version: 66.06
glider: 139
mission: 8
dive: 176
start: 8 14 110 14 20 50
data:
$ID,139
$MISSION,8
$DIVE,176
$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,-2154165
$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
$GPS1,141445,2105.941,-15753.741,40,2.2,59,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-70.3
$GPS2,142034,2105.930,-15753.750,13,2.2,32,9.8
$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,80.9,18717,-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,-58.4,0.0,0.0,0,81,0.00,0.00,-64.15,0.000,2,0.000,0.000,427,1655,2768,0,0,0,0,0,0
$GC,84,-1.56,-58.4,3.5,-3.9,12,109,12.57,2.40,-1.88,0.000,4,0.137,0.054,2755,286,2872,0,0,0,0,0,0
$GC,121,-0.46,-58.4,16.8,-30.7,18,128,1.15,2.35,0.00,0.000,6,0.092,0.019,2997,1728,2873,0,0,0,0,0,0
$GC,324,-0.97,-58.4,28.1,-4.1,64,332,0.45,2.53,0.00,0.000,4,0.029,0.044,2867,290,2874,0,0,0,0,0,0
$GC,349,-1.35,-58.4,29.8,-5.6,68,356,0.22,2.28,0.00,0.000,6,0.027,0.018,2795,1713,2874,0,0,0,0,0,0
$GC,545,-1.40,-58.4,56.8,-14.0,84,550,0.00,2.45,0.00,0.000,4,0.000,0.047,2795,290,2875,0,0,0,0,0,0
$GC,626,-1.43,-58.4,69.2,-15.4,90,630,0.00,2.20,0.00,0.000,6,0.000,0.018,2795,1694,2875,0,0,0,0,0,0
$GC,893,-1.54,-58.4,101.2,-12.0,111,898,0.12,2.45,0.00,0.000,4,0.063,0.046,2753,290,2876,0,0,0,0,0,0
$GC,921,-1.50,-58.4,105.3,-14.7,113,925,0.00,2.20,0.00,0.000,6,0.000,0.018,2753,1697,2876,0,0,0,0,0,0
$GC,1188,-1.55,-58.4,140.4,-13.0,134,1192,0.00,2.20,0.00,0.000,4,0.000,0.021,2753,3068,2877,0,0,0,0,0,0
$GC,1332,-1.67,-58.4,158.6,-14.0,144,1338,0.00,2.35,0.00,0.000,6,0.000,0.032,2753,1687,2877,0,0,0,0,0,0
$GC,1593,-1.72,-58.4,189.5,-10.6,165,1598,0.12,2.28,0.00,0.000,4,0.064,0.023,2712,3069,2878,0,0,0,0,0,0
$GC,1613,-1.72,-58.4,192.2,-11.2,166,1620,0.00,2.33,0.00,0.000,6,0.000,0.031,2712,1695,2877,0,0,0,0,0,0
$GC,1870,-1.72,-58.4,220.3,-10.0,181,1874,0.00,2.28,0.00,0.000,4,0.000,0.024,2712,3072,2878,0,0,0,0,0,0
$GC,1950,-1.76,-58.4,228.3,-10.2,184,1954,0.00,2.30,0.00,0.000,6,0.000,0.032,2712,1692,2878,0,0,0,0,0,0
$GC,2266,-1.76,-58.4,262.5,-11.6,199,2270,0.00,2.40,0.00,0.000,4,0.000,0.047,2712,293,2878,0,0,0,0,0,0
$GC,2290,-1.71,-58.4,265.8,-13.5,200,2294,0.00,2.22,0.00,0.000,6,0.000,0.021,2712,1695,2878,0,0,0,0,0,0
$GC,2614,-1.71,-58.4,306.7,-12.4,215,2618,0.00,2.25,0.00,0.000,4,0.000,0.026,2712,3072,2877,0,0,0,0,0,0
$GC,2753,-1.78,-58.4,323.8,-12.3,218,2758,0.00,2.33,0.00,0.000,6,0.000,0.035,2712,1697,2877,0,0,0,0,0,0
$GC,3078,-1.78,-58.4,363.7,-12.4,226,3082,0.00,2.30,0.00,0.000,4,0.000,0.028,2712,3079,2875,0,0,0,0,0,0
$GC,3171,-1.85,-58.4,375.4,-11.5,228,3176,0.00,2.35,0.00,0.000,6,0.000,0.038,2712,1690,2874,0,0,0,0,0,0
$GC,3499,-1.85,-58.4,407.4,-8.7,236,3501,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1690,2872,0,0,0,0,0,0
$GC,3825,-1.89,-58.4,441.7,-10.8,244,3827,0.12,0.00,0.00,0.000,6,0.069,0.000,2676,1690,2871,0,0,0,0,0,0
$STATE,3902,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3902,begin apogee
$GC,3909,-0.31,0.0,450.5,10.6,246,3962,1.70,0.00,49.30,0.835,6,0.084,0.000,3029,1762,2629,0,0,0,0,0,0
$STATE,3963,end apogee,CONTROL_FINISHED_OK
$STATE,3963,begin climb
$GC,3966,1.56,58.4,451.5,0.0,247,4024,1.75,2.45,50.20,0.819,4,0.030,0.035,3449,3163,2391,0,0,0,0,0,0
$GC,4291,1.34,110.3,441.5,3.2,254,4344,0.30,2.40,45.12,0.823,6,0.109,0.038,3392,1772,2180,0,0,0,0,0,0
$GC,4654,1.17,110.3,411.2,9.2,263,4659,0.20,2.38,0.00,0.000,4,0.110,0.033,3355,3161,2172,0,0,0,0,0,0
$GC,4853,1.11,110.3,394.9,8.4,267,4857,0.00,2.42,0.00,0.000,6,0.000,0.040,3355,1771,2171,0,0,0,0,0,0
$GC,5204,1.02,110.3,365.9,8.0,276,5209,0.17,2.50,0.00,0.000,4,0.108,0.055,3321,352,2167,0,0,0,0,0,0
$GC,5313,0.91,110.3,357.4,8.1,278,5318,0.12,2.35,0.00,0.000,6,0.120,0.028,3299,1762,2163,0,0,0,0,0,0
$GC,5665,0.97,125.3,333.7,6.5,287,5681,0.00,2.50,11.35,0.727,4,0.000,0.054,3298,359,2119,0,0,0,0,0,0
$GC,5763,0.93,125.3,326.5,7.9,289,5767,0.00,2.38,0.00,0.000,6,0.000,0.028,3299,1772,2115,0,0,0,0,0,0
$GC,6087,1.04,165.7,311.5,4.3,297,6130,0.12,2.47,37.25,0.775,4,0.071,0.032,3334,3175,1954,0,0,0,0,0,0
$GC,6196,1.04,165.7,303.1,8.7,299,6201,0.00,2.42,0.00,0.000,6,0.000,0.038,3335,1771,1953,0,0,0,0,0,0
$GC,6529,1.04,165.7,269.9,10.4,314,6530,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,1771,1949,0,0,0,0,0,0
$GC,6840,1.04,165.7,239.9,10.2,329,6845,0.00,2.45,0.00,0.000,4,0.000,0.053,3334,359,1946,0,0,0,0,0,0
$GC,6870,0.96,165.7,236.7,11.0,330,6875,0.12,2.35,0.00,0.000,6,0.114,0.025,3312,1776,1944,0,0,0,0,0,0
$GC,7192,1.04,165.7,208.2,8.7,346,7197,0.00,2.50,0.00,0.000,4,0.000,0.051,3311,349,1943,0,0,0,0,0,0
$GC,7220,1.04,165.7,205.4,9.1,347,7224,0.00,2.35,0.00,0.000,6,0.000,0.024,3311,1787,1942,0,0,0,0,0,0
$GC,7549,1.13,167.6,181.1,7.7,371,7551,0.15,0.00,0.00,0.000,6,0.061,0.000,3355,1792,1942,0,0,0,0,0,0
$GC,7799,1.13,167.6,157.4,9.5,391,7803,0.00,2.47,0.00,0.000,4,0.000,0.048,3354,356,1942,0,0,0,0,0,0
$GC,7889,1.03,167.6,148.0,10.8,397,7895,0.15,2.30,0.00,0.000,6,0.104,0.021,3325,1778,1941,0,0,0,0,0,0
$GC,8149,1.12,180.7,128.1,6.7,418,8167,0.00,2.53,12.27,0.568,4,0.000,0.047,3325,362,1893,0,0,0,0,0,0
$GC,8183,1.12,184.4,125.5,7.6,420,8194,0.00,2.30,4.82,0.446,6,0.000,0.021,3325,1787,1878,0,0,0,0,0,0
$GC,8449,1.24,203.2,109.4,6.2,441,8477,0.20,2.55,18.15,0.574,4,0.050,0.045,3382,354,1800,0,0,0,0,0,0
$GC,8484,1.18,203.2,106.0,9.0,443,8489,0.12,2.30,0.00,0.000,6,0.108,0.020,3358,1773,1798,0,0,0,0,0,0
$GC,8746,1.23,203.2,80.8,10.6,463,8750,0.00,2.45,0.00,0.000,4,0.000,0.045,3358,357,1797,0,0,0,0,0,0
$GC,9010,1.23,204.3,53.0,7.8,482,9017,0.00,2.33,0.00,0.000,6,0.000,0.019,3358,1780,1795,0,0,0,0,0,0
$GC,9273,1.35,226.3,38.6,5.9,503,9302,0.15,2.53,20.60,0.514,4,0.058,0.044,3405,358,1707,0,0,0,0,0,0
$GC,9443,1.23,226.3,18.8,12.2,528,9449,0.15,2.30,0.00,0.000,6,0.081,0.018,3370,1762,1703,0,0,0,0,0,0
$STATE,9583,end climb,SURFACE_DEPTH_REACHED
$STATE,9583,begin surface coast
$FINISH,0.7,1.013374
$STATE,9610,end surface coast,CONTROL_FINISHED_OK
$STATE,9610,begin surface
$SM_CCo,9634,104.68,0.496,0,0,957,410.14
$SM_GC,1.60,0.00,0.00,104.68,0.000,0.000,0.496,422,1678,957,-12.32,-0.48,410.14
$IRIDIUM_FIX,2054.83,-15753.90,081199,111152
$TT8_MAMPS,0.029913
$HUMID,52.67
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,15.726
$10V_AH,10.3,12.301
$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,32.750,104.600,249.075,104.675,0.000,24.066,27.843,162.764,4.500,0.000,33.929,1136.221,6191.379,415.544,1875.689,468.342,0.000,1227.088,0.000,1833.890,0.000,29.253,0.000
$DEVICE_MAMPS,137.293,89.739,835.263,496.249,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,380.923,362.785,847.384,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,31814,566
$CAP_FILE_SIZE,112247,0
$CFSIZE,260165632,204357632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140810,170356,2105.965,-15753.846,9,1.3,9,9.8