version: 66.06
glider: 139
mission: 8
dive: 219
start: 8 19 110 12 38 31
data:
$ID,139
$MISSION,8
$DIVE,219
$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,-2155076.5
$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
$GPS1,123301,2100.456,-15749.024,43,1.2,43,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-73.1
$GPS2,123814,2100.463,-15749.017,12,1.3,12,9.8
$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,187.4,4935,-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,-64.15,0.000,2,0.000,0.000,426,1678,2759,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.4,-4.0,12,110,12.50,2.42,-2.03,0.000,4,0.135,0.054,2751,293,2871,0,0,0,0,0,0
$GC,194,-1.40,-58.4,34.7,-21.3,32,202,0.17,2.33,0.00,0.000,6,0.091,0.018,2789,1730,2873,0,0,0,0,0,0
$GC,456,-1.44,-58.4,73.6,-13.6,53,457,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1731,2874,0,0,0,0,0,0
$GC,708,-1.52,-58.4,103.9,-12.1,73,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1732,2875,0,0,0,0,0,0
$GC,960,-1.62,-58.4,134.1,-11.1,93,961,0.17,0.00,0.00,0.000,6,0.052,0.000,2737,1734,2876,0,0,0,0,0,0
$GC,1212,-1.62,-58.4,165.4,-13.9,113,1216,0.00,2.20,0.00,0.000,4,0.000,0.022,2736,3077,2876,0,0,0,0,0,0
$GC,1268,-1.70,-58.4,173.1,-13.3,117,1272,0.00,2.33,0.00,0.000,6,0.000,0.033,2737,1685,2876,0,0,0,0,0,0
$GC,1532,-1.70,-58.4,205.8,-11.8,136,1536,0.00,2.30,0.00,0.000,4,0.000,0.023,2737,3082,2877,0,0,0,0,0,0
$GC,1633,-1.78,-58.4,217.0,-10.5,140,1638,0.12,2.33,0.00,0.000,6,0.065,0.031,2698,1687,2876,0,0,0,0,0,0
$GC,1953,-1.75,-58.4,257.6,-13.3,155,1957,0.10,2.30,0.00,0.000,4,0.114,0.024,2717,3074,2876,0,0,0,0,0,0
$GC,2090,-1.82,-58.4,274.6,-11.4,161,2094,0.00,2.30,0.00,0.000,6,0.000,0.034,2717,1695,2876,0,0,0,0,0,0
$GC,2438,-1.82,-58.4,316.8,-11.8,175,2442,0.00,2.30,0.00,0.000,4,0.000,0.026,2717,3078,2876,0,0,0,0,0,0
$GC,2494,-1.88,-58.4,323.1,-11.0,176,2499,0.12,2.33,0.00,0.000,6,0.067,0.035,2679,1694,2875,0,0,0,0,0,0
$GC,2816,-1.83,-58.4,363.1,-13.1,184,2821,0.10,2.30,0.00,0.000,4,0.116,0.028,2698,3071,2875,0,0,0,0,0,0
$GC,2901,-1.88,-58.4,373.7,-11.7,185,2905,0.00,2.33,0.00,0.000,6,0.000,0.038,2698,1698,2874,0,0,0,0,0,0
$GC,3232,-1.88,-58.4,410.6,-11.3,193,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1697,2872,0,0,0,0,0,0
$GC,3556,-1.88,-58.4,445.9,-10.5,201,3560,0.00,2.33,0.00,0.000,4,0.000,0.031,2698,3076,2870,0,0,0,0,0,0
$STATE,3597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3597,begin apogee
$GC,3605,-0.31,0.0,450.4,10.4,202,3659,1.60,0.00,49.35,0.834,6,0.082,0.000,3032,1768,2630,0,0,0,0,0,0
$STATE,3659,end apogee,CONTROL_FINISHED_OK
$STATE,3660,begin climb
$GC,3663,1.56,58.4,451.8,0.0,203,3721,1.75,2.53,50.33,0.816,4,0.030,0.053,3449,358,2390,0,0,0,0,0,0
$GC,3766,1.20,114.4,450.1,2.9,205,3823,0.45,2.33,49.53,0.813,6,0.107,0.025,3364,1755,2162,0,0,0,0,0,0
$GC,4162,1.08,114.4,413.7,10.6,215,4164,0.15,0.00,0.00,0.000,6,0.114,0.000,3336,1755,2153,0,0,0,0,0,0
$GC,4487,1.03,114.4,386.1,8.5,223,4491,0.00,2.40,0.00,0.000,4,0.000,0.035,3336,3180,2149,0,0,0,0,0,0
$GC,4553,1.03,114.4,379.9,9.2,224,4557,0.00,2.45,0.00,0.000,6,0.000,0.041,3335,1764,2149,0,0,0,0,0,0
$GC,4898,1.00,117.2,351.6,7.6,233,4900,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,1764,2146,0,0,0,0,0,0
$GC,5223,1.01,124.1,329.4,7.3,241,5235,0.00,2.53,6.38,0.633,4,0.000,0.055,3336,362,2123,0,0,0,0,0,0
$GC,5331,0.89,124.1,320.4,8.1,243,5336,0.22,2.35,0.00,0.000,6,0.111,0.028,3294,1772,2119,0,0,0,0,0,0
$GC,5647,0.99,143.6,300.5,6.1,251,5671,0.00,2.60,18.33,0.743,4,0.000,0.054,3293,354,2044,0,0,0,0,0,0
$GC,5752,0.99,147.5,292.2,7.5,254,5764,0.10,2.38,4.53,0.525,6,0.080,0.027,3323,1787,2028,0,0,0,0,0,0
$GC,6076,1.03,153.5,269.2,7.4,270,6088,0.00,2.58,6.72,0.611,4,0.000,0.052,3323,356,2004,0,0,0,0,0,0
$GC,6146,0.97,153.5,262.7,9.3,273,6150,0.00,2.35,0.00,0.000,6,0.000,0.026,3323,1766,2001,0,0,0,0,0,0
$GC,6478,1.03,166.2,239.8,6.8,289,6500,0.00,2.53,12.88,0.672,4,0.000,0.050,3322,355,1950,0,0,0,0,0,0
$GC,6574,0.97,166.2,231.7,9.5,293,6578,0.00,2.35,0.00,0.000,6,0.000,0.025,3323,1772,1947,0,0,0,0,0,0
$GC,6910,1.02,166.2,200.7,9.4,309,6914,0.00,2.47,0.00,0.000,4,0.000,0.050,3323,357,1947,0,0,0,0,0,0
$GC,6975,0.99,166.2,194.2,10.0,314,6979,0.00,2.33,0.00,0.000,6,0.000,0.024,3323,1772,1945,0,0,0,0,0,0
$GC,7247,1.07,185.9,173.9,6.1,335,7268,0.00,0.00,17.92,0.635,6,0.000,0.000,3323,1778,1872,0,0,0,0,0,0
$GC,7523,1.17,203.7,153.2,6.3,357,7551,0.12,2.53,17.38,0.610,4,0.067,0.048,3360,351,1797,0,0,0,0,0,0
$GC,7576,1.06,203.7,147.5,12.0,360,7583,0.12,2.38,0.00,0.000,6,0.084,0.021,3333,1774,1795,0,0,0,0,0,0
$GC,7838,1.14,203.7,123.4,8.1,381,7842,0.00,2.47,0.00,0.000,4,0.000,0.047,3332,354,1794,0,0,0,0,0,0
$GC,7927,1.14,203.7,114.8,9.7,387,7933,0.00,2.30,0.00,0.000,6,0.000,0.021,3332,1781,1793,0,0,0,0,0,0
$GC,8188,1.24,205.1,93.0,7.8,408,8192,0.15,2.30,0.00,0.000,4,0.058,0.025,3378,3168,1792,0,0,0,0,0,0
$GC,8302,1.29,205.1,83.0,9.1,416,8306,0.00,2.38,0.00,0.000,6,0.000,0.032,3378,1755,1792,0,0,0,0,0,0
$GC,8568,1.33,205.1,58.9,8.5,437,8572,0.00,2.38,0.00,0.000,4,0.000,0.045,3378,354,1792,0,0,0,0,0,0
$GC,8627,1.29,205.1,54.0,7.9,441,8631,0.00,2.28,0.00,0.000,6,0.000,0.019,3378,1786,1792,0,0,0,0,0,0
$GC,8894,1.37,233.4,36.7,5.3,462,8927,0.00,0.00,26.02,0.516,6,0.000,0.000,3378,1792,1677,0,0,0,0,0,0
$GC,9184,1.43,233.4,12.7,8.6,515,9191,0.15,2.50,0.00,0.000,4,0.057,0.045,3423,361,1676,0,0,0,0,0,0
$STATE,9255,end climb,SURFACE_DEPTH_REACHED
$STATE,9255,begin surface coast
$FINISH,0.8,1.020404
$STATE,9279,end surface coast,CONTROL_FINISHED_OK
$STATE,9279,begin surface
$SM_CCo,9305,102.40,0.491,0,0,958,410.14
$SM_GC,1.30,0.00,0.00,102.40,0.000,0.000,0.491,425,1724,958,-12.31,0.82,410.14
$IRIDIUM_FIX,2052.52,-15749.62,131199,090911
$TT8_MAMPS,0.028379
$HUMID,53.03
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,19.168
$10V_AH,10.3,15.478
$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,30.975,90.200,259.350,102.400,0.000,30.160,30.353,130.646,4.500,0.000,12.816,1044.190,6204.976,419.957,1611.668,437.735,0.000,1125.312,0.000,1595.229,0.000,29.253,0.000
$DEVICE_MAMPS,134.992,55.224,833.729,490.880,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,360.902,343.185,787.485,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,28587,536
$CAP_FILE_SIZE,100511,0
$CFSIZE,260165632,202113024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190810,151619,2059.587,-15749.427,10,1.7,22,9.8