version: 66.06
glider: 139
mission: 8
dive: 256
start: 8 23 110 19 28 52
data:
$ID,139
$MISSION,8
$DIVE,256
$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,-2155938.2
$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
$GPS1,191910,2106.439,-15754.986,9,2.7,28,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-71.0
$GPS2,192835,2106.396,-15754.982,19,3.3,38,9.8
$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,83.2,20873,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.56,-58.4,0.0,0.0,0,83,0.00,0.00,-64.10,0.000,2,0.000,0.000,423,1658,2757,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.5,-3.8,12,105,12.45,0.00,-2.12,0.000,6,0.133,0.000,2753,1659,2871,0,0,0,0,0,0
$GC,302,-1.45,-58.4,47.6,-17.7,45,307,0.15,2.40,0.00,0.000,4,0.112,0.021,2781,3109,2873,0,0,0,0,0,0
$GC,335,-1.50,-58.4,53.3,-14.4,47,342,0.00,2.40,0.00,0.000,6,0.000,0.032,2781,1699,2873,0,0,0,0,0,0
$GC,594,-1.50,-58.4,92.2,-18.7,68,598,0.00,2.40,0.00,0.000,4,0.000,0.048,2781,292,2874,0,0,0,0,0,0
$GC,662,-1.43,-58.4,104.3,-17.8,73,666,0.00,2.30,0.00,0.000,6,0.000,0.018,2781,1733,2874,0,0,0,0,0,0
$GC,931,-1.53,-58.4,140.0,-11.4,94,936,0.00,2.17,0.00,0.000,4,0.000,0.021,2781,3081,2875,0,0,0,0,0,0
$GC,962,-1.67,-58.4,143.4,-11.2,96,967,0.20,2.30,0.00,0.000,6,0.048,0.031,2723,1692,2875,0,0,0,0,0,0
$GC,1229,-1.67,-58.4,176.1,-12.1,117,1233,0.00,2.28,0.00,0.000,4,0.000,0.021,2723,3078,2875,0,0,0,0,0,0
$GC,1310,-1.71,-58.4,185.9,-11.9,123,1314,0.00,2.33,0.00,0.000,6,0.000,0.031,2723,1692,2875,0,0,0,0,0,0
$GC,1567,-1.71,-58.4,220.6,-14.6,139,1571,0.00,2.28,0.00,0.000,4,0.000,0.022,2723,3079,2875,0,0,0,0,0,0
$GC,1642,-1.76,-58.4,231.9,-13.5,142,1646,0.00,2.33,0.00,0.000,6,0.000,0.031,2723,1690,2875,0,0,0,0,0,0
$GC,1962,-1.76,-58.4,278.0,-13.3,158,1966,0.00,2.25,0.00,0.000,4,0.000,0.024,2723,3073,2875,0,0,0,0,0,0
$GC,2037,-1.83,-58.4,286.8,-11.0,161,2041,0.00,2.30,0.00,0.000,6,0.000,0.032,2723,1690,2876,0,0,0,0,0,0
$GC,2375,-1.87,-58.4,315.9,-7.6,173,2380,0.15,2.33,0.00,0.000,4,0.059,0.026,2677,3081,2874,0,0,0,0,0,0
$GC,2440,-1.87,-58.4,322.4,-10.5,174,2445,0.00,2.33,0.00,0.000,6,0.000,0.035,2677,1693,2874,0,0,0,0,0,0
$GC,2787,-1.81,-58.4,370.6,-15.5,183,2792,0.15,2.33,0.00,0.000,4,0.103,0.028,2706,3075,2873,0,0,0,0,0,0
$GC,2848,-1.87,-58.4,379.7,-14.4,184,2853,0.00,2.33,0.00,0.000,6,0.000,0.037,2706,1695,2873,0,0,0,0,0,0
$GC,3164,-1.87,-58.4,421.2,-12.8,192,3168,0.00,2.33,0.00,0.000,4,0.000,0.030,2706,3070,2870,0,0,0,0,0,0
$GC,3207,-1.93,-58.4,426.5,-12.1,193,3212,0.12,2.33,0.00,0.000,6,0.070,0.040,2670,1698,2870,0,0,0,0,0,0
$STATE,3411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3411,begin apogee
$GC,3418,-0.31,0.0,451.6,12.0,198,3472,1.73,0.00,49.15,0.821,6,0.084,0.000,3028,1779,2630,0,0,0,0,0,0
$STATE,3472,end apogee,CONTROL_FINISHED_OK
$STATE,3473,begin climb
$GC,3475,1.56,58.4,452.5,0.0,199,3533,1.77,2.38,50.47,0.805,4,0.030,0.031,3451,3156,2389,0,0,0,0,0,0
$GC,3634,1.31,90.8,446.4,5.0,202,3671,0.32,2.40,28.60,0.789,6,0.106,0.037,3389,1762,2259,0,0,0,0,0,0
$GC,3981,1.17,112.8,423.6,5.9,211,4006,0.17,2.53,19.27,0.774,4,0.112,0.055,3356,355,2170,0,0,0,0,0,0
$GC,4043,0.98,129.9,420.3,6.4,212,4069,0.22,2.35,16.75,0.759,6,0.108,0.027,3315,1754,2100,0,0,0,0,0,0
$GC,4396,0.99,137.4,397.3,7.2,221,4408,0.00,2.47,7.25,0.665,4,0.000,0.035,3315,3175,2069,0,0,0,0,0,0
$GC,4423,0.99,137.4,394.7,8.6,221,4427,0.00,2.45,0.00,0.000,6,0.000,0.039,3315,1774,2069,0,0,0,0,0,0
$GC,4763,0.99,137.4,362.2,9.9,230,4767,0.00,2.47,0.00,0.000,4,0.000,0.055,3314,356,2065,0,0,0,0,0,0
$GC,4802,0.91,137.4,358.2,10.2,230,4807,0.00,2.38,0.00,0.000,6,0.000,0.028,3314,1774,2062,0,0,0,0,0,0
$GC,5133,0.92,142.3,330.6,7.5,239,5144,0.00,2.53,4.88,0.561,4,0.000,0.053,3314,356,2048,0,0,0,0,0,0
$GC,5203,0.85,142.3,325.1,7.9,240,5207,0.15,2.38,0.00,0.000,6,0.119,0.027,3288,1772,2045,0,0,0,0,0,0
$GC,5550,0.98,186.3,309.4,3.9,249,5596,0.12,2.58,40.33,0.765,4,0.071,0.054,3322,357,1869,0,0,0,0,0,0
$GC,5663,0.93,186.3,300.2,10.7,251,5668,0.00,2.38,0.00,0.000,6,0.000,0.027,3322,1781,1865,0,0,0,0,0,0
$GC,5986,0.96,186.3,263.8,12.2,267,5990,0.00,2.53,0.00,0.000,4,0.000,0.053,3322,352,1864,0,0,0,0,0,0
$GC,6010,0.91,186.3,260.1,14.1,268,6015,0.12,2.38,0.00,0.000,6,0.114,0.025,3300,1778,1862,0,0,0,0,0,0
$GC,6338,1.01,186.3,228.7,8.2,284,6343,0.00,2.50,0.00,0.000,4,0.000,0.052,3299,355,1861,0,0,0,0,0,0
$GC,6371,1.01,186.3,225.6,8.8,285,6375,0.00,2.33,0.00,0.000,6,0.000,0.025,3300,1773,1859,0,0,0,0,0,0
$GC,6687,1.14,198.4,205.1,6.8,300,6704,0.20,2.55,10.40,0.622,4,0.053,0.050,3354,355,1821,0,0,0,0,0,0
$GC,6812,1.03,198.4,190.9,12.6,307,6817,0.15,2.33,0.00,0.000,6,0.107,0.023,3325,1776,1817,0,0,0,0,0,0
$GC,7079,1.10,198.4,163.4,10.2,328,7080,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1782,1817,0,0,0,0,0,0
$GC,7329,1.17,198.4,137.4,10.9,348,7331,0.12,0.00,0.00,0.000,6,0.067,0.000,3363,1782,1816,0,0,0,0,0,0
$GC,7582,1.17,198.4,107.7,10.9,368,7586,0.00,2.42,0.00,0.000,4,0.000,0.045,3363,355,1816,0,0,0,0,0,0
$GC,7621,1.10,198.4,103.4,10.8,371,7626,0.12,2.30,0.00,0.000,6,0.108,0.021,3340,1784,1815,0,0,0,0,0,0
$GC,7892,1.26,245.1,89.7,3.7,392,7940,0.15,2.58,40.78,0.574,4,0.058,0.045,3385,351,1630,0,0,0,0,0,0
$GC,8058,1.20,245.1,71.5,14.5,404,8063,0.12,2.33,0.00,0.000,6,0.107,0.019,3361,1782,1625,0,0,0,0,0,0
$GC,8328,1.30,245.1,43.9,10.1,425,8332,0.00,2.45,0.00,0.000,4,0.000,0.045,3361,352,1624,0,0,0,0,0,0
$GC,8346,1.30,245.1,41.1,10.8,426,8353,0.00,2.33,0.00,0.000,6,0.000,0.019,3361,1786,1624,0,0,0,0,0,0
$GC,8609,1.39,245.1,15.0,9.0,469,8617,0.17,2.50,0.00,0.000,4,0.051,0.044,3413,355,1623,0,0,0,0,0,0
$GC,8687,1.25,245.1,3.9,15.7,486,8695,0.17,2.28,0.00,0.000,6,0.082,0.018,3374,1765,1623,0,0,0,0,0,0
$STATE,8700,end climb,SURFACE_DEPTH_REACHED
$STATE,8700,begin surface coast
$FINISH,0.9,1.000680
$STATE,8719,end surface coast,CONTROL_FINISHED_OK
$STATE,8719,begin surface
$SM_CCo,8743,89.78,0.490,0,0,957,410.14
$SM_GC,1.53,0.00,0.00,89.78,0.000,0.000,0.490,428,1671,957,-12.29,-0.68,410.14
$IRIDIUM_FIX,2101.76,-15753.03,171199,161650
$TT8_MAMPS,0.029146
$HUMID,54.41
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,22.630
$10V_AH,10.4,18.282
$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,31.600,104.925,267.875,89.775,0.000,24.563,32.102,364.192,4.500,0.000,39.608,992.181,5790.934,416.424,1525.756,671.211,0.000,1104.810,0.000,1486.939,0.000,29.269,0.000
$DEVICE_MAMPS,132.691,88.972,820.690,490.113,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,331.343,311.242,702.729,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355832
$DATA_FILE_SIZE,28619,492
$CAP_FILE_SIZE,105361,0
$CFSIZE,260165632,200171520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230810,215716,2106.135,-15754.378,13,2.3,32,9.8