,-58.4,107.3,-11.1,74,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1728,2875,0,0,0,0,0,0
$GC,972,-1.57,-58.4,135.7,-10.4,94,976,0.00,2.45,0.00,0.000,4,0.000,0.045,2782,290,2876,0,0,0,0,0,0
$GC,991,-1.60,-58.4,137.6,-9.3,95,997,0.15,2.25,0.00,0.000,6,0.058,0.018,2735,1718,2876,0,0,0,0,0,0
$GC,1251,-1.60,-58.4,167.0,-12.0,116,1255,0.00,2.22,0.00,0.000,4,0.000,0.022,2735,3069,2876,0,0,0,0,0,0
$GC,1367,-1.68,-58.4,182.1,-13.0,124,1374,0.00,2.33,0.00,0.000,6,0.000,0.033,2735,1697,2876,0,0,0,0,0,0
$GC,1636,-1.68,-58.4,216.4,-12.8,142,1640,0.00,2.22,0.00,0.000,4,0.000,0.022,2735,3062,2876,0,0,0,0,0,0
$GC,1758,-1.80,-58.4,231.1,-12.4,147,1763,0.12,2.33,0.00,0.000,6,0.066,0.034,2696,1685,2876,0,0,0,0,0,0
$GC,2087,-1.80,-58.4,273.8,-12.0,163,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1685,2876,0,0,0,0,0,0
$GC,2392,-1.80,-58.4,311.2,-12.3,176,2396,0.00,2.25,0.00,0.000,4,0.000,0.025,2696,3058,2876,0,0,0,0,0,0
$GC,2515,-1.84,-58.4,326.6,-12.4,178,2519,0.00,2.28,0.00,0.000,6,0.000,0.035,2696,1696,2875,0,0,0,0,0,0
$GC,2851,-1.84,-58.4,364.3,-10.9,187,2855,0.00,2.28,0.00,0.000,4,0.000,0.028,2696,3059,2874,0,0,0,0,0,0
$GC,3045,-1.88,-58.4,380.9,-9.2,191,3050,0.00,2.30,0.00,0.000,6,0.000,0.038,2696,1697,2873,0,0,0,0,0,0
$GC,3360,-1.88,-58.4,413.2,-11.1,199,3364,0.00,2.30,0.00,0.000,4,0.000,0.031,2696,3065,2871,0,0,0,0,0,0
$GC,3427,-1.93,-58.4,420.0,-10.1,200,3431,0.00,2.33,0.00,0.000,6,0.000,0.040,2696,1697,2870,0,0,0,0,0,0
$STATE,3729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3729,begin apogee
$GC,3735,-0.31,0.0,452.9,10.5,208,3788,1.60,0.00,48.90,0.839,6,0.084,0.000,3030,1696,2630,0,0,0,0,0,0
$STATE,3789,end apogee,CONTROL_FINISHED_OK
$STATE,3789,begin climb
$GC,3792,1.56,58.4,453.8,0.0,209,3850,1.75,2.50,50.47,0.821,4,0.031,0.033,3447,3133,2390,0,0,0,0,0,0
$GC,3951,1.33,100.7,450.4,4.1,212,3997,0.30,2.35,37.28,0.815,6,0.108,0.038,3389,1772,2219,0,0,0,0,0,0
$GC,4337,1.15,100.7,417.5,8.8,222,4343,0.20,2.53,0.00,0.000,4,0.108,0.054,3352,354,2209,0,0,0,0,0,0
$GC,4358,0.96,100.7,415.4,10.0,222,4363,0.20,2.30,0.00,0.000,6,0.108,0.028,3314,1735,2207,0,0,0,0,0,0
$GC,4704,0.98,111.5,389.7,6.9,231,4715,0.00,0.00,8.60,0.703,6,0.000,0.000,3314,1735,2175,0,0,0,0,0,0
$GC,5030,0.99,121.3,366.9,7.0,239,5047,0.00,2.53,9.62,0.722,4,0.000,0.055,3313,358,2134,0,0,0,0,0,0
$GC,5124,0.91,121.3,359.2,8.8,241,5129,0.00,2.35,0.00,0.000,6,0.000,0.028,3314,1765,2131,0,0,0,0,0,0
$GC,5452,0.93,142.0,338.8,6.0,249,5477,0.00,2.45,19.40,0.774,4,0.000,0.035,3314,3174,2050,0,0,0,0,0,0
$GC,5570,1.00,150.4,331.1,7.1,251,5585,0.00,2.45,9.02,0.691,6,0.000,0.040,3314,1771,2016,0,0,0,0,0,0
$GC,5910,1.00,150.4,304.2,8.0,260,5914,0.00,2.50,0.00,0.000,4,0.000,0.055,3313,355,2012,0,0,0,0,0,0
$GC,6058,0.95,150.4,290.1,9.8,264,6063,0.00,2.35,0.00,0.000,6,0.000,0.027,3313,1773,2008,0,0,0,0,0,0
$GC,6379,0.99,150.4,264.7,8.5,280,6384,0.00,2.50,0.00,0.000,4,0.000,0.053,3313,354,2008,0,0,0,0,0,0
$GC,6412,0.95,150.4,261.5,9.7,281,6417,0.00,2.38,0.00,0.000,6,0.000,0.026,3314,1784,2006,0,0,0,0,0,0
$GC,6728,1.01,150.5,236.1,7.9,296,6732,0.00,2.50,0.00,0.000,4,0.000,0.051,3314,355,2006,0,0,0,0,0,0
$GC,6803,0.97,150.5,230.2,8.4,299,6807,0.00,2.33,0.00,0.000,6,0.000,0.025,3314,1772,2005,0,0,0,0,0,0
$GC,7125,1.06,165.1,208.2,6.6,315,7146,0.00,2.53,12.38,0.649,4,0.000,0.048,3314,348,1956,0,0,0,0,0,0
$GC,7153,1.11,169.8,206.0,7.5,316,7166,0.12,2.38,6.12,0.548,6,0.070,0.024,3349,1787,1936,0,0,0,0,0,0
$GC,7487,1.11,169.8,175.5,9.1,340,7491,0.00,2.47,0.00,0.000,4,0.000,0.048,3349,351,1934,0,0,0,0,0,0
$GC,7605,1.02,169.8,163.4,12.0,348,7612,0.10,2.35,0.00,0.000,6,0.087,0.022,3326,1772,1931,0,0,0,0,0,0
$GC,7867,1.10,172.0,141.6,7.7,369,7871,0.00,2.30,0.00,0.000,4,0.000,0.026,3326,3180,1931,0,0,0,0,0,0
$GC,7961,1.21,172.0,134.2,8.3,376,7966,0.17,2.38,0.00,0.000,6,0.055,0.031,3374,1765,1931,0,0,0,0,0,0
$GC,8228,1.21,172.0,110.7,9.5,397,8232,0.00,2.33,0.00,0.000,4,0.000,0.025,3375,3171,1931,0,0,0,0,0,0
$GC,8408,1.21,172.0,91.9,9.5,410,8413,0.00,2.35,0.00,0.000,6,0.000,0.031,3374,1771,1931,0,0,0,0,0,0
$GC,8669,1.25,203.7,75.2,5.0,430,8705,0.00,2.50,30.23,0.559,4,0.000,0.046,3374,353,1798,0,0,0,0,0,0
$GC,8724,1.18,205.7,71.8,7.7,433,8729,0.00,2.30,0.00,0.000,6,0.000,0.019,3374,1775,1796,0,0,0,0,0,0
$GC,8987,1.23,216.0,49.6,7.0,453,9005,0.00,2.35,11.38,0.486,4,0.000,0.023,3375,3168,1749,0,0,0,0,0,0
$GC,9066,1.34,225.7,44.3,7.0,458,9086,0.00,2.40,10.07,0.477,6,0.000,0.031,3374,1773,1708,0,0,0,0,0,0
$GC,9343,1.40,225.7,20.6,10.1,494,9350,0.15,2.33,0.00,0.000,4,0.058,0.023,3419,3158,1707,0,0,0,0,0,0
$GC,9363,1.45,225.7,18.7,9.6,497,9369,0.00,2.38,0.00,0.000,6,0.000,0.030,3419,1768,1707,0,0,0,0,0,0
$STATE,9524,end climb,SURFACE_DEPTH_REACHED
$STATE,9524,begin surface coast
$FINISH,0.9,1.022961
$STATE,9551,end surface coast,CONTROL_FINISHED_OK
$STATE,9551,begin surface
$SM_CCo,9574,104.53,0.491,0,0,957,410.14
$SM_GC,1.53,0.00,0.00,104.53,0.000,0.000,0.491,427,1672,957,-12.30,-0.65,410.14
$IRIDIUM_FIX,2057.14,-15743.60,121199,202035
$TT8_MAMPS,0.027612
$HUMID,52.67
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,18.772
$10V_AH,10.3,15.119
$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,30.450,99.750,253.475,104.525,0.000,23.833,31.474,137.405,4.750,0.000,34.853,1088.616,6301.615,415.729,1760.955,447.980,0.000,1186.739,0.000,1716.122,0.000,31.993,0.000
$DEVICE_MAMPS,135.759,76.700,839.098,490.880,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,363.617,341.876,780.287,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,28726,540
$CAP_FILE_SIZE,106792,0
$CFSIZE,260165632,202346496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190810,014700,2103.765,-15746.394,37,1.3,42,9.8