version: 66.06
glider: 139
mission: 8
dive: 249
start: 8 22 110 23 24 22
data:
$ID,139
$MISSION,8
$DIVE,249
$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,-2155768.8
$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,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
$GPS1,231428,2107.181,-15756.462,8,2.5,27,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-71.2
$GPS2,232406,2107.180,-15756.500,14,1.7,30,9.8
$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,86.4,23604,-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,16,-1.56,-58.4,0.0,0.0,0,82,0.00,0.00,-64.12,0.000,2,0.000,0.000,426,1678,2731,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.0,-3.1,12,110,12.50,2.42,-2.65,0.000,4,0.135,0.054,2751,292,2871,0,0,0,0,0,0
$GC,127,-0.62,-58.4,16.8,-30.8,19,134,0.98,2.33,0.00,0.000,6,0.087,0.019,2961,1734,2872,0,0,0,0,0,0
$GC,329,-1.04,-58.4,31.5,-5.3,61,335,0.35,2.50,0.00,0.000,4,0.035,0.043,2856,284,2873,0,0,0,0,0,0
$GC,383,-1.15,-58.4,36.8,-11.6,65,388,0.00,2.22,0.00,0.000,6,0.000,0.018,2857,1710,2874,0,0,0,0,0,0
$GC,649,-1.31,-58.4,63.4,-8.7,86,651,0.20,0.00,0.00,0.000,6,0.046,0.000,2794,1716,2874,0,0,0,0,0,0
$GC,900,-1.41,-58.4,89.5,-10.2,106,904,0.00,2.45,0.00,0.000,4,0.000,0.046,2794,290,2875,0,0,0,0,0,0
$GC,925,-1.41,-58.4,92.4,-12.4,108,929,0.00,2.22,0.00,0.000,6,0.000,0.018,2794,1706,2875,0,0,0,0,0,0
$GC,1192,-1.53,-58.4,120.1,-9.7,129,1197,0.12,2.45,0.00,0.000,4,0.064,0.046,2753,285,2875,0,0,0,0,0,0
$GC,1212,-1.53,-58.4,122.8,-10.7,130,1219,0.00,2.25,0.00,0.000,6,0.000,0.018,2753,1700,2876,0,0,0,0,0,0
$GC,1474,-1.56,-58.4,155.0,-11.7,151,1478,0.00,2.42,0.00,0.000,4,0.000,0.046,2753,290,2876,0,0,0,0,0,0
$GC,1529,-1.53,-58.4,162.1,-12.7,155,1533,0.00,2.22,0.00,0.000,6,0.000,0.018,2753,1703,2876,0,0,0,0,0,0
$GC,1794,-1.59,-58.4,191.8,-11.5,176,1795,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1708,2876,0,0,0,0,0,0
$GC,2055,-1.66,-58.4,223.9,-12.1,191,2059,0.00,2.22,0.00,0.000,4,0.000,0.024,2753,3059,2876,0,0,0,0,0,0
$GC,2070,-1.77,-58.4,225.8,-11.7,191,2076,0.17,2.28,0.00,0.000,6,0.051,0.031,2700,1690,2876,0,0,0,0,0,0
$GC,2388,-1.73,-58.4,266.5,-13.3,207,2393,0.12,2.28,0.00,0.000,4,0.106,0.025,2725,3061,2876,0,0,0,0,0,0
$GC,2542,-1.80,-58.4,284.3,-10.8,213,2547,0.00,2.28,0.00,0.000,6,0.000,0.032,2725,1692,2876,0,0,0,0,0,0
$GC,2854,-1.80,-58.4,319.4,-10.8,225,2859,0.00,2.25,0.00,0.000,4,0.000,0.025,2725,3066,2875,0,0,0,0,0,0
$GC,2876,-1.86,-58.4,321.5,-10.2,225,2881,0.12,2.30,0.00,0.000,6,0.067,0.035,2686,1690,2876,0,0,0,0,0,0
$GC,3227,-1.82,-58.4,359.7,-10.8,234,3231,0.00,2.30,0.00,0.000,4,0.000,0.028,2686,3061,2873,0,0,0,0,0,0
$GC,3339,-1.82,-58.4,371.5,-10.3,236,3343,0.00,2.30,0.00,0.000,6,0.000,0.036,2686,1696,2873,0,0,0,0,0,0
$GC,3654,-1.82,-58.4,403.5,-9.9,244,3658,0.00,2.30,0.00,0.000,4,0.000,0.030,2686,3054,2871,0,0,0,0,0,0
$GC,3738,-1.82,-58.4,411.9,-10.1,245,3744,0.00,2.30,0.00,0.000,6,0.000,0.039,2686,1696,2871,0,0,0,0,0,0
$GC,4070,-1.82,-58.4,448.3,-11.4,254,4074,0.00,2.28,0.00,0.000,4,0.000,0.031,2686,3053,2869,0,0,0,0,0,0
$STATE,4082,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4082,begin apogee
$GC,4090,-0.31,0.0,450.2,11.9,254,4143,1.62,0.00,48.83,0.825,6,0.083,0.000,3028,1768,2629,0,0,0,0,0,0
$STATE,4144,end apogee,CONTROL_FINISHED_OK
$STATE,4144,begin climb
$GC,4147,1.56,58.4,451.9,0.0,255,4205,1.77,2.53,50.22,0.811,4,0.030,0.052,3447,353,2391,0,0,0,0,0,0
$GC,4245,1.24,137.9,452.8,0.7,257,4326,0.40,2.33,70.25,0.815,6,0.107,0.025,3372,1736,2066,0,0,0,0,0,0
$GC,4649,1.11,137.9,409.6,12.6,267,4654,0.15,2.42,0.00,0.000,4,0.114,0.034,3344,3168,2057,0,0,0,0,0,0
$GC,4773,1.11,137.9,395.0,11.9,269,4777,0.00,2.45,0.00,0.000,6,0.000,0.042,3344,1771,2056,0,0,0,0,0,0
$GC,5109,1.07,137.9,355.7,11.3,278,5111,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,1771,2051,0,0,0,0,0,0
$GC,5434,1.03,137.9,326.2,8.2,286,5438,0.00,2.35,0.00,0.000,4,0.000,0.033,3344,3170,2048,0,0,0,0,0,0
$GC,5620,1.03,137.9,311.5,8.1,290,5624,0.00,2.42,0.00,0.000,6,0.000,0.039,3344,1764,2049,0,0,0,0,0,0
$GC,5946,1.04,148.7,288.0,6.9,302,5958,0.00,2.53,6.60,0.614,4,0.000,0.052,3344,354,2023,0,0,0,0,0,0
$GC,5971,0.98,150.1,286.2,7.8,303,5976,0.15,2.38,0.00,0.000,6,0.117,0.026,3317,1772,2021,0,0,0,0,0,0
$GC,6305,1.03,154.2,264.3,7.5,319,6317,0.00,2.53,6.12,0.584,4,0.000,0.051,3317,363,2000,0,0,0,0,0,0
$GC,6338,0.99,154.2,261.2,9.0,320,6342,0.00,2.33,0.00,0.000,6,0.000,0.025,3317,1774,1999,0,0,0,0,0,0
$GC,6658,1.04,157.9,233.5,7.6,336,6670,0.00,2.47,4.70,0.504,4,0.000,0.049,3317,358,1985,0,0,0,0,0,0
$GC,6844,1.04,158.6,219.2,7.8,344,6848,0.00,2.35,0.00,0.000,6,0.000,0.024,3317,1783,1983,0,0,0,0,0,0
$GC,7169,1.11,158.6,194.0,8.0,362,7174,0.10,2.33,0.00,0.000,4,0.078,0.028,3348,3175,1982,0,0,0,0,0,0
$GC,7257,1.15,158.6,185.7,9.8,368,7261,0.00,2.38,0.00,0.000,6,0.000,0.032,3349,1764,1982,0,0,0,0,0,0
$GC,7516,1.15,158.6,160.1,9.5,388,7517,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,1763,1982,0,0,0,0,0,0
$GC,7768,1.17,176.5,142.1,6.3,408,7790,0.00,2.42,17.55,0.594,4,0.000,0.045,3348,362,1910,0,0,0,0,0,0
$GC,7858,1.11,176.5,135.5,7.9,413,7864,0.00,2.30,0.00,0.000,6,0.000,0.021,3349,1782,1906,0,0,0,0,0,0
$GC,8117,1.12,183.9,117.6,7.2,434,8132,0.00,2.53,7.50,0.501,4,0.000,0.046,3348,357,1880,0,0,0,0,0,0
$GC,8143,1.12,183.9,115.2,8.6,435,8149,0.00,2.30,0.00,0.000,6,0.000,0.020,3349,1780,1878,0,0,0,0,0,0
$GC,8403,1.17,183.9,89.7,10.1,456,8407,0.00,2.45,0.00,0.000,4,0.000,0.044,3348,358,1878,0,0,0,0,0,0
$GC,8419,1.17,183.9,88.0,10.5,457,8423,0.00,2.28,0.00,0.000,6,0.000,0.020,3349,1781,1878,0,0,0,0,0,0
$GC,8686,1.33,235.8,69.0,3.2,478,8743,0.17,2.55,45.88,0.548,4,0.052,0.044,3400,356,1666,0,0,0,0,0,0
$GC,9006,1.25,235.8,37.2,12.5,501,9011,0.15,2.28,0.00,0.000,6,0.103,0.019,3372,1779,1660,0,0,0,0,0,0
$GC,9271,1.32,235.8,9.9,10.7,551,9278,0.00,2.47,0.00,0.000,4,0.000,0.044,3371,356,1660,0,0,0,0,0,0
$STATE,9329,end climb,SURFACE_DEPTH_REACHED
$STATE,9329,begin surface coast
$FINISH,0.9,1.023056
$STATE,9351,end surface coast,CONTROL_FINISHED_OK
$STATE,9352,begin surface
$SM_CCo,9376,94.53,0.486,0,0,957,410.14
$SM_GC,1.36,0.00,0.00,94.53,0.000,0.000,0.486,427,1720,957,-12.30,0.71,410.14
$IRIDIUM_FIX,2101.76,-15758.18,161199,202012
$TT8_MAMPS,0.028379
$HUMID,53.62
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,21.900
$10V_AH,10.3,17.736
$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,31.675,108.350,257.650,94.525,0.000,30.370,40.623,366.174,4.500,0.000,30.932,1116.088,6014.439,404.285,1809.891,703.159,0.000,1193.465,0.000,1779.604,0.000,29.272,0.000
$DEVICE_MAMPS,134.992,53.690,825.292,485.511,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,382.715,373.620,874.943,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355852
$DATA_FILE_SIZE,31699,569
$CAP_FILE_SIZE,111250,0
$CFSIZE,260165632,200540160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230810,020406,2107.112,-15756.452,74,0.9,74,9.8