version: 66.06
glider: 139
mission: 8
dive: 248
start: 8 22 110 20 36 55
data:
$ID,139
$MISSION,8
$DIVE,248
$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,-2155737
$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
$GPS1,202730,2107.341,-15756.825,42,1.1,42,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-72.3
$GPS2,203638,2107.336,-15756.837,15,1.2,15,9.8
$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,86.9,24214,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.56,-58.4,0.0,0.0,0,84,0.00,0.00,-64.20,0.000,2,0.000,0.000,428,1699,2771,0,0,0,0,0,0
$GC,87,-1.56,-58.4,3.7,-4.3,12,112,12.52,2.40,-1.83,0.000,4,0.136,0.037,2753,3107,2872,0,0,0,0,0,0
$GC,217,-1.56,-58.4,33.9,-18.0,37,221,0.00,2.40,0.00,0.000,6,0.000,0.033,2753,1687,2873,0,0,0,0,0,0
$GC,477,-1.52,-58.4,85.4,-18.2,57,481,0.00,2.35,0.00,0.000,4,0.000,0.021,2753,3110,2873,0,0,0,0,0,0
$GC,495,-1.52,-58.4,88.7,-15.3,58,502,0.00,2.40,0.00,0.000,6,0.000,0.031,2753,1693,2874,0,0,0,0,0,0
$GC,757,-1.52,-58.4,132.1,-18.2,79,761,0.00,2.38,0.00,0.000,4,0.000,0.044,2753,295,2875,0,0,0,0,0,0
$GC,783,-1.47,-58.4,136.8,-17.2,81,788,0.12,2.28,0.00,0.000,6,0.109,0.018,2778,1737,2875,0,0,0,0,0,0
$GC,1047,-1.57,-58.4,171.5,-10.6,102,1052,0.00,2.47,0.00,0.000,4,0.000,0.044,2777,288,2876,0,0,0,0,0,0
$GC,1087,-1.60,-58.4,175.9,-11.6,105,1092,0.12,2.22,0.00,0.000,6,0.066,0.018,2738,1704,2876,0,0,0,0,0,0
$GC,1360,-1.63,-58.4,204.5,-9.9,125,1364,0.00,2.22,0.00,0.000,4,0.000,0.024,2738,3061,2876,0,0,0,0,0,0
$GC,1388,-1.71,-58.4,207.4,-9.3,126,1392,0.00,2.28,0.00,0.000,6,0.000,0.033,2737,1695,2876,0,0,0,0,0,0
$GC,1716,-1.75,-58.4,241.2,-10.0,142,1720,0.00,2.22,0.00,0.000,4,0.000,0.024,2738,3061,2876,0,0,0,0,0,0
$GC,1836,-1.86,-58.4,253.1,-9.8,147,1841,0.20,2.28,0.00,0.000,6,0.050,0.031,2680,1693,2876,0,0,0,0,0,0
$GC,2170,-1.81,-58.4,290.2,-10.5,163,2175,0.12,2.28,0.00,0.000,4,0.108,0.025,2705,3069,2875,0,0,0,0,0,0
$GC,2190,-1.81,-58.4,292.4,-9.1,164,2194,0.00,2.33,0.00,0.000,6,0.000,0.034,2705,1690,2875,0,0,0,0,0,0
$GC,2536,-1.81,-58.4,328.7,-11.2,175,2540,0.00,2.28,0.00,0.000,4,0.000,0.026,2705,3061,2874,0,0,0,0,0,0
$GC,2656,-1.86,-58.4,340.7,-9.9,177,2660,0.00,2.33,0.00,0.000,6,0.000,0.036,2705,1692,2874,0,0,0,0,0,0
$GC,2996,-1.86,-58.4,375.4,-10.1,186,3000,0.00,2.30,0.00,0.000,4,0.000,0.029,2705,3065,2871,0,0,0,0,0,0
$GC,3101,-1.92,-58.4,385.4,-9.6,188,3106,0.12,2.30,0.00,0.000,6,0.070,0.038,2668,1698,2870,0,0,0,0,0,0
$GC,3419,-1.87,-58.4,422.6,-12.1,196,3421,0.12,0.00,0.00,0.000,6,0.112,0.000,2692,1698,2868,0,0,0,0,0,0
$STATE,3697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3697,begin apogee
$GC,3703,-0.31,0.0,453.7,10.7,203,3756,1.62,0.00,48.67,0.841,6,0.084,0.000,3030,1698,2630,0,0,0,0,0,0
$STATE,3757,end apogee,CONTROL_FINISHED_OK
$STATE,3757,begin climb
$GC,3760,1.56,58.4,455.0,0.0,204,3818,1.75,2.40,50.38,0.822,4,0.031,0.051,3446,362,2390,0,0,0,0,0,0
$GC,3886,1.21,114.9,453.4,2.8,206,3944,0.43,2.30,49.92,0.820,6,0.108,0.026,3366,1736,2161,0,0,0,0,0,0
$GC,4266,1.09,114.9,419.5,9.9,216,4271,0.15,2.45,0.00,0.000,4,0.113,0.035,3338,3175,2151,0,0,0,0,0,0
$GC,4409,1.10,121.8,406.4,7.3,219,4422,0.00,2.42,5.60,0.611,6,0.000,0.040,3338,1771,2133,0,0,0,0,0,0
$GC,4732,1.06,124.3,380.0,7.7,227,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,1771,2129,0,0,0,0,0,0
$GC,5056,1.04,141.0,358.6,6.4,235,5081,0.00,2.50,17.52,0.770,4,0.000,0.034,3338,3177,2054,0,0,0,0,0,0
$GC,5142,1.04,141.0,351.6,8.6,236,5147,0.00,2.45,0.00,0.000,6,0.000,0.038,3338,1769,2054,0,0,0,0,0,0
$GC,5473,1.04,141.0,324.0,8.6,245,5478,0.00,2.47,0.00,0.000,4,0.000,0.054,3338,359,2050,0,0,0,0,0,0
$GC,5548,0.91,141.0,317.1,8.9,246,5553,0.20,2.35,0.00,0.000,6,0.112,0.028,3301,1769,2047,0,0,0,0,0,0
$GC,5867,0.99,162.6,296.1,5.9,256,5893,0.00,2.47,19.42,0.743,4,0.000,0.032,3301,3176,1967,0,0,0,0,0,0
$GC,5903,1.08,176.9,293.7,6.6,257,5924,0.15,2.47,14.98,0.712,6,0.064,0.038,3341,1763,1907,0,0,0,0,0,0
$GC,6240,1.08,176.9,259.9,10.7,274,6244,0.00,2.45,0.00,0.000,4,0.000,0.054,3340,359,1902,0,0,0,0,0,0
$GC,6273,0.98,176.9,255.4,13.9,275,6278,0.15,2.38,0.00,0.000,6,0.109,0.026,3313,1777,1900,0,0,0,0,0,0
$GC,6589,1.06,176.9,227.6,8.2,290,6593,0.00,2.35,0.00,0.000,4,0.000,0.030,3313,3178,1899,0,0,0,0,0,0
$GC,6611,1.16,176.9,226.0,8.6,291,6616,0.17,2.42,0.00,0.000,6,0.058,0.038,3360,1770,1898,0,0,0,0,0,0
$GC,6930,1.16,176.9,193.5,12.7,308,6934,0.00,2.42,0.00,0.000,4,0.000,0.050,3360,358,1897,0,0,0,0,0,0
$GC,7061,1.05,176.9,177.8,11.6,317,7067,0.15,2.33,0.00,0.000,6,0.107,0.023,3332,1783,1895,0,0,0,0,0,0
$GC,7322,1.11,176.9,155.4,8.5,338,7326,0.00,2.47,0.00,0.000,4,0.000,0.047,3331,349,1894,0,0,0,0,0,0
$GC,7409,1.11,176.9,146.7,10.2,344,7416,0.00,2.35,0.00,0.000,6,0.000,0.022,3332,1772,1894,0,0,0,0,0,0
$GC,7669,1.20,186.8,125.8,7.0,365,7684,0.12,2.45,7.60,0.526,4,0.066,0.045,3370,356,1868,0,0,0,0,0,0
$GC,7761,1.10,186.8,117.7,9.9,371,7766,0.15,2.33,0.00,0.000,6,0.104,0.021,3341,1792,1866,0,0,0,0,0,0
$GC,8023,1.19,202.2,99.6,6.5,391,8043,0.00,2.50,15.20,0.557,4,0.000,0.045,3341,355,1805,0,0,0,0,0,0
$GC,8137,1.19,202.2,89.8,9.2,399,8142,0.00,2.30,0.00,0.000,6,0.000,0.019,3341,1770,1801,0,0,0,0,0,0
$GC,8398,1.29,202.2,69.7,8.4,419,8400,0.17,0.00,0.00,0.000,6,0.052,0.000,3394,1776,1801,0,0,0,0,0,0
$GC,8650,1.29,202.2,50.2,8.0,439,8655,0.00,2.28,0.00,0.000,4,0.000,0.022,3394,3167,1801,0,0,0,0,0,0
$GC,8676,1.33,202.2,48.1,8.7,441,8680,0.00,2.35,0.00,0.000,6,0.000,0.028,3394,1752,1801,0,0,0,0,0,0
$GC,8939,1.33,202.2,24.7,8.5,469,8945,0.00,2.38,0.00,0.000,4,0.000,0.043,3394,370,1801,0,0,0,0,0,0
$GC,8961,1.33,202.2,22.5,9.1,473,8968,0.00,2.28,0.00,0.000,6,0.000,0.018,3394,1779,1801,0,0,0,0,0,0
$GC,9164,1.35,215.5,6.0,6.7,519,9182,0.00,0.00,12.73,0.460,6,0.000,0.000,3394,1784,1750,0,0,0,0,0,0
$STATE,9208,end climb,SURFACE_DEPTH_REACHED
$STATE,9208,begin surface coast
$FINISH,0.8,1.001545
$STATE,9257,end surface coast,CONTROL_FINISHED_OK
$STATE,9258,begin surface
$SM_CCo,9281,105.10,0.485,0,0,958,410.14
$SM_GC,1.58,0.00,0.00,105.10,0.000,0.000,0.485,427,1674,958,-12.30,-0.57,410.14
$IRIDIUM_FIX,2059.45,-15756.04,161199,171738
$TT8_MAMPS,0.028379
$HUMID,52.59
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.5,21.808
$10V_AH,10.3,17.655
$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,31.325,104.175,242.025,105.100,0.000,29.354,28.590,367.885,4.500,0.000,15.656,1065.361,6130.724,412.294,1647.245,675.390,0.000,1137.922,0.000,1624.120,0.000,29.251,0.000
$DEVICE_MAMPS,135.759,69.797,840.632,484.744,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,362.803,343.901,800.258,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355816
$DATA_FILE_SIZE,28683,539
$CAP_FILE_SIZE,107796,0
$CFSIZE,260165632,200597504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220810,231428,2107.181,-15756.462,8,2.5,27,9.8