version: 66.06
glider: 139
mission: 8
dive: 251
start: 8 23 110 4 57 44
data:
$ID,139
$MISSION,8
$DIVE,251
$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,-2155820.5
$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
$GPS1,044732,2107.205,-15756.152,15,1.8,15,9.8
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-70.0
$GPS2,045728,2107.208,-15756.185,12,2.4,31,9.8
$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,86.6,23068,-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,15,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,-64.18,0.000,2,0.000,0.000,426,1712,2769,0,0,0,0,0,0
$GC,87,-1.56,-58.4,3.7,-4.4,12,112,12.48,2.53,-1.85,0.000,4,0.134,0.054,2751,275,2872,0,0,0,0,0,0
$GC,125,-0.48,-58.4,16.9,-30.5,18,132,1.12,2.38,0.00,0.000,6,0.091,0.018,2989,1735,2873,0,0,0,0,0,0
$GC,336,-0.96,-58.4,32.7,-5.3,58,343,0.40,2.50,0.00,0.000,4,0.031,0.044,2871,286,2874,0,0,0,0,0,0
$GC,398,-1.11,-58.4,38.0,-10.6,62,405,0.00,2.25,0.00,0.000,6,0.000,0.018,2871,1708,2874,0,0,0,0,0,0
$GC,658,-1.32,-58.4,63.7,-9.7,83,663,0.25,2.45,0.00,0.000,4,0.041,0.044,2793,287,2875,0,0,0,0,0,0
$GC,739,-1.32,-58.4,75.8,-15.5,89,743,0.00,2.20,0.00,0.000,6,0.000,0.018,2793,1678,2875,0,0,0,0,0,0
$GC,1004,-1.40,-58.4,107.8,-15.2,110,1008,0.00,2.25,0.00,0.000,4,0.000,0.021,2794,3074,2875,0,0,0,0,0,0
$GC,1057,-1.57,-58.4,115.4,-13.1,114,1062,0.17,2.30,0.00,0.000,6,0.049,0.032,2738,1691,2875,0,0,0,0,0,0
$GC,1322,-1.57,-58.4,153.4,-12.4,135,1326,0.00,2.28,0.00,0.000,4,0.000,0.022,2738,3069,2876,0,0,0,0,0,0
$GC,1351,-1.63,-58.4,157.2,-11.9,137,1355,0.00,2.30,0.00,0.000,6,0.000,0.030,2738,1693,2876,0,0,0,0,0,0
$GC,1612,-1.63,-58.4,186.9,-11.6,157,1616,0.00,2.25,0.00,0.000,4,0.000,0.021,2739,3069,2877,0,0,0,0,0,0
$GC,1748,-1.71,-58.4,201.8,-11.5,167,1752,0.00,2.30,0.00,0.000,6,0.000,0.031,2738,1693,2877,0,0,0,0,0,0
$GC,2081,-1.75,-58.4,247.1,-13.4,183,2085,0.00,2.38,0.00,0.000,4,0.000,0.045,2738,292,2876,0,0,0,0,0,0
$GC,2104,-1.75,-58.4,251.1,-14.4,184,2108,0.00,2.22,0.00,0.000,6,0.000,0.019,2738,1697,2876,0,0,0,0,0,0
$GC,2431,-1.80,-58.4,290.1,-11.6,200,2433,0.15,0.00,0.00,0.000,6,0.058,0.000,2693,1702,2876,0,0,0,0,0,0
$GC,2755,-1.77,-58.4,328.7,-11.1,210,2759,0.10,2.28,0.00,0.000,4,0.116,0.028,2711,3061,2876,0,0,0,0,0,0
$GC,2847,-1.83,-58.4,338.2,-10.5,212,2852,0.00,2.30,0.00,0.000,6,0.000,0.036,2711,1694,2875,0,0,0,0,0,0
$GC,3176,-1.83,-58.4,372.1,-10.2,220,3180,0.00,2.28,0.00,0.000,4,0.000,0.028,2711,3062,2874,0,0,0,0,0,0
$GC,3222,-1.92,-58.4,377.0,-10.2,221,3227,0.12,2.30,0.00,0.000,6,0.067,0.038,2673,1697,2873,0,0,0,0,0,0
$GC,3548,-1.87,-58.4,418.4,-13.4,229,3552,0.00,2.28,0.00,0.000,4,0.000,0.030,2673,3062,2871,0,0,0,0,0,0
$GC,3700,-1.87,-58.4,437.5,-12.2,232,3704,0.00,2.33,0.00,0.000,6,0.000,0.038,2673,1690,2870,0,0,0,0,0,0
$STATE,3725,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3725,begin apogee
$GC,3732,-0.31,0.0,440.2,11.8,232,3785,1.67,0.00,49.28,0.811,6,0.083,0.000,3031,1749,2630,0,0,0,0,0,0
$STATE,3786,end apogee,CONTROL_FINISHED_OK
$STATE,3786,begin climb
$GC,3790,1.56,58.4,442.0,0.0,234,3844,1.77,0.00,50.55,0.796,6,0.028,0.000,3453,1749,2391,0,0,0,0,0,0
$GC,4144,1.29,91.4,430.0,4.9,243,4180,0.32,2.45,28.48,0.788,4,0.107,0.031,3387,3160,2256,0,0,0,0,0,0
$GC,4216,1.15,99.3,425.6,7.2,244,4234,0.17,2.42,8.23,0.673,6,0.111,0.037,3355,1768,2225,0,0,0,0,0,0
$GC,4561,1.09,120.5,402.7,6.0,253,4585,0.00,2.40,19.12,0.769,4,0.000,0.033,3354,3158,2138,0,0,0,0,0,0
$GC,4762,1.06,142.9,389.6,5.9,257,4789,0.12,2.40,21.02,0.771,6,0.127,0.038,3333,1762,2047,0,0,0,0,0,0
$GC,5113,1.06,142.9,359.9,9.3,266,5117,0.00,2.38,0.00,0.000,4,0.000,0.033,3333,3167,2040,0,0,0,0,0,0
$GC,5197,1.06,142.9,351.1,9.9,267,5202,0.00,2.45,0.00,0.000,6,0.000,0.039,3333,1761,2040,0,0,0,0,0,0
$GC,5528,1.06,142.9,321.1,8.2,276,5529,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,1761,2037,0,0,0,0,0,0
$GC,5835,1.06,142.9,292.6,10.2,285,5839,0.00,2.38,0.00,0.000,4,0.000,0.031,3333,3168,2036,0,0,0,0,0,0
$GC,5929,1.09,142.9,283.5,9.2,289,5933,0.00,2.42,0.00,0.000,6,0.000,0.038,3333,1764,2035,0,0,0,0,0,0
$GC,6255,1.13,171.7,261.4,5.3,305,6287,0.00,2.50,24.62,0.717,4,0.000,0.051,3333,355,1929,0,0,0,0,0,0
$GC,6316,1.06,171.7,257.0,9.1,307,6322,0.00,2.38,0.00,0.000,6,0.000,0.025,3333,1769,1925,0,0,0,0,0,0
$GC,6633,1.09,171.9,230.2,7.9,323,6638,0.00,2.45,0.00,0.000,4,0.000,0.051,3333,358,1923,0,0,0,0,0,0
$GC,6658,1.03,171.9,227.7,10.3,324,6662,0.00,2.35,0.00,0.000,6,0.000,0.025,3333,1788,1921,0,0,0,0,0,0
$GC,6978,1.06,171.9,192.1,11.5,341,6982,0.00,2.50,0.00,0.000,4,0.000,0.048,3333,354,1920,0,0,0,0,0,0
$GC,7024,1.00,171.9,186.2,12.7,344,7031,0.00,2.35,0.00,0.000,6,0.000,0.023,3333,1768,1919,0,0,0,0,0,0
$GC,7286,1.05,171.9,162.1,8.5,365,7290,0.00,2.42,0.00,0.000,4,0.000,0.048,3333,356,1919,0,0,0,0,0,0
$GC,7374,1.00,171.9,153.3,9.0,371,7380,0.00,2.30,0.00,0.000,6,0.000,0.021,3333,1775,1918,0,0,0,0,0,0
$GC,7636,1.07,173.8,133.0,7.7,392,7640,0.00,2.30,0.00,0.000,4,0.000,0.025,3333,3172,1918,0,0,0,0,0,0
$GC,7713,1.17,173.8,126.7,8.2,397,7719,0.00,2.38,0.00,0.000,6,0.000,0.031,3333,1765,1918,0,0,0,0,0,0
$GC,7975,1.27,190.1,107.0,6.4,418,7998,0.17,2.47,15.88,0.558,4,0.054,0.046,3382,363,1854,0,0,0,0,0,0
$GC,8114,1.15,190.1,92.9,11.4,428,8119,0.15,2.30,0.00,0.000,6,0.104,0.020,3354,1780,1850,0,0,0,0,0,0
$GC,8383,1.29,223.7,78.1,4.9,449,8419,0.12,2.33,29.80,0.548,4,0.065,0.024,3392,3160,1717,0,0,0,0,0,0
$GC,8477,1.36,237.4,72.3,6.7,455,8497,0.00,2.38,13.27,0.510,6,0.000,0.029,3392,1772,1661,0,0,0,0,0,0
$GC,8753,1.36,237.4,49.5,9.6,477,8757,0.00,2.40,0.00,0.000,4,0.000,0.044,3392,362,1658,0,0,0,0,0,0
$GC,8826,1.29,237.4,40.1,13.3,482,8833,0.00,2.30,0.00,0.000,6,0.000,0.018,3392,1776,1655,0,0,0,0,0,0
$GC,9088,1.29,237.4,11.7,12.3,529,9095,0.00,2.45,0.00,0.000,4,0.000,0.044,3392,366,1655,0,0,0,0,0,0
$GC,9106,1.29,237.4,9.0,13.5,532,9113,0.00,2.28,0.00,0.000,6,0.000,0.018,3392,1778,1655,0,0,0,0,0,0
$STATE,9165,end climb,SURFACE_DEPTH_REACHED
$STATE,9165,begin surface coast
$FINISH,1.1,1.023081
$STATE,9198,end surface coast,CONTROL_FINISHED_OK
$STATE,9198,begin surface
$SM_CCo,9222,89.62,0.483,0,0,957,410.14
$SM_GC,1.61,0.00,0.00,89.62,0.000,0.000,0.483,425,1684,957,-12.31,-0.31,410.14
$IRIDIUM_FIX,2059.45,-15758.18,171199,020250
$TT8_MAMPS,0.029146
$HUMID,53.70
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,440.2,7.7
$24V_AH,23.5,22.091
$10V_AH,10.4,17.891
$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,32.175,108.650,260.250,89.625,0.000,23.851,28.850,405.112,4.750,0.000,32.387,1094.788,5923.683,426.991,1743.076,717.060,0.000,1182.961,0.000,1706.385,0.000,32.138,0.000
$DEVICE_MAMPS,134.225,122.720,810.719,483.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,370.623,360.749,839.985,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355744
$DATA_FILE_SIZE,31819,552
$CAP_FILE_SIZE,111876,0
$CFSIZE,260165632,200429568
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230810,073407,2107.200,-15755.577,32,1.8,32,9.8