version: 66.06
glider: 139
mission: 8
dive: 711
start: 10 19 110 9 0 4
data:
$ID,139
$MISSION,8
$DIVE,711
$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,120
$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,-2166135.8
$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,3050
$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,1530
$C_ROLL_CLIMB,1500
$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
$GPS1,085340,2112.157,-15801.323,14,2.4,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-74.6
$GPS2,085946,2112.208,-15801.315,13,2.3,32,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_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,100.6,33923,-16.6,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.18,-116.8,0.0,0.0,0,77,0.00,0.00,-59.08,0.000,2,0.000,0.000,425,1505,2585,0,0,0,0,0,0
$GC,81,-1.18,-116.8,3.1,-2.8,11,111,12.65,2.20,-10.68,0.000,4,0.132,0.058,2783,237,3108,0,0,0,0,0,0
$GC,172,-0.92,-116.8,20.3,-17.1,29,179,0.25,2.15,0.00,0.000,6,0.078,0.019,2847,1576,3110,0,0,0,0,0,0
$GC,378,-0.83,-116.8,48.7,-13.3,54,383,0.10,2.17,0.00,0.000,4,0.111,0.021,2867,2906,3110,0,0,0,0,0,0
$GC,398,-0.83,-116.8,51.4,-11.8,55,405,0.00,2.35,0.00,0.000,6,0.000,0.033,2867,1536,3110,0,0,0,0,0,0
$GC,658,-0.83,-116.8,72.5,-6.4,76,662,0.00,2.22,0.00,0.000,4,0.000,0.045,2867,234,3111,0,0,0,0,0,0
$GC,724,-0.89,-116.8,77.3,-6.8,80,730,0.00,2.05,0.00,0.000,6,0.000,0.018,2867,1546,3111,0,0,0,0,0,0
$GC,984,-0.95,-116.8,98.6,-9.5,101,988,0.10,2.25,0.00,0.000,4,0.072,0.044,2828,234,3112,0,0,0,0,0,0
$GC,1010,-0.90,-116.8,101.5,-11.9,103,1015,0.12,2.03,0.00,0.000,6,0.091,0.019,2854,1537,3112,0,0,0,0,0,0
$GC,1282,-0.94,-116.8,127.4,-9.8,124,1286,0.00,2.22,0.00,0.000,4,0.000,0.045,2854,234,3112,0,0,0,0,0,0
$GC,1323,-1.00,-116.8,132.2,-10.6,127,1327,0.00,2.00,0.00,0.000,6,0.000,0.019,2854,1536,3113,0,0,0,0,0,0
$GC,1590,-1.06,-116.8,154.5,-7.0,148,1594,0.15,2.22,0.00,0.000,4,0.054,0.021,2802,2897,3113,0,0,0,0,0,0
$GC,1636,-1.10,-116.8,158.6,-8.9,151,1640,0.00,2.28,0.00,0.000,6,0.000,0.031,2802,1527,3113,0,0,0,0,0,0
$STATE,1655,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1655,begin apogee
$GC,1663,-0.31,0.0,160.1,8.1,152,1759,0.80,0.00,92.72,0.559,6,0.064,0.000,2979,1526,2630,0,0,0,0,0,0
$STATE,1760,end apogee,CONTROL_FINISHED_OK
$STATE,1760,begin climb
$GC,1762,1.18,116.8,164.5,0.0,160,1866,1.42,2.22,94.22,0.557,4,0.036,0.018,3311,2881,2152,0,0,0,0,0,0
$GC,1952,1.14,180.5,164.1,5.0,173,2012,0.00,2.35,53.12,0.548,6,0.000,0.031,3312,1490,1894,0,0,0,0,0,0
$GC,2272,1.04,197.3,138.2,7.1,198,2294,0.17,2.28,14.82,0.501,4,0.091,0.018,3276,2873,1824,0,0,0,0,0,0
$GC,2332,1.13,243.9,135.1,5.8,202,2378,0.00,2.33,39.83,0.532,6,0.000,0.031,3275,1497,1634,0,0,0,0,0,0
$GC,2637,1.20,297.1,118.9,5.5,226,2685,0.15,0.00,44.58,0.525,6,0.055,0.000,3326,1497,1417,0,0,0,0,0,0
$GC,2941,1.14,297.1,93.0,9.0,250,2946,0.15,2.25,0.00,0.000,4,0.087,0.021,3295,2872,1413,0,0,0,0,0,0
$GC,2970,1.23,313.3,90.5,7.2,252,2994,0.10,2.35,14.10,0.476,6,0.071,0.033,3335,1499,1351,0,0,0,0,0,0
$GC,3247,1.18,313.3,66.3,9.3,274,3252,0.15,2.20,0.00,0.000,4,0.087,0.047,3303,235,1349,0,0,0,0,0,0
$GC,3301,1.14,313.3,61.1,9.5,278,3304,0.00,1.98,0.00,0.000,6,0.000,0.019,3303,1492,1346,0,0,0,0,0,0
$GC,3573,1.20,331.5,39.2,7.1,299,3594,0.00,2.28,15.57,0.453,4,0.000,0.045,3303,232,1277,0,0,0,0,0,0
$GC,3642,1.20,331.5,33.2,7.9,304,3646,0.00,2.00,0.00,0.000,6,0.000,0.019,3303,1499,1274,0,0,0,0,0,0
$GC,3907,1.30,370.1,15.6,6.2,359,3947,0.12,0.00,32.45,0.460,6,0.061,0.000,3348,1523,1120,0,0,0,0,0,0
$STATE,4040,end climb,SURFACE_DEPTH_REACHED
$STATE,4041,begin surface coast
$FINISH,1.1,1.023182
$STATE,4072,end surface coast,CONTROL_FINISHED_OK
$STATE,4072,begin surface
$SM_CCo,4094,30.67,0.448,0,0,957,410.14
$SM_GC,1.85,0.00,0.00,30.67,0.000,0.000,0.448,428,1523,957,-12.06,-0.20,410.14
$IRIDIUM_FIX,2104.07,-15800.33,130100,060647
$TT8_MAMPS,0.029146
$HUMID,57.08
$INTERNAL_PRESSURE,9.36213
$TCM_TEMP,22.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,160.1,7.3
$24V_AH,23.5,66.984
$10V_AH,10.1,54.267
$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,28.975,48.375,401.425,30.675,0.000,25.031,30.560,160.222,1.250,0.000,32.993,682.598,1851.924,393.875,1151.669,407.404,0.000,917.242,0.000,1129.809,0.000,10.157,0.000
$DEVICE_MAMPS,131.924,57.525,559.143,447.928,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,259.802,287.732,762.297,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,22309,394
$CAP_FILE_SIZE,64620,0
$CFSIZE,260165632,174366720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191010,100958,2112.457,-15801.127,11,2.1,30,9.8