version: 66.06
glider: 139
mission: 8
dive: 300
start: 8 28 110 20 25 7
data:
$ID,139
$MISSION,8
$DIVE,300
$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,-2157080.8
$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
$GPS1,201924,2104.761,-15754.457,26,0.9,44,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-73.0
$GPS2,202450,2104.702,-15754.477,15,1.1,15,9.8
$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,74.3,20077,-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,-64.50,0.000,2,0.000,0.000,426,1708,2755,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.3,-3.2,12,110,12.55,2.38,-2.20,0.000,4,0.135,0.036,2755,3114,2872,0,0,0,0,0,0
$GC,119,-0.37,-58.4,14.7,-25.6,17,126,1.20,2.42,0.00,0.000,6,0.077,0.032,3015,1697,2873,0,0,0,0,0,0
$GC,322,-0.91,-58.4,26.2,-4.3,63,329,0.47,2.40,0.00,0.000,4,0.029,0.041,2884,296,2875,0,0,0,0,0,0
$GC,395,-1.11,-58.4,33.5,-11.4,74,400,0.12,2.28,0.00,0.000,6,0.061,0.018,2840,1742,2875,0,0,0,0,0,0
$GC,657,-1.23,-58.4,68.8,-13.6,94,662,0.00,2.47,0.00,0.000,4,0.000,0.044,2840,295,2875,0,0,0,0,0,0
$GC,737,-1.30,-58.4,80.0,-14.1,100,742,0.10,2.22,0.00,0.000,6,0.073,0.018,2803,1721,2875,0,0,0,0,0,0
$GC,1005,-1.40,-58.4,117.8,-13.8,121,1009,0.00,2.17,0.00,0.000,4,0.000,0.021,2803,3065,2876,0,0,0,0,0,0
$GC,1031,-1.56,-58.4,121.3,-11.7,123,1036,0.20,2.30,0.00,0.000,6,0.044,0.031,2741,1694,2876,0,0,0,0,0,0
$GC,1296,-1.56,-58.4,159.1,-14.1,144,1301,0.00,2.38,0.00,0.000,4,0.000,0.045,2740,293,2877,0,0,0,0,0,0
$GC,1396,-1.52,-58.4,172.1,-13.6,151,1401,0.12,2.20,0.00,0.000,6,0.107,0.018,2766,1705,2878,0,0,0,0,0,0
$GC,1670,-1.59,-58.4,202.4,-9.1,172,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1711,2879,0,0,0,0,0,0
$GC,1981,-1.68,-58.4,229.2,-10.2,187,1982,0.15,0.00,0.00,0.000,6,0.056,0.000,2718,1710,2879,0,0,0,0,0,0
$GC,2287,-1.68,-58.4,264.1,-10.9,202,2288,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1710,2879,0,0,0,0,0,0
$GC,2599,-1.68,-58.4,301.1,-11.9,217,2603,0.00,2.22,0.00,0.000,4,0.000,0.025,2717,3065,2879,0,0,0,0,0,0
$GC,2683,-1.75,-58.4,311.3,-11.0,218,2689,0.00,2.30,0.00,0.000,6,0.000,0.035,2717,1693,2878,0,0,0,0,0,0
$GC,3015,-1.75,-58.4,350.8,-12.0,227,3019,0.00,2.42,0.00,0.000,4,0.000,0.051,2717,295,2877,0,0,0,0,0,0
$GC,3029,-1.75,-58.4,352.9,-12.0,227,3034,0.00,2.22,0.00,0.000,6,0.000,0.023,2717,1693,2878,0,0,0,0,0,0
$GC,3379,-1.78,-58.4,393.5,-11.1,236,3383,0.00,2.25,0.00,0.000,4,0.000,0.028,2717,3068,2876,0,0,0,0,0,0
$GC,3514,-1.86,-58.4,406.8,-9.6,239,3519,0.10,2.33,0.00,0.000,6,0.078,0.038,2687,1694,2874,0,0,0,0,0,0
$GC,3845,-1.86,-58.4,443.8,-11.4,247,3846,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1693,2872,0,0,0,0,0,0
$STATE,3921,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3921,begin apogee
$GC,3928,-0.31,0.0,453.1,11.4,249,3982,1.65,0.00,49.67,0.825,6,0.082,0.000,3031,1693,2630,0,0,0,0,0,0
$STATE,3983,end apogee,CONTROL_FINISHED_OK
$STATE,3983,begin climb
$GC,3985,1.56,58.4,454.4,0.0,250,4040,1.75,0.00,50.45,0.810,6,0.029,0.000,3449,1693,2391,0,0,0,0,0,0
$GC,4356,1.31,103.3,444.1,3.9,259,4401,0.30,2.47,38.88,0.814,4,0.107,0.033,3388,3112,2208,0,0,0,0,0,0
$GC,4584,1.18,103.3,426.3,8.6,264,4589,0.15,2.38,0.00,0.000,6,0.123,0.039,3361,1736,2205,0,0,0,0,0,0
$GC,4913,1.08,103.3,398.0,8.6,272,4917,0.12,2.33,0.00,0.000,4,0.120,0.032,3338,3105,2199,0,0,0,0,0,0
$GC,5108,1.08,104.6,380.7,7.8,276,5112,0.00,2.38,0.00,0.000,6,0.000,0.038,3338,1732,2200,0,0,0,0,0,0
$GC,5422,1.07,130.9,361.4,5.5,284,5451,0.00,2.40,23.55,0.779,4,0.000,0.032,3339,3105,2096,0,0,0,0,0,0
$GC,5463,1.11,159.7,359.1,5.3,285,5495,0.00,2.40,27.25,0.775,6,0.000,0.038,3338,1736,1979,0,0,0,0,0,0
$GC,5833,1.11,159.7,326.1,9.2,294,5837,0.00,2.47,0.00,0.000,4,0.000,0.054,3338,336,1971,0,0,0,0,0,0
$GC,5866,0.98,159.7,322.5,11.3,294,5871,0.12,2.28,0.00,0.000,6,0.117,0.027,3316,1724,1969,0,0,0,0,0,0
$GC,6180,0.98,159.7,292.1,9.7,303,6181,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,1728,1968,0,0,0,0,0,0
$GC,6487,1.02,159.7,261.3,9.3,318,6491,0.00,2.45,0.00,0.000,4,0.000,0.054,3316,335,1966,0,0,0,0,0,0
$GC,6535,0.97,159.7,256.1,11.6,320,6539,0.00,2.30,0.00,0.000,6,0.000,0.026,3316,1737,1964,0,0,0,0,0,0
$GC,6865,1.03,159.7,227.3,8.0,336,6869,0.00,2.45,0.00,0.000,4,0.000,0.051,3316,326,1963,0,0,0,0,0,0
$GC,7002,1.03,159.7,215.3,10.1,342,7006,0.00,2.33,0.00,0.000,6,0.000,0.025,3316,1742,1961,0,0,0,0,0,0
$GC,7333,1.11,159.7,191.9,7.9,361,7338,0.10,2.30,0.00,0.000,4,0.077,0.028,3347,3125,1961,0,0,0,0,0,0
$GC,7437,1.15,159.7,182.3,9.4,368,7444,0.00,2.38,0.00,0.000,6,0.000,0.034,3347,1736,1961,0,0,0,0,0,0
$GC,7697,1.15,159.7,158.8,8.0,389,7701,0.00,2.40,0.00,0.000,4,0.000,0.048,3347,331,1961,0,0,0,0,0,0
$GC,7735,1.06,159.7,155.3,9.7,392,7740,0.00,2.28,0.00,0.000,6,0.000,0.021,3348,1748,1960,0,0,0,0,0,0
$GC,8003,1.07,168.3,136.4,7.1,413,8017,0.00,2.53,5.57,0.485,4,0.000,0.045,3347,317,1942,0,0,0,0,0,0
$GC,8022,1.07,168.3,134.2,8.7,414,8027,0.00,2.33,0.00,0.000,6,0.000,0.021,3348,1749,1942,0,0,0,0,0,0
$GC,8284,1.13,182.1,114.6,6.6,434,8303,0.00,2.50,13.93,0.561,4,0.000,0.045,3347,330,1886,0,0,0,0,0,0
$GC,8432,1.09,182.1,103.6,7.9,444,8438,0.00,2.30,0.00,0.000,6,0.000,0.020,3348,1745,1883,0,0,0,0,0,0
$GC,8695,1.22,207.5,89.2,5.6,465,8725,0.00,2.55,23.08,0.554,4,0.000,0.044,3347,327,1783,0,0,0,0,0,0
$GC,8731,1.34,237.6,87.1,5.2,467,8764,0.20,2.30,27.23,0.550,6,0.049,0.019,3403,1748,1661,0,0,0,0,0,0
$GC,9017,1.34,237.6,57.3,9.9,490,9021,0.00,2.45,0.00,0.000,4,0.000,0.042,3402,330,1656,0,0,0,0,0,0
$GC,9140,1.24,237.6,42.7,13.8,499,9145,0.15,2.25,0.00,0.000,6,0.102,0.018,3373,1742,1653,0,0,0,0,0,0
$GC,9403,1.31,237.6,11.6,10.8,545,9409,0.00,2.45,0.00,0.000,4,0.000,0.044,3373,336,1653,0,0,0,0,0,0
$GC,9440,1.31,237.6,7.3,11.6,552,9447,0.00,2.25,0.00,0.000,6,0.000,0.018,3373,1745,1653,0,0,0,0,0,0
$STATE,9473,end climb,SURFACE_DEPTH_REACHED
$STATE,9473,begin surface coast
$FINISH,1.0,1.021939
$STATE,9496,end surface coast,CONTROL_FINISHED_OK
$STATE,9496,begin surface
$SM_CCo,9519,98.20,0.487,0,0,957,410.14
$SM_GC,1.46,0.00,0.00,98.20,0.000,0.000,0.487,425,1677,957,-12.31,-0.65,410.14
$IRIDIUM_FIX,2057.14,-15753.90,221199,171758
$TT8_MAMPS,0.029146
$HUMID,54.48
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,23.5,26.243
$10V_AH,10.3,21.533
$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,32.175,98.925,259.600,98.200,0.000,24.630,35.590,142.822,4.750,0.000,15.821,1107.268,6212.926,414.025,1748.112,460.146,0.000,1178.137,0.000,1727.152,0.000,29.269,0.000
$DEVICE_MAMPS,134.992,102.011,825.292,487.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,379.357,363.319,840.228,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,31820,564
$CAP_FILE_SIZE,107224,0
$CFSIZE,260165632,197836800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280810,230614,2104.827,-15754.036,11,1.5,11,9.8