version: 66.06
glider: 139
mission: 8
dive: 236
start: 8 21 110 11 36 32
data:
$ID,139
$MISSION,8
$DIVE,236
$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,-2155519.2
$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
$GPS1,111950,2108.162,-15801.533,11,1.6,11,9.8
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-73.0
$GPS2,113613,2108.126,-15801.604,12,1.7,17,9.8
$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,87.8,32571,-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,-64.65,0.000,2,0.000,0.000,426,1720,2756,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.0,-2.8,12,105,12.50,0.00,-2.15,0.000,6,0.133,0.000,2751,1720,2871,0,0,0,0,0,0
$GC,298,-1.48,-58.4,53.6,-19.4,42,299,0.12,0.00,0.00,0.000,6,0.114,0.000,2774,1723,2874,0,0,0,0,0,0
$GC,549,-1.48,-58.4,87.8,-12.8,62,550,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1723,2875,0,0,0,0,0,0
$GC,801,-1.54,-58.4,118.5,-11.9,82,805,0.00,2.25,0.00,0.000,4,0.000,0.021,2775,3109,2875,0,0,0,0,0,0
$GC,823,-1.64,-58.4,121.4,-12.6,83,829,0.15,2.35,0.00,0.000,6,0.056,0.031,2729,1692,2875,0,0,0,0,0,0
$GC,1084,-1.64,-58.4,156.0,-13.6,104,1088,0.00,2.33,0.00,0.000,4,0.000,0.022,2729,3113,2876,0,0,0,0,0,0
$GC,1125,-1.70,-58.4,161.5,-11.6,107,1129,0.00,2.38,0.00,0.000,6,0.000,0.031,2729,1693,2876,0,0,0,0,0,0
$GC,1386,-1.70,-58.4,193.0,-12.0,127,1390,0.00,2.35,0.00,0.000,4,0.000,0.023,2728,3115,2876,0,0,0,0,0,0
$GC,1439,-1.77,-58.4,199.4,-11.2,131,1444,0.00,2.38,0.00,0.000,6,0.000,0.033,2728,1695,2876,0,0,0,0,0,0
$GC,1703,-1.77,-58.4,229.8,-11.6,144,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1695,2875,0,0,0,0,0,0
$GC,2014,-1.80,-58.4,265.0,-10.3,159,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1695,2875,0,0,0,0,0,0
$GC,2322,-1.84,-58.4,295.1,-9.7,174,2327,0.12,2.38,0.00,0.000,4,0.066,0.026,2690,3109,2874,0,0,0,0,0,0
$GC,2390,-1.84,-58.4,302.4,-11.4,177,2394,0.00,2.38,0.00,0.000,6,0.000,0.035,2689,1689,2874,0,0,0,0,0,0
$GC,2737,-1.80,-58.4,345.4,-12.8,186,2741,0.00,2.35,0.00,0.000,4,0.000,0.028,2689,3106,2873,0,0,0,0,0,0
$GC,3005,-1.80,-58.4,377.3,-10.9,191,3010,0.00,2.38,0.00,0.000,6,0.000,0.037,2689,1698,2871,0,0,0,0,0,0
$GC,3336,-1.80,-58.4,414.5,-10.6,200,3341,0.00,2.38,0.00,0.000,4,0.000,0.030,2689,3108,2869,0,0,0,0,0,0
$GC,3445,-1.84,-58.4,426.2,-11.4,202,3449,0.00,2.42,0.00,0.000,6,0.000,0.039,2689,1695,2868,0,0,0,0,0,0
$STATE,3629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3629,begin apogee
$GC,3637,-0.31,0.0,450.3,13.0,207,3689,1.62,0.00,48.53,0.824,6,0.084,0.000,3028,1808,2630,0,0,0,0,0,0
$STATE,3690,end apogee,CONTROL_FINISHED_OK
$STATE,3690,begin climb
$GC,3693,1.56,58.4,452.1,0.0,208,3751,1.77,2.60,50.25,0.807,4,0.030,0.051,3451,353,2390,0,0,0,0,0,0
$GC,3856,1.23,136.6,452.5,0.8,211,3935,0.43,2.35,68.32,0.814,6,0.105,0.025,3369,1753,2072,0,0,0,0,0,0
$GC,4281,1.11,136.6,416.1,10.4,222,4286,0.15,2.40,0.00,0.000,4,0.110,0.033,3342,3182,2062,0,0,0,0,0,0
$GC,4301,1.05,136.6,414.2,8.8,222,4305,0.00,2.45,0.00,0.000,6,0.000,0.040,3342,1766,2062,0,0,0,0,0,0
$GC,4646,1.02,136.6,387.1,8.0,231,4650,0.00,2.50,0.00,0.000,4,0.000,0.055,3342,349,2059,0,0,0,0,0,0
$GC,4666,0.91,136.6,385.2,9.1,231,4671,0.22,2.35,0.00,0.000,6,0.106,0.027,3299,1768,2056,0,0,0,0,0,0
$GC,5012,0.96,136.6,356.9,8.4,240,5016,0.00,2.50,0.00,0.000,4,0.000,0.054,3299,352,2055,0,0,0,0,0,0
$GC,5068,0.92,136.6,351.1,10.0,241,5072,0.00,2.38,0.00,0.000,6,0.000,0.027,3299,1780,2052,0,0,0,0,0,0
$GC,5387,0.97,136.6,322.4,9.2,249,5392,0.00,2.53,0.00,0.000,4,0.000,0.054,3299,349,2052,0,0,0,0,0,0
$GC,5416,0.93,136.6,319.5,9.8,249,5420,0.00,2.35,0.00,0.000,6,0.000,0.027,3299,1770,2050,0,0,0,0,0,0
$GC,5739,1.00,139.3,293.7,7.7,259,5743,0.00,2.47,0.00,0.000,4,0.000,0.052,3299,349,2050,0,0,0,0,0,0
$GC,5754,1.01,152.1,292.5,6.7,259,5770,0.00,2.35,11.00,0.683,6,0.000,0.026,3299,1790,2008,0,0,0,0,0,0
$GC,6093,1.10,165.8,270.4,6.7,276,6112,0.17,0.00,13.48,0.691,6,0.058,0.000,3346,1790,1953,0,0,0,0,0,0
$GC,6421,1.10,165.8,240.5,8.4,292,6425,0.00,2.50,0.00,0.000,4,0.000,0.051,3346,350,1949,0,0,0,0,0,0
$GC,6517,1.00,165.8,230.0,12.5,296,6522,0.15,2.33,0.00,0.000,6,0.107,0.025,3318,1763,1947,0,0,0,0,0,0
$GC,6841,1.07,165.8,203.5,8.1,312,6845,0.00,2.42,0.00,0.000,4,0.000,0.048,3318,357,1946,0,0,0,0,0,0
$GC,6851,1.13,165.8,202.3,8.3,312,6856,0.12,2.33,0.00,0.000,6,0.070,0.025,3354,1794,1946,0,0,0,0,0,0
$GC,7182,1.13,165.8,169.5,9.8,337,7186,0.00,2.47,0.00,0.000,4,0.000,0.048,3354,356,1946,0,0,0,0,0,0
$GC,7214,1.01,165.8,165.7,11.3,339,7220,0.17,2.30,0.00,0.000,6,0.103,0.022,3320,1774,1944,0,0,0,0,0,0
$GC,7476,1.10,182.3,145.7,6.4,360,7497,0.00,2.50,14.75,0.599,4,0.000,0.045,3319,355,1885,0,0,0,0,0,0
$GC,7546,1.10,182.3,140.0,8.8,365,7550,0.00,2.30,0.00,0.000,6,0.000,0.021,3320,1775,1882,0,0,0,0,0,0
$GC,7812,1.20,182.3,117.8,9.2,386,7814,0.17,0.00,0.00,0.000,6,0.054,0.000,3370,1780,1882,0,0,0,0,0,0
$GC,8061,1.23,200.9,97.5,6.2,406,8083,0.00,2.50,17.12,0.557,4,0.000,0.045,3370,355,1811,0,0,0,0,0,0
$GC,8123,1.15,200.9,93.1,8.4,409,8128,0.00,2.30,0.00,0.000,6,0.000,0.020,3370,1781,1808,0,0,0,0,0,0
$GC,8386,1.20,213.4,73.0,6.8,430,8404,0.00,2.53,12.30,0.515,4,0.000,0.045,3370,362,1758,0,0,0,0,0,0
$GC,8486,1.20,216.0,64.6,7.7,437,8491,0.00,2.28,0.00,0.000,6,0.000,0.019,3370,1780,1755,0,0,0,0,0,0
$GC,8754,1.29,239.2,48.7,5.8,458,8783,0.00,2.50,22.98,0.517,4,0.000,0.044,3370,353,1653,0,0,0,0,0,0
$GC,8928,1.29,239.2,31.8,8.5,470,8934,0.00,2.33,0.00,0.000,6,0.000,0.018,3370,1784,1649,0,0,0,0,0,0
$GC,9191,1.34,240.0,5.5,7.8,527,9198,0.10,2.50,0.00,0.000,4,0.074,0.042,3404,349,1648,0,0,0,0,0,0
$STATE,9207,end climb,SURFACE_DEPTH_REACHED
$STATE,9207,begin surface coast
$FINISH,0.9,1.023077
$STATE,9234,end surface coast,CONTROL_FINISHED_OK
$STATE,9234,begin surface
$SM_CCo,9259,95.15,0.488,0,0,957,410.14
$SM_GC,1.49,0.00,0.00,95.15,0.000,0.000,0.488,428,1724,957,-12.29,0.82,410.14
$IRIDIUM_FIX,2059.45,-15801.19,151199,111123
$TT8_MAMPS,0.029146
$HUMID,52.48
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.5,20.634
$10V_AH,10.3,16.743
$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,30.725,95.900,258.725,95.150,0.000,47.657,65.871,677.634,4.500,0.000,17.653,1054.582,6211.573,404.984,1625.620,1043.011,0.000,1122.134,0.000,1606.529,0.000,29.261,0.000
$DEVICE_MAMPS,133.458,66.729,823.758,487.812,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,360.801,344.666,787.751,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355864
$DATA_FILE_SIZE,28634,536
$CAP_FILE_SIZE,111043,0
$CFSIZE,260165632,201211904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210810,141336,2108.122,-15801.146,31,0.9,31,9.8