version: 66.06
glider: 139
mission: 8
dive: 272
start: 8 25 110 15 21 33
data:
$ID,139
$MISSION,8
$DIVE,272
$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,-2156383.2
$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,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
$GPS1,151010,2105.633,-15755.467,11,3.9,30,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-69.9
$GPS2,152116,2105.711,-15755.520,12,4.1,31,9.8
$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,79.7,21774,-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,-64.57,0.000,2,0.000,0.000,428,1718,2770,0,0,0,0,0,0
$GC,87,-1.56,-58.4,3.4,-3.8,12,107,12.50,2.38,-1.88,0.000,4,0.134,0.036,2753,3115,2872,0,0,0,0,0,0
$GC,132,-0.89,-58.4,17.7,-30.4,20,139,0.68,2.45,0.00,0.000,6,0.080,0.038,2907,1698,2873,0,0,0,0,0,0
$GC,340,-1.16,-58.4,39.4,-10.5,52,345,0.25,2.40,0.00,0.000,4,0.042,0.041,2830,288,2874,0,0,0,0,0,0
$GC,386,-1.23,-58.4,46.2,-13.9,55,393,0.00,2.33,0.00,0.000,6,0.000,0.018,2830,1733,2874,0,0,0,0,0,0
$GC,646,-1.29,-58.4,80.6,-15.8,76,651,0.00,2.50,0.00,0.000,4,0.000,0.047,2829,287,2875,0,0,0,0,0,0
$GC,671,-1.29,-58.4,84.8,-16.7,78,675,0.00,2.22,0.00,0.000,6,0.000,0.018,2830,1715,2875,0,0,0,0,0,0
$GC,942,-1.46,-58.4,110.6,-7.6,99,947,0.20,2.20,0.00,0.000,4,0.047,0.020,2768,3068,2875,0,0,0,0,0,0
$GC,1009,-1.58,-58.4,117.2,-9.3,104,1014,0.00,2.28,0.00,0.000,6,0.000,0.031,2768,1694,2875,0,0,0,0,0,0
$GC,1276,-1.63,-58.4,146.6,-12.0,125,1280,0.10,2.28,0.00,0.000,4,0.077,0.022,2734,3072,2876,0,0,0,0,0,0
$GC,1337,-1.68,-58.4,154.5,-11.9,129,1342,0.00,2.28,0.00,0.000,6,0.000,0.031,2733,1696,2876,0,0,0,0,0,0
$GC,1595,-1.68,-58.4,188.0,-12.8,150,1599,0.00,2.40,0.00,0.000,4,0.000,0.045,2733,291,2876,0,0,0,0,0,0
$GC,1615,-1.63,-58.4,190.6,-13.0,151,1620,0.00,2.22,0.00,0.000,6,0.000,0.019,2733,1710,2876,0,0,0,0,0,0
$GC,1885,-1.63,-58.4,220.1,-9.3,167,1889,0.00,2.42,0.00,0.000,4,0.000,0.045,2733,298,2876,0,0,0,0,0,0
$GC,1905,-1.60,-58.4,222.0,-8.4,168,1909,0.00,2.17,0.00,0.000,6,0.000,0.020,2733,1694,2877,0,0,0,0,0,0
$GC,2239,-1.60,-58.4,252.2,-11.2,184,2243,0.00,2.28,0.00,0.000,4,0.000,0.026,2733,3065,2877,0,0,0,0,0,0
$GC,2343,-1.67,-58.4,264.7,-12.0,188,2347,0.00,2.28,0.00,0.000,6,0.000,0.031,2733,1698,2876,0,0,0,0,0,0
$GC,2684,-1.72,-58.4,306.2,-11.9,204,2688,0.00,2.40,0.00,0.000,4,0.000,0.048,2733,295,2876,0,0,0,0,0,0
$GC,2716,-1.72,-58.4,310.4,-12.7,204,2720,0.00,2.20,0.00,0.000,6,0.000,0.021,2733,1689,2876,0,0,0,0,0,0
$GC,3053,-1.78,-58.4,342.0,-8.5,213,3057,0.00,2.40,0.00,0.000,4,0.000,0.051,2733,300,2875,0,0,0,0,0,0
$GC,3091,-1.78,-58.4,345.5,-9.0,213,3096,0.00,2.22,0.00,0.000,6,0.000,0.023,2733,1696,2875,0,0,0,0,0,0
$GC,3422,-1.84,-58.4,373.6,-8.5,222,3424,0.15,0.00,0.00,0.000,6,0.061,0.000,2690,1700,2872,0,0,0,0,0,0
$GC,3748,-1.84,-58.4,406.6,-10.2,230,3752,0.00,2.28,0.00,0.000,4,0.000,0.030,2690,3077,2870,0,0,0,0,0,0
$GC,3942,-1.88,-58.4,428.6,-10.2,234,3946,0.00,2.33,0.00,0.000,6,0.000,0.040,2690,1703,2869,0,0,0,0,0,0
$STATE,4171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4172,begin apogee
$GC,4178,-0.31,0.0,453.4,10.9,240,4231,1.65,0.00,48.88,0.831,6,0.084,0.000,3032,1702,2630,0,0,0,0,0,0
$STATE,4232,end apogee,CONTROL_FINISHED_OK
$STATE,4232,begin climb
$GC,4235,1.56,58.4,454.5,0.0,241,4295,1.75,2.45,50.60,0.813,4,0.029,0.051,3451,327,2389,0,0,0,0,0,0
$GC,4304,1.32,150.0,454.1,-0.4,242,4395,0.32,2.35,80.50,0.814,6,0.107,0.026,3390,1730,2018,0,0,0,0,0,0
$GC,4732,1.17,150.0,405.0,12.3,253,4734,0.17,0.00,0.00,0.000,6,0.108,0.000,3357,1729,2008,0,0,0,0,0,0
$GC,5057,1.09,150.0,369.2,11.4,261,5061,0.00,2.38,0.00,0.000,4,0.000,0.034,3357,3138,2004,0,0,0,0,0,0
$GC,5209,1.06,150.0,352.8,10.7,264,5215,0.15,2.42,0.00,0.000,6,0.117,0.041,3330,1742,2004,0,0,0,0,0,0
$GC,5561,1.06,150.0,319.3,9.1,273,5565,0.00,2.47,0.00,0.000,4,0.000,0.055,3330,328,2000,0,0,0,0,0,0
$GC,5594,0.95,150.0,316.1,9.7,273,5599,0.10,2.33,0.00,0.000,6,0.128,0.027,3311,1737,1998,0,0,0,0,0,0
$GC,5909,1.00,153.5,290.7,7.6,283,5913,0.00,2.47,0.00,0.000,4,0.000,0.054,3310,333,1997,0,0,0,0,0,0
$GC,5969,0.95,153.5,285.1,9.7,285,5974,0.00,2.35,0.00,0.000,6,0.000,0.026,3311,1743,1995,0,0,0,0,0,0
$GC,6287,1.04,173.2,262.5,6.1,301,6311,0.00,2.42,17.58,0.703,4,0.000,0.031,3310,3132,1922,0,0,0,0,0,0
$GC,6328,1.15,199.4,259.9,5.5,303,6361,0.17,2.42,24.95,0.707,6,0.057,0.038,3357,1739,1816,0,0,0,0,0,0
$GC,6682,1.15,199.4,218.7,13.0,320,6683,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,1739,1811,0,0,0,0,0,0
$GC,6994,1.15,199.4,185.3,10.3,339,6999,0.00,2.45,0.00,0.000,4,0.000,0.050,3357,331,1809,0,0,0,0,0,0
$GC,7068,1.06,199.4,176.6,12.3,344,7075,0.10,2.35,0.00,0.000,6,0.085,0.023,3334,1745,1806,0,0,0,0,0,0
$GC,7332,1.12,205.2,155.2,7.4,365,7345,0.00,2.47,4.82,0.458,4,0.000,0.046,3334,331,1793,0,0,0,0,0,0
$GC,7409,1.12,205.2,147.8,9.9,370,7416,0.00,2.33,0.00,0.000,6,0.000,0.021,3334,1745,1792,0,0,0,0,0,0
$GC,7672,1.21,207.6,127.9,7.7,391,7677,0.12,2.30,0.00,0.000,4,0.066,0.025,3372,3125,1791,0,0,0,0,0,0
$GC,7701,1.25,207.6,125.1,8.5,393,7705,0.00,2.33,0.00,0.000,6,0.000,0.032,3371,1735,1791,0,0,0,0,0,0
$GC,7961,1.25,207.6,95.0,10.9,413,7966,0.00,2.38,0.00,0.000,4,0.000,0.046,3372,336,1791,0,0,0,0,0,0
$GC,7989,1.18,207.6,91.5,13.4,415,7993,0.00,2.25,0.00,0.000,6,0.000,0.020,3372,1749,1791,0,0,0,0,0,0
$GC,8256,1.31,256.1,71.8,3.5,436,8303,0.00,0.00,44.83,0.550,6,0.000,0.000,3372,1749,1585,0,0,0,0,0,0
$GC,8557,1.37,256.1,50.1,9.9,460,8562,0.10,2.47,0.00,0.000,4,0.074,0.046,3406,334,1582,0,0,0,0,0,0
$GC,8600,1.25,256.1,44.3,13.8,463,8605,0.17,2.25,0.00,0.000,6,0.100,0.018,3372,1753,1580,0,0,0,0,0,0
$GC,8862,1.33,256.1,11.5,11.7,505,8868,0.00,2.47,0.00,0.000,4,0.000,0.047,3371,338,1579,0,0,0,0,0,0
$STATE,8928,end climb,SURFACE_DEPTH_REACHED
$STATE,8928,begin surface coast
$FINISH,0.9,1.023151
$STATE,8953,end surface coast,CONTROL_FINISHED_OK
$STATE,8953,begin surface
$SM_CCo,8978,79.65,0.481,0,0,957,410.14
$SM_GC,1.60,0.00,0.00,79.65,0.000,0.000,0.481,427,1719,957,-12.30,0.54,410.14
$IRIDIUM_FIX,2059.45,-15753.90,191199,121243
$TT8_MAMPS,0.029146
$HUMID,54.56
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,23.954
$10V_AH,10.3,19.451
$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,31.300,103.225,272.150,79.650,0.000,82.641,191.319,132.175,4.500,0.000,32.090,1016.477,6077.753,413.741,1568.859,645.961,0.000,1103.760,0.000,1533.691,0.000,29.257,0.000
$DEVICE_MAMPS,134.225,55.224,830.661,480.909,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,352.622,337.403,787.466,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,28635,525
$CAP_FILE_SIZE,101721,0
$CFSIZE,260165632,199327744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250810,175354,2105.905,-15755.313,28,1.0,45,9.8