version: 66.06
glider: 139
mission: 8
dive: 253
start: 8 23 110 10 56 25
data:
$ID,139
$MISSION,8
$DIVE,253
$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,-2155853.8
$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
$GPS1,103507,2106.898,-15755.307,86,1.0,86,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-71.8
$GPS2,105608,2106.903,-15755.396,14,1.3,14,9.8
$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,85.5,21654,-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,-64.18,0.000,2,0.000,0.000,426,1680,2763,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.4,-3.4,12,110,12.48,2.45,-1.98,0.000,4,0.133,0.055,2752,285,2871,0,0,0,0,0,0
$GC,128,-0.62,-58.4,17.5,-31.6,19,135,0.98,2.35,0.00,0.000,6,0.089,0.018,2961,1731,2872,0,0,0,0,0,0
$GC,334,-1.03,-58.4,33.2,-4.4,54,339,0.35,2.47,0.00,0.000,4,0.034,0.043,2857,291,2873,0,0,0,0,0,0
$GC,389,-1.16,-58.4,38.2,-11.5,58,393,0.00,2.22,0.00,0.000,6,0.000,0.018,2857,1704,2873,0,0,0,0,0,0
$GC,654,-1.33,-58.4,70.6,-11.0,79,659,0.20,2.47,0.00,0.000,4,0.046,0.045,2794,281,2874,0,0,0,0,0,0
$GC,702,-1.28,-58.4,77.9,-16.2,82,709,0.10,2.28,0.00,0.000,6,0.081,0.018,2819,1705,2874,0,0,0,0,0,0
$GC,965,-1.44,-58.4,106.5,-10.7,103,970,0.15,2.22,0.00,0.000,4,0.056,0.021,2771,3066,2874,0,0,0,0,0,0
$GC,1109,-1.57,-58.4,124.6,-13.2,113,1113,0.00,2.30,0.00,0.000,6,0.000,0.032,2771,1685,2874,0,0,0,0,0,0
$GC,1374,-1.64,-58.4,159.8,-12.7,134,1379,0.12,2.28,0.00,0.000,4,0.064,0.022,2731,3066,2874,0,0,0,0,0,0
$GC,1400,-1.68,-58.4,163.2,-12.8,135,1405,0.00,2.30,0.00,0.000,6,0.000,0.031,2731,1693,2874,0,0,0,0,0,0
$GC,1658,-1.68,-58.4,195.8,-11.6,156,1662,0.00,2.22,0.00,0.000,4,0.000,0.022,2731,3065,2874,0,0,0,0,0,0
$GC,1683,-1.73,-58.4,198.6,-11.6,158,1687,0.00,2.30,0.00,0.000,6,0.000,0.032,2730,1695,2874,0,0,0,0,0,0
$GC,1953,-1.73,-58.4,230.3,-11.3,172,1957,0.00,2.28,0.00,0.000,4,0.000,0.024,2730,3067,2874,0,0,0,0,0,0
$GC,1981,-1.80,-58.4,233.3,-10.6,173,1986,0.10,2.28,0.00,0.000,6,0.075,0.031,2696,1694,2874,0,0,0,0,0,0
$GC,2306,-1.77,-58.4,269.5,-11.3,189,2310,0.00,2.38,0.00,0.000,4,0.000,0.046,2696,293,2874,0,0,0,0,0,0
$GC,2334,-1.67,-58.4,273.6,-12.8,190,2339,0.20,2.20,0.00,0.000,6,0.094,0.021,2736,1690,2874,0,0,0,0,0,0
$GC,2678,-1.73,-58.4,306.1,-10.0,206,2679,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1695,2873,0,0,0,0,0,0
$GC,3001,-1.79,-58.4,343.7,-12.4,214,3006,0.12,2.30,0.00,0.000,4,0.067,0.028,2697,3065,2871,0,0,0,0,0,0
$GC,3021,-1.84,-58.4,346.6,-12.9,214,3025,0.00,2.30,0.00,0.000,6,0.000,0.036,2697,1697,2871,0,0,0,0,0,0
$GC,3367,-1.84,-58.4,393.5,-12.9,223,3368,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1696,2868,0,0,0,0,0,0
$GC,3690,-1.84,-58.4,432.5,-12.4,231,3695,0.00,2.30,0.00,0.000,4,0.000,0.031,2697,3063,2866,0,0,0,0,0,0
$GC,3770,-1.89,-58.4,441.4,-11.5,232,3774,0.00,2.35,0.00,0.000,6,0.000,0.041,2697,1697,2865,0,0,0,0,0,0
$STATE,3856,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3856,begin apogee
$GC,3862,-0.31,0.0,451.3,11.4,234,3914,1.60,0.00,48.30,0.829,6,0.081,0.000,3031,1697,2630,0,0,0,0,0,0
$STATE,3915,end apogee,CONTROL_FINISHED_OK
$STATE,3915,begin climb
$GC,3918,1.56,58.4,453.0,0.0,235,3976,1.80,0.00,50.30,0.814,6,0.030,0.000,3455,1697,2390,0,0,0,0,0,0
$GC,4305,1.32,119.2,447.3,2.4,245,4366,0.32,2.40,53.05,0.827,4,0.109,0.054,3390,357,2142,0,0,0,0,0,0
$GC,4412,1.04,119.2,440.3,11.1,247,4417,0.32,2.35,0.00,0.000,6,0.105,0.027,3328,1744,2137,0,0,0,0,0,0
$GC,4763,1.03,134.7,415.7,6.5,256,4778,0.00,0.00,13.60,0.760,6,0.000,0.000,3328,1745,2080,0,0,0,0,0,0
$GC,5087,1.03,134.7,385.8,10.4,264,5088,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,1745,2076,0,0,0,0,0,0
$GC,5413,1.03,134.7,350.5,11.5,272,5417,0.00,2.45,0.00,0.000,4,0.000,0.054,3328,362,2073,0,0,0,0,0,0
$GC,5506,0.92,134.7,339.0,12.3,274,5511,0.15,2.38,0.00,0.000,6,0.125,0.028,3301,1775,2069,0,0,0,0,0,0
$GC,5831,0.98,139.1,312.1,7.5,282,5832,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,1779,2068,0,0,0,0,0,0
$GC,6136,1.06,157.4,292.7,6.2,292,6163,0.12,2.58,19.38,0.742,4,0.071,0.053,3335,363,1988,0,0,0,0,0,0
$GC,6216,0.96,157.4,285.1,11.1,295,6221,0.15,2.35,0.00,0.000,6,0.113,0.027,3308,1775,1984,0,0,0,0,0,0
$GC,6541,1.02,157.4,257.2,8.6,311,6546,0.00,2.47,0.00,0.000,4,0.000,0.053,3308,359,1982,0,0,0,0,0,0
$GC,6664,1.02,157.4,245.6,9.4,316,6668,0.00,2.33,0.00,0.000,6,0.000,0.025,3308,1773,1980,0,0,0,0,0,0
$GC,6984,1.13,168.8,222.2,6.9,332,6997,0.15,0.00,10.50,0.646,6,0.063,0.000,3350,1778,1941,0,0,0,0,0,0
$GC,7303,1.13,168.8,194.8,9.4,349,7307,0.00,2.47,0.00,0.000,4,0.000,0.048,3350,355,1939,0,0,0,0,0,0
$GC,7357,1.03,168.8,190.0,8.8,353,7362,0.12,2.35,0.00,0.000,6,0.113,0.024,3327,1780,1937,0,0,0,0,0,0
$GC,7623,1.12,186.8,172.6,6.3,374,7645,0.00,2.53,16.73,0.633,4,0.000,0.048,3327,359,1868,0,0,0,0,0,0
$GC,7668,1.12,186.8,169.5,7.9,377,7672,0.00,2.33,0.00,0.000,6,0.000,0.022,3327,1780,1865,0,0,0,0,0,0
$GC,7933,1.19,186.8,148.4,8.0,398,7935,0.15,0.00,0.00,0.000,6,0.058,0.000,3372,1786,1865,0,0,0,0,0,0
$GC,8184,1.19,186.8,121.8,11.1,418,8185,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,1786,1865,0,0,0,0,0,0
$GC,8436,1.19,186.8,96.7,9.0,438,8440,0.00,2.45,0.00,0.000,4,0.000,0.046,3371,359,1865,0,0,0,0,0,0
$GC,8530,1.11,186.8,86.4,10.8,445,8535,0.15,2.28,0.00,0.000,6,0.104,0.020,3342,1786,1863,0,0,0,0,0,0
$GC,8798,1.25,208.6,68.3,5.9,466,8827,0.12,2.33,20.20,0.536,4,0.064,0.023,3383,3153,1778,0,0,0,0,0,0
$GC,8881,1.32,208.6,62.1,8.3,471,8887,0.00,2.38,0.00,0.000,6,0.000,0.030,3383,1769,1778,0,0,0,0,0,0
$GC,9141,1.36,209.5,42.1,7.8,492,9145,0.00,2.40,0.00,0.000,4,0.000,0.044,3383,355,1778,0,0,0,0,0,0
$GC,9364,1.31,209.5,21.4,9.9,520,9370,0.00,2.30,0.00,0.000,6,0.000,0.018,3383,1772,1775,0,0,0,0,0,0
$GC,9566,1.31,209.5,4.5,9.0,566,9573,0.00,2.45,0.00,0.000,4,0.000,0.044,3383,361,1775,0,0,0,0,0,0
$STATE,9579,end climb,SURFACE_DEPTH_REACHED
$STATE,9580,begin surface coast
$FINISH,2.3,1.023096
$STATE,9585,end surface coast,CONTROL_FINISHED_OK
$STATE,9585,begin surface
$SM_CCo,9610,117.47,0.489,0,0,958,410.14
$SM_GC,1.49,0.00,0.00,117.47,0.000,0.000,0.489,430,1729,958,-12.29,0.96,410.14
$IRIDIUM_FIX,2059.45,-15756.04,171199,101058
$TT8_MAMPS,0.029146
$HUMID,53.11
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,22.333
$10V_AH,10.4,18.055
$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,32.675,93.975,232.050,117.475,0.000,82.178,90.673,830.820,4.500,0.000,14.893,1095.734,6578.605,426.903,1614.009,1273.433,0.000,1117.988,0.000,1605.762,0.000,32.002,0.000
$DEVICE_MAMPS,133.458,55.224,829.127,488.579,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,383.337,370.005,859.869,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355848
$DATA_FILE_SIZE,31785,569
$CAP_FILE_SIZE,115346,0
$CFSIZE,260165632,200318976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230810,133936,2106.624,-15755.639,14,1.9,24,9.8