version: 66.06
glider: 139
mission: 8
dive: 264
start: 8 24 110 17 2 14
data:
$ID,139
$MISSION,8
$DIVE,264
$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,-2156167.8
$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
$GPS1,165640,2105.844,-15755.252,12,4.4,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-70.6
$GPS2,170158,2105.842,-15755.291,11,3.5,30,9.8
$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,80.3,21380,-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,-64.47,0.000,2,0.000,0.000,430,1679,2769,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.7,-4.2,12,110,12.50,2.45,-1.88,0.000,4,0.135,0.054,2755,289,2872,0,0,0,0,0,0
$GC,119,-0.34,-58.4,16.1,-27.9,17,126,1.25,2.35,0.00,0.000,6,0.089,0.019,3020,1735,2873,0,0,0,0,0,0
$GC,321,-0.91,-58.4,28.5,-3.0,63,328,0.50,2.50,0.00,0.000,4,0.031,0.042,2884,288,2874,0,0,0,0,0,0
$GC,387,-1.12,-58.4,33.7,-8.3,71,394,0.10,2.25,0.00,0.000,6,0.033,0.018,2841,1702,2874,0,0,0,0,0,0
$GC,649,-1.25,-58.4,63.3,-10.9,92,653,0.00,2.45,0.00,0.000,4,0.000,0.044,2841,285,2875,0,0,0,0,0,0
$GC,681,-1.34,-58.4,67.1,-10.9,94,689,0.12,2.25,0.00,0.000,6,0.031,0.018,2794,1700,2875,0,0,0,0,0,0
$GC,944,-1.41,-58.4,100.2,-13.4,115,948,0.00,2.20,0.00,0.000,4,0.000,0.021,2794,3062,2876,0,0,0,0,0,0
$GC,1098,-1.57,-58.4,120.2,-12.2,126,1103,0.15,2.28,0.00,0.000,6,0.054,0.031,2745,1690,2876,0,0,0,0,0,0
$GC,1358,-1.57,-58.4,160.9,-14.8,146,1362,0.00,2.22,0.00,0.000,4,0.000,0.021,2745,3067,2877,0,0,0,0,0,0
$GC,1460,-1.65,-58.4,174.2,-11.4,153,1465,0.00,2.28,0.00,0.000,6,0.000,0.031,2745,1694,2877,0,0,0,0,0,0
$GC,1728,-1.65,-58.4,203.2,-10.9,174,1732,0.00,2.40,0.00,0.000,4,0.000,0.044,2745,290,2878,0,0,0,0,0,0
$GC,1761,-1.60,-58.4,207.3,-12.0,175,1765,0.00,2.22,0.00,0.000,6,0.000,0.018,2745,1704,2878,0,0,0,0,0,0
$GC,2078,-1.66,-58.4,244.0,-12.8,190,2082,0.00,2.17,0.00,0.000,4,0.000,0.023,2745,3058,2878,0,0,0,0,0,0
$GC,2146,-1.78,-58.4,251.8,-11.3,193,2151,0.15,2.28,0.00,0.000,6,0.057,0.032,2699,1689,2878,0,0,0,0,0,0
$GC,2479,-1.78,-58.4,292.6,-10.8,209,2483,0.00,2.22,0.00,0.000,4,0.000,0.024,2699,3058,2878,0,0,0,0,0,0
$GC,2668,-1.82,-58.4,311.8,-10.8,215,2672,0.00,2.30,0.00,0.000,6,0.000,0.033,2698,1692,2878,0,0,0,0,0,0
$GC,2986,-1.82,-58.4,347.7,-11.0,223,2990,0.00,2.25,0.00,0.000,4,0.000,0.027,2698,3056,2878,0,0,0,0,0,0
$GC,3084,-1.86,-58.4,357.3,-10.1,225,3089,0.00,2.30,0.00,0.000,6,0.000,0.036,2698,1689,2877,0,0,0,0,0,0
$GC,3412,-1.86,-58.4,395.1,-11.4,233,3416,0.00,2.25,0.00,0.000,4,0.000,0.028,2699,3055,2875,0,0,0,0,0,0
$GC,3547,-1.90,-58.4,410.3,-11.2,236,3551,0.00,2.33,0.00,0.000,6,0.000,0.039,2698,1697,2874,0,0,0,0,0,0
$GC,3874,-1.90,-58.4,447.9,-11.1,244,3878,0.00,2.25,0.00,0.000,4,0.000,0.031,2698,3053,2872,0,0,0,0,0,0
$STATE,3895,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3895,begin apogee
$GC,3904,-0.31,0.0,450.3,11.1,244,3961,1.55,0.00,49.72,0.827,6,0.083,0.000,3026,1770,2629,0,0,0,0,0,0
$STATE,3962,end apogee,CONTROL_FINISHED_OK
$STATE,3962,begin climb
$GC,3965,1.56,58.4,451.9,0.0,246,4023,1.77,2.53,50.10,0.810,4,0.031,0.052,3448,354,2391,0,0,0,0,0,0
$GC,4092,1.20,110.0,450.1,3.2,248,4145,0.43,2.28,45.17,0.806,6,0.104,0.025,3365,1735,2181,0,0,0,0,0,0
$GC,4469,1.09,110.0,416.9,9.3,258,4471,0.15,0.00,0.00,0.000,6,0.110,0.000,3337,1735,2172,0,0,0,0,0,0
$GC,4794,1.06,129.3,393.7,6.2,266,4817,0.00,2.45,16.50,0.763,4,0.000,0.033,3337,3167,2101,0,0,0,0,0,0
$GC,5032,1.08,145.4,377.9,6.4,271,5052,0.00,2.45,15.20,0.755,6,0.000,0.041,3337,1763,2036,0,0,0,0,0,0
$GC,5393,1.04,145.4,347.7,9.2,280,5394,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,1763,2031,0,0,0,0,0,0
$GC,5719,1.04,145.4,316.0,9.4,288,5723,0.00,2.47,0.00,0.000,4,0.000,0.055,3337,356,2029,0,0,0,0,0,0
$GC,5789,0.93,145.4,308.4,10.4,289,5794,0.17,2.35,0.00,0.000,6,0.110,0.028,3305,1773,2026,0,0,0,0,0,0
$GC,6114,1.01,153.9,282.6,7.1,302,6126,0.00,2.53,7.03,0.629,4,0.000,0.053,3304,358,2002,0,0,0,0,0,0
$GC,6201,1.01,153.9,275.3,9.3,305,6207,0.00,2.35,0.00,0.000,6,0.000,0.026,3305,1778,2000,0,0,0,0,0,0
$GC,6519,1.10,166.9,254.2,6.7,321,6542,0.15,2.35,13.10,0.684,4,0.062,0.028,3346,3171,1948,0,0,0,0,0,0
$GC,6568,1.14,166.9,250.0,8.9,323,6573,0.00,2.42,0.00,0.000,6,0.000,0.036,3347,1758,1947,0,0,0,0,0,0
$GC,6899,1.14,166.9,220.1,9.3,339,6903,0.00,2.40,0.00,0.000,4,0.000,0.049,3346,359,1945,0,0,0,0,0,0
$GC,6914,1.10,166.9,218.7,8.9,339,6919,0.00,2.33,0.00,0.000,6,0.000,0.024,3346,1774,1943,0,0,0,0,0,0
$GC,7232,1.11,172.6,194.1,7.4,357,7246,0.00,2.53,5.62,0.523,4,0.000,0.048,3346,359,1926,0,0,0,0,0,0
$GC,7327,1.03,172.6,185.9,8.9,363,7333,0.12,2.33,0.00,0.000,6,0.111,0.022,3323,1775,1924,0,0,0,0,0,0
$GC,7588,1.11,182.5,168.5,7.0,384,7603,0.00,2.47,10.02,0.572,4,0.000,0.045,3323,358,1886,0,0,0,0,0,0
$GC,7664,1.11,182.5,161.6,9.7,389,7668,0.00,2.33,0.00,0.000,6,0.000,0.021,3323,1783,1884,0,0,0,0,0,0
$GC,7926,1.20,182.5,136.7,10.3,409,7928,0.17,0.00,0.00,0.000,6,0.053,0.000,3374,1789,1884,0,0,0,0,0,0
$GC,8176,1.20,182.5,108.6,10.0,429,8180,0.00,2.28,0.00,0.000,4,0.000,0.024,3374,3166,1884,0,0,0,0,0,0
$GC,8232,1.23,182.5,103.7,8.4,433,8236,0.00,2.35,0.00,0.000,6,0.000,0.030,3374,1758,1883,0,0,0,0,0,0
$GC,8493,1.29,226.0,93.3,4.0,453,8539,0.00,2.45,39.12,0.567,4,0.000,0.043,3374,359,1706,0,0,0,0,0,0
$GC,8577,1.24,226.0,86.8,9.3,459,8581,0.00,2.30,0.00,0.000,6,0.000,0.019,3374,1777,1704,0,0,0,0,0,0
$GC,8844,1.31,226.0,61.6,9.4,480,8848,0.00,2.45,0.00,0.000,4,0.000,0.044,3374,355,1702,0,0,0,0,0,0
$GC,8939,1.31,226.0,50.6,12.5,487,8943,0.00,2.25,0.00,0.000,6,0.000,0.018,3374,1771,1701,0,0,0,0,0,0
$GC,9201,1.37,226.0,24.9,9.8,515,9208,0.10,2.42,0.00,0.000,4,0.074,0.043,3410,368,1701,0,0,0,0,0,0
$GC,9310,1.24,226.0,10.9,14.5,539,9317,0.15,2.28,0.00,0.000,6,0.080,0.018,3375,1780,1700,0,0,0,0,0,0
$STATE,9374,end climb,SURFACE_DEPTH_REACHED
$STATE,9374,begin surface coast
$FINISH,0.8,1.023157
$STATE,9404,end surface coast,CONTROL_FINISHED_OK
$STATE,9404,begin surface
$SM_CCo,9427,100.95,0.486,0,0,957,410.14
$SM_GC,1.64,0.00,0.00,100.95,0.000,0.000,0.486,429,1673,957,-12.29,-0.62,410.14
$IRIDIUM_FIX,2057.14,-15759.05,181199,141416
$TT8_MAMPS,0.029146
$HUMID,53.42
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.40
$XPDR_PINGS,1
$24V_AH,23.5,23.265
$10V_AH,10.3,18.863
$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,32.200,107.925,251.600,100.950,0.000,29.843,30.033,123.329,4.750,0.000,31.490,1113.443,6047.847,418.480,1831.038,435.775,0.000,1214.963,0.000,1790.263,0.000,29.256,0.000
$DEVICE_MAMPS,134.992,67.496,826.826,485.511,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,375.480,360.116,844.775,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31792,559
$CAP_FILE_SIZE,109901,0
$CFSIZE,260165632,199745536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240810,194225,2105.649,-15754.761,44,1.1,44,9.8