version: 66.06
glider: 139
mission: 8
dive: 274
start: 8 25 110 20 47 17
data:
$ID,139
$MISSION,8
$DIVE,274
$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,-2156420.5
$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
$GPS1,203836,2106.052,-15754.668,57,0.9,62,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-72.3
$GPS2,204701,2105.997,-15754.668,15,1.2,19,9.8
$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,81.2,20305,-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,14,begin dive
$GC,16,-1.56,-58.4,0.0,0.0,0,83,0.00,0.00,-64.12,0.000,2,0.000,0.000,426,1674,2743,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.2,-3.2,12,111,12.48,2.42,-2.45,0.000,4,0.133,0.056,2753,296,2873,0,0,0,0,0,0
$GC,120,-0.36,-58.4,14.5,-25.0,17,127,1.25,2.33,0.00,0.000,6,0.091,0.019,3018,1737,2874,0,0,0,0,0,0
$GC,323,-0.92,-58.4,25.4,-3.4,63,330,0.50,2.50,0.00,0.000,4,0.029,0.041,2881,287,2875,0,0,0,0,0,0
$GC,379,-1.13,-58.4,30.4,-10.5,75,384,0.12,2.22,0.00,0.000,6,0.062,0.018,2838,1714,2875,0,0,0,0,0,0
$GC,648,-1.25,-58.4,64.9,-13.5,96,652,0.00,2.45,0.00,0.000,4,0.000,0.046,2838,295,2875,0,0,0,0,0,0
$GC,687,-1.29,-58.4,71.2,-15.7,99,691,0.00,2.20,0.00,0.000,6,0.000,0.018,2838,1707,2875,0,0,0,0,0,0
$GC,953,-1.48,-58.4,102.3,-8.1,120,958,0.25,2.42,0.00,0.000,4,0.041,0.044,2760,294,2876,0,0,0,0,0,0
$GC,1080,-1.48,-58.4,121.4,-14.3,129,1084,0.00,2.20,0.00,0.000,6,0.000,0.018,2760,1702,2877,0,0,0,0,0,0
$GC,1343,-1.53,-58.4,154.1,-11.9,149,1347,0.00,2.22,0.00,0.000,4,0.000,0.022,2761,3070,2877,0,0,0,0,0,0
$GC,1458,-1.64,-58.4,167.6,-10.7,157,1464,0.00,2.28,0.00,0.000,6,0.000,0.031,2760,1696,2876,0,0,0,0,0,0
$GC,1720,-1.71,-58.4,198.3,-12.1,178,1721,0.15,0.00,0.00,0.000,6,0.058,0.000,2713,1695,2878,0,0,0,0,0,0
$GC,1971,-1.71,-58.4,233.3,-14.3,191,1975,0.00,2.25,0.00,0.000,4,0.000,0.024,2713,3067,2878,0,0,0,0,0,0
$GC,2046,-1.75,-58.4,243.6,-12.6,194,2050,0.00,2.28,0.00,0.000,6,0.000,0.032,2713,1698,2878,0,0,0,0,0,0
$GC,2366,-1.75,-58.4,283.6,-11.7,210,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1697,2877,0,0,0,0,0,0
$GC,2695,-1.75,-58.4,320.5,-11.5,222,2699,0.00,2.25,0.00,0.000,4,0.000,0.026,2713,3066,2877,0,0,0,0,0,0
$GC,2729,-1.82,-58.4,324.2,-10.2,222,2733,0.00,2.28,0.00,0.000,6,0.000,0.035,2713,1701,2877,0,0,0,0,0,0
$GC,3067,-1.82,-58.4,360.6,-11.1,231,3071,0.00,2.28,0.00,0.000,4,0.000,0.028,2713,3065,2876,0,0,0,0,0,0
$GC,3132,-1.89,-58.4,367.5,-9.3,232,3137,0.10,2.30,0.00,0.000,6,0.079,0.037,2681,1699,2876,0,0,0,0,0,0
$GC,3480,-1.89,-58.4,406.2,-10.9,241,3484,0.00,2.28,0.00,0.000,4,0.000,0.030,2682,3068,2873,0,0,0,0,0,0
$GC,3498,-1.89,-58.4,408.7,-11.3,241,3502,0.00,2.33,0.00,0.000,6,0.000,0.039,2681,1698,2873,0,0,0,0,0,0
$GC,3844,-1.89,-58.4,445.6,-10.6,250,3848,0.00,2.28,0.00,0.000,4,0.000,0.032,2681,3063,2870,0,0,0,0,0,0
$STATE,3884,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3884,begin apogee
$GC,3893,-0.31,0.0,450.1,10.9,251,3946,1.67,0.00,49.45,0.826,6,0.084,0.000,3030,1735,2630,0,0,0,0,0,0
$STATE,3947,end apogee,CONTROL_FINISHED_OK
$STATE,3947,begin climb
$GC,3950,1.56,58.4,451.3,0.0,252,4008,1.77,2.53,50.28,0.809,4,0.031,0.051,3449,328,2391,0,0,0,0,0,0
$GC,4109,1.18,100.9,448.0,4.1,255,4154,0.47,2.30,37.70,0.803,6,0.105,0.025,3358,1717,2217,0,0,0,0,0,0
$GC,4495,1.08,100.9,417.6,8.0,265,4500,0.12,2.40,0.00,0.000,4,0.116,0.035,3334,3132,2208,0,0,0,0,0,0
$GC,4570,1.10,117.4,412.5,6.4,266,4590,0.00,2.40,14.38,0.755,6,0.000,0.040,3335,1735,2150,0,0,0,0,0,0
$GC,4918,1.05,117.4,384.8,8.5,275,4922,0.00,2.38,0.00,0.000,4,0.000,0.034,3335,3123,2144,0,0,0,0,0,0
$GC,4961,1.06,118.8,381.1,7.8,276,4966,0.00,2.40,0.00,0.000,6,0.000,0.040,3335,1742,2144,0,0,0,0,0,0
$GC,5290,1.02,118.8,353.9,8.4,284,5294,0.00,2.38,0.00,0.000,4,0.000,0.033,3335,3133,2142,0,0,0,0,0,0
$GC,5309,1.02,123.2,352.3,7.5,284,5320,0.00,2.40,5.07,0.584,6,0.000,0.039,3335,1735,2127,0,0,0,0,0,0
$GC,5656,1.02,123.2,323.6,8.2,293,5660,0.00,2.38,0.00,0.000,4,0.000,0.033,3335,3126,2124,0,0,0,0,0,0
$GC,5884,1.02,123.2,306.2,8.4,298,5888,0.00,2.38,0.00,0.000,6,0.000,0.040,3335,1740,2124,0,0,0,0,0,0
$GC,6216,1.03,125.9,279.4,7.7,312,6220,0.00,2.35,0.00,0.000,4,0.000,0.032,3335,3126,2121,0,0,0,0,0,0
$GC,6249,1.04,131.8,277.0,7.4,313,6263,0.00,2.38,8.35,0.660,6,0.000,0.038,3335,1734,2092,0,0,0,0,0,0
$GC,6576,1.05,143.5,255.7,6.8,329,6593,0.00,2.50,11.52,0.681,4,0.000,0.054,3335,327,2045,0,0,0,0,0,0
$GC,6627,0.97,147.1,252.0,7.6,330,6643,0.12,2.35,4.75,0.521,6,0.120,0.026,3313,1738,2029,0,0,0,0,0,0
$GC,6952,1.06,162.8,229.1,6.5,346,6976,0.00,2.42,15.35,0.680,4,0.000,0.031,3313,3130,1966,0,0,0,0,0,0
$GC,7010,1.17,170.2,225.1,7.2,348,7026,0.20,2.40,8.32,0.611,6,0.054,0.036,3365,1731,1936,0,0,0,0,0,0
$GC,7345,1.13,170.2,194.2,11.0,366,7349,0.00,2.38,0.00,0.000,4,0.000,0.028,3365,3139,1932,0,0,0,0,0,0
$GC,7373,1.13,170.2,191.0,10.5,368,7377,0.00,2.40,0.00,0.000,6,0.000,0.035,3365,1734,1932,0,0,0,0,0,0
$GC,7632,1.10,170.2,161.4,10.9,388,7634,0.12,0.00,0.00,0.000,6,0.113,0.000,3341,1733,1931,0,0,0,0,0,0
$GC,7885,1.10,170.2,138.2,8.7,408,7886,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,1733,1930,0,0,0,0,0,0
$GC,8137,1.15,170.2,118.5,8.2,428,8141,0.00,2.33,0.00,0.000,4,0.000,0.025,3342,3143,1930,0,0,0,0,0,0
$GC,8190,1.23,170.2,114.2,8.6,432,8195,0.12,2.35,0.00,0.000,6,0.067,0.031,3379,1738,1930,0,0,0,0,0,0
$GC,8458,1.25,187.3,94.4,6.4,453,8479,0.00,0.00,15.77,0.555,6,0.000,0.000,3379,1738,1865,0,0,0,0,0,0
$GC,8733,1.31,230.1,77.3,4.0,475,8775,0.00,2.47,37.62,0.558,4,0.000,0.044,3379,329,1691,0,0,0,0,0,0
$GC,8875,1.27,230.1,68.4,8.2,485,8879,0.00,2.30,0.00,0.000,6,0.000,0.019,3379,1761,1686,0,0,0,0,0,0
$GC,9147,1.32,230.1,44.1,9.5,506,9151,0.00,2.45,0.00,0.000,4,0.000,0.044,3379,335,1686,0,0,0,0,0,0
$GC,9211,1.28,230.1,36.3,12.3,510,9218,0.00,2.28,0.00,0.000,6,0.000,0.018,3379,1745,1684,0,0,0,0,0,0
$GC,9475,1.33,230.1,9.1,9.9,561,9482,0.00,2.45,0.00,0.000,4,0.000,0.044,3379,335,1684,0,0,0,0,0,0
$STATE,9525,end climb,SURFACE_DEPTH_REACHED
$STATE,9525,begin surface coast
$FINISH,0.9,1.012207
$STATE,9547,end surface coast,CONTROL_FINISHED_OK
$STATE,9547,begin surface
$SM_CCo,9573,99.43,0.486,0,0,957,410.14
$SM_GC,1.47,0.00,0.00,99.43,0.000,0.000,0.486,425,1721,957,-12.31,0.59,410.14
$IRIDIUM_FIX,2059.45,-15756.04,191199,181838
$TT8_MAMPS,0.029146
$HUMID,54.44
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,24.115
$10V_AH,10.3,19.602
$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,32.125,108.000,258.575,99.425,0.000,54.962,129.018,133.435,4.500,0.000,19.798,1125.314,6286.087,420.466,1763.500,580.327,0.000,1185.164,0.000,1740.302,0.000,29.256,0.000
$DEVICE_MAMPS,133.458,55.991,826.059,485.511,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,388.119,374.745,882.711,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,31786,577
$CAP_FILE_SIZE,108229,0
$CFSIZE,260165632,199213056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250810,232936,2105.959,-15754.355,12,1.8,28,9.8