version: 66.06
glider: 139
mission: 8
dive: 209
start: 8 18 110 9 27 41
data:
$ID,139
$MISSION,8
$DIVE,209
$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,-2154873.8
$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
$GPS1,092204,2105.652,-15745.464,9,7.0,28,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-72.0
$GPS2,092725,2105.696,-15745.470,15,1.0,32,9.8
$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,77.4,4414,-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,15,-1.56,-58.4,0.0,0.0,0,82,0.00,0.00,-64.30,0.000,2,0.000,0.000,429,1687,2758,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.2,-3.3,12,110,12.50,2.42,-2.08,0.000,4,0.136,0.038,2751,3109,2872,0,0,0,0,0,0
$GC,119,-0.34,-58.4,15.9,-28.5,17,126,1.27,2.42,0.00,0.000,6,0.083,0.033,3023,1696,2873,0,0,0,0,0,0
$GC,321,-0.89,-58.4,25.7,-3.7,63,328,0.50,2.42,0.00,0.000,4,0.030,0.043,2889,289,2874,0,0,0,0,0,0
$GC,419,-1.08,-58.4,35.0,-11.1,78,424,0.12,2.30,0.00,0.000,6,0.061,0.018,2846,1732,2874,0,0,0,0,0,0
$GC,687,-1.25,-58.4,68.4,-11.8,99,691,0.00,2.50,0.00,0.000,4,0.000,0.046,2846,291,2874,0,0,0,0,0,0
$GC,727,-1.35,-58.4,74.0,-14.5,102,732,0.17,2.22,0.00,0.000,6,0.050,0.018,2790,1711,2875,0,0,0,0,0,0
$GC,996,-1.42,-58.4,108.2,-11.5,123,1000,0.00,2.20,0.00,0.000,4,0.000,0.022,2790,3075,2876,0,0,0,0,0,0
$GC,1212,-1.59,-58.4,131.4,-12.5,139,1217,0.17,2.33,0.00,0.000,6,0.049,0.034,2735,1685,2876,0,0,0,0,0,0
$GC,1476,-1.59,-58.4,169.3,-13.4,160,1480,0.00,2.25,0.00,0.000,4,0.000,0.022,2735,3070,2877,0,0,0,0,0,0
$GC,1535,-1.66,-58.4,176.3,-11.0,164,1542,0.00,2.35,0.00,0.000,6,0.000,0.032,2736,1686,2877,0,0,0,0,0,0
$GC,1795,-1.66,-58.4,207.7,-12.4,183,1799,0.00,2.28,0.00,0.000,4,0.000,0.023,2735,3071,2877,0,0,0,0,0,0
$GC,1833,-1.76,-58.4,212.7,-11.4,184,1839,0.00,2.33,0.00,0.000,6,0.000,0.032,2735,1700,2877,0,0,0,0,0,0
$GC,2150,-1.81,-58.4,248.2,-10.8,200,2152,0.12,0.00,0.00,0.000,6,0.065,0.000,2695,1699,2878,0,0,0,0,0,0
$GC,2459,-1.81,-58.4,283.9,-11.2,215,2463,0.00,2.25,0.00,0.000,4,0.000,0.025,2695,3071,2878,0,0,0,0,0,0
$GC,2483,-1.81,-58.4,286.7,-10.6,216,2488,0.00,2.30,0.00,0.000,6,0.000,0.034,2694,1694,2878,0,0,0,0,0,0
$GC,2811,-1.81,-58.4,324.5,-12.1,227,2815,0.00,2.25,0.00,0.000,4,0.000,0.026,2695,3065,2877,0,0,0,0,0,0
$GC,2841,-1.81,-58.4,328.0,-11.5,227,2845,0.00,2.30,0.00,0.000,6,0.000,0.037,2695,1697,2877,0,0,0,0,0,0
$GC,3176,-1.81,-58.4,368.1,-11.8,236,3180,0.00,2.28,0.00,0.000,4,0.000,0.028,2695,3063,2875,0,0,0,0,0,0
$GC,3305,-1.85,-58.4,381.5,-10.2,238,3310,0.00,2.33,0.00,0.000,6,0.000,0.038,2694,1687,2875,0,0,0,0,0,0
$GC,3638,-1.85,-58.4,416.5,-10.3,246,3639,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1686,2872,0,0,0,0,0,0
$STATE,3960,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3961,begin apogee
$GC,3968,-0.31,0.0,451.6,10.9,254,4021,1.60,0.00,49.40,0.840,6,0.084,0.000,3027,1754,2630,0,0,0,0,0,0
$STATE,4022,end apogee,CONTROL_FINISHED_OK
$STATE,4022,begin climb
$GC,4025,1.56,58.4,453.3,0.0,255,4083,1.77,2.53,50.25,0.822,4,0.031,0.053,3448,354,2390,0,0,0,0,0,0
$GC,4092,1.33,152.4,453.4,-0.6,256,4183,0.30,2.38,82.62,0.823,6,0.108,0.026,3393,1769,2007,0,0,0,0,0,0
$GC,4520,1.17,152.4,402.4,13.5,267,4525,0.17,2.38,0.00,0.000,4,0.111,0.034,3359,3179,1997,0,0,0,0,0,0
$GC,4536,1.06,152.4,400.2,13.5,267,4541,0.15,2.47,0.00,0.000,6,0.121,0.041,3332,1766,1997,0,0,0,0,0,0
$GC,4886,1.06,152.4,364.2,10.1,276,4890,0.00,2.50,0.00,0.000,4,0.000,0.057,3332,356,1993,0,0,0,0,0,0
$GC,4957,0.94,152.4,355.9,11.6,277,4962,0.12,2.38,0.00,0.000,6,0.120,0.028,3310,1779,1990,0,0,0,0,0,0
$GC,5298,0.98,152.4,326.0,8.4,286,5300,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,1783,1988,0,0,0,0,0,0
$GC,5623,1.03,152.4,297.7,8.8,294,5628,0.00,2.53,0.00,0.000,4,0.000,0.054,3309,352,1987,0,0,0,0,0,0
$GC,5760,0.99,152.4,284.6,9.9,300,5765,0.00,2.35,0.00,0.000,6,0.000,0.027,3309,1773,1984,0,0,0,0,0,0
$GC,6090,1.05,152.4,255.2,9.9,316,6091,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,1778,1984,0,0,0,0,0,0
$GC,6402,1.13,162.4,230.9,7.0,331,6415,0.15,2.50,5.22,0.541,4,0.063,0.049,3351,352,1967,0,0,0,0,0,0
$GC,6682,1.02,162.4,204.4,9.3,343,6687,0.15,2.33,0.00,0.000,6,0.107,0.024,3323,1776,1964,0,0,0,0,0,0
$GC,7011,1.08,162.4,178.4,8.3,367,7015,0.00,2.45,0.00,0.000,4,0.000,0.048,3322,351,1964,0,0,0,0,0,0
$GC,7026,1.08,162.4,177.1,8.3,368,7030,0.00,2.33,0.00,0.000,6,0.000,0.023,3322,1789,1963,0,0,0,0,0,0
$GC,7286,1.15,163.1,158.5,7.8,388,7291,0.12,2.50,0.00,0.000,4,0.068,0.048,3360,348,1963,0,0,0,0,0,0
$GC,7340,1.04,163.1,153.0,10.6,392,7345,0.17,2.30,0.00,0.000,6,0.102,0.022,3326,1768,1963,0,0,0,0,0,0
$GC,7607,1.13,179.1,133.7,6.5,413,7628,0.00,2.35,15.75,0.587,4,0.000,0.025,3326,3168,1899,0,0,0,0,0,0
$GC,7662,1.25,179.1,129.1,9.1,416,7667,0.20,2.38,0.00,0.000,6,0.051,0.031,3381,1765,1899,0,0,0,0,0,0
$GC,7922,1.25,179.1,107.4,8.0,436,7923,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,1765,1898,0,0,0,0,0,0
$GC,8174,1.25,179.2,89.1,7.9,456,8178,0.00,2.40,0.00,0.000,4,0.000,0.044,3381,351,1898,0,0,0,0,0,0
$GC,8274,1.15,179.2,80.5,8.1,463,8280,0.15,2.30,0.00,0.000,6,0.104,0.019,3352,1777,1895,0,0,0,0,0,0
$GC,8537,1.26,207.0,68.0,5.4,484,8568,0.00,2.35,25.12,0.539,4,0.000,0.023,3352,3161,1786,0,0,0,0,0,0
$GC,8584,1.40,229.9,65.0,5.8,487,8612,0.22,2.38,21.38,0.525,6,0.046,0.030,3413,1769,1691,0,0,0,0,0,0
$GC,8877,1.40,229.9,32.9,12.1,510,8881,0.00,2.42,0.00,0.000,4,0.000,0.044,3413,349,1687,0,0,0,0,0,0
$GC,8919,1.29,229.9,27.0,14.2,515,8926,0.12,2.33,0.00,0.000,6,0.084,0.018,3385,1776,1685,0,0,0,0,0,0
$GC,9123,1.33,229.9,6.3,9.0,561,9129,0.00,2.47,0.00,0.000,4,0.000,0.045,3384,356,1685,0,0,0,0,0,0
$GC,9150,1.33,229.9,3.5,10.5,566,9156,0.00,2.30,0.00,0.000,6,0.000,0.018,3384,1782,1685,0,0,0,0,0,0
$STATE,9162,end climb,SURFACE_DEPTH_REACHED
$STATE,9162,begin surface coast
$FINISH,0.9,1.023024
$STATE,9189,end surface coast,CONTROL_FINISHED_OK
$STATE,9189,begin surface
$SM_CCo,9213,102.32,0.492,0,0,958,410.14
$SM_GC,1.52,0.00,0.00,102.32,0.000,0.000,0.492,428,1685,958,-12.29,-0.28,410.14
$IRIDIUM_FIX,2057.14,-15746.61,121199,060603
$TT8_MAMPS,0.028379
$HUMID,52.12
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,18.376
$10V_AH,10.4,14.750
$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,33.000,99.525,249.750,102.325,0.000,24.202,33.087,125.009,4.500,0.000,32.578,1108.719,5952.967,405.242,1736.694,429.500,0.000,1145.594,0.000,1697.373,0.000,29.255,0.000
$DEVICE_MAMPS,135.759,92.040,839.865,491.647,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,386.185,375.184,897.426,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,31782,574
$CAP_FILE_SIZE,104993,0
$CFSIZE,260165632,202612736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180810,120406,2105.575,-15745.020,32,0.9,32,9.8