version: 66.06
glider: 139
mission: 8
dive: 277
start: 8 26 110 5 15 2
data:
$ID,139
$MISSION,8
$DIVE,277
$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,-2156500.8
$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,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
$GPS1,050630,2105.664,-15755.404,13,2.5,32,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-70.6
$GPS2,051446,2105.680,-15755.492,14,2.7,33,9.8
$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,79.5,21727,-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,-58.4,0.0,0.0,0,81,0.00,0.00,-64.12,0.000,2,0.000,0.000,430,1691,2741,0,0,0,0,0,0
$GC,84,-1.56,-58.4,3.1,-3.0,12,109,12.45,2.42,-2.47,0.000,4,0.133,0.039,2755,3113,2872,0,0,0,0,0,0
$GC,126,-0.71,-58.4,16.5,-30.1,19,133,0.85,2.42,0.00,0.000,6,0.078,0.033,2944,1701,2873,0,0,0,0,0,0
$GC,337,-1.07,-58.4,33.8,-7.4,59,342,0.32,2.40,0.00,0.000,4,0.036,0.044,2846,295,2875,0,0,0,0,0,0
$GC,379,-1.15,-58.4,38.6,-11.9,62,384,0.00,2.30,0.00,0.000,6,0.000,0.018,2846,1736,2874,0,0,0,0,0,0
$GC,639,-1.29,-58.4,69.2,-12.2,82,644,0.12,2.50,0.00,0.000,4,0.063,0.047,2803,293,2875,0,0,0,0,0,0
$GC,679,-1.29,-58.4,75.3,-17.2,85,684,0.00,2.22,0.00,0.000,6,0.000,0.018,2804,1707,2875,0,0,0,0,0,0
$GC,945,-1.39,-58.4,104.4,-10.2,106,949,0.00,2.22,0.00,0.000,4,0.000,0.022,2804,3078,2876,0,0,0,0,0,0
$GC,974,-1.54,-58.4,107.4,-9.8,108,979,0.17,2.30,0.00,0.000,6,0.051,0.031,2749,1696,2876,0,0,0,0,0,0
$GC,1239,-1.54,-58.4,142.8,-14.0,129,1243,0.00,2.28,0.00,0.000,4,0.000,0.022,2749,3081,2877,0,0,0,0,0,0
$GC,1309,-1.63,-58.4,151.7,-11.9,134,1313,0.00,2.30,0.00,0.000,6,0.000,0.031,2749,1695,2877,0,0,0,0,0,0
$GC,1569,-1.68,-58.4,181.5,-10.4,154,1573,0.00,2.38,0.00,0.000,4,0.000,0.045,2749,293,2877,0,0,0,0,0,0
$GC,1615,-1.68,-58.4,187.1,-12.7,157,1620,0.00,2.20,0.00,0.000,6,0.000,0.018,2749,1704,2877,0,0,0,0,0,0
$GC,1880,-1.73,-58.4,215.0,-10.3,174,1882,0.12,0.00,0.00,0.000,6,0.065,0.000,2708,1708,2877,0,0,0,0,0,0
$GC,2191,-1.73,-58.4,257.9,-13.9,189,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1709,2877,0,0,0,0,0,0
$GC,2498,-1.73,-58.4,296.3,-10.4,204,2502,0.00,2.25,0.00,0.000,4,0.000,0.026,2709,3071,2877,0,0,0,0,0,0
$GC,2587,-1.79,-58.4,304.9,-9.4,207,2591,0.00,2.30,0.00,0.000,6,0.000,0.034,2708,1692,2876,0,0,0,0,0,0
$GC,2915,-1.79,-58.4,335.0,-9.7,215,2919,0.00,2.33,0.00,0.000,4,0.000,0.027,2707,3075,2876,0,0,0,0,0,0
$GC,2998,-1.86,-58.4,344.1,-11.2,216,3004,0.00,2.35,0.00,0.000,6,0.000,0.036,2707,1692,2876,0,0,0,0,0,0
$GC,3331,-1.86,-58.4,383.6,-12.3,225,3335,0.00,2.33,0.00,0.000,4,0.000,0.028,2707,3069,2874,0,0,0,0,0,0
$GC,3493,-1.93,-58.4,404.3,-13.0,228,3498,0.12,2.33,0.00,0.000,6,0.069,0.038,2670,1697,2872,0,0,0,0,0,0
$STATE,3836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3836,begin apogee
$GC,3843,-0.31,0.0,450.8,13.5,237,3897,1.73,0.00,49.40,0.821,6,0.084,0.000,3030,1696,2630,0,0,0,0,0,0
$STATE,3898,end apogee,CONTROL_FINISHED_OK
$STATE,3898,begin climb
$GC,3900,1.56,58.4,452.6,0.0,238,3958,1.75,2.42,50.38,0.804,4,0.030,0.051,3449,334,2390,0,0,0,0,0,0
$GC,4217,1.17,87.3,439.2,5.3,245,4250,0.47,2.28,24.88,0.787,6,0.107,0.025,3358,1721,2274,0,0,0,0,0,0
$GC,4587,1.08,99.1,414.5,6.8,254,4603,0.00,2.45,10.82,0.725,4,0.000,0.033,3357,3120,2226,0,0,0,0,0,0
$GC,4627,1.03,114.8,411.8,6.5,254,4649,0.17,2.38,15.77,0.755,6,0.110,0.038,3325,1743,2161,0,0,0,0,0,0
$GC,4961,1.04,125.1,387.7,7.0,263,4977,0.00,2.45,9.57,0.706,4,0.000,0.033,3325,3123,2120,0,0,0,0,0,0
$GC,5142,1.04,125.1,372.3,9.2,266,5148,0.00,2.40,0.00,0.000,6,0.000,0.040,3325,1730,2119,0,0,0,0,0,0
$GC,5473,1.04,125.1,343.1,8.9,275,5477,0.00,2.45,0.00,0.000,4,0.000,0.054,3325,326,2116,0,0,0,0,0,0
$GC,5487,1.00,125.1,341.5,9.2,275,5492,0.00,2.33,0.00,0.000,6,0.000,0.027,3325,1736,2114,0,0,0,0,0,0
$GC,5838,1.00,127.2,311.8,7.7,284,5842,0.00,2.35,0.00,0.000,4,0.000,0.032,3325,3132,2113,0,0,0,0,0,0
$GC,6025,1.06,139.0,300.0,6.8,288,6044,0.00,2.40,12.60,0.707,6,0.000,0.037,3325,1734,2063,0,0,0,0,0,0
$GC,6359,1.06,143.7,274.7,7.5,303,6371,0.00,2.45,5.30,0.558,4,0.000,0.051,3325,334,2043,0,0,0,0,0,0
$GC,6414,1.01,146.8,270.4,7.6,305,6423,0.00,2.33,4.20,0.489,6,0.000,0.025,3325,1747,2031,0,0,0,0,0,0
$GC,6734,1.05,146.8,244.4,8.0,320,6739,0.00,2.47,0.00,0.000,4,0.000,0.051,3325,335,2030,0,0,0,0,0,0
$GC,6790,0.98,146.8,239.6,8.5,322,6794,0.00,2.35,0.00,0.000,6,0.000,0.025,3325,1752,2027,0,0,0,0,0,0
$GC,7108,1.03,152.1,217.1,7.4,337,7121,0.00,2.53,5.72,0.542,4,0.000,0.048,3325,338,2010,0,0,0,0,0,0
$GC,7131,1.03,152.1,214.9,8.5,338,7136,0.00,2.30,0.00,0.000,6,0.000,0.024,3325,1748,2008,0,0,0,0,0,0
$GC,7458,1.07,152.1,188.2,8.3,358,7462,0.00,2.47,0.00,0.000,4,0.000,0.048,3325,327,2008,0,0,0,0,0,0
$GC,7510,1.02,152.1,183.5,9.2,362,7514,0.00,2.30,0.00,0.000,6,0.000,0.022,3325,1748,2007,0,0,0,0,0,0
$GC,7776,1.10,171.0,164.8,6.2,383,7804,0.00,2.55,18.27,0.623,4,0.000,0.048,3325,332,1931,0,0,0,0,0,0
$GC,7885,1.10,171.0,154.7,10.2,390,7891,0.00,2.33,0.00,0.000,6,0.000,0.021,3325,1739,1928,0,0,0,0,0,0
$GC,8145,1.25,227.0,143.1,2.9,411,8204,0.20,2.33,49.97,0.616,4,0.051,0.023,3380,3122,1703,0,0,0,0,0,0
$GC,8215,1.25,227.0,138.8,8.1,416,8222,0.00,2.40,0.00,0.000,6,0.000,0.032,3380,1743,1702,0,0,0,0,0,0
$GC,8475,1.25,227.0,111.5,11.0,437,8480,0.00,2.45,0.00,0.000,4,0.000,0.047,3380,331,1699,0,0,0,0,0,0
$GC,8536,1.18,227.0,104.7,10.6,441,8543,0.12,2.28,0.00,0.000,6,0.108,0.019,3357,1748,1697,0,0,0,0,0,0
$GC,8797,1.31,250.1,86.3,5.8,462,8825,0.12,2.53,19.92,0.541,4,0.064,0.045,3395,334,1608,0,0,0,0,0,0
$GC,8879,1.24,250.1,78.2,12.0,467,8887,0.10,2.30,0.00,0.000,6,0.083,0.019,3372,1746,1606,0,0,0,0,0,0
$GC,9141,1.30,250.1,49.2,11.5,488,9145,0.00,2.45,0.00,0.000,4,0.000,0.045,3372,331,1605,0,0,0,0,0,0
$GC,9281,1.30,250.1,31.2,12.6,498,9287,0.00,2.28,0.00,0.000,6,0.000,0.018,3372,1751,1603,0,0,0,0,0,0
$STATE,9516,end climb,SURFACE_DEPTH_REACHED
$STATE,9516,begin surface coast
$FINISH,0.8,1.015516
$STATE,9539,end surface coast,CONTROL_FINISHED_OK
$STATE,9539,begin surface
$SM_CCo,9562,87.97,0.482,0,0,957,410.14
$SM_GC,1.50,0.00,0.00,87.97,0.000,0.000,0.482,424,1687,957,-12.31,-0.37,410.14
$IRIDIUM_FIX,2059.45,-15756.04,201199,020243
$TT8_MAMPS,0.028379
$HUMID,53.54
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.5,24.355
$10V_AH,10.3,19.829
$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,31.400,108.900,276.825,87.975,0.000,57.984,112.012,124.341,4.500,0.000,34.788,1109.529,6232.178,430.851,1815.881,555.384,0.000,1229.608,0.000,1776.353,0.000,29.254,0.000
$DEVICE_MAMPS,133.458,95.108,820.690,482.443,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,373.434,355.761,812.529,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,31721,556
$CAP_FILE_SIZE,110462,0
$CFSIZE,260165632,199053312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260810,075738,2105.769,-15755.169,67,1.2,67,9.8