version: 66.06
glider: 139
mission: 8
dive: 250
start: 8 23 110 2 15 1
data:
$ID,139
$MISSION,8
$DIVE,250
$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,-2155787.2
$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,1695
$C_ROLL_CLIMB,1770
$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
$GPS1,020406,2107.112,-15756.452,74,0.9,74,9.8
$_CALLS,1
$_XMS_NAKs,30
$_XMS_TOUTs,3
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-71.1
$GPS2,021444,2107.139,-15756.569,17,1.1,17,9.8
$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,86.1,23715,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.56,-58.4,0.0,0.0,0,79,0.00,0.00,-59.55,0.000,2,0.000,0.000,426,1717,2615,0,0,0,0,0,0
$GC,82,-1.56,-58.4,3.0,-3.2,11,106,12.52,2.50,-5.12,0.000,4,0.134,0.055,2753,282,2870,0,0,0,0,0,0
$GC,140,-1.30,-58.4,17.6,-22.2,22,147,0.25,2.35,0.00,0.000,6,0.088,0.018,2815,1725,2871,0,0,0,0,0,0
$GC,343,-1.35,-58.4,49.5,-15.4,48,347,0.00,2.47,0.00,0.000,4,0.000,0.046,2815,289,2872,0,0,0,0,0,0
$GC,356,-1.35,-58.4,52.6,-15.8,49,361,0.00,2.22,0.00,0.000,6,0.000,0.019,2815,1716,2873,0,0,0,0,0,0
$GC,617,-1.46,-58.4,90.7,-11.0,69,618,0.15,0.00,0.00,0.000,6,0.055,0.000,2768,1720,2873,0,0,0,0,0,0
$GC,871,-1.52,-58.4,122.3,-11.5,89,876,0.00,2.47,0.00,0.000,4,0.000,0.044,2767,282,2874,0,0,0,0,0,0
$GC,909,-1.52,-58.4,127.7,-13.1,92,913,0.00,2.22,0.00,0.000,6,0.000,0.018,2768,1689,2874,0,0,0,0,0,0
$GC,1176,-1.59,-58.4,158.3,-11.9,113,1181,0.00,2.42,0.00,0.000,4,0.000,0.046,2768,286,2875,0,0,0,0,0,0
$GC,1222,-1.59,-58.4,164.8,-13.2,116,1229,0.00,2.25,0.00,0.000,6,0.000,0.019,2768,1693,2875,0,0,0,0,0,0
$GC,1484,-1.66,-58.4,194.0,-10.8,137,1489,0.12,2.25,0.00,0.000,4,0.066,0.023,2729,3064,2875,0,0,0,0,0,0
$GC,1570,-1.72,-58.4,204.2,-10.6,142,1577,0.00,2.33,0.00,0.000,6,0.000,0.033,2728,1692,2874,0,0,0,0,0,0
$GC,1886,-1.72,-58.4,242.5,-12.7,158,1890,0.00,2.25,0.00,0.000,4,0.000,0.023,2728,3064,2874,0,0,0,0,0,0
$GC,1910,-1.79,-58.4,245.6,-12.2,159,1914,0.00,2.30,0.00,0.000,6,0.000,0.033,2728,1694,2874,0,0,0,0,0,0
$GC,2236,-1.79,-58.4,285.6,-12.5,175,2240,0.00,2.38,0.00,0.000,4,0.000,0.046,2728,292,2874,0,0,0,0,0,0
$GC,2265,-1.75,-58.4,289.7,-13.7,176,2269,0.00,2.22,0.00,0.000,6,0.000,0.020,2728,1688,2874,0,0,0,0,0,0
$GC,2602,-1.79,-58.4,332.5,-12.4,187,2606,0.00,2.25,0.00,0.000,4,0.000,0.026,2728,3068,2873,0,0,0,0,0,0
$GC,2653,-1.89,-58.4,338.5,-11.4,188,2658,0.17,2.30,0.00,0.000,6,0.053,0.035,2677,1695,2873,0,0,0,0,0,0
$GC,2975,-1.84,-58.4,375.4,-11.1,196,2980,0.10,2.30,0.00,0.000,4,0.115,0.028,2696,3067,2872,0,0,0,0,0,0
$GC,3125,-1.89,-58.4,389.8,-8.7,199,3129,0.00,2.30,0.00,0.000,6,0.000,0.038,2696,1698,2871,0,0,0,0,0,0
$GC,3438,-1.89,-58.4,419.0,-9.6,207,3442,0.00,2.30,0.00,0.000,4,0.000,0.030,2696,3069,2869,0,0,0,0,0,0
$GC,3482,-1.94,-58.4,422.8,-8.4,207,3487,0.00,2.35,0.00,0.000,6,0.000,0.039,2697,1692,2869,0,0,0,0,0,0
$STATE,3769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3769,begin apogee
$GC,3777,-0.31,0.0,452.4,10.3,215,3830,1.60,0.00,48.58,0.827,6,0.082,0.000,3030,1768,2630,0,0,0,0,0,0
$STATE,3830,end apogee,CONTROL_FINISHED_OK
$STATE,3830,begin climb
$GC,3833,1.56,58.4,453.9,0.0,216,3891,1.75,2.55,50.17,0.811,4,0.031,0.052,3446,353,2390,0,0,0,0,0,0
$GC,3982,1.24,142.7,456.0,0.3,219,4066,0.40,2.35,73.70,0.821,6,0.107,0.026,3371,1757,2047,0,0,0,0,0,0
$GC,4381,1.12,142.7,419.8,11.6,229,4386,0.15,2.40,0.00,0.000,4,0.114,0.035,3343,3179,2038,0,0,0,0,0,0
$GC,4456,1.12,142.7,412.0,9.4,230,4460,0.00,2.47,0.00,0.000,6,0.000,0.041,3343,1767,2038,0,0,0,0,0,0
$GC,4793,1.06,142.7,376.7,10.6,239,4797,0.00,2.42,0.00,0.000,4,0.000,0.035,3343,3184,2033,0,0,0,0,0,0
$GC,4849,1.06,142.7,370.8,10.0,240,4853,0.00,2.45,0.00,0.000,6,0.000,0.040,3343,1766,2033,0,0,0,0,0,0
$GC,5162,1.03,142.7,337.2,11.0,248,5166,0.00,2.40,0.00,0.000,4,0.000,0.033,3343,3180,2030,0,0,0,0,0,0
$GC,5177,1.03,142.7,335.6,11.0,248,5182,0.00,2.42,0.00,0.000,6,0.000,0.038,3343,1767,2029,0,0,0,0,0,0
$GC,5527,1.03,142.7,299.0,10.0,257,5531,0.00,2.40,0.00,0.000,4,0.000,0.031,3343,3184,2027,0,0,0,0,0,0
$GC,5665,1.03,142.7,285.5,10.1,263,5670,0.00,2.45,0.00,0.000,6,0.000,0.037,3343,1761,2027,0,0,0,0,0,0
$GC,5997,1.03,142.7,252.5,9.2,279,6001,0.00,2.45,0.00,0.000,4,0.000,0.052,3343,354,2025,0,0,0,0,0,0
$GC,6032,0.92,142.7,248.9,10.3,280,6037,0.22,2.33,0.00,0.000,6,0.109,0.025,3300,1777,2023,0,0,0,0,0,0
$GC,6352,1.03,158.2,225.0,6.5,295,6368,0.10,2.55,10.12,0.634,4,0.080,0.051,3330,359,1985,0,0,0,0,0,0
$GC,6510,0.96,158.2,211.4,8.6,301,6515,0.00,2.33,0.00,0.000,6,0.000,0.024,3330,1775,1981,0,0,0,0,0,0
$GC,6833,1.02,167.3,188.9,7.1,322,6850,0.00,2.35,9.07,0.591,4,0.000,0.027,3330,3175,1948,0,0,0,0,0,0
$GC,6911,1.10,167.3,182.8,8.1,327,6915,0.00,2.38,0.00,0.000,6,0.000,0.033,3330,1768,1948,0,0,0,0,0,0
$GC,7173,1.14,167.3,160.3,8.8,347,7177,0.00,2.42,0.00,0.000,4,0.000,0.048,3330,359,1947,0,0,0,0,0,0
$GC,7254,1.10,167.3,152.1,9.5,353,7258,0.00,2.33,0.00,0.000,6,0.000,0.021,3330,1785,1945,0,0,0,0,0,0
$GC,7524,1.21,197.6,134.9,5.2,374,7560,0.15,2.50,28.00,0.603,4,0.060,0.044,3374,359,1822,0,0,0,0,0,0
$GC,7651,1.09,197.6,121.6,13.6,383,7656,0.17,2.33,0.00,0.000,6,0.100,0.021,3340,1782,1819,0,0,0,0,0,0
$GC,7917,1.17,197.6,93.4,9.4,404,7921,0.00,2.47,0.00,0.000,4,0.000,0.045,3340,354,1818,0,0,0,0,0,0
$GC,8033,1.17,197.6,83.1,8.3,412,8039,0.00,2.33,0.00,0.000,6,0.000,0.020,3340,1771,1817,0,0,0,0,0,0
$GC,8293,1.34,230.4,69.5,4.9,433,8329,0.22,2.38,28.75,0.540,4,0.046,0.022,3405,3164,1688,0,0,0,0,0,0
$GC,8407,1.37,230.4,60.9,8.2,441,8411,0.00,2.38,0.00,0.000,6,0.000,0.029,3405,1762,1688,0,0,0,0,0,0
$GC,8672,1.37,230.4,35.9,10.0,462,8676,0.00,2.40,0.00,0.000,4,0.000,0.046,3405,363,1687,0,0,0,0,0,0
$GC,8725,1.28,230.4,28.5,15.7,466,8732,0.10,2.30,0.00,0.000,6,0.085,0.018,3381,1780,1685,0,0,0,0,0,0
$GC,8928,1.31,230.4,5.2,12.0,512,8934,0.00,2.45,0.00,0.000,4,0.000,0.043,3381,367,1685,0,0,0,0,0,0
$STATE,8944,end climb,SURFACE_DEPTH_REACHED
$STATE,8944,begin surface coast
$FINISH,0.8,0.999975
$STATE,8971,end surface coast,CONTROL_FINISHED_OK
$STATE,8971,begin surface
$SM_CCo,8996,100.47,0.486,0,0,957,410.14
$SM_GC,1.50,0.00,0.00,100.47,0.000,0.000,0.486,427,1713,957,-12.30,0.51,410.14
$IRIDIUM_FIX,2059.45,-15748.75,161199,232318
$TT8_MAMPS,0.029146
$HUMID,53.50
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.5,21.998
$10V_AH,10.3,17.812
$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,30.950,113.675,248.400,100.475,0.000,30.498,26.225,456.913,4.750,0.000,17.646,1046.272,5853.941,406.987,1651.188,774.148,0.000,1151.560,0.000,1629.668,0.000,32.082,0.000
$DEVICE_MAMPS,134.225,91.273,826.826,486.278,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,350.480,338.343,764.656,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355832
$DATA_FILE_SIZE,28596,521
$CAP_FILE_SIZE,110665,0
$CFSIZE,260165632,200486912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230810,044732,2107.205,-15756.152,15,1.8,15,9.8