version: 66.06
glider: 139
mission: 8
dive: 287
start: 8 27 110 8 38 10
data:
$ID,139
$MISSION,8
$DIVE,287
$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,-2156772.2
$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
$GPS1,082455,2105.574,-15755.394,42,1.5,42,9.8
$_CALLS,3
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-70.5
$GPS2,083750,2105.483,-15755.454,14,1.9,14,9.8
$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,78.6,21670,-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,-58.4,0.0,0.0,0,82,0.00,0.00,-64.65,0.000,2,0.000,0.000,429,1677,2767,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.3,-3.3,12,104,12.45,0.00,-1.95,0.000,6,0.133,0.000,2753,1677,2870,0,0,0,0,0,0
$GC,296,-1.46,-58.4,49.9,-20.3,44,301,0.15,2.38,0.00,0.000,4,0.110,0.021,2782,3119,2873,0,0,0,0,0,0
$GC,322,-1.46,-58.4,54.7,-18.2,46,326,0.00,2.42,0.00,0.000,6,0.000,0.033,2781,1689,2873,0,0,0,0,0,0
$GC,588,-1.46,-58.4,94.1,-11.7,67,592,0.00,2.38,0.00,0.000,4,0.000,0.044,2781,292,2874,0,0,0,0,0,0
$GC,603,-1.46,-58.4,96.3,-11.4,68,607,0.00,2.28,0.00,0.000,6,0.000,0.018,2781,1745,2873,0,0,0,0,0,0
$GC,863,-1.51,-58.4,124.4,-10.0,88,867,0.00,2.47,0.00,0.000,4,0.000,0.044,2781,295,2874,0,0,0,0,0,0
$GC,877,-1.51,-58.4,126.2,-10.6,89,882,0.00,2.22,0.00,0.000,6,0.000,0.018,2781,1717,2874,0,0,0,0,0,0
$GC,1139,-1.58,-58.4,154.3,-10.9,109,1144,0.12,2.45,0.00,0.000,4,0.064,0.045,2741,294,2875,0,0,0,0,0,0
$GC,1194,-1.49,-58.4,162.2,-14.6,113,1199,0.17,2.17,0.00,0.000,6,0.097,0.018,2776,1692,2875,0,0,0,0,0,0
$GC,1458,-1.60,-58.4,197.2,-13.0,134,1462,0.12,2.25,0.00,0.000,4,0.064,0.023,2735,3067,2875,0,0,0,0,0,0
$GC,1496,-1.67,-58.4,202.1,-13.6,136,1500,0.00,2.28,0.00,0.000,6,0.000,0.031,2735,1695,2875,0,0,0,0,0,0
$GC,1813,-1.71,-58.4,231.9,-7.5,151,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1695,2875,0,0,0,0,0,0
$GC,2121,-1.75,-58.4,256.1,-8.1,166,2125,0.00,2.30,0.00,0.000,4,0.000,0.025,2735,3071,2875,0,0,0,0,0,0
$GC,2170,-1.85,-58.4,260.0,-8.1,168,2175,0.17,2.28,0.00,0.000,6,0.054,0.033,2684,1701,2875,0,0,0,0,0,0
$GC,2498,-1.80,-58.4,302.3,-14.7,184,2503,0.12,2.28,0.00,0.000,4,0.110,0.025,2708,3063,2874,0,0,0,0,0,0
$GC,2608,-1.84,-58.4,316.0,-12.1,186,2613,0.00,2.28,0.00,0.000,6,0.000,0.034,2708,1702,2874,0,0,0,0,0,0
$GC,2959,-1.84,-58.4,361.0,-12.2,195,2963,0.00,2.30,0.00,0.000,4,0.000,0.028,2708,3065,2872,0,0,0,0,0,0
$GC,3077,-1.91,-58.4,374.1,-9.9,197,3082,0.12,2.33,0.00,0.000,6,0.069,0.037,2670,1700,2872,0,0,0,0,0,0
$GC,3420,-1.85,-58.4,413.3,-11.5,206,3425,0.12,2.33,0.00,0.000,4,0.107,0.031,2694,3068,2869,0,0,0,0,0,0
$GC,3564,-1.89,-58.4,428.3,-9.3,209,3568,0.00,2.33,0.00,0.000,6,0.000,0.039,2694,1699,2868,0,0,0,0,0,0
$STATE,3798,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3799,begin apogee
$GC,3805,-0.31,0.0,451.8,10.2,215,3858,1.60,0.00,48.58,0.830,6,0.082,0.000,3029,1700,2630,0,0,0,0,0,0
$STATE,3859,end apogee,CONTROL_FINISHED_OK
$STATE,3859,begin climb
$GC,3861,1.56,58.4,452.9,0.0,216,3916,1.77,0.00,50.47,0.812,6,0.030,0.000,3453,1699,2391,0,0,0,0,0,0
$GC,4231,1.31,103.4,442.5,3.8,225,4276,0.32,2.45,39.05,0.815,4,0.107,0.055,3386,335,2208,0,0,0,0,0,0
$GC,4337,1.03,103.4,435.3,8.9,227,4342,0.30,2.28,0.00,0.000,6,0.104,0.027,3329,1714,2202,0,0,0,0,0,0
$GC,4689,1.01,114.8,412.2,6.9,236,4701,0.00,0.00,9.93,0.723,6,0.000,0.000,3328,1714,2162,0,0,0,0,0,0
$GC,5012,1.01,114.8,382.9,9.0,244,5017,0.00,2.38,0.00,0.000,4,0.000,0.033,3329,3123,2158,0,0,0,0,0,0
$GC,5141,1.01,119.1,372.7,7.5,246,5151,0.00,2.40,4.85,0.575,6,0.000,0.041,3329,1743,2143,0,0,0,0,0,0
$GC,5477,1.04,142.2,352.3,5.8,255,5505,0.00,2.45,21.73,0.779,4,0.000,0.032,3328,3121,2050,0,0,0,0,0,0
$GC,5539,1.04,144.7,347.7,7.7,256,5548,0.00,2.40,4.20,0.516,6,0.000,0.040,3328,1737,2039,0,0,0,0,0,0
$GC,5889,1.04,144.7,315.9,9.1,265,5894,0.00,2.38,0.00,0.000,4,0.000,0.032,3329,3125,2034,0,0,0,0,0,0
$GC,5951,1.04,144.7,310.4,8.4,266,5955,0.00,2.38,0.00,0.000,6,0.000,0.038,3328,1741,2034,0,0,0,0,0,0
$GC,6282,1.04,144.7,285.3,8.2,278,6283,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1740,2032,0,0,0,0,0,0
$GC,6594,1.06,160.8,261.5,6.4,293,6616,0.00,2.55,14.32,0.702,4,0.000,0.054,3328,331,1973,0,0,0,0,0,0
$GC,6631,1.01,160.8,258.3,8.4,294,6635,0.00,2.33,0.00,0.000,6,0.000,0.025,3329,1741,1971,0,0,0,0,0,0
$GC,6948,1.01,160.8,227.8,10.3,309,6953,0.00,2.45,0.00,0.000,4,0.000,0.051,3328,334,1970,0,0,0,0,0,0
$GC,6981,0.94,160.8,223.8,11.5,310,6986,0.12,2.30,0.00,0.000,6,0.120,0.025,3307,1741,1968,0,0,0,0,0,0
$GC,7303,1.05,178.0,198.2,6.4,326,7326,0.10,2.55,15.75,0.656,4,0.079,0.050,3336,331,1904,0,0,0,0,0,0
$GC,7431,0.99,178.0,186.5,9.9,335,7435,0.00,2.35,0.00,0.000,6,0.000,0.023,3337,1749,1899,0,0,0,0,0,0
$GC,7692,1.04,178.0,162.2,9.7,355,7697,0.00,2.47,0.00,0.000,4,0.000,0.048,3336,330,1899,0,0,0,0,0,0
$GC,7734,0.99,178.0,157.6,10.5,358,7739,0.00,2.30,0.00,0.000,6,0.000,0.022,3336,1749,1897,0,0,0,0,0,0
$GC,7996,1.05,178.0,132.2,10.3,378,8000,0.00,2.28,0.00,0.000,4,0.000,0.025,3337,3133,1897,0,0,0,0,0,0
$GC,8061,1.13,178.0,126.2,8.0,382,8068,0.00,2.38,0.00,0.000,6,0.000,0.032,3336,1741,1897,0,0,0,0,0,0
$GC,8324,1.24,204.0,110.7,5.5,403,8354,0.15,2.50,23.35,0.585,4,0.060,0.046,3380,338,1797,0,0,0,0,0,0
$GC,8452,1.13,204.0,98.3,10.4,412,8457,0.17,2.30,0.00,0.000,6,0.099,0.020,3345,1755,1794,0,0,0,0,0,0
$GC,8721,1.25,209.4,78.4,7.4,433,8737,0.12,2.50,5.68,0.439,4,0.065,0.044,3384,335,1775,0,0,0,0,0,0
$GC,8830,1.20,209.4,68.7,9.5,440,8837,0.08,2.30,0.00,0.000,6,0.085,0.019,3366,1750,1774,0,0,0,0,0,0
$GC,9093,1.26,209.4,45.6,10.3,461,9094,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,1755,1773,0,0,0,0,0,0
$GC,9342,1.36,226.9,28.9,6.3,483,9367,0.12,2.28,16.65,0.489,4,0.064,0.021,3405,3125,1704,0,0,0,0,0,0
$GC,9384,1.41,237.8,26.1,6.9,490,9403,0.00,2.38,10.98,0.459,6,0.000,0.030,3405,1739,1659,0,0,0,0,0,0
$STATE,9590,end climb,SURFACE_DEPTH_REACHED
$STATE,9590,begin surface coast
$FINISH,1.0,1.023130
$STATE,9623,end surface coast,CONTROL_FINISHED_OK
$STATE,9623,begin surface
$SM_CCo,9647,93.82,0.485,0,0,958,410.14
$SM_GC,1.39,0.00,0.00,93.82,0.000,0.000,0.485,429,1678,958,-12.29,-0.62,410.14
$IRIDIUM_FIX,2057.14,-15756.91,211199,080803
$TT8_MAMPS,0.029146
$HUMID,53.38
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.5,25.172
$10V_AH,10.3,20.575
$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,31.225,99.050,265.525,93.825,0.000,88.648,97.521,330.098,4.500,0.000,14.903,1079.077,6604.128,411.473,1632.703,789.090,0.000,1140.882,0.000,1616.302,0.000,29.254,0.000
$DEVICE_MAMPS,133.458,145.730,829.894,484.744,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,366.112,345.878,782.753,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,31635,544
$CAP_FILE_SIZE,113567,0
$CFSIZE,260165632,198516736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270810,112137,2105.540,-15755.029,11,1.8,28,9.8