version: 66.06
glider: 139
mission: 8
dive: 246
start: 8 22 110 15 24 15
data:
$ID,139
$MISSION,8
$DIVE,246
$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,-2155705
$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
$GPS1,150230,2107.399,-15757.813,59,0.8,59,9.8
$_CALLS,5
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-71.0
$GPS2,152356,2107.391,-15757.942,14,1.3,14,9.8
$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,86.6,26124,-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,14,-1.56,-58.4,0.0,0.0,0,86,0.00,0.00,-68.12,0.000,6,0.000,0.000,424,1695,2871,0,0,0,0,0,0
$GC,90,-1.56,-58.4,3.9,-4.3,13,109,12.50,2.35,0.00,0.000,4,0.134,0.023,2752,3106,2873,0,0,0,0,0,0
$GC,163,-1.56,-58.4,27.3,-20.5,28,169,0.00,2.42,0.00,0.000,6,0.000,0.035,2752,1698,2873,0,0,0,0,0,0
$GC,371,-1.46,-58.4,66.6,-19.5,46,376,0.15,2.38,0.00,0.000,4,0.108,0.024,2780,3113,2873,0,0,0,0,0,0
$GC,418,-1.60,-58.4,74.1,-13.9,49,425,0.10,2.42,0.00,0.000,6,0.035,0.033,2740,1698,2873,0,0,0,0,0,0
$GC,681,-1.60,-58.4,120.0,-17.2,70,685,0.00,2.33,0.00,0.000,4,0.000,0.021,2740,3109,2874,0,0,0,0,0,0
$GC,748,-1.66,-58.4,131.4,-16.1,75,752,0.00,2.40,0.00,0.000,6,0.000,0.032,2740,1687,2874,0,0,0,0,0,0
$GC,1012,-1.66,-58.4,170.2,-13.0,96,1016,0.00,2.35,0.00,0.000,4,0.000,0.022,2740,3108,2875,0,0,0,0,0,0
$GC,1057,-1.74,-58.4,175.6,-12.4,99,1061,0.00,2.35,0.00,0.000,6,0.000,0.031,2740,1694,2875,0,0,0,0,0,0
$GC,1334,-1.77,-58.4,208.8,-12.1,119,1339,0.12,2.35,0.00,0.000,4,0.066,0.023,2700,3106,2875,0,0,0,0,0,0
$GC,1356,-1.77,-58.4,211.9,-13.0,120,1360,0.00,2.38,0.00,0.000,6,0.000,0.031,2699,1689,2875,0,0,0,0,0,0
$GC,1687,-1.74,-58.4,255.8,-13.5,136,1692,0.10,2.35,0.00,0.000,4,0.119,0.025,2718,3109,2875,0,0,0,0,0,0
$GC,1801,-1.78,-58.4,270.1,-12.0,141,1805,0.00,2.38,0.00,0.000,6,0.000,0.032,2719,1697,2874,0,0,0,0,0,0
$GC,2129,-1.78,-58.4,313.9,-13.6,155,2133,0.00,2.42,0.00,0.000,4,0.000,0.049,2718,292,2874,0,0,0,0,0,0
$GC,2185,-1.78,-58.4,322.5,-14.8,156,2189,0.00,2.33,0.00,0.000,6,0.000,0.021,2718,1729,2874,0,0,0,0,0,0
$GC,2499,-1.81,-58.4,357.2,-10.2,164,2503,0.00,2.50,0.00,0.000,4,0.000,0.050,2718,293,2873,0,0,0,0,0,0
$GC,2528,-1.77,-58.4,360.1,-9.9,164,2532,0.00,2.25,0.00,0.000,6,0.000,0.023,2718,1703,2873,0,0,0,0,0,0
$STATE,2784,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2785,begin apogee
$GC,2791,-0.31,0.0,380.5,7.7,171,2844,1.48,0.00,49.00,0.753,6,0.076,0.000,3031,1708,2630,0,0,0,0,0,0
$STATE,2845,end apogee,CONTROL_FINISHED_OK
$STATE,2845,begin climb
$GC,2848,1.56,58.4,381.3,0.0,172,2906,1.77,2.53,49.72,0.742,4,0.027,0.030,3452,3155,2391,0,0,0,0,0,0
$GC,3008,1.37,133.3,378.1,1.1,176,3082,0.28,2.38,64.93,0.748,6,0.108,0.033,3400,1768,2086,0,0,0,0,0,0
$GC,3405,1.22,133.3,341.8,9.9,186,3407,0.17,0.00,0.00,0.000,6,0.108,0.000,3367,1768,2076,0,0,0,0,0,0
$GC,3729,1.14,133.3,310.9,9.5,194,3734,0.00,2.47,0.00,0.000,4,0.000,0.052,3366,356,2072,0,0,0,0,0,0
$GC,3748,1.00,133.3,308.7,10.9,194,3754,0.25,2.35,0.00,0.000,6,0.099,0.025,3318,1762,2070,0,0,0,0,0,0
$GC,4081,1.05,136.0,277.9,7.7,208,4084,0.00,2.45,0.00,0.000,4,0.000,0.051,3318,353,2068,0,0,0,0,0,0
$GC,4245,0.99,136.0,262.1,9.4,215,4249,0.00,2.35,0.00,0.000,6,0.000,0.025,3318,1792,2065,0,0,0,0,0,0
$GC,4577,1.08,158.9,240.0,5.8,231,4602,0.00,2.38,19.60,0.677,4,0.000,0.029,3318,3163,1981,0,0,0,0,0,0
$GC,4672,1.17,158.9,232.7,9.7,235,4677,0.17,2.38,0.00,0.000,6,0.056,0.035,3366,1771,1981,0,0,0,0,0,0
$GC,5001,1.13,158.9,193.7,11.2,252,5005,0.00,2.33,0.00,0.000,4,0.000,0.027,3366,3164,1978,0,0,0,0,0,0
$GC,5092,1.13,158.9,184.6,8.9,258,5099,0.08,2.40,0.00,0.000,6,0.100,0.032,3349,1771,1978,0,0,0,0,0,0
$GC,5355,1.13,160.8,164.3,7.7,279,5359,0.00,2.45,0.00,0.000,4,0.000,0.048,3349,348,1977,0,0,0,0,0,0
$GC,5414,1.05,160.8,158.8,9.4,283,5420,0.00,2.33,0.00,0.000,6,0.000,0.021,3349,1775,1974,0,0,0,0,0,0
$GC,5674,1.06,175.9,140.3,6.5,304,5696,0.00,2.55,15.30,0.587,4,0.000,0.045,3349,352,1910,0,0,0,0,0,0
$GC,5827,1.02,175.9,126.3,8.8,315,5832,0.15,2.33,0.00,0.000,6,0.104,0.020,3320,1781,1907,0,0,0,0,0,0
$GC,6094,1.18,211.3,112.8,4.7,336,6128,0.17,0.00,31.50,0.576,6,0.054,0.000,3371,1786,1767,0,0,0,0,0,0
$GC,6384,1.22,211.3,85.6,9.5,359,6388,0.00,2.47,0.00,0.000,4,0.000,0.044,3371,350,1764,0,0,0,0,0,0
$GC,6621,1.22,213.4,62.1,7.7,376,6627,0.00,2.33,0.00,0.000,6,0.000,0.019,3371,1774,1761,0,0,0,0,0,0
$GC,6882,1.29,213.4,45.8,8.2,397,6883,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,1779,1761,0,0,0,0,0,0
$GC,7135,1.35,213.4,23.9,8.4,427,7143,0.10,2.47,0.00,0.000,4,0.074,0.043,3406,352,1761,0,0,0,0,0,0
$GC,7161,1.35,213.4,20.9,10.3,431,7167,0.00,2.30,0.00,0.000,6,0.000,0.018,3406,1782,1761,0,0,0,0,0,0
$STATE,7329,end climb,SURFACE_DEPTH_REACHED
$STATE,7329,begin surface coast
$FINISH,0.9,1.023079
$STATE,7361,end surface coast,CONTROL_FINISHED_OK
$STATE,7361,begin surface
$SM_CCo,7385,107.82,0.482,0,0,956,410.14
$SM_GC,1.66,0.00,0.00,107.82,0.000,0.000,0.482,426,1667,956,-12.30,-0.79,410.14
$IRIDIUM_FIX,2101.76,-15758.18,161199,151514
$TT8_MAMPS,0.028379
$HUMID,52.99
$INTERNAL_PRESSURE,9.3133
$TCM_TEMP,22.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,380.5,9.7
$24V_AH,23.5,21.608
$10V_AH,10.4,17.494
$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,30.300,81.325,230.050,107.825,0.000,144.621,196.604,571.218,4.000,0.000,14.458,918.896,4853.616,407.891,1440.858,1156.361,0.000,1024.023,0.000,1432.175,0.000,27.428,0.000
$DEVICE_MAMPS,134.225,66.729,753.194,481.676,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,320.077,325.849,747.297,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355808
$DATA_FILE_SIZE,25457,477
$CAP_FILE_SIZE,96831,0
$CFSIZE,260165632,200716288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220810,173001,2107.471,-15757.474,13,2.0,13,9.8