version: 66.06
glider: 139
mission: 8
dive: 218
start: 8 19 110 9 53 15
data:
$ID,139
$MISSION,8
$DIVE,218
$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,-2155063
$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
$GPS1,094636,2101.489,-15748.455,24,1.6,24,9.8
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-71.7
$GPS2,095256,2101.516,-15748.464,16,1.6,16,9.8
$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,190.1,7088,-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,-64.47,0.000,2,0.000,0.000,425,1736,2781,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.5,-3.9,12,106,12.52,2.50,-1.60,0.000,4,0.134,0.051,2754,285,2871,0,0,0,0,0,0
$GC,255,-1.45,-58.4,48.1,-20.5,36,260,0.15,2.30,0.00,0.000,6,0.115,0.018,2782,1728,2873,0,0,0,0,0,0
$GC,523,-1.45,-58.4,88.1,-14.9,57,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1733,2874,0,0,0,0,0,0
$GC,774,-1.50,-58.4,121.4,-12.1,77,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1734,2875,0,0,0,0,0,0
$GC,1026,-1.59,-58.4,151.2,-11.5,97,1028,0.12,0.00,0.00,0.000,6,0.063,0.000,2741,1734,2876,0,0,0,0,0,0
$GC,1277,-1.59,-58.4,182.1,-13.7,117,1278,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1735,2876,0,0,0,0,0,0
$GC,1540,-1.63,-58.4,216.1,-13.0,134,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1735,2877,0,0,0,0,0,0
$GC,1849,-1.68,-58.4,250.9,-11.7,149,1850,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1734,2877,0,0,0,0,0,0
$GC,2157,-1.76,-58.4,285.1,-11.0,164,2162,0.10,2.25,0.00,0.000,4,0.076,0.026,2705,3080,2877,0,0,0,0,0,0
$GC,2196,-1.82,-58.4,289.6,-11.8,165,2201,0.00,2.33,0.00,0.000,6,0.000,0.035,2704,1688,2876,0,0,0,0,0,0
$GC,2528,-1.82,-58.4,328.4,-11.5,176,2532,0.00,2.33,0.00,0.000,4,0.000,0.027,2705,3081,2875,0,0,0,0,0,0
$GC,2637,-1.87,-58.4,340.9,-11.0,178,2641,0.00,2.35,0.00,0.000,6,0.000,0.036,2704,1688,2875,0,0,0,0,0,0
$GC,2989,-1.87,-58.4,381.5,-11.2,187,2993,0.00,2.35,0.00,0.000,4,0.000,0.030,2704,3074,2874,0,0,0,0,0,0
$GC,3127,-1.93,-58.4,394.1,-9.1,190,3132,0.12,2.35,0.00,0.000,6,0.067,0.039,2667,1693,2873,0,0,0,0,0,0
$GC,3457,-1.87,-58.4,432.1,-11.6,198,3462,0.12,2.35,0.00,0.000,4,0.109,0.031,2691,3075,2870,0,0,0,0,0,0
$GC,3502,-1.92,-58.4,437.0,-10.5,199,3506,0.00,2.35,0.00,0.000,6,0.000,0.041,2691,1696,2870,0,0,0,0,0,0
$STATE,3530,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3530,begin apogee
$GC,3537,-0.31,0.0,440.2,10.5,199,3591,1.60,0.00,49.22,0.819,6,0.084,0.000,3027,1775,2630,0,0,0,0,0,0
$STATE,3592,end apogee,CONTROL_FINISHED_OK
$STATE,3592,begin climb
$GC,3595,1.56,58.4,441.6,0.0,201,3650,1.80,0.00,50.72,0.804,6,0.028,0.000,3454,1775,2391,0,0,0,0,0,0
$GC,3956,1.30,97.3,430.0,4.4,210,3999,0.32,2.45,33.58,0.805,4,0.107,0.035,3388,3154,2233,0,0,0,0,0,0
$GC,4264,1.16,97.3,404.5,8.9,216,4269,0.17,2.40,0.00,0.000,6,0.114,0.040,3356,1771,2229,0,0,0,0,0,0
$GC,4602,1.07,105.6,379.3,7.2,225,4615,0.12,2.40,7.20,0.665,4,0.120,0.035,3334,3151,2199,0,0,0,0,0,0
$GC,4768,1.09,115.2,367.7,7.0,228,4786,0.00,2.40,10.07,0.716,6,0.000,0.040,3333,1771,2159,0,0,0,0,0,0
$GC,5112,1.05,116.0,341.9,7.8,237,5116,0.00,2.50,0.00,0.000,4,0.000,0.055,3333,354,2155,0,0,0,0,0,0
$GC,5132,0.98,126.9,340.4,6.9,237,5148,0.00,2.35,11.10,0.722,6,0.000,0.027,3333,1758,2112,0,0,0,0,0,0
$GC,5480,0.98,131.3,315.8,7.5,246,5492,0.00,2.47,5.20,0.578,4,0.000,0.053,3333,359,2093,0,0,0,0,0,0
$GC,5600,0.87,131.3,304.6,9.9,248,5605,0.22,2.35,0.00,0.000,6,0.109,0.028,3291,1770,2090,0,0,0,0,0,0
$GC,5926,0.97,143.8,282.4,6.8,262,5943,0.00,2.55,11.95,0.697,4,0.000,0.054,3290,355,2043,0,0,0,0,0,0
$GC,5990,0.97,143.8,277.3,8.3,264,5995,0.00,2.38,0.00,0.000,6,0.000,0.026,3291,1775,2040,0,0,0,0,0,0
$GC,6321,1.08,152.6,254.6,7.1,280,6338,0.20,2.53,9.12,0.653,4,0.054,0.050,3344,354,2006,0,0,0,0,0,0
$GC,6346,1.05,152.6,252.7,8.5,281,6350,0.00,2.35,0.00,0.000,6,0.000,0.025,3344,1770,2005,0,0,0,0,0,0
$GC,6677,1.05,155.7,227.7,7.6,297,6686,0.00,2.50,3.78,0.445,4,0.000,0.051,3344,358,1995,0,0,0,0,0,0
$GC,6733,0.95,155.7,222.6,9.3,299,6738,0.17,2.33,0.00,0.000,6,0.104,0.025,3311,1772,1993,0,0,0,0,0,0
$GC,7051,1.05,166.0,201.0,7.0,314,7067,0.00,2.55,10.68,0.629,4,0.000,0.049,3311,356,1953,0,0,0,0,0,0
$GC,7114,1.05,166.0,196.1,8.5,318,7121,0.00,2.38,0.00,0.000,6,0.000,0.024,3310,1776,1949,0,0,0,0,0,0
$GC,7374,1.14,166.0,174.2,9.0,339,7379,0.17,2.50,0.00,0.000,4,0.056,0.048,3359,351,1949,0,0,0,0,0,0
$GC,7395,1.09,166.0,171.7,11.3,340,7402,0.08,2.35,0.00,0.000,6,0.090,0.022,3340,1765,1948,0,0,0,0,0,0
$GC,7657,1.10,173.4,148.3,7.2,361,7671,0.00,2.47,7.53,0.547,4,0.000,0.048,3341,357,1923,0,0,0,0,0,0
$GC,7827,1.09,193.7,135.6,6.1,373,7857,0.00,2.33,19.48,0.601,6,0.000,0.021,3341,1789,1839,0,0,0,0,0,0
$GC,8109,1.15,193.7,110.5,9.9,395,8113,0.00,2.25,0.00,0.000,4,0.000,0.025,3341,3157,1837,0,0,0,0,0,0
$GC,8128,1.24,193.7,108.5,9.5,396,8135,0.08,2.38,0.00,0.000,6,0.041,0.031,3374,1774,1837,0,0,0,0,0,0
$GC,8389,1.24,193.7,81.9,9.0,417,8393,0.00,2.28,0.00,0.000,4,0.000,0.024,3374,3163,1837,0,0,0,0,0,0
$GC,8423,1.30,193.7,78.6,9.4,419,8429,0.00,2.38,0.00,0.000,6,0.000,0.031,3374,1774,1837,0,0,0,0,0,0
$GC,8683,1.35,200.3,58.1,7.3,440,8698,0.00,2.47,7.12,0.460,4,0.000,0.046,3374,363,1812,0,0,0,0,0,0
$GC,8803,1.35,200.3,46.5,9.1,448,8810,0.00,2.30,0.00,0.000,6,0.000,0.019,3374,1774,1810,0,0,0,0,0,0
$GC,9065,1.43,219.9,29.6,6.1,469,9089,0.17,0.00,18.33,0.502,6,0.053,0.000,3424,1780,1732,0,0,0,0,0,0
$GC,9285,1.39,219.9,9.6,11.0,518,9291,0.00,2.45,0.00,0.000,4,0.000,0.043,3424,362,1731,0,0,0,0,0,0
$GC,9317,1.29,219.9,5.6,12.2,524,9324,0.17,2.30,0.00,0.000,6,0.081,0.018,3385,1782,1729,0,0,0,0,0,0
$STATE,9342,end climb,SURFACE_DEPTH_REACHED
$STATE,9342,begin surface coast
$FINISH,0.8,1.010587
$STATE,9369,end surface coast,CONTROL_FINISHED_OK
$STATE,9369,begin surface
$SM_CCo,9392,110.65,0.493,0,0,957,410.14
$SM_GC,1.30,0.00,0.00,110.65,0.000,0.000,0.493,426,1678,957,-12.30,-0.51,410.14
$IRIDIUM_FIX,2054.83,-15749.62,131199,070730
$TT8_MAMPS,0.029146
$HUMID,52.99
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,440.2,7.7
$24V_AH,23.5,19.089
$10V_AH,10.3,15.406
$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,31.150,91.000,255.075,110.650,0.000,22.530,35.874,201.983,4.750,0.000,16.198,1066.437,6220.461,436.043,1663.008,500.194,0.000,1168.718,0.000,1638.590,0.000,32.125,0.000
$DEVICE_MAMPS,134.225,89.739,819.156,493.181,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,359.816,342.516,777.179,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,28640,535
$CAP_FILE_SIZE,106642,0
$CFSIZE,260165632,202158080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190810,123301,2100.456,-15749.024,43,1.2,43,9.8