version: 66.06
glider: 139
mission: 8
dive: 345
start: 9 2 110 23 56 37
data:
$ID,139
$MISSION,8
$DIVE,345
$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,-2158119.2
$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,1700
$C_ROLL_CLIMB,1700
$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
$GPS1,235107,2101.579,-15753.302,28,1.4,28,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-73.0
$GPS2,235620,2101.484,-15753.274,13,1.4,13,9.8
$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,56.1,19609,-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,-64.20,0.000,2,0.000,0.000,426,1693,2751,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.5,-3.6,12,110,12.48,2.40,-2.20,0.000,4,0.133,0.036,2753,3109,2872,0,0,0,0,0,0
$GC,152,-1.52,-58.4,22.0,-20.4,25,159,0.00,2.42,0.00,0.000,6,0.000,0.035,2753,1702,2873,0,0,0,0,0,0
$GC,360,-1.45,-58.4,57.7,-16.2,47,365,0.15,2.42,0.00,0.000,4,0.107,0.046,2781,293,2874,0,0,0,0,0,0
$GC,434,-1.36,-58.4,71.4,-18.7,52,442,0.08,2.33,0.00,0.000,6,0.091,0.018,2799,1734,2874,0,0,0,0,0,0
$GC,696,-1.44,-58.4,104.0,-9.3,73,700,0.00,2.45,0.00,0.000,4,0.000,0.044,2799,295,2875,0,0,0,0,0,0
$GC,711,-1.49,-58.4,105.6,-9.4,74,716,0.10,2.22,0.00,0.000,6,0.074,0.018,2766,1720,2875,0,0,0,0,0,0
$GC,972,-1.53,-58.4,132.8,-10.6,94,976,0.00,2.45,0.00,0.000,4,0.000,0.044,2765,294,2876,0,0,0,0,0,0
$GC,990,-1.53,-58.4,135.6,-12.6,95,996,0.00,2.22,0.00,0.000,6,0.000,0.018,2766,1707,2876,0,0,0,0,0,0
$GC,1252,-1.59,-58.4,170.0,-14.2,116,1256,0.00,2.45,0.00,0.000,4,0.000,0.045,2765,286,2877,0,0,0,0,0,0
$GC,1270,-1.59,-58.4,173.4,-14.5,117,1276,0.00,2.22,0.00,0.000,6,0.000,0.018,2765,1702,2877,0,0,0,0,0,0
$GC,1536,-1.67,-58.4,205.4,-10.9,137,1538,0.12,0.00,0.00,0.000,6,0.065,0.000,2726,1707,2877,0,0,0,0,0,0
$GC,1841,-1.67,-58.4,239.2,-10.6,152,1845,0.00,2.42,0.00,0.000,4,0.000,0.047,2726,286,2877,0,0,0,0,0,0
$GC,1884,-1.62,-58.4,244.4,-13.1,154,1889,0.10,2.25,0.00,0.000,6,0.115,0.020,2745,1696,2878,0,0,0,0,0,0
$GC,2222,-1.69,-58.4,280.8,-10.6,170,2226,0.00,2.28,0.00,0.000,4,0.000,0.027,2745,3076,2878,0,0,0,0,0,0
$GC,2366,-1.81,-58.4,295.9,-9.4,176,2371,0.17,2.30,0.00,0.000,6,0.054,0.035,2694,1695,2877,0,0,0,0,0,0
$GC,2703,-1.77,-58.4,337.6,-13.0,186,2707,0.00,2.30,0.00,0.000,4,0.000,0.027,2694,3076,2876,0,0,0,0,0,0
$GC,2847,-1.81,-58.4,357.6,-12.6,189,2851,0.00,2.33,0.00,0.000,6,0.000,0.037,2694,1697,2876,0,0,0,0,0,0
$GC,3165,-1.81,-58.4,398.8,-12.8,197,3169,0.00,2.30,0.00,0.000,4,0.000,0.030,2694,3078,2875,0,0,0,0,0,0
$GC,3217,-1.84,-58.4,404.9,-12.3,198,3221,0.00,2.35,0.00,0.000,6,0.000,0.039,2694,1695,2873,0,0,0,0,0,0
$GC,3537,-1.84,-58.4,440.6,-11.2,206,3541,0.00,2.33,0.00,0.000,4,0.000,0.031,2694,3077,2871,0,0,0,0,0,0
$STATE,3613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3614,begin apogee
$GC,3623,-0.31,0.0,450.7,12.9,207,3676,1.58,0.00,49.08,0.821,6,0.084,0.000,3025,1702,2630,0,0,0,0,0,0
$STATE,3677,end apogee,CONTROL_FINISHED_OK
$STATE,3677,begin climb
$GC,3680,1.56,58.4,453.3,0.0,209,3738,1.77,2.53,50.03,0.806,4,0.031,0.053,3448,293,2389,0,0,0,0,0,0
$GC,3746,1.36,173.2,454.4,-2.4,210,3856,0.28,2.33,100.15,0.811,6,0.111,0.025,3397,1705,1923,0,0,0,0,0,0
$GC,4175,1.20,173.2,398.3,16.2,221,4180,0.17,2.33,0.00,0.000,4,0.111,0.031,3364,3076,1913,0,0,0,0,0,0
$GC,4196,1.09,173.2,394.9,16.5,221,4201,0.15,2.40,0.00,0.000,6,0.120,0.041,3336,1700,1913,0,0,0,0,0,0
$GC,4541,1.09,173.2,343.6,14.7,230,4545,0.00,2.47,0.00,0.000,4,0.000,0.057,3336,294,1909,0,0,0,0,0,0
$GC,4589,0.97,173.2,336.9,14.1,231,4594,0.12,2.33,0.00,0.000,6,0.119,0.027,3314,1695,1906,0,0,0,0,0,0
$GC,4913,1.01,173.2,302.0,10.6,239,4917,0.00,2.33,0.00,0.000,4,0.000,0.031,3315,3082,1904,0,0,0,0,0,0
$GC,4941,1.08,173.2,299.2,9.5,239,4945,0.00,2.40,0.00,0.000,6,0.000,0.040,3314,1698,1904,0,0,0,0,0,0
$GC,5268,1.12,173.2,263.1,11.4,255,5273,0.12,2.35,0.00,0.000,4,0.071,0.030,3349,3091,1902,0,0,0,0,0,0
$GC,5302,1.12,173.2,258.6,13.0,256,5306,0.00,2.40,0.00,0.000,6,0.000,0.039,3349,1699,1902,0,0,0,0,0,0
$GC,5619,1.12,173.2,222.3,10.8,271,5623,0.00,2.45,0.00,0.000,4,0.000,0.054,3349,294,1900,0,0,0,0,0,0
$GC,5685,1.02,173.2,215.5,10.5,274,5690,0.12,2.33,0.00,0.000,6,0.115,0.025,3326,1711,1898,0,0,0,0,0,0
$GC,6012,1.09,186.5,194.3,6.7,292,6027,0.00,2.55,8.00,0.585,4,0.000,0.052,3326,296,1869,0,0,0,0,0,0
$GC,6058,1.05,186.5,190.2,9.5,295,6062,0.00,2.30,0.00,0.000,6,0.000,0.024,3326,1708,1867,0,0,0,0,0,0
$GC,6327,1.11,186.5,164.0,10.5,316,6328,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,1714,1867,0,0,0,0,0,0
$GC,6579,1.19,203.8,142.4,6.3,336,6602,0.15,2.55,16.42,0.602,4,0.060,0.049,3369,295,1798,0,0,0,0,0,0
$GC,6684,1.09,203.8,132.3,10.2,343,6690,0.17,2.28,0.00,0.000,6,0.099,0.021,3335,1706,1795,0,0,0,0,0,0
$GC,6945,1.17,203.8,112.8,8.8,364,6950,0.00,2.47,0.00,0.000,4,0.000,0.048,3335,290,1794,0,0,0,0,0,0
$GC,7042,1.17,203.8,99.9,13.6,371,7047,0.00,2.28,0.00,0.000,6,0.000,0.021,3335,1712,1793,0,0,0,0,0,0
$GC,7305,1.31,221.8,76.9,6.3,391,7328,0.22,2.50,16.42,0.533,4,0.046,0.045,3398,285,1724,0,0,0,0,0,0
$GC,7381,1.20,221.8,70.0,10.2,396,7385,0.17,2.28,0.00,0.000,6,0.099,0.019,3364,1699,1721,0,0,0,0,0,0
$GC,7642,1.28,229.3,49.6,7.2,416,7658,0.00,2.50,7.53,0.452,4,0.000,0.046,3364,291,1694,0,0,0,0,0,0
$GC,7840,1.28,229.3,32.3,10.2,430,7845,0.00,2.25,0.00,0.000,6,0.000,0.018,3364,1718,1692,0,0,0,0,0,0
$GC,8103,1.37,229.3,8.6,10.3,486,8110,0.15,2.50,0.00,0.000,4,0.057,0.046,3410,297,1692,0,0,0,0,0,0
$STATE,8149,end climb,SURFACE_DEPTH_REACHED
$STATE,8149,begin surface coast
$FINISH,0.9,1.005830
$STATE,8172,end surface coast,CONTROL_FINISHED_OK
$STATE,8172,begin surface
$SM_CCo,8197,97.95,0.486,0,0,957,410.14
$SM_GC,1.66,0.00,0.00,97.95,0.000,0.000,0.486,429,1714,957,-12.29,0.40,410.14
$IRIDIUM_FIX,2054.83,-15754.77,271199,212102
$TT8_MAMPS,0.029146
$HUMID,54.33
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,29.825
$10V_AH,10.3,24.830
$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,31.175,104.175,247.625,97.950,0.000,28.503,31.115,127.419,4.500,0.000,13.486,994.530,5216.613,399.224,1561.663,435.207,0.000,1098.272,0.000,1543.880,0.000,29.257,0.000
$DEVICE_MAMPS,132.691,56.758,820.690,485.511,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,336.790,332.322,762.764,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355744
$DATA_FILE_SIZE,28630,501
$CAP_FILE_SIZE,99551,0
$CFSIZE,260165632,195489792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030910,021607,2101.416,-15753.070,36,1.1,36,9.8