version: 66.06
glider: 139
mission: 8
dive: 286
start: 8 27 110 5 45 38
data:
$ID,139
$MISSION,8
$DIVE,286
$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,-2156756.5
$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
$GPS1,053850,2105.367,-15755.628,12,1.4,12,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-73.0
$GPS2,054522,2105.417,-15755.629,37,7.0,56,9.8
$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,78.3,21976,-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,-64.18,0.000,2,0.000,0.000,430,1676,2765,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.6,-3.9,12,111,12.48,2.45,-1.90,0.000,4,0.134,0.054,2753,285,2872,0,0,0,0,0,0
$GC,149,-1.32,-58.4,23.3,-26.1,24,157,0.25,2.35,0.00,0.000,6,0.088,0.018,2807,1734,2873,0,0,0,0,0,0
$GC,358,-1.37,-58.4,55.1,-10.8,44,362,0.00,2.20,0.00,0.000,4,0.000,0.022,2807,3081,2873,0,0,0,0,0,0
$GC,385,-1.48,-58.4,57.7,-10.4,46,390,0.12,2.30,0.00,0.000,6,0.062,0.028,2765,1693,2874,0,0,0,0,0,0
$GC,652,-1.48,-58.4,91.2,-13.5,67,656,0.00,2.28,0.00,0.000,4,0.000,0.022,2765,3088,2874,0,0,0,0,0,0
$GC,685,-1.54,-58.4,95.9,-12.0,69,691,0.00,2.35,0.00,0.000,6,0.000,0.032,2765,1695,2875,0,0,0,0,0,0
$GC,946,-1.57,-58.4,134.2,-15.5,90,950,0.00,2.38,0.00,0.000,4,0.000,0.045,2765,296,2876,0,0,0,0,0,0
$GC,994,-1.54,-58.4,142.6,-17.4,93,999,0.00,2.22,0.00,0.000,6,0.000,0.018,2765,1725,2875,0,0,0,0,0,0
$GC,1255,-1.61,-58.4,176.5,-12.2,114,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1727,2876,0,0,0,0,0,0
$GC,1518,-1.69,-58.4,207.2,-10.5,133,1523,0.15,2.45,0.00,0.000,4,0.058,0.046,2719,297,2876,0,0,0,0,0,0
$GC,1575,-1.61,-58.4,215.7,-15.4,135,1580,0.15,2.20,0.00,0.000,6,0.099,0.019,2749,1697,2876,0,0,0,0,0,0
$GC,1901,-1.67,-58.4,248.7,-9.5,151,1905,0.00,2.25,0.00,0.000,4,0.000,0.025,2749,3070,2876,0,0,0,0,0,0
$GC,1972,-1.78,-58.4,255.7,-9.0,154,1977,0.17,2.28,0.00,0.000,6,0.054,0.032,2697,1698,2876,0,0,0,0,0,0
$GC,2300,-1.73,-58.4,294.4,-11.8,170,2304,0.12,2.28,0.00,0.000,4,0.106,0.025,2722,3068,2876,0,0,0,0,0,0
$GC,2392,-1.80,-58.4,304.9,-12.5,174,2396,0.00,2.28,0.00,0.000,6,0.000,0.033,2721,1701,2875,0,0,0,0,0,0
$GC,2720,-1.83,-58.4,343.4,-11.3,182,2724,0.00,2.30,0.00,0.000,4,0.000,0.027,2722,3070,2875,0,0,0,0,0,0
$GC,2861,-1.91,-58.4,360.2,-12.7,185,2866,0.17,2.33,0.00,0.000,6,0.055,0.035,2672,1700,2874,0,0,0,0,0,0
$GC,3192,-1.86,-58.4,406.8,-13.4,193,3197,0.12,2.28,0.00,0.000,4,0.108,0.028,2696,3066,2873,0,0,0,0,0,0
$GC,3292,-1.90,-58.4,417.8,-9.9,195,3296,0.00,2.30,0.00,0.000,6,0.000,0.038,2696,1701,2872,0,0,0,0,0,0
$GC,3620,-1.90,-58.4,448.1,-9.4,203,3624,0.00,2.28,0.00,0.000,4,0.000,0.031,2696,3064,2869,0,0,0,0,0,0
$STATE,3641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3641,begin apogee
$GC,3650,-0.31,0.0,450.2,8.7,203,3706,1.58,0.00,49.20,0.821,6,0.084,0.000,3027,1735,2630,0,0,0,0,0,0
$STATE,3707,end apogee,CONTROL_FINISHED_OK
$STATE,3707,begin climb
$GC,3710,1.56,58.4,450.5,0.0,205,3765,1.80,0.00,50.78,0.805,6,0.029,0.000,3453,1736,2391,0,0,0,0,0,0
$GC,4073,1.32,107.4,439.8,3.5,214,4122,0.30,2.58,42.53,0.808,4,0.106,0.054,3391,331,2192,0,0,0,0,0,0
$GC,4188,1.04,107.4,432.5,9.1,216,4193,0.32,2.33,0.00,0.000,6,0.102,0.026,3329,1720,2185,0,0,0,0,0,0
$GC,4531,1.00,107.4,405.1,8.4,225,4535,0.00,2.38,0.00,0.000,4,0.000,0.033,3329,3128,2181,0,0,0,0,0,0
$GC,4669,1.00,107.4,392.1,10.0,228,4673,0.00,2.40,0.00,0.000,6,0.000,0.039,3329,1732,2181,0,0,0,0,0,0
$GC,4998,1.01,116.0,366.0,7.1,236,5010,0.00,2.45,6.75,0.645,4,0.000,0.033,3329,3130,2156,0,0,0,0,0,0
$GC,5091,1.03,132.0,359.8,6.5,238,5112,0.00,2.40,15.85,0.750,6,0.000,0.039,3329,1736,2091,0,0,0,0,0,0
$GC,5460,1.04,133.8,332.9,7.7,247,5464,0.00,2.38,0.00,0.000,4,0.000,0.032,3329,3135,2086,0,0,0,0,0,0
$GC,5637,1.09,147.8,318.0,6.6,250,5658,0.00,2.40,14.65,0.728,6,0.000,0.039,3328,1737,2026,0,0,0,0,0,0
$GC,5980,1.09,147.8,292.9,8.3,261,5984,0.00,2.45,0.00,0.000,4,0.000,0.054,3329,331,2022,0,0,0,0,0,0
$GC,6013,1.01,147.8,289.5,9.3,262,6017,0.00,2.30,0.00,0.000,6,0.000,0.025,3329,1739,2020,0,0,0,0,0,0
$GC,6331,1.01,147.8,260.3,9.3,277,6335,0.00,2.45,0.00,0.000,4,0.000,0.051,3329,333,2019,0,0,0,0,0,0
$GC,6368,0.94,147.8,256.6,9.5,278,6376,0.10,2.35,0.00,0.000,6,0.101,0.025,3307,1744,2017,0,0,0,0,0,0
$GC,6687,1.05,176.6,236.5,5.3,294,6720,0.10,2.53,25.75,0.695,4,0.079,0.049,3337,326,1908,0,0,0,0,0,0
$GC,6803,0.99,176.6,226.3,10.0,299,6808,0.12,2.33,0.00,0.000,6,0.111,0.023,3314,1744,1904,0,0,0,0,0,0
$GC,7134,1.07,177.7,199.5,7.8,315,7138,0.00,2.45,0.00,0.000,4,0.000,0.050,3314,332,1903,0,0,0,0,0,0
$GC,7206,1.07,177.7,191.6,10.3,320,7211,0.00,2.30,0.00,0.000,6,0.000,0.022,3314,1750,1901,0,0,0,0,0,0
$GC,7468,1.17,189.2,172.2,6.9,340,7487,0.17,2.35,11.27,0.589,4,0.055,0.025,3364,3123,1858,0,0,0,0,0,0
$GC,7506,1.21,189.2,168.5,9.1,342,7513,0.00,2.40,0.00,0.000,6,0.000,0.034,3363,1740,1858,0,0,0,0,0,0
$GC,7767,1.21,189.2,147.0,9.0,363,7771,0.00,2.47,0.00,0.000,4,0.000,0.048,3363,325,1857,0,0,0,0,0,0
$GC,7879,1.13,189.2,133.6,12.8,371,7883,0.00,2.30,0.00,0.000,6,0.000,0.020,3363,1747,1855,0,0,0,0,0,0
$GC,8145,1.17,198.3,110.8,7.1,392,8160,0.00,2.47,9.48,0.514,4,0.000,0.044,3363,327,1819,0,0,0,0,0,0
$GC,8225,1.12,198.3,104.5,8.3,397,8231,0.00,2.30,0.00,0.000,6,0.000,0.019,3364,1750,1817,0,0,0,0,0,0
$GC,8487,1.24,233.3,87.6,4.7,418,8528,0.00,2.53,31.40,0.551,4,0.000,0.044,3363,337,1676,0,0,0,0,0,0
$GC,8619,1.25,242.3,78.8,7.1,427,8632,0.00,2.28,8.40,0.471,6,0.000,0.018,3363,1752,1641,0,0,0,0,0,0
$GC,8897,1.33,242.3,51.3,9.4,449,8902,0.12,2.45,0.00,0.000,4,0.064,0.045,3404,332,1641,0,0,0,0,0,0
$GC,8926,1.23,242.3,47.4,13.2,451,8931,0.17,2.22,0.00,0.000,6,0.098,0.018,3369,1745,1638,0,0,0,0,0,0
$GC,9189,1.29,242.3,17.7,11.4,487,9195,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,1750,1638,0,0,0,0,0,0
$STATE,9322,end climb,SURFACE_DEPTH_REACHED
$STATE,9325,begin surface coast
$FINISH,0.9,1.000253
$STATE,9364,end surface coast,CONTROL_FINISHED_OK
$STATE,9364,begin surface
$SM_CCo,9387,89.18,0.480,0,0,958,410.14
$SM_GC,1.53,0.00,0.00,89.18,0.000,0.000,0.480,429,1677,958,-12.29,-0.65,410.14
$IRIDIUM_FIX,2057.14,-15753.90,211199,030315
$TT8_MAMPS,0.029146
$HUMID,53.46
$INTERNAL_PRESSURE,9.30354
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.5,25.077
$10V_AH,10.3,20.498
$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,31.150,108.350,266.050,89.175,0.000,22.958,31.476,175.201,4.500,0.000,57.097,1072.538,6120.266,424.289,1742.899,506.566,0.000,1190.406,0.000,1684.578,0.000,29.256,0.000
$DEVICE_MAMPS,134.225,101.244,820.690,480.142,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,354.185,337.579,753.943,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,28671,527
$CAP_FILE_SIZE,109614,0
$CFSIZE,260165632,198582272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270810,082455,2105.574,-15755.394,42,1.5,42,9.8