version: 66.06
glider: 139
mission: 8
dive: 266
start: 8 24 110 22 29 11
data:
$ID,139
$MISSION,8
$DIVE,266
$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,-2156204.5
$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,1700
$C_ROLL_CLIMB,1740
$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
$GPS1,221937,2105.696,-15754.381,42,1.3,42,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-72.3
$GPS2,222855,2105.628,-15754.409,13,1.5,18,9.8
$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,79.2,19858,-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,-64.57,0.000,2,0.000,0.000,426,1677,2793,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.8,-4.4,12,105,12.52,2.45,-1.40,0.000,4,0.135,0.036,2755,3112,2872,0,0,0,0,0,0
$GC,139,-1.25,-58.4,20.1,-27.7,22,146,0.30,2.42,0.00,0.000,6,0.084,0.035,2821,1701,2873,0,0,0,0,0,0
$GC,344,-1.32,-58.4,51.4,-15.0,47,349,0.00,2.42,0.00,0.000,4,0.000,0.046,2821,296,2874,0,0,0,0,0,0
$GC,369,-1.32,-58.4,55.8,-17.2,49,374,0.00,2.30,0.00,0.000,6,0.000,0.018,2821,1742,2874,0,0,0,0,0,0
$GC,635,-1.43,-58.4,92.1,-13.0,70,640,0.15,2.50,0.00,0.000,4,0.055,0.046,2773,295,2874,0,0,0,0,0,0
$GC,731,-1.43,-58.4,103.6,-11.3,77,735,0.00,2.22,0.00,0.000,6,0.000,0.018,2772,1709,2875,0,0,0,0,0,0
$GC,1002,-1.49,-58.4,132.7,-12.0,98,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1714,2876,0,0,0,0,0,0
$GC,1252,-1.58,-58.4,163.5,-12.3,118,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1715,2877,0,0,0,0,0,0
$GC,1505,-1.68,-58.4,194.9,-11.6,138,1510,0.17,2.22,0.00,0.000,4,0.052,0.024,2719,3075,2877,0,0,0,0,0,0
$GC,1533,-1.71,-58.4,198.8,-13.3,140,1538,0.00,2.30,0.00,0.000,6,0.000,0.032,2719,1693,2877,0,0,0,0,0,0
$GC,1803,-1.71,-58.4,231.6,-11.4,153,1807,0.00,2.28,0.00,0.000,4,0.000,0.024,2719,3075,2877,0,0,0,0,0,0
$GC,1878,-1.77,-58.4,240.4,-11.9,156,1882,0.00,2.30,0.00,0.000,6,0.000,0.033,2719,1692,2877,0,0,0,0,0,0
$GC,2199,-1.77,-58.4,276.5,-10.7,172,2203,0.00,2.40,0.00,0.000,4,0.000,0.047,2718,293,2877,0,0,0,0,0,0
$GC,2221,-1.74,-58.4,279.0,-12.0,173,2225,0.00,2.22,0.00,0.000,6,0.000,0.021,2719,1698,2877,0,0,0,0,0,0
$GC,2570,-1.74,-58.4,321.2,-12.9,186,2574,0.00,2.30,0.00,0.000,4,0.000,0.027,2719,3078,2876,0,0,0,0,0,0
$GC,2641,-1.81,-58.4,330.0,-11.4,187,2645,0.00,2.33,0.00,0.000,6,0.000,0.035,2719,1694,2876,0,0,0,0,0,0
$GC,2983,-1.84,-58.4,376.8,-14.5,196,2987,0.00,2.28,0.00,0.000,4,0.000,0.028,2719,3073,2875,0,0,0,0,0,0
$GC,3002,-1.90,-58.4,379.7,-13.6,196,3010,0.12,2.33,0.00,0.000,6,0.068,0.038,2678,1691,2874,0,0,0,0,0,0
$GC,3356,-1.86,-58.4,429.4,-13.0,205,3360,0.00,2.33,0.00,0.000,4,0.000,0.031,2678,3075,2872,0,0,0,0,0,0
$GC,3388,-1.86,-58.4,433.6,-12.1,205,3393,0.00,2.35,0.00,0.000,6,0.000,0.040,2678,1695,2872,0,0,0,0,0,0
$STATE,3554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3554,begin apogee
$GC,3561,-0.31,0.0,453.8,12.2,209,3615,1.70,0.00,49.40,0.822,6,0.084,0.000,3033,1694,2630,0,0,0,0,0,0
$STATE,3615,end apogee,CONTROL_FINISHED_OK
$STATE,3615,begin climb
$GC,3618,1.56,58.4,455.4,0.0,210,3676,1.77,0.00,50.85,0.807,6,0.028,0.000,3455,1695,2390,0,0,0,0,0,0
$GC,4002,1.32,122.4,449.0,2.1,220,4065,0.30,2.50,55.53,0.822,4,0.104,0.055,3392,333,2131,0,0,0,0,0,0
$GC,4143,1.03,122.4,438.2,13.2,223,4148,0.35,2.35,0.00,0.000,6,0.100,0.027,3325,1728,2124,0,0,0,0,0,0
$GC,4467,1.03,122.4,410.9,8.2,231,4471,0.00,2.40,0.00,0.000,4,0.000,0.034,3325,3137,2120,0,0,0,0,0,0
$GC,4537,1.03,122.4,405.0,8.7,232,4541,0.00,2.42,0.00,0.000,6,0.000,0.041,3325,1733,2120,0,0,0,0,0,0
$GC,4877,1.03,122.4,375.7,8.7,241,4881,0.00,2.45,0.00,0.000,4,0.000,0.055,3325,332,2117,0,0,0,0,0,0
$GC,4892,0.97,122.4,374.3,9.0,241,4896,0.00,2.38,0.00,0.000,6,0.000,0.028,3325,1745,2115,0,0,0,0,0,0
$GC,5242,0.97,125.5,346.3,7.6,250,5246,0.00,2.35,0.00,0.000,4,0.000,0.032,3325,3139,2114,0,0,0,0,0,0
$GC,5274,0.98,125.9,343.6,7.9,250,5279,0.00,2.40,0.00,0.000,6,0.000,0.039,3325,1731,2114,0,0,0,0,0,0
$GC,5606,0.99,137.9,320.5,6.8,258,5623,0.00,2.45,11.80,0.719,4,0.000,0.032,3325,3148,2067,0,0,0,0,0,0
$GC,5633,0.99,137.9,318.3,8.2,258,5637,0.00,2.42,0.00,0.000,6,0.000,0.038,3325,1735,2067,0,0,0,0,0,0
$GC,5949,0.99,137.9,291.5,8.3,268,5950,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1735,2064,0,0,0,0,0,0
$GC,6261,1.00,143.5,267.0,7.4,283,6273,0.00,2.42,5.88,0.585,4,0.000,0.030,3325,3136,2044,0,0,0,0,0,0
$GC,6320,1.05,143.5,262.4,8.0,285,6324,0.00,2.40,0.00,0.000,6,0.000,0.037,3325,1742,2043,0,0,0,0,0,0
$GC,6636,1.06,154.4,238.5,6.9,300,6652,0.00,2.50,11.00,0.658,4,0.000,0.052,3325,325,2000,0,0,0,0,0,0
$GC,6699,1.01,154.4,233.1,9.2,302,6706,0.00,2.40,0.00,0.000,6,0.000,0.025,3325,1752,1997,0,0,0,0,0,0
$GC,7016,1.06,154.4,210.1,7.9,318,7017,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1752,1996,0,0,0,0,0,0
$GC,7337,1.12,159.7,185.9,7.4,339,7351,0.00,2.33,5.72,0.523,4,0.000,0.025,3325,3140,1978,0,0,0,0,0,0
$GC,7362,1.20,170.4,183.9,6.9,340,7382,0.12,2.42,11.45,0.611,6,0.037,0.034,3367,1735,1934,0,0,0,0,0,0
$GC,7634,1.20,170.4,155.8,10.6,362,7638,0.00,2.33,0.00,0.000,4,0.000,0.025,3368,3142,1931,0,0,0,0,0,0
$GC,7647,1.20,170.4,154.2,10.8,363,7652,0.00,2.38,0.00,0.000,6,0.000,0.033,3367,1737,1931,0,0,0,0,0,0
$GC,7908,1.20,170.4,128.5,9.6,383,7912,0.00,2.40,0.00,0.000,4,0.000,0.047,3367,332,1932,0,0,0,0,0,0
$GC,7922,1.14,170.4,126.9,9.2,384,7927,0.00,2.33,0.00,0.000,6,0.000,0.021,3367,1758,1929,0,0,0,0,0,0
$GC,8182,1.15,174.9,109.5,7.5,404,8197,0.00,2.47,5.12,0.448,4,0.000,0.044,3367,325,1914,0,0,0,0,0,0
$GC,8230,1.05,177.3,105.9,7.7,407,8235,0.17,2.30,0.00,0.000,6,0.099,0.021,3333,1749,1914,0,0,0,0,0,0
$GC,8493,1.22,228.7,93.4,3.3,427,8550,0.15,2.50,47.85,0.573,4,0.058,0.044,3379,328,1696,0,0,0,0,0,0
$GC,8696,1.15,228.7,74.3,11.6,442,8702,0.10,2.30,0.00,0.000,6,0.080,0.019,3354,1739,1690,0,0,0,0,0,0
$GC,8958,1.25,228.7,52.8,8.1,463,8962,0.00,2.25,0.00,0.000,4,0.000,0.022,3354,3120,1689,0,0,0,0,0,0
$GC,9012,1.40,228.7,47.9,8.4,467,9017,0.22,2.33,0.00,0.000,6,0.044,0.030,3417,1728,1689,0,0,0,0,0,0
$GC,9275,1.35,228.7,19.9,11.5,499,9281,0.12,0.00,0.00,0.000,6,0.104,0.000,3393,1727,1689,0,0,0,0,0,0
$STATE,9418,end climb,SURFACE_DEPTH_REACHED
$STATE,9418,begin surface coast
$FINISH,0.7,1.023146
$STATE,9441,end surface coast,CONTROL_FINISHED_OK
$STATE,9441,begin surface
$SM_CCo,9465,102.68,0.487,0,0,957,410.14
$SM_GC,1.41,0.00,0.00,102.68,0.000,0.000,0.487,428,1721,957,-12.30,0.59,410.14
$IRIDIUM_FIX,2059.45,-15753.90,181199,222217
$TT8_MAMPS,0.029146
$HUMID,54.01
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,23.431
$10V_AH,10.3,19.004
$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,30.925,104.125,254.600,102.675,0.000,63.655,56.786,244.740,4.500,0.000,19.120,1038.706,6523.115,441.823,1516.465,603.529,0.000,1114.678,0.000,1492.208,0.000,29.265,0.000
$DEVICE_MAMPS,134.992,55.224,822.224,487.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,361.449,341.748,767.415,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355724
$DATA_FILE_SIZE,28619,537
$CAP_FILE_SIZE,105163,0
$CFSIZE,260165632,199647232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250810,010954,2105.656,-15754.691,17,7.8,36,9.8