version: 66.06
glider: 139
mission: 8
dive: 217
start: 8 19 110 7 8 25
data:
$ID,139
$MISSION,8
$DIVE,217
$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,-2155046
$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
$GPS1,070249,2102.335,-15747.627,13,2.0,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-73.5
$GPS2,070810,2102.364,-15747.602,11,2.6,30,9.8
$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,195.6,9113,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.56,-58.4,0.0,0.0,0,82,0.00,0.00,-64.15,0.000,2,0.000,0.000,430,1678,2780,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.7,-4.2,12,105,12.48,2.45,-1.60,0.000,4,0.134,0.053,2753,282,2872,0,0,0,0,0,0
$GC,174,-1.38,-58.4,30.6,-23.4,30,179,0.22,2.30,0.00,0.000,6,0.105,0.018,2796,1729,2874,0,0,0,0,0,0
$GC,441,-1.38,-58.4,72.0,-14.0,51,442,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1734,2875,0,0,0,0,0,0
$GC,693,-1.43,-58.4,106.4,-13.8,71,697,0.00,2.17,0.00,0.000,4,0.000,0.021,2796,3079,2876,0,0,0,0,0,0
$GC,768,-1.59,-58.4,115.4,-11.1,76,775,0.15,2.35,0.00,0.000,6,0.031,0.031,2743,1693,2876,0,0,0,0,0,0
$GC,1030,-1.59,-58.4,151.0,-14.3,97,1034,0.00,2.28,0.00,0.000,4,0.000,0.021,2743,3080,2876,0,0,0,0,0,0
$GC,1112,-1.69,-58.4,162.2,-12.2,103,1117,0.00,2.33,0.00,0.000,6,0.000,0.033,2743,1688,2876,0,0,0,0,0,0
$GC,1375,-1.73,-58.4,191.6,-11.2,123,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1688,2877,0,0,0,0,0,0
$GC,1633,-1.78,-58.4,222.6,-11.3,138,1635,0.15,0.00,0.00,0.000,6,0.058,0.000,2696,1687,2878,0,0,0,0,0,0
$GC,1944,-1.74,-58.4,261.2,-11.5,153,1949,0.12,2.33,0.00,0.000,4,0.107,0.025,2720,3080,2878,0,0,0,0,0,0
$GC,2120,-1.80,-58.4,282.2,-11.4,160,2126,0.00,2.35,0.00,0.000,6,0.000,0.033,2720,1696,2878,0,0,0,0,0,0
$GC,2455,-1.80,-58.4,319.1,-10.7,173,2457,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1696,2877,0,0,0,0,0,0
$GC,2780,-1.84,-58.4,352.9,-10.5,181,2784,0.00,2.28,0.00,0.000,4,0.000,0.028,2720,3073,2875,0,0,0,0,0,0
$GC,2799,-1.92,-58.4,355.1,-10.3,181,2804,0.17,2.35,0.00,0.000,6,0.054,0.038,2670,1698,2875,0,0,0,0,0,0
$GC,3150,-1.86,-58.4,400.0,-13.7,190,3154,0.12,2.33,0.00,0.000,4,0.105,0.031,2694,3071,2873,0,0,0,0,0,0
$GC,3183,-1.91,-58.4,405.4,-13.5,190,3188,0.00,2.33,0.00,0.000,6,0.000,0.040,2694,1697,2873,0,0,0,0,0,0
$STATE,3476,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3476,begin apogee
$GC,3483,-0.31,0.0,440.9,11.8,197,3537,1.62,0.00,49.42,0.822,6,0.084,0.000,3032,1770,2629,0,0,0,0,0,0
$STATE,3537,end apogee,CONTROL_FINISHED_OK
$STATE,3537,begin climb
$GC,3540,1.56,58.4,442.7,0.0,198,3595,1.75,0.00,50.33,0.807,6,0.028,0.000,3452,1771,2391,0,0,0,0,0,0
$GC,3910,1.31,105.0,432.3,3.7,207,3954,0.32,0.00,40.90,0.811,6,0.107,0.000,3389,1771,2201,0,0,0,0,0,0
$GC,4273,1.15,105.0,399.6,9.8,216,4275,0.20,0.00,0.00,0.000,6,0.108,0.000,3351,1771,2193,0,0,0,0,0,0
$GC,4598,1.07,105.0,372.9,8.2,224,4602,0.00,2.35,0.00,0.000,4,0.000,0.034,3351,3164,2190,0,0,0,0,0,0
$GC,4747,1.04,120.1,362.6,6.5,227,4768,0.12,2.42,12.48,0.741,6,0.127,0.040,3329,1768,2140,0,0,0,0,0,0
$GC,5106,1.05,128.5,339.1,7.1,236,5120,0.00,2.38,8.38,0.686,4,0.000,0.032,3329,3158,2105,0,0,0,0,0,0
$GC,5130,1.06,139.1,337.2,6.9,236,5148,0.00,2.42,11.35,0.717,6,0.000,0.038,3329,1765,2062,0,0,0,0,0,0
$GC,5473,1.07,142.3,310.6,7.6,245,5477,0.00,2.50,0.00,0.000,4,0.000,0.054,3328,349,2057,0,0,0,0,0,0
$GC,5541,0.96,142.3,304.9,7.9,246,5545,0.00,2.35,0.00,0.000,6,0.000,0.027,3329,1764,2055,0,0,0,0,0,0
$GC,5870,0.96,142.3,278.1,8.3,261,5871,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1769,2054,0,0,0,0,0,0
$GC,6180,0.98,155.8,256.5,6.7,276,6199,0.00,0.00,15.02,0.703,6,0.000,0.000,3329,1769,1993,0,0,0,0,0,0
$GC,6508,0.98,155.8,228.6,9.0,292,6509,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1769,1990,0,0,0,0,0,0
$GC,6819,1.02,163.7,203.6,7.2,307,6832,0.00,2.50,7.78,0.594,4,0.000,0.050,3329,355,1962,0,0,0,0,0,0
$GC,6880,0.97,163.7,198.7,8.8,309,6885,0.00,2.35,0.00,0.000,6,0.000,0.024,3329,1778,1960,0,0,0,0,0,0
$GC,7205,1.04,179.6,174.7,6.5,335,7225,0.00,2.53,15.25,0.632,4,0.000,0.048,3329,358,1897,0,0,0,0,0,0
$GC,7330,1.04,179.6,163.2,10.3,344,7335,0.00,2.30,0.00,0.000,6,0.000,0.022,3329,1772,1893,0,0,0,0,0,0
$GC,7592,1.14,186.2,140.9,7.3,364,7602,0.00,0.00,6.78,0.519,6,0.000,0.000,3329,1778,1870,0,0,0,0,0,0
$GC,7855,1.23,186.2,120.8,8.5,385,7857,0.17,0.00,0.00,0.000,6,0.054,0.000,3379,1777,1869,0,0,0,0,0,0
$GC,8108,1.24,191.0,94.6,7.5,405,8117,0.00,0.00,5.78,0.459,6,0.000,0.000,3379,1778,1851,0,0,0,0,0,0
$GC,8371,1.24,191.0,74.7,8.9,426,8375,0.00,2.28,0.00,0.000,4,0.000,0.024,3379,3174,1850,0,0,0,0,0,0
$GC,8390,1.29,191.0,72.7,9.9,427,8394,0.00,2.38,0.00,0.000,6,0.000,0.031,3379,1758,1850,0,0,0,0,0,0
$GC,8652,1.34,204.1,53.7,6.7,447,8675,0.00,2.40,13.23,0.508,4,0.000,0.023,3379,3175,1796,0,0,0,0,0,0
$GC,8761,1.42,204.1,45.5,8.3,455,8766,0.12,2.35,0.00,0.000,6,0.064,0.029,3418,1768,1796,0,0,0,0,0,0
$GC,9025,1.39,204.1,24.1,8.5,485,9031,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,1768,1796,0,0,0,0,0,0
$GC,9226,1.36,204.1,5.2,10.2,531,9233,0.12,2.45,0.00,0.000,4,0.104,0.045,3393,361,1796,0,0,0,0,0,0
$STATE,9247,end climb,SURFACE_DEPTH_REACHED
$STATE,9247,begin surface coast
$FINISH,0.8,1.011239
$STATE,9278,end surface coast,CONTROL_FINISHED_OK
$STATE,9278,begin surface
$SM_CCo,9303,123.47,0.492,0,0,958,410.14
$SM_GC,1.51,0.00,0.00,123.47,0.000,0.000,0.492,426,1738,958,-12.31,1.22,410.14
$IRIDIUM_FIX,2052.52,-15746.61,131199,040442
$TT8_MAMPS,0.028379
$HUMID,51.65
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,440.9,7.7
$24V_AH,23.5,19.006
$10V_AH,10.4,15.333
$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,30.550,66.050,236.675,123.475,0.000,30.963,31.364,122.269,4.750,0.000,31.644,1021.527,6393.745,431.676,1497.416,401.122,0.000,1047.054,0.000,1462.064,0.000,32.131,0.000
$DEVICE_MAMPS,134.225,89.739,822.224,491.647,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,364.988,349.202,800.260,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,28663,542
$CAP_FILE_SIZE,91164,0
$CFSIZE,260165632,202219520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190810,094636,2101.489,-15748.455,24,1.6,24,9.8