version: 66.06
glider: 140
mission: 8
dive: 3
start: 9 30 109 11 0 46
data:
$ID,140
$MISSION,8
$DIVE,3
$D_SURF,2
$D_FLARE,3
$D_TGT,540
$D_ABORT,1050
$D_NO_BLEED,200
$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,180
$T_MISSION,240
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,51390
$NAV_MODE,2
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5900
$TGT_DEFAULT_LON,-2030
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$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,-44214.465
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,214
$PITCH_MAX,3926
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,174
$ROLL_MAX,4054
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.025
$VBD_MIN,550
$VBD_MAX,3938
$C_VBD,3046
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$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,-16.173029
$PRESSURE_SLOPE,0.0001158875
$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,8
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,800
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$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,0.0044206623
$SEABIRD_T_H,0.00065338978
$SEABIRD_T_I,2.7511465e-05
$SEABIRD_T_J,3.0433071e-06
$SEABIRD_C_G,-10.080298
$SEABIRD_C_H,1.1283234
$SEABIRD_C_I,-0.0013448599
$SEABIRD_C_J,0.00017661104
$GPS1,105616,6400.199,142.678,11,2.2,30,-4.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-63.4
$GPS2,110025,6400.235,142.750,10,1.9,15,-4.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,OFFSHORE
$TGT_LATLONG,6506.000,-100.000
$TGT_RADIUS,4000.000
$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,317.9,175896,-17.5,-10.000
$D_GRID,1969
$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,13,begin dive
$GC,15,-1.01,-145.9,0.0,0.0,0,78,0.00,0.00,-60.53,0.000,2,0.000,0.000,220,2298,3174,0,0,0,0,0,0
$GC,80,-1.01,-145.9,3.2,-7.5,11,110,9.32,2.12,-12.32,0.000,4,0.294,0.100,2365,3701,3643,0,0,0,0,0,0
$GC,144,-0.64,-145.9,13.0,-16.8,22,152,0.43,2.08,0.00,0.000,6,0.207,0.025,2485,2260,3644,0,0,0,0,0,0
$GC,487,-0.64,-145.9,54.4,-12.3,83,493,0.00,1.95,0.00,0.000,4,0.000,0.039,2486,927,3644,0,0,0,0,0,0
$GC,578,-0.59,-145.9,65.5,-12.3,93,581,0.00,2.00,0.00,0.000,6,0.000,0.031,2486,2301,3644,0,0,0,0,0,0
$GC,910,-0.59,-145.9,102.8,-11.3,109,914,0.00,2.05,0.00,0.000,4,0.000,0.046,2485,3698,3645,0,0,0,0,0,0
$GC,955,-0.59,-145.9,108.1,-11.2,111,959,0.00,1.98,0.00,0.000,6,0.000,0.026,2486,2302,3645,0,0,0,0,0,0
$GC,1282,-0.59,-145.9,145.8,-11.5,127,1285,0.00,2.03,0.00,0.000,4,0.000,0.040,2486,913,3645,0,0,0,0,0,0
$GC,1364,-0.59,-145.9,155.8,-11.6,130,1371,0.00,2.05,0.00,0.000,6,0.000,0.031,2486,2293,3645,0,0,0,0,0,0
$GC,1679,-0.59,-145.9,188.4,-10.6,146,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2293,3645,0,0,0,0,0,0
$GC,1989,-0.59,-145.9,221.5,-10.6,161,1992,0.00,2.03,0.00,0.000,4,0.000,0.038,2486,912,3644,0,0,0,0,0,0
$GC,2105,-0.59,-145.9,234.9,-11.4,166,2110,0.00,2.03,0.00,0.000,6,0.000,0.031,2486,2289,3645,0,0,0,0,0,0
$GC,2432,-0.59,-145.9,271.2,-11.3,182,2433,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2289,3644,0,0,0,0,0,0
$GC,2761,-0.59,-145.9,307.2,-11.1,197,2765,0.00,2.03,0.00,0.000,4,0.000,0.038,2486,911,3643,0,0,0,0,0,0
$GC,2867,-0.59,-145.9,320.0,-11.7,200,2871,0.00,2.03,0.00,0.000,6,0.000,0.031,2486,2282,3643,0,0,0,0,0,0
$GC,3202,-0.63,-145.9,357.3,-11.2,211,3203,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2282,3643,0,0,0,0,0,0
$GC,3508,-0.63,-145.9,391.0,-11.0,221,3509,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2282,3642,0,0,0,0,0,0
$GC,3814,-0.68,-145.9,423.5,-10.5,231,3816,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2282,3640,0,0,0,0,0,0
$GC,4121,-0.73,-145.9,455.2,-10.1,241,4122,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2282,3639,0,0,0,0,0,0
$GC,4427,-0.73,-145.9,485.8,-10.0,251,4430,0.00,2.03,0.00,0.000,4,0.000,0.042,2486,916,3638,0,0,0,0,0,0
$GC,4487,-0.73,-145.9,492.4,-10.8,252,4493,0.00,2.03,0.00,0.000,6,0.000,0.033,2486,2280,3638,0,0,0,0,0,0
$GC,4829,-0.78,-145.9,528.4,-10.7,260,4833,0.12,2.12,0.00,0.000,4,0.140,0.047,2447,3706,3636,0,0,0,0,0,0
$GC,4878,-0.72,-145.9,534.7,-12.9,260,4882,0.00,2.05,0.00,0.000,6,0.000,0.029,2447,2300,3636,0,0,0,0,0,0
$STATE,4954,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4954,begin apogee
$GC,4959,-0.24,0.0,544.1,12.3,262,5080,0.57,0.00,118.10,1.303,6,0.186,0.000,2615,2415,3046,0,0,0,0,0,0
$STATE,5081,end apogee,CONTROL_FINISHED_OK
$STATE,5081,begin climb
$GC,5082,1.01,145.9,551.1,0.0,264,5215,1.33,2.22,123.35,1.243,4,0.147,0.046,3014,3789,2448,0,0,0,0,0,0
$GC,5237,0.94,205.7,546.7,7.2,266,5293,0.00,2.12,50.90,1.208,6,0.000,0.030,3021,2403,2207,0,0,0,0,0,0
$GC,5625,0.95,214.6,510.7,9.6,273,5639,0.00,2.22,7.35,1.039,4,0.000,0.047,3020,3788,2171,0,0,0,0,0,0
$GC,5893,0.89,214.6,482.1,10.5,279,5898,0.15,2.03,0.00,0.000,6,0.220,0.029,2993,2405,2168,0,0,0,0,0,0
$GC,6228,1.04,256.9,454.8,8.0,290,6273,0.12,2.28,36.75,1.237,4,0.134,0.048,3032,3790,1997,0,0,0,0,0,0
$GC,6357,0.99,256.9,441.5,11.2,294,6361,0.00,2.03,0.00,0.000,6,0.000,0.029,3041,2434,1992,0,0,0,0,0,0
$GC,6691,0.99,256.9,406.2,10.1,305,6695,0.00,2.08,0.00,0.000,4,0.000,0.047,3034,3792,1990,0,0,0,0,0,0
$GC,6832,0.94,256.9,390.1,11.7,309,6836,0.15,1.98,0.00,0.000,6,0.225,0.029,3006,2438,1988,0,0,0,0,0,0
$GC,7155,1.07,270.3,359.6,9.4,320,7172,0.12,2.15,11.38,1.140,4,0.138,0.048,3046,3788,1942,0,0,0,0,0,0
$GC,7273,1.01,270.3,345.2,12.7,323,7277,0.00,2.00,0.00,0.000,6,0.000,0.030,3051,2454,1940,0,0,0,0,0,0
$GC,7590,1.01,270.3,307.4,12.3,334,7594,0.00,2.03,0.00,0.000,4,0.000,0.048,3048,3788,1938,0,0,0,0,0,0
$GC,7703,0.95,270.3,291.7,14.0,338,7707,0.17,1.92,0.00,0.000,6,0.220,0.030,3012,2458,1937,0,0,0,0,0,0
$GC,8030,1.08,270.3,257.0,10.6,354,8034,0.10,2.03,0.00,0.000,4,0.150,0.048,3043,3789,1937,0,0,0,0,0,0
$GC,8113,1.08,270.3,246.1,13.1,358,8116,0.00,1.90,0.00,0.000,6,0.000,0.031,3043,2479,1937,0,0,0,0,0,0
$GC,8444,1.08,270.3,207.8,11.5,374,8448,0.00,1.98,0.00,0.000,4,0.000,0.048,3043,3791,1937,0,0,0,0,0,0
$GC,8561,1.03,270.3,193.0,12.8,379,8566,0.00,1.92,0.00,0.000,6,0.000,0.030,3043,2489,1936,0,0,0,0,0,0
$GC,8889,1.03,270.3,156.4,11.0,395,8893,0.00,1.95,0.00,0.000,4,0.000,0.047,3042,3789,1936,0,0,0,0,0,0
$GC,8994,1.03,270.3,142.9,12.6,399,9001,0.00,1.90,0.00,0.000,6,0.000,0.030,3043,2498,1936,0,0,0,0,0,0
$GC,9312,1.08,270.3,106.7,11.3,415,9315,0.00,1.95,0.00,0.000,4,0.000,0.047,3043,3797,1936,0,0,0,0,0,0
$GC,9428,1.08,270.3,91.7,12.7,420,9432,0.00,1.88,0.00,0.000,6,0.000,0.029,3043,2518,1936,0,0,0,0,0,0
$GC,9747,1.14,270.3,54.8,11.5,440,9754,0.00,1.95,0.00,0.000,4,0.000,0.047,3043,3796,1936,0,0,0,0,0,0
$GC,9925,1.14,270.3,31.0,13.8,472,9932,0.00,1.85,0.00,0.000,6,0.000,0.029,3043,2531,1936,0,0,0,0,0,0
$STATE,10162,end climb,SURFACE_DEPTH_REACHED
$STATE,10163,begin surface coast
$FINISH,1.9,1.027032
$STATE,10179,end surface coast,CONTROL_FINISHED_OK
$STATE,10179,begin surface
$SM_CCo,10255,0.00,0.000,0,0,1935,272.53
$SM_GC,2.80,8.00,0.00,0.00,0.101,0.000,0.000,214,2264,1935,-7.74,-1.02,272.53
$IRIDIUM_FIX,6337.14,138.19,251298,111143
$TT8_MAMPS,0.026845
$HUMID,1078689668
$INTERNAL_PRESSURE,8.3304
$TCM_TEMP,20.00
$XPDR_PINGS,1
$24V_AH,23.8,2.865
$10V_AH,10.2,1.643
$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,20.600,77.375,347.825,0.000,0.000,0.000,0.000,0.000,0.250,0.000,15.662,1087.457,7322.460,404.083,1422.542,89.153,0.000,1103.356,0.000,1398.836,0.000,0.999,0.000
$DEVICE_MAMPS,293.761,99.710,1303.133,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,355.566,529.364,372.265,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235380
$DATA_FILE_SIZE,28721,518
$CAP_FILE_SIZE,103108,0
$CFSIZE,260165632,254623744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.222, 12.6,1
$GPS,300909,135255,6402.056,140.296,41,1.5,41,-4.1