version: 66.06
glider: 139
mission: 8
dive: 237
start: 8 21 110 14 23 43
data:
$ID,139
$MISSION,8
$DIVE,237
$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,-2155533
$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
$GPS1,141336,2108.122,-15801.146,31,0.9,31,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-72.0
$GPS2,142326,2108.102,-15801.188,12,1.5,12,9.8
$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,87.8,31850,-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,16,-1.56,-58.4,0.0,0.0,0,82,0.00,0.00,-64.15,0.000,2,0.000,0.000,428,1724,2735,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.0,-2.9,12,110,12.45,2.33,-2.60,0.000,4,0.133,0.035,2752,3103,2872,0,0,0,0,0,0
$GC,144,-1.42,-58.4,20.0,-25.0,23,151,0.15,2.42,0.00,0.000,6,0.084,0.035,2785,1696,2873,0,0,0,0,0,0
$GC,350,-1.42,-58.4,55.5,-17.2,48,351,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1696,2874,0,0,0,0,0,0
$GC,600,-1.46,-58.4,91.4,-12.5,68,601,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1696,2875,0,0,0,0,0,0
$GC,853,-1.54,-58.4,123.3,-11.4,88,857,0.00,2.40,0.00,0.000,4,0.000,0.045,2786,290,2876,0,0,0,0,0,0
$GC,918,-1.59,-58.4,131.3,-12.3,92,925,0.10,2.33,0.00,0.000,6,0.035,0.018,2741,1733,2876,0,0,0,0,0,0
$GC,1181,-1.59,-58.4,167.9,-14.0,113,1185,0.00,2.20,0.00,0.000,4,0.000,0.022,2741,3082,2876,0,0,0,0,0,0
$GC,1218,-1.68,-58.4,173.4,-13.0,116,1223,0.00,2.35,0.00,0.000,6,0.000,0.031,2741,1684,2876,0,0,0,0,0,0
$GC,1493,-1.68,-58.4,205.2,-11.6,136,1497,0.00,2.30,0.00,0.000,4,0.000,0.023,2741,3081,2877,0,0,0,0,0,0
$GC,1590,-1.77,-58.4,216.7,-11.2,140,1595,0.12,2.30,0.00,0.000,6,0.065,0.031,2700,1693,2876,0,0,0,0,0,0
$GC,1914,-1.73,-58.4,259.5,-13.4,156,1919,0.10,2.28,0.00,0.000,4,0.116,0.025,2721,3078,2876,0,0,0,0,0,0
$GC,1989,-1.79,-58.4,269.5,-11.5,159,1993,0.00,2.30,0.00,0.000,6,0.000,0.032,2721,1695,2876,0,0,0,0,0,0
$GC,2314,-1.83,-58.4,305.2,-10.1,174,2318,0.00,2.28,0.00,0.000,4,0.000,0.025,2721,3081,2876,0,0,0,0,0,0
$GC,2431,-1.91,-58.4,316.6,-9.9,176,2437,0.17,2.35,0.00,0.000,6,0.053,0.034,2670,1690,2876,0,0,0,0,0,0
$GC,2774,-1.85,-58.4,356.8,-11.6,185,2776,0.12,0.00,0.00,0.000,6,0.106,0.000,2694,1690,2875,0,0,0,0,0,0
$GC,3097,-1.85,-58.4,396.8,-12.5,193,3101,0.00,2.33,0.00,0.000,4,0.000,0.028,2694,3078,2872,0,0,0,0,0,0
$GC,3212,-1.89,-58.4,410.2,-11.8,195,3216,0.00,2.35,0.00,0.000,6,0.000,0.039,2694,1694,2872,0,0,0,0,0,0
$STATE,3554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3554,begin apogee
$GC,3561,-0.31,0.0,452.4,12.4,204,3614,1.60,0.00,49.08,0.825,6,0.082,0.000,3029,1773,2630,0,0,0,0,0,0
$STATE,3614,end apogee,CONTROL_FINISHED_OK
$STATE,3614,begin climb
$GC,3618,1.56,58.4,454.2,0.0,205,3676,1.77,2.55,50.25,0.810,4,0.030,0.051,3452,357,2390,0,0,0,0,0,0
$GC,3796,1.21,119.0,453.9,2.4,209,3857,0.45,2.33,53.30,0.813,6,0.105,0.025,3366,1760,2143,0,0,0,0,0,0
$GC,4170,1.09,119.0,424.3,9.1,218,4175,0.15,2.45,0.00,0.000,4,0.112,0.053,3338,362,2134,0,0,0,0,0,0
$GC,4186,0.96,119.0,422.5,10.5,218,4191,0.15,2.35,0.00,0.000,6,0.112,0.027,3310,1770,2132,0,0,0,0,0,0
$GC,4536,0.96,119.0,391.0,9.0,227,4540,0.00,2.47,0.00,0.000,4,0.000,0.054,3310,362,2129,0,0,0,0,0,0
$GC,4603,0.88,119.0,384.2,10.3,228,4607,0.00,2.35,0.00,0.000,6,0.000,0.027,3310,1776,2127,0,0,0,0,0,0
$GC,4948,0.88,119.0,352.5,8.7,237,4952,0.00,2.50,0.00,0.000,4,0.000,0.054,3310,360,2126,0,0,0,0,0,0
$GC,5000,0.80,119.0,347.2,10.3,238,5005,0.17,2.35,0.00,0.000,6,0.110,0.028,3278,1767,2124,0,0,0,0,0,0
$GC,5320,0.90,119.6,321.1,7.8,246,5324,0.00,2.47,0.00,0.000,4,0.000,0.054,3277,352,2124,0,0,0,0,0,0
$GC,5353,0.92,138.0,318.8,6.2,246,5374,0.10,2.38,14.43,0.729,6,0.080,0.027,3308,1786,2067,0,0,0,0,0,0
$GC,5695,0.99,159.7,297.8,5.9,256,5721,0.00,2.42,20.65,0.740,4,0.000,0.032,3308,3169,1978,0,0,0,0,0,0
$GC,5741,1.11,194.6,295.5,4.7,258,5781,0.15,2.42,32.45,0.744,6,0.061,0.038,3350,1768,1835,0,0,0,0,0,0
$GC,6092,1.11,194.6,262.9,10.6,275,6096,0.00,2.47,0.00,0.000,4,0.000,0.054,3349,352,1829,0,0,0,0,0,0
$GC,6116,1.02,194.6,259.8,12.4,276,6121,0.12,2.35,0.00,0.000,6,0.111,0.025,3327,1769,1827,0,0,0,0,0,0
$GC,6443,1.08,194.6,224.0,11.2,292,6447,0.00,2.47,0.00,0.000,4,0.000,0.051,3326,354,1826,0,0,0,0,0,0
$GC,6495,1.04,194.6,217.4,12.9,294,6499,0.00,2.35,0.00,0.000,6,0.000,0.024,3326,1780,1824,0,0,0,0,0,0
$GC,6825,1.11,194.6,183.5,10.1,315,6830,0.00,2.50,0.00,0.000,4,0.000,0.050,3326,351,1823,0,0,0,0,0,0
$GC,6927,1.07,194.6,171.4,11.1,322,6934,0.00,2.35,0.00,0.000,6,0.000,0.022,3326,1771,1822,0,0,0,0,0,0
$GC,7188,1.14,194.6,146.3,9.4,343,7193,0.10,2.42,0.00,0.000,4,0.075,0.047,3360,356,1822,0,0,0,0,0,0
$GC,7243,1.06,194.6,139.7,13.5,347,7248,0.15,2.30,0.00,0.000,6,0.101,0.021,3330,1776,1821,0,0,0,0,0,0
$GC,7509,1.16,194.6,112.8,8.0,368,7510,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,1782,1821,0,0,0,0,0,0
$GC,7761,1.28,200.8,93.6,7.3,388,7776,0.20,2.45,4.53,0.406,4,0.048,0.044,3387,349,1810,0,0,0,0,0,0
$GC,7823,1.17,200.8,86.6,13.0,392,7828,0.17,2.30,0.00,0.000,6,0.098,0.020,3353,1789,1809,0,0,0,0,0,0
$GC,8086,1.34,263.1,71.7,2.3,412,8148,0.17,2.53,54.33,0.553,4,0.051,0.044,3405,350,1555,0,0,0,0,0,0
$GC,8185,1.25,263.1,63.9,13.0,419,8190,0.17,2.30,0.00,0.000,6,0.097,0.019,3371,1771,1552,0,0,0,0,0,0
$GC,8454,1.32,263.1,37.3,11.9,440,8458,0.00,2.42,0.00,0.000,4,0.000,0.044,3370,357,1551,0,0,0,0,0,0
$GC,8523,1.32,263.1,26.5,15.1,448,8530,0.00,2.33,0.00,0.000,6,0.000,0.018,3370,1790,1548,0,0,0,0,0,0
$STATE,8722,end climb,SURFACE_DEPTH_REACHED
$STATE,8722,begin surface coast
$FINISH,1.0,1.023114
$STATE,8749,end surface coast,CONTROL_FINISHED_OK
$STATE,8749,begin surface
$SM_CCo,8773,79.15,0.486,0,0,957,410.14
$SM_GC,1.43,0.00,0.00,79.15,0.000,0.000,0.486,430,1682,957,-12.28,-0.37,410.14
$IRIDIUM_FIX,2059.45,-15803.33,151199,111131
$TT8_MAMPS,0.029146
$HUMID,54.37
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,20.731
$10V_AH,10.3,16.814
$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,31.500,95.350,279.000,79.150,0.000,31.181,39.578,402.237,4.500,0.000,13.093,994.993,5808.431,401.453,1534.288,701.684,0.000,1099.205,0.000,1514.380,0.000,29.269,0.000
$DEVICE_MAMPS,132.691,89.739,825.292,485.511,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,336.145,315.819,729.940,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355776
$DATA_FILE_SIZE,28608,500
$CAP_FILE_SIZE,103639,0
$CFSIZE,260165632,201170944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210810,165226,2108.053,-15800.357,32,1.8,32,9.8