version: 66.06
glider: 139
mission: 8
dive: 208
start: 8 18 110 6 39 42
data:
$ID,139
$MISSION,8
$DIVE,208
$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,-2154840.5
$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
$GPS1,063325,2105.776,-15745.491,62,1.4,62,9.8
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-73.3
$GPS2,063925,2105.797,-15745.523,11,1.5,22,9.8
$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,79.8,4502,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.56,-58.4,0.0,0.0,0,83,0.00,0.00,-64.80,0.000,2,0.000,0.000,429,1681,2773,0,0,0,0,0,0
$GC,87,-1.56,-58.4,3.3,-3.6,12,107,12.55,2.45,-1.77,0.000,4,0.136,0.037,2754,3110,2870,0,0,0,0,0,0
$GC,144,-1.41,-58.4,20.8,-23.2,23,152,0.15,2.45,0.00,0.000,6,0.080,0.035,2789,1694,2872,0,0,0,0,0,0
$GC,348,-1.41,-58.4,54.1,-15.0,46,352,0.00,2.33,0.00,0.000,4,0.000,0.021,2789,3112,2873,0,0,0,0,0,0
$GC,408,-1.52,-58.4,62.5,-12.8,50,415,0.00,2.42,0.00,0.000,6,0.000,0.031,2789,1689,2873,0,0,0,0,0,0
$GC,668,-1.59,-58.4,98.0,-13.2,71,673,0.17,2.35,0.00,0.000,4,0.052,0.023,2738,3108,2874,0,0,0,0,0,0
$GC,730,-1.64,-58.4,107.8,-16.3,75,735,0.00,2.38,0.00,0.000,6,0.000,0.034,2738,1689,2874,0,0,0,0,0,0
$GC,988,-1.64,-58.4,146.3,-13.0,96,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1689,2874,0,0,0,0,0,0
$GC,1242,-1.64,-58.4,176.9,-12.4,116,1246,0.00,2.33,0.00,0.000,4,0.000,0.023,2738,3108,2875,0,0,0,0,0,0
$GC,1301,-1.72,-58.4,184.0,-11.1,120,1308,0.00,2.40,0.00,0.000,6,0.000,0.031,2738,1688,2875,0,0,0,0,0,0
$GC,1571,-1.76,-58.4,214.5,-11.1,138,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1688,2876,0,0,0,0,0,0
$GC,1881,-1.81,-58.4,251.0,-12.1,153,1886,0.15,2.35,0.00,0.000,4,0.058,0.025,2692,3106,2876,0,0,0,0,0,0
$GC,1932,-1.81,-58.4,257.7,-12.8,155,1936,0.00,2.35,0.00,0.000,6,0.000,0.034,2692,1695,2876,0,0,0,0,0,0
$GC,2255,-1.81,-58.4,296.7,-11.3,171,2259,0.00,2.42,0.00,0.000,4,0.000,0.048,2692,289,2875,0,0,0,0,0,0
$GC,2269,-1.75,-58.4,298.8,-11.5,171,2275,0.12,2.33,0.00,0.000,6,0.109,0.021,2716,1726,2875,0,0,0,0,0,0
$GC,2582,-1.75,-58.4,332.8,-10.4,180,2586,0.00,2.25,0.00,0.000,4,0.000,0.028,2716,3085,2874,0,0,0,0,0,0
$GC,2704,-1.85,-58.4,345.1,-10.7,182,2709,0.00,2.35,0.00,0.000,6,0.000,0.037,2716,1692,2874,0,0,0,0,0,0
$GC,3044,-1.88,-58.4,381.8,-10.9,191,3048,0.12,2.35,0.00,0.000,4,0.069,0.030,2679,3081,2872,0,0,0,0,0,0
$GC,3091,-1.88,-58.4,388.1,-13.1,192,3095,0.00,2.38,0.00,0.000,6,0.000,0.038,2680,1694,2871,0,0,0,0,0,0
$GC,3414,-1.84,-58.4,427.4,-12.0,200,3418,0.00,2.35,0.00,0.000,4,0.000,0.031,2679,3087,2869,0,0,0,0,0,0
$GC,3502,-1.84,-58.4,437.7,-11.2,201,3508,0.00,2.40,0.00,0.000,6,0.000,0.041,2679,1694,2868,0,0,0,0,0,0
$STATE,3549,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3549,begin apogee
$GC,3556,-0.31,0.0,442.8,10.9,203,3609,1.70,0.00,49.00,0.829,6,0.084,0.000,3032,1781,2630,0,0,0,0,0,0
$STATE,3610,end apogee,CONTROL_FINISHED_OK
$STATE,3610,begin climb
$GC,3613,1.56,58.4,444.1,0.0,204,3669,1.77,0.00,50.62,0.813,6,0.029,0.000,3452,1781,2391,0,0,0,0,0,0
$GC,3994,1.32,108.3,434.1,3.4,214,4044,0.30,2.58,43.20,0.818,4,0.109,0.055,3390,362,2188,0,0,0,0,0,0
$GC,4111,1.03,108.3,425.7,10.6,216,4116,0.32,2.33,0.00,0.000,6,0.106,0.027,3329,1749,2181,0,0,0,0,0,0
$GC,4448,1.00,113.2,400.2,7.5,225,4457,0.00,2.50,4.00,0.512,4,0.000,0.055,3329,360,2168,0,0,0,0,0,0
$GC,4467,0.92,113.2,398.4,8.8,225,4472,0.15,2.40,0.00,0.000,6,0.117,0.028,3301,1786,2166,0,0,0,0,0,0
$GC,4814,0.92,113.2,370.9,8.5,234,4818,0.00,2.53,0.00,0.000,4,0.000,0.054,3301,360,2165,0,0,0,0,0,0
$GC,4838,0.88,113.2,368.7,9.3,234,4842,0.00,2.35,0.00,0.000,6,0.000,0.028,3301,1773,2163,0,0,0,0,0,0
$GC,5180,0.92,126.9,343.4,6.7,243,5200,0.00,2.55,13.00,0.746,4,0.000,0.054,3301,362,2111,0,0,0,0,0,0
$GC,5277,0.87,128.9,336.3,7.7,245,5281,0.00,2.38,0.00,0.000,6,0.000,0.028,3301,1774,2107,0,0,0,0,0,0
$GC,5601,0.94,149.6,315.9,6.0,253,5629,0.00,2.40,21.15,0.763,4,0.000,0.031,3301,3178,2018,0,0,0,0,0,0
$GC,5708,1.03,152.3,307.9,7.7,255,5718,0.10,2.45,3.80,0.475,6,0.081,0.038,3330,1767,2009,0,0,0,0,0,0
$GC,6046,1.03,152.3,277.1,9.2,269,6050,0.00,2.47,0.00,0.000,4,0.000,0.053,3329,359,2005,0,0,0,0,0,0
$GC,6177,0.95,152.3,264.5,9.3,274,6184,0.10,2.38,0.00,0.000,6,0.094,0.027,3307,1765,2002,0,0,0,0,0,0
$GC,6494,1.02,161.5,243.6,7.1,290,6509,0.00,2.50,8.80,0.647,4,0.000,0.051,3307,353,1970,0,0,0,0,0,0
$GC,6556,1.02,161.5,237.7,9.4,292,6562,0.00,2.40,0.00,0.000,6,0.000,0.026,3307,1780,1968,0,0,0,0,0,0
$GC,6872,1.10,161.5,213.3,7.9,308,6877,0.15,2.50,0.00,0.000,4,0.062,0.051,3349,358,1967,0,0,0,0,0,0
$GC,6980,1.00,161.5,203.4,9.4,312,6988,0.12,2.35,0.00,0.000,6,0.087,0.025,3321,1765,1966,0,0,0,0,0,0
$GC,7310,1.08,170.2,182.3,7.1,337,7324,0.00,2.50,8.50,0.591,4,0.000,0.048,3320,351,1935,0,0,0,0,0,0
$GC,7450,1.08,170.2,167.6,11.1,347,7454,0.00,2.35,0.00,0.000,6,0.000,0.023,3320,1776,1932,0,0,0,0,0,0
$GC,7720,1.18,177.2,145.1,7.3,368,7735,0.15,0.00,7.60,0.547,6,0.060,0.000,3365,1782,1907,0,0,0,0,0,0
$GC,7991,1.19,186.3,127.3,7.1,389,8003,0.00,0.00,9.57,0.552,6,0.000,0.000,3365,1782,1869,0,0,0,0,0,0
$GC,8251,1.19,186.3,105.5,7.9,410,8252,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,1782,1869,0,0,0,0,0,0
$GC,8504,1.19,186.3,85.4,8.0,430,8505,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,1782,1869,0,0,0,0,0,0
$GC,8759,1.25,210.7,69.8,5.7,450,8788,0.00,2.33,22.70,0.548,4,0.000,0.022,3365,3169,1769,0,0,0,0,0,0
$GC,8812,1.36,226.8,66.5,6.4,454,8838,0.15,2.40,15.10,0.519,6,0.057,0.029,3409,1755,1704,0,0,0,0,0,0
$GC,9090,1.36,226.8,41.2,9.5,476,9094,0.00,2.38,0.00,0.000,4,0.000,0.044,3409,355,1701,0,0,0,0,0,0
$GC,9130,1.26,226.8,36.7,12.2,479,9135,0.17,2.30,0.00,0.000,6,0.099,0.018,3375,1784,1699,0,0,0,0,0,0
$GC,9394,1.33,226.8,13.6,7.9,529,9400,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,1790,1699,0,0,0,0,0,0
$STATE,9514,end climb,SURFACE_DEPTH_REACHED
$STATE,9514,begin surface coast
$FINISH,0.9,1.023083
$STATE,9552,end surface coast,CONTROL_FINISHED_OK
$STATE,9552,begin surface
$SM_CCo,9576,98.35,0.492,0,0,957,410.14
$SM_GC,1.51,0.00,0.00,98.35,0.000,0.000,0.492,429,1684,957,-12.28,-0.31,410.14
$IRIDIUM_FIX,2057.14,-15746.61,121199,030314
$TT8_MAMPS,0.028379
$HUMID,51.69
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,442.8,10.8
$24V_AH,23.5,18.298
$10V_AH,10.3,14.673
$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,31.075,96.175,257.050,98.350,0.000,27.189,28.831,173.106,4.750,0.000,22.647,1094.626,6344.636,434.059,1676.111,484.024,0.000,1159.212,0.000,1654.352,0.000,32.142,0.000
$DEVICE_MAMPS,135.759,77.467,829.127,491.647,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,380.199,362.612,837.515,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,31834,565
$CAP_FILE_SIZE,106031,0
$CFSIZE,260165632,202665984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180810,092204,2105.652,-15745.464,9,7.0,28,9.8