version: 66.06
glider: 139
mission: 8
dive: 280
start: 8 26 110 13 21 20
data:
$ID,139
$MISSION,8
$DIVE,280
$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,-2156574.5
$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
$GPS1,131534,2105.499,-15755.072,11,2.6,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-73.9
$GPS2,132104,2105.504,-15755.109,17,2.6,36,9.8
$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,78.6,21072,-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,-58.4,0.0,0.0,0,76,0.00,0.00,-59.28,0.000,2,0.000,0.000,425,1673,2607,0,0,0,0,0,0
$GC,80,-1.56,-58.4,3.1,-3.0,11,104,12.48,2.40,-5.12,0.000,4,0.133,0.034,2754,3113,2869,0,0,0,0,0,0
$GC,159,-1.56,-58.4,22.0,-19.3,27,165,0.00,2.42,0.00,0.000,6,0.000,0.033,2753,1699,2870,0,0,0,0,0,0
$GC,366,-1.48,-58.4,61.0,-18.2,49,371,0.12,2.35,0.00,0.000,4,0.114,0.021,2777,3113,2871,0,0,0,0,0,0
$GC,385,-1.48,-58.4,64.5,-16.4,50,392,0.00,2.40,0.00,0.000,6,0.000,0.031,2777,1700,2871,0,0,0,0,0,0
$GC,646,-1.52,-58.4,103.5,-13.6,71,650,0.00,2.40,0.00,0.000,4,0.000,0.045,2776,294,2872,0,0,0,0,0,0
$GC,738,-1.52,-58.4,117.2,-15.0,78,742,0.00,2.30,0.00,0.000,6,0.000,0.018,2777,1738,2873,0,0,0,0,0,0
$GC,1010,-1.62,-58.4,149.3,-10.5,99,1014,0.12,2.20,0.00,0.000,4,0.064,0.023,2737,3078,2874,0,0,0,0,0,0
$GC,1085,-1.69,-58.4,158.8,-12.7,104,1092,0.00,2.35,0.00,0.000,6,0.000,0.032,2737,1696,2874,0,0,0,0,0,0
$GC,1346,-1.69,-58.4,194.6,-14.1,125,1350,0.00,2.28,0.00,0.000,4,0.000,0.023,2737,3076,2875,0,0,0,0,0,0
$GC,1473,-1.77,-58.4,211.0,-10.9,132,1477,0.00,2.30,0.00,0.000,6,0.000,0.031,2736,1694,2875,0,0,0,0,0,0
$GC,1790,-1.81,-58.4,245.0,-9.6,147,1794,0.15,2.30,0.00,0.000,4,0.058,0.024,2692,3076,2875,0,0,0,0,0,0
$GC,1817,-1.81,-58.4,248.7,-12.2,148,1822,0.00,2.30,0.00,0.000,6,0.000,0.033,2691,1699,2875,0,0,0,0,0,0
$GC,2138,-1.81,-58.4,294.7,-16.2,164,2142,0.00,2.30,0.00,0.000,4,0.000,0.025,2691,3075,2875,0,0,0,0,0,0
$GC,2264,-1.81,-58.4,313.1,-14.5,167,2268,0.00,2.30,0.00,0.000,6,0.000,0.034,2691,1698,2875,0,0,0,0,0,0
$GC,2596,-1.78,-58.4,358.7,-13.5,175,2601,0.10,2.33,0.00,0.000,4,0.117,0.028,2710,3079,2873,0,0,0,0,0,0
$GC,2682,-1.85,-58.4,368.9,-12.0,176,2688,0.00,2.33,0.00,0.000,6,0.000,0.037,2710,1701,2873,0,0,0,0,0,0
$GC,3015,-1.85,-58.4,401.9,-8.9,185,3019,0.00,2.30,0.00,0.000,4,0.000,0.030,2710,3073,2870,0,0,0,0,0,0
$GC,3052,-1.91,-58.4,405.1,-8.4,185,3058,0.12,2.35,0.00,0.000,6,0.070,0.038,2674,1699,2871,0,0,0,0,0,0
$GC,3384,-1.87,-58.4,432.0,-7.7,194,3388,0.00,2.30,0.00,0.000,4,0.000,0.031,2673,3077,2868,0,0,0,0,0,0
$GC,3436,-1.87,-58.4,436.5,-8.9,195,3440,0.00,2.35,0.00,0.000,6,0.000,0.040,2674,1698,2868,0,0,0,0,0,0
$STATE,3593,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3593,begin apogee
$GC,3599,-0.31,0.0,452.7,10.5,199,3652,1.73,0.00,48.85,0.836,6,0.084,0.000,3032,1698,2630,0,0,0,0,0,0
$STATE,3653,end apogee,CONTROL_FINISHED_OK
$STATE,3653,begin climb
$GC,3655,1.56,58.4,453.7,0.0,200,3714,1.75,2.45,50.45,0.821,4,0.030,0.051,3449,325,2389,0,0,0,0,0,0
$GC,3723,1.34,162.3,454.0,-1.5,201,3825,0.30,2.33,90.95,0.821,6,0.108,0.024,3393,1726,1968,0,0,0,0,0,0
$GC,4147,1.18,162.3,407.3,11.6,212,4149,0.17,0.00,0.00,0.000,6,0.108,0.000,3361,1727,1959,0,0,0,0,0,0
$GC,4472,1.10,162.3,376.5,9.7,220,4476,0.00,2.35,0.00,0.000,4,0.000,0.032,3360,3123,1955,0,0,0,0,0,0
$GC,4501,1.07,162.3,373.6,9.4,220,4506,0.15,2.40,0.00,0.000,6,0.114,0.041,3333,1736,1954,0,0,0,0,0,0
$GC,4837,1.07,162.3,335.6,11.9,229,4841,0.00,2.35,0.00,0.000,4,0.000,0.031,3333,3123,1951,0,0,0,0,0,0
$GC,4907,1.10,162.3,327.3,11.4,230,4911,0.00,2.40,0.00,0.000,6,0.000,0.040,3333,1743,1951,0,0,0,0,0,0
$GC,5233,1.10,162.3,290.4,10.4,240,5238,0.00,2.47,0.00,0.000,4,0.000,0.055,3332,325,1948,0,0,0,0,0,0
$GC,5294,1.02,162.3,284.2,11.0,242,5300,0.00,2.38,0.00,0.000,6,0.000,0.027,3333,1738,1945,0,0,0,0,0,0
$GC,5610,1.02,162.3,259.1,8.7,258,5611,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,1738,1945,0,0,0,0,0,0
$GC,5919,1.02,162.3,229.7,10.1,273,5924,0.00,2.45,0.00,0.000,4,0.000,0.051,3332,327,1944,0,0,0,0,0,0
$GC,6003,0.94,162.3,219.5,12.7,276,6010,0.10,2.35,0.00,0.000,6,0.097,0.025,3310,1743,1941,0,0,0,0,0,0
$GC,6329,1.05,176.1,193.1,6.6,295,6343,0.00,2.33,8.80,0.589,4,0.000,0.026,3310,3135,1911,0,0,0,0,0,0
$GC,6389,1.18,177.5,188.6,7.8,299,6394,0.20,2.38,0.00,0.000,6,0.052,0.035,3365,1735,1910,0,0,0,0,0,0
$GC,6652,1.18,177.5,165.8,9.0,319,6656,0.00,2.33,0.00,0.000,4,0.000,0.025,3365,3129,1910,0,0,0,0,0,0
$GC,6679,1.18,177.5,163.5,8.4,321,6683,0.00,2.38,0.00,0.000,6,0.000,0.034,3364,1735,1910,0,0,0,0,0,0
$GC,6943,1.18,182.3,144.9,7.5,342,6958,0.00,2.47,6.93,0.512,4,0.000,0.048,3364,334,1886,0,0,0,0,0,0
$GC,6982,1.08,182.3,141.4,8.7,344,6989,0.12,2.30,0.00,0.000,6,0.084,0.021,3336,1744,1884,0,0,0,0,0,0
$GC,7245,1.16,185.7,121.6,7.6,365,7258,0.00,2.45,4.50,0.418,4,0.000,0.045,3336,327,1871,0,0,0,0,0,0
$GC,7277,1.16,185.7,118.5,9.1,367,7281,0.00,2.28,0.00,0.000,6,0.000,0.020,3336,1749,1870,0,0,0,0,0,0
$GC,7540,1.25,187.8,99.7,7.7,387,7545,0.15,2.45,0.00,0.000,4,0.058,0.044,3381,328,1870,0,0,0,0,0,0
$GC,7555,1.25,187.8,97.7,9.1,388,7559,0.00,2.25,0.00,0.000,6,0.000,0.019,3382,1747,1870,0,0,0,0,0,0
$GC,7815,1.27,203.5,74.1,6.5,408,7838,0.00,0.00,17.27,0.529,6,0.000,0.000,3382,1748,1799,0,0,0,0,0,0
$GC,8094,1.32,214.7,58.5,6.9,430,8110,0.00,2.33,10.88,0.486,4,0.000,0.022,3382,3116,1754,0,0,0,0,0,0
$GC,8221,1.41,219.5,48.9,7.5,439,8237,0.12,2.30,5.85,0.412,6,0.063,0.029,3421,1735,1734,0,0,0,0,0,0
$GC,8492,1.36,219.5,23.3,10.7,468,8499,0.12,2.42,0.00,0.000,4,0.107,0.043,3396,337,1733,0,0,0,0,0,0
$GC,8515,1.29,219.5,20.6,11.4,472,8522,0.00,2.25,0.00,0.000,6,0.000,0.018,3397,1739,1731,0,0,0,0,0,0
$STATE,8677,end climb,SURFACE_DEPTH_REACHED
$STATE,8677,begin surface coast
$FINISH,0.8,1.010562
$STATE,8704,end surface coast,CONTROL_FINISHED_OK
$STATE,8704,begin surface
$SM_CCo,8727,104.55,0.482,0,0,957,410.14
$SM_GC,1.55,0.00,0.00,104.55,0.000,0.000,0.482,426,1685,957,-12.30,-0.42,410.14
$IRIDIUM_FIX,2057.14,-15756.04,201199,101001
$TT8_MAMPS,0.029146
$HUMID,52.99
$INTERNAL_PRESSURE,9.30354
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.5,24.589
$10V_AH,10.3,20.040
$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,30.625,103.450,244.475,104.550,0.000,31.140,27.129,125.157,4.500,0.000,37.263,1003.556,5771.009,418.969,1546.793,418.970,0.000,1107.430,0.000,1503.492,0.000,29.257,0.000
$DEVICE_MAMPS,133.458,104.312,836.030,482.443,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,345.755,331.176,767.441,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,28616,515
$CAP_FILE_SIZE,99397,0
$CFSIZE,260165632,198909952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260810,154954,2105.516,-15755.561,26,1.0,43,9.8