version: 66.06
glider: 139
mission: 8
dive: 265
start: 8 24 110 19 48 13
data:
$ID,139
$MISSION,8
$DIVE,265
$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,-2156184.8
$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
$GPS1,194225,2105.649,-15754.761,44,1.1,44,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-71.1
$GPS2,194756,2105.611,-15754.756,15,1.4,15,9.8
$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,79.1,20458,-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,-64.35,0.000,2,0.000,0.000,429,1674,2749,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.4,-3.7,12,104,12.48,0.00,-2.33,0.000,6,0.134,0.000,2751,1675,2871,0,0,0,0,0,0
$GC,300,-1.47,-58.4,50.6,-19.9,45,302,0.12,0.00,0.00,0.000,6,0.114,0.000,2776,1675,2873,0,0,0,0,0,0
$GC,553,-1.51,-58.4,98.0,-15.4,65,557,0.00,2.40,0.00,0.000,4,0.000,0.044,2776,282,2874,0,0,0,0,0,0
$GC,607,-1.51,-58.4,106.7,-15.9,69,611,0.00,2.33,0.00,0.000,6,0.000,0.018,2776,1737,2875,0,0,0,0,0,0
$GC,877,-1.59,-58.4,141.7,-11.5,90,882,0.10,2.20,0.00,0.000,4,0.074,0.022,2740,3079,2876,0,0,0,0,0,0
$GC,935,-1.65,-58.4,148.8,-12.3,94,939,0.00,2.33,0.00,0.000,6,0.000,0.031,2741,1683,2876,0,0,0,0,0,0
$GC,1206,-1.65,-58.4,181.1,-11.3,115,1210,0.00,2.28,0.00,0.000,4,0.000,0.021,2740,3082,2877,0,0,0,0,0,0
$GC,1261,-1.72,-58.4,187.5,-11.0,119,1265,0.00,2.33,0.00,0.000,6,0.000,0.032,2739,1688,2876,0,0,0,0,0,0
$GC,1526,-1.75,-58.4,223.0,-13.5,135,1530,0.00,2.38,0.00,0.000,4,0.000,0.045,2740,287,2877,0,0,0,0,0,0
$GC,1558,-1.75,-58.4,227.9,-14.5,136,1563,0.00,2.25,0.00,0.000,6,0.000,0.019,2740,1704,2877,0,0,0,0,0,0
$GC,1876,-1.80,-58.4,263.6,-10.3,151,1878,0.15,0.00,0.00,0.000,6,0.057,0.000,2694,1709,2877,0,0,0,0,0,0
$GC,2183,-1.77,-58.4,295.3,-9.6,166,2188,0.10,2.47,0.00,0.000,4,0.114,0.048,2712,287,2877,0,0,0,0,0,0
$GC,2200,-1.72,-58.4,296.9,-9.8,166,2206,0.00,2.28,0.00,0.000,6,0.000,0.021,2712,1695,2877,0,0,0,0,0,0
$GC,2533,-1.72,-58.4,330.6,-10.4,176,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1701,2877,0,0,0,0,0,0
$GC,2858,-1.72,-58.4,367.1,-11.1,184,2862,0.00,2.30,0.00,0.000,4,0.000,0.029,2712,3066,2875,0,0,0,0,0,0
$GC,2938,-1.79,-58.4,375.8,-10.0,185,2942,0.00,2.33,0.00,0.000,6,0.000,0.038,2713,1689,2875,0,0,0,0,0,0
$GC,3269,-1.79,-58.4,410.0,-10.1,193,3273,0.00,2.30,0.00,0.000,4,0.000,0.030,2712,3072,2872,0,0,0,0,0,0
$GC,3353,-1.86,-58.4,418.7,-9.8,194,3359,0.00,2.35,0.00,0.000,6,0.000,0.040,2713,1690,2872,0,0,0,0,0,0
$STATE,3564,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3564,begin apogee
$GC,3571,-0.31,0.0,440.0,10.3,200,3624,1.50,0.00,49.22,0.822,6,0.077,0.000,3029,1766,2630,0,0,0,0,0,0
$STATE,3625,end apogee,CONTROL_FINISHED_OK
$STATE,3625,begin climb
$GC,3627,1.56,58.4,441.7,0.0,201,3686,1.77,2.42,50.55,0.805,4,0.028,0.032,3456,3158,2390,0,0,0,0,0,0
$GC,3768,1.33,110.8,440.1,3.2,204,3822,0.32,2.40,45.90,0.805,6,0.103,0.038,3394,1768,2178,0,0,0,0,0,0
$GC,4132,1.16,110.8,408.3,9.8,213,4134,0.22,0.00,0.00,0.000,6,0.105,0.000,3351,1768,2169,0,0,0,0,0,0
$GC,4458,1.08,110.8,380.2,8.9,221,4462,0.00,2.38,0.00,0.000,4,0.000,0.035,3351,3157,2165,0,0,0,0,0,0
$GC,4561,1.03,110.8,369.9,10.2,223,4566,0.12,2.38,0.00,0.000,6,0.117,0.040,3329,1772,2165,0,0,0,0,0,0
$GC,4876,1.05,122.4,346.2,6.9,231,4889,0.00,2.38,8.38,0.682,4,0.000,0.033,3329,3157,2130,0,0,0,0,0,0
$GC,4937,1.08,147.2,342.3,5.7,232,4966,0.00,2.42,23.75,0.767,6,0.000,0.039,3328,1764,2030,0,0,0,0,0,0
$GC,5291,1.08,151.2,317.1,7.5,241,5297,0.00,0.00,4.22,0.511,6,0.000,0.000,3328,1764,2013,0,0,0,0,0,0
$GC,5598,1.08,151.2,286.3,10.9,251,5602,0.00,2.35,0.00,0.000,4,0.000,0.032,3329,3158,2011,0,0,0,0,0,0
$GC,5632,1.12,151.2,281.9,12.1,252,5637,0.00,2.42,0.00,0.000,6,0.000,0.038,3328,1760,2011,0,0,0,0,0,0
$GC,5949,1.14,164.3,253.9,6.7,267,5970,0.00,2.47,12.75,0.686,4,0.000,0.052,3328,358,1958,0,0,0,0,0,0
$GC,6011,1.07,164.3,249.5,8.1,269,6015,0.00,2.33,0.00,0.000,6,0.000,0.026,3329,1758,1956,0,0,0,0,0,0
$GC,6326,1.11,164.3,225.1,8.6,284,6330,0.00,2.38,0.00,0.000,4,0.000,0.030,3329,3175,1955,0,0,0,0,0,0
$GC,6355,1.18,164.3,222.5,8.5,285,6360,0.12,2.40,0.00,0.000,6,0.067,0.037,3366,1768,1955,0,0,0,0,0,0
$GC,6684,1.14,164.3,189.1,10.2,304,6688,0.00,2.35,0.00,0.000,4,0.000,0.028,3366,3187,1954,0,0,0,0,0,0
$GC,6735,1.14,164.3,183.4,10.3,308,6739,0.00,2.42,0.00,0.000,6,0.000,0.035,3366,1769,1954,0,0,0,0,0,0
$GC,7001,1.14,166.4,159.2,7.7,329,7005,0.00,2.47,0.00,0.000,4,0.000,0.049,3365,352,1953,0,0,0,0,0,0
$GC,7110,1.02,166.4,150.0,8.4,337,7116,0.22,2.33,0.00,0.000,6,0.095,0.022,3321,1797,1950,0,0,0,0,0,0
$GC,7378,1.12,187.6,133.9,6.0,358,7406,0.10,2.33,20.45,0.604,4,0.075,0.026,3355,3154,1865,0,0,0,0,0,0
$GC,7479,1.18,187.6,124.4,10.5,365,7484,0.00,2.35,0.00,0.000,6,0.000,0.031,3355,1759,1864,0,0,0,0,0,0
$GC,7741,1.22,187.6,98.4,8.8,385,7746,0.00,2.40,0.00,0.000,4,0.000,0.045,3355,362,1863,0,0,0,0,0,0
$GC,8009,1.28,234.6,85.4,3.7,404,8057,0.00,2.30,41.40,0.566,6,0.000,0.020,3356,1784,1672,0,0,0,0,0,0
$GC,8322,1.39,234.6,61.1,8.7,429,8327,0.20,2.45,0.00,0.000,4,0.046,0.043,3415,362,1669,0,0,0,0,0,0
$GC,8409,1.26,234.6,50.5,13.3,435,8416,0.17,2.28,0.00,0.000,6,0.078,0.019,3376,1765,1666,0,0,0,0,0,0
$GC,8673,1.32,234.6,24.8,10.2,462,8680,0.00,2.45,0.00,0.000,4,0.000,0.044,3375,358,1666,0,0,0,0,0,0
$GC,8747,1.28,234.6,15.7,12.6,478,8753,0.00,2.30,0.00,0.000,6,0.000,0.018,3376,1775,1665,0,0,0,0,0,0
$STATE,8855,end climb,SURFACE_DEPTH_REACHED
$STATE,8855,begin surface coast
$FINISH,0.9,1.000129
$STATE,8885,end surface coast,CONTROL_FINISHED_OK
$STATE,8885,begin surface
$SM_CCo,8908,95.75,0.486,0,0,958,410.14
$SM_GC,1.70,0.00,0.00,95.75,0.000,0.000,0.486,427,1676,958,-12.30,-0.54,410.14
$IRIDIUM_FIX,2057.14,-15753.90,181199,171719
$TT8_MAMPS,0.029146
$HUMID,53.74
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,440.0,8.1
$24V_AH,23.5,23.344
$10V_AH,10.3,18.932
$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,30.300,89.875,256.625,95.750,0.000,23.771,38.295,140.689,4.750,0.000,16.136,1002.275,5938.268,398.145,1545.495,448.655,0.000,1088.219,0.000,1529.161,0.000,32.127,0.000
$DEVICE_MAMPS,134.225,90.506,822.224,486.278,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,342.507,329.119,735.231,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355672
$DATA_FILE_SIZE,28593,509
$CAP_FILE_SIZE,98151,0
$CFSIZE,260165632,199704576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240810,221937,2105.696,-15754.381,42,1.3,42,9.8