version: 66.06
glider: 139
mission: 8
dive: 259
start: 8 24 110 3 39 14
data:
$ID,139
$MISSION,8
$DIVE,259
$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,-2156041
$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
$GPS1,033334,2106.040,-15754.957,16,9.7,35,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-71.7
$GPS2,033858,2106.055,-15755.045,12,9.3,31,9.8
$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,81.4,20959,-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,-64.50,0.000,2,0.000,0.000,423,1677,2761,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.5,-3.7,12,110,12.45,2.45,-2.00,0.000,4,0.133,0.056,2752,289,2872,0,0,0,0,0,0
$GC,188,-1.40,-58.4,32.8,-23.1,32,193,0.20,2.33,0.00,0.000,6,0.108,0.018,2791,1736,2873,0,0,0,0,0,0
$GC,455,-1.45,-58.4,70.8,-12.2,53,456,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1741,2874,0,0,0,0,0,0
$GC,707,-1.52,-58.4,104.9,-14.1,73,711,0.00,2.50,0.00,0.000,4,0.000,0.045,2790,283,2876,0,0,0,0,0,0
$GC,740,-1.52,-58.4,109.9,-13.9,75,745,0.00,2.22,0.00,0.000,6,0.000,0.018,2790,1716,2876,0,0,0,0,0,0
$GC,1001,-1.63,-58.4,142.1,-12.3,96,1006,0.20,2.45,0.00,0.000,4,0.048,0.044,2731,288,2876,0,0,0,0,0,0
$GC,1062,-1.55,-58.4,152.6,-17.4,100,1069,0.10,2.22,0.00,0.000,6,0.082,0.018,2756,1686,2876,0,0,0,0,0,0
$GC,1326,-1.59,-58.4,188.2,-14.7,121,1330,0.00,2.38,0.00,0.000,4,0.000,0.045,2756,290,2877,0,0,0,0,0,0
$GC,1391,-1.59,-58.4,199.4,-16.1,126,1396,0.00,2.20,0.00,0.000,6,0.000,0.019,2755,1694,2877,0,0,0,0,0,0
$GC,1657,-1.65,-58.4,230.5,-11.7,139,1661,0.00,2.42,0.00,0.000,4,0.000,0.046,2756,288,2878,0,0,0,0,0,0
$GC,1694,-1.65,-58.4,236.0,-14.7,140,1701,0.00,2.25,0.00,0.000,6,0.000,0.020,2756,1690,2878,0,0,0,0,0,0
$GC,2010,-1.74,-58.4,274.8,-11.2,156,2015,0.15,2.28,0.00,0.000,4,0.058,0.025,2710,3069,2877,0,0,0,0,0,0
$GC,2048,-1.78,-58.4,279.6,-13.2,157,2055,0.00,2.30,0.00,0.000,6,0.000,0.032,2710,1687,2877,0,0,0,0,0,0
$GC,2384,-1.78,-58.4,320.3,-12.0,170,2388,0.00,2.28,0.00,0.000,4,0.000,0.025,2710,3066,2877,0,0,0,0,0,0
$GC,2408,-1.81,-58.4,323.1,-11.1,170,2412,0.00,2.30,0.00,0.000,6,0.000,0.035,2710,1690,2877,0,0,0,0,0,0
$GC,2749,-1.81,-58.4,357.8,-10.2,179,2753,0.00,2.28,0.00,0.000,4,0.000,0.026,2710,3065,2875,0,0,0,0,0,0
$GC,2809,-1.87,-58.4,364.1,-9.5,180,2813,0.00,2.30,0.00,0.000,6,0.000,0.036,2710,1692,2876,0,0,0,0,0,0
$GC,3124,-1.87,-58.4,397.6,-10.8,188,3128,0.00,2.30,0.00,0.000,4,0.000,0.028,2710,3064,2874,0,0,0,0,0,0
$GC,3223,-1.93,-58.4,407.1,-9.2,190,3228,0.15,2.30,0.00,0.000,6,0.061,0.038,2668,1696,2874,0,0,0,0,0,0
$GC,3545,-1.88,-58.4,441.6,-10.6,198,3547,0.10,0.00,0.00,0.000,6,0.117,0.000,2687,1695,2872,0,0,0,0,0,0
$STATE,3661,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3661,begin apogee
$GC,3667,-0.31,0.0,453.3,9.8,201,3720,1.65,0.00,49.40,0.825,6,0.085,0.000,3030,1695,2630,0,0,0,0,0,0
$STATE,3721,end apogee,CONTROL_FINISHED_OK
$STATE,3721,begin climb
$GC,3723,1.56,58.4,454.2,0.0,202,3778,1.77,0.00,50.85,0.809,6,0.028,0.000,3453,1695,2391,0,0,0,0,0,0
$GC,4071,1.27,78.3,438.0,6.1,211,4096,0.35,2.55,17.25,0.772,4,0.104,0.032,3381,3133,2310,0,0,0,0,0,0
$GC,4364,1.15,100.2,419.1,5.9,217,4390,0.15,2.35,20.00,0.784,6,0.115,0.038,3353,1770,2221,0,0,0,0,0,0
$GC,4718,1.10,129.1,398.2,5.3,225,4750,0.00,2.42,26.25,0.795,4,0.000,0.034,3353,3133,2103,0,0,0,0,0,0
$GC,4791,1.06,129.5,393.2,7.9,226,4796,0.12,2.40,0.00,0.000,6,0.124,0.039,3332,1763,2102,0,0,0,0,0,0
$GC,5132,1.06,131.3,366.4,7.7,235,5137,0.00,2.33,0.00,0.000,4,0.000,0.033,3332,3136,2097,0,0,0,0,0,0
$GC,5387,1.06,131.3,343.9,9.3,240,5391,0.00,2.38,0.00,0.000,6,0.000,0.038,3331,1767,2096,0,0,0,0,0,0
$GC,5727,1.06,131.3,312.3,9.3,249,5728,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,1767,2092,0,0,0,0,0,0
$GC,6035,1.07,137.1,288.8,7.4,260,6047,0.00,2.53,6.38,0.612,4,0.000,0.054,3331,358,2070,0,0,0,0,0,0
$GC,6066,0.97,137.1,286.1,8.4,261,6070,0.00,2.30,0.00,0.000,6,0.000,0.026,3331,1747,2068,0,0,0,0,0,0
$GC,6389,0.99,148.2,263.7,6.9,277,6405,0.00,0.00,11.18,0.677,6,0.000,0.000,3332,1747,2025,0,0,0,0,0,0
$GC,6717,0.99,150.9,238.3,7.6,293,6721,0.00,2.40,0.00,0.000,4,0.000,0.030,3332,3179,2022,0,0,0,0,0,0
$GC,6773,1.05,150.9,233.5,8.0,295,6777,0.00,2.42,0.00,0.000,6,0.000,0.035,3332,1764,2022,0,0,0,0,0,0
$GC,7090,1.11,174.8,214.8,5.7,310,7116,0.00,0.00,24.50,0.680,6,0.000,0.000,3332,1764,1917,0,0,0,0,0,0
$GC,7432,1.15,174.8,185.4,8.9,331,7436,0.00,2.45,0.00,0.000,4,0.000,0.048,3332,351,1913,0,0,0,0,0,0
$GC,7451,1.15,174.8,183.0,10.5,332,7458,0.00,2.35,0.00,0.000,6,0.000,0.022,3332,1770,1910,0,0,0,0,0,0
$GC,7711,1.20,174.8,158.9,8.6,353,7716,0.12,2.47,0.00,0.000,4,0.067,0.046,3369,353,1910,0,0,0,0,0,0
$GC,7860,1.08,174.8,142.5,11.6,364,7865,0.17,2.30,0.00,0.000,6,0.100,0.021,3335,1779,1909,0,0,0,0,0,0
$GC,8128,1.15,183.3,121.7,7.1,385,8138,0.00,0.00,7.90,0.514,6,0.000,0.000,3335,1786,1882,0,0,0,0,0,0
$GC,8392,1.23,183.5,103.7,7.9,406,8397,0.15,2.47,0.00,0.000,4,0.058,0.046,3380,358,1881,0,0,0,0,0,0
$GC,8425,1.11,183.5,100.3,8.8,408,8433,0.15,2.33,0.00,0.000,6,0.081,0.020,3345,1781,1880,0,0,0,0,0,0
$GC,8689,1.25,215.7,88.8,5.0,429,8721,0.12,0.00,29.65,0.556,6,0.064,0.000,3384,1786,1750,0,0,0,0,0,0
$GC,8976,1.28,217.0,66.8,7.8,452,8980,0.00,2.25,0.00,0.000,4,0.000,0.022,3385,3167,1748,0,0,0,0,0,0
$GC,9044,1.37,218.4,60.7,7.8,457,9053,0.00,2.35,3.72,0.334,6,0.000,0.031,3385,1762,1738,0,0,0,0,0,0
$GC,9311,1.40,218.4,39.6,9.5,477,9315,0.00,2.38,0.00,0.000,4,0.000,0.044,3384,357,1738,0,0,0,0,0,0
$GC,9332,1.40,218.4,37.1,10.4,478,9338,0.00,2.30,0.00,0.000,6,0.000,0.018,3384,1782,1736,0,0,0,0,0,0
$GC,9595,1.44,225.6,16.1,7.2,525,9609,0.12,2.45,7.47,0.422,4,0.064,0.042,3424,361,1710,0,0,0,0,0,0
$GC,9630,1.39,236.2,13.5,6.9,531,9649,0.08,2.28,10.82,0.447,6,0.087,0.018,3406,1782,1665,0,0,0,0,0,0
$STATE,9732,end climb,SURFACE_DEPTH_REACHED
$STATE,9732,begin surface coast
$FINISH,0.9,1.023167
$STATE,9755,end surface coast,CONTROL_FINISHED_OK
$STATE,9755,begin surface
$SM_CCo,9780,95.78,0.481,0,0,957,410.14
$SM_GC,1.34,0.00,0.00,95.78,0.000,0.000,0.481,426,1663,957,-12.31,-0.93,410.14
$IRIDIUM_FIX,2059.45,-15753.90,181199,000054
$TT8_MAMPS,0.029146
$HUMID,52.67
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.90
$XPDR_PINGS,0
$24V_AH,23.5,22.874
$10V_AH,10.3,18.507
$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,31.075,94.350,265.375,95.775,0.000,25.453,29.315,128.031,4.500,0.000,32.560,1089.849,6551.389,440.733,1667.087,446.515,0.000,1156.770,0.000,1639.675,0.000,29.267,0.000
$DEVICE_MAMPS,132.691,64.428,825.292,480.909,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,375.149,357.840,812.797,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355724
$DATA_FILE_SIZE,31749,558
$CAP_FILE_SIZE,105202,0
$CFSIZE,260165632,200007680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240810,062525,2106.310,-15755.021,57,1.3,57,9.8