version: 66.06
glider: 139
mission: 8
dive: 260
start: 8 24 110 6 31 14
data:
$ID,139
$MISSION,8
$DIVE,260
$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,-2156058.8
$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,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
$GPS1,062525,2106.310,-15755.021,57,1.3,57,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-66.1
$GPS2,063057,2106.323,-15755.021,15,1.4,16,9.8
$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,82.8,20933,-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,-64.40,0.000,2,0.000,0.000,425,1663,2781,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.7,-4.3,12,104,12.48,0.00,-1.60,0.000,6,0.133,0.000,2750,1664,2872,0,0,0,0,0,0
$GC,300,-1.46,-58.4,53.8,-19.1,41,305,0.15,2.40,0.00,0.000,4,0.110,0.021,2779,3116,2874,0,0,0,0,0,0
$GC,333,-1.51,-58.4,59.9,-15.7,43,340,0.00,2.42,0.00,0.000,6,0.000,0.032,2778,1695,2874,0,0,0,0,0,0
$GC,593,-1.55,-58.4,97.2,-12.8,64,597,0.00,2.35,0.00,0.000,4,0.000,0.022,2779,3117,2875,0,0,0,0,0,0
$GC,702,-1.70,-58.4,108.2,-9.7,72,708,0.22,2.38,0.00,0.000,6,0.045,0.031,2714,1691,2875,0,0,0,0,0,0
$GC,968,-1.63,-58.4,144.2,-14.5,93,973,0.15,2.35,0.00,0.000,4,0.100,0.021,2743,3108,2876,0,0,0,0,0,0
$GC,1028,-1.70,-58.4,152.0,-11.5,97,1034,0.00,2.38,0.00,0.000,6,0.000,0.031,2744,1687,2876,0,0,0,0,0,0
$GC,1288,-1.70,-58.4,185.5,-13.7,118,1292,0.00,2.40,0.00,0.000,4,0.000,0.046,2744,285,2876,0,0,0,0,0,0
$GC,1320,-1.63,-58.4,190.6,-16.3,120,1324,0.00,2.30,0.00,0.000,6,0.000,0.018,2744,1734,2876,0,0,0,0,0,0
$GC,1576,-1.67,-58.4,223.9,-12.2,134,1580,0.00,2.20,0.00,0.000,4,0.000,0.024,2744,3079,2876,0,0,0,0,0,0
$GC,1613,-1.78,-58.4,228.6,-12.0,135,1619,0.15,2.30,0.00,0.000,6,0.058,0.033,2697,1697,2877,0,0,0,0,0,0
$GC,1933,-1.74,-58.4,267.3,-11.1,151,1938,0.12,2.28,0.00,0.000,4,0.106,0.024,2722,3079,2877,0,0,0,0,0,0
$GC,1979,-1.82,-58.4,272.0,-9.5,153,1983,0.00,2.30,0.00,0.000,6,0.000,0.032,2722,1694,2877,0,0,0,0,0,0
$GC,2307,-1.82,-58.4,310.7,-12.8,167,2311,0.00,2.28,0.00,0.000,4,0.000,0.025,2722,3078,2876,0,0,0,0,0,0
$GC,2359,-1.91,-58.4,317.6,-14.2,168,2364,0.17,2.33,0.00,0.000,6,0.054,0.035,2671,1691,2876,0,0,0,0,0,0
$GC,2682,-1.84,-58.4,364.4,-14.8,176,2687,0.15,2.30,0.00,0.000,4,0.102,0.027,2700,3077,2875,0,0,0,0,0,0
$GC,2808,-1.88,-58.4,380.8,-12.1,178,2812,0.00,2.35,0.00,0.000,6,0.000,0.036,2700,1689,2874,0,0,0,0,0,0
$GC,3145,-1.88,-58.4,417.9,-10.7,187,3149,0.00,2.33,0.00,0.000,4,0.000,0.029,2700,3076,2872,0,0,0,0,0,0
$GC,3293,-1.93,-58.4,430.8,-7.5,190,3298,0.00,2.35,0.00,0.000,6,0.000,0.040,2699,1693,2871,0,0,0,0,0,0
$STATE,3564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3564,begin apogee
$GC,3570,-0.31,0.0,451.2,7.6,197,3623,1.58,0.00,49.20,0.825,6,0.082,0.000,3029,1767,2630,0,0,0,0,0,0
$STATE,3624,end apogee,CONTROL_FINISHED_OK
$STATE,3624,begin climb
$GC,3628,1.56,58.4,451.5,0.0,198,3687,1.80,2.42,50.42,0.809,4,0.028,0.034,3456,3168,2391,0,0,0,0,0,0
$GC,3939,1.31,93.7,439.7,4.7,205,3977,0.35,2.40,30.95,0.802,6,0.106,0.038,3389,1772,2246,0,0,0,0,0,0
$GC,4297,1.15,93.7,410.7,8.8,214,4302,0.20,2.50,0.00,0.000,4,0.109,0.054,3351,353,2239,0,0,0,0,0,0
$GC,4331,0.96,93.7,407.8,8.5,214,4336,0.20,2.35,0.00,0.000,6,0.107,0.027,3312,1760,2236,0,0,0,0,0,0
$GC,4662,0.99,119.0,388.2,5.6,222,4685,0.00,0.00,21.75,0.787,6,0.000,0.000,3312,1761,2144,0,0,0,0,0,0
$GC,4988,0.99,120.1,364.0,7.8,230,4992,0.00,2.40,0.00,0.000,4,0.000,0.034,3312,3175,2139,0,0,0,0,0,0
$GC,5044,1.04,124.6,359.4,7.5,231,5056,0.00,2.45,5.47,0.603,6,0.000,0.039,3312,1764,2121,0,0,0,0,0,0
$GC,5402,1.07,147.8,335.3,5.8,240,5426,0.00,0.00,22.20,0.769,6,0.000,0.000,3312,1764,2027,0,0,0,0,0,0
$GC,5728,1.12,147.8,311.8,7.9,248,5733,0.12,2.50,0.00,0.000,4,0.071,0.054,3347,354,2022,0,0,0,0,0,0
$GC,5794,0.98,147.8,305.0,11.4,249,5800,0.17,2.38,0.00,0.000,6,0.106,0.027,3314,1787,2019,0,0,0,0,0,0
$GC,6127,1.02,148.5,278.2,7.8,264,6132,0.00,2.53,0.00,0.000,4,0.000,0.051,3314,351,2018,0,0,0,0,0,0
$GC,6149,1.03,149.6,276.5,7.8,265,6153,0.00,2.35,0.00,0.000,6,0.000,0.026,3314,1772,2017,0,0,0,0,0,0
$GC,6481,1.09,158.2,252.5,7.1,281,6498,0.10,2.38,9.35,0.651,4,0.080,0.028,3344,3174,1983,0,0,0,0,0,0
$GC,6592,1.12,158.2,242.5,8.7,285,6598,0.00,2.40,0.00,0.000,6,0.000,0.038,3344,1768,1982,0,0,0,0,0,0
$GC,6910,1.12,162.2,218.6,7.5,301,6922,0.00,2.45,5.03,0.517,4,0.000,0.049,3344,356,1967,0,0,0,0,0,0
$GC,7006,1.04,162.2,209.5,9.5,305,7010,0.00,2.33,0.00,0.000,6,0.000,0.025,3344,1772,1964,0,0,0,0,0,0
$GC,7338,1.04,162.2,176.1,11.4,328,7342,0.00,2.33,0.00,0.000,4,0.000,0.027,3344,3175,1964,0,0,0,0,0,0
$GC,7352,1.07,162.2,174.2,10.9,329,7356,0.00,2.38,0.00,0.000,6,0.000,0.034,3343,1767,1964,0,0,0,0,0,0
$GC,7612,1.07,162.2,149.9,8.0,349,7616,0.00,2.42,0.00,0.000,4,0.000,0.048,3344,358,1964,0,0,0,0,0,0
$GC,7688,1.00,162.2,143.0,10.1,354,7695,0.10,2.33,0.00,0.000,6,0.088,0.021,3321,1773,1962,0,0,0,0,0,0
$GC,7950,1.13,180.9,123.5,6.2,375,7972,0.10,0.00,17.17,0.584,6,0.077,0.000,3354,1778,1892,0,0,0,0,0,0
$GC,8227,1.19,201.1,106.0,6.1,397,8255,0.00,2.53,18.80,0.565,4,0.000,0.045,3353,358,1809,0,0,0,0,0,0
$GC,8316,1.19,203.2,99.6,7.7,403,8320,0.00,2.30,0.00,0.000,6,0.000,0.020,3354,1787,1806,0,0,0,0,0,0
$GC,8582,1.32,216.4,81.0,6.7,424,8604,0.15,2.28,14.68,0.528,4,0.058,0.021,3399,3165,1745,0,0,0,0,0,0
$GC,8707,1.32,216.4,70.8,8.4,433,8711,0.00,2.35,0.00,0.000,6,0.000,0.027,3399,1765,1745,0,0,0,0,0,0
$GC,8972,1.32,216.4,44.8,11.0,454,8976,0.00,2.40,0.00,0.000,4,0.000,0.044,3399,361,1744,0,0,0,0,0,0
$GC,9018,1.23,216.4,39.0,13.4,457,9025,0.12,2.30,0.00,0.000,6,0.080,0.018,3370,1794,1743,0,0,0,0,0,0
$GC,9280,1.31,226.8,13.4,7.0,504,9299,0.00,2.50,10.05,0.448,4,0.000,0.044,3369,365,1704,0,0,0,0,0,0
$GC,9346,1.27,226.8,7.2,9.7,517,9352,0.00,2.25,0.00,0.000,6,0.000,0.018,3370,1769,1702,0,0,0,0,0,0
$STATE,9391,end climb,SURFACE_DEPTH_REACHED
$STATE,9391,begin surface coast
$FINISH,0.8,1.023148
$STATE,9426,end surface coast,CONTROL_FINISHED_OK
$STATE,9426,begin surface
$SM_CCo,9450,99.95,0.486,0,0,957,410.14
$SM_GC,1.47,0.00,0.00,99.95,0.000,0.000,0.486,426,1684,957,-12.31,-0.28,410.14
$IRIDIUM_FIX,2059.45,-15756.04,181199,030315
$TT8_MAMPS,0.028379
$HUMID,52.67
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.5,22.953
$10V_AH,10.3,18.580
$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,31.275,104.350,255.075,99.950,0.000,31.029,40.354,139.525,4.500,0.000,16.944,1080.478,6219.428,436.277,1671.756,473.648,0.000,1175.169,0.000,1654.676,0.000,29.256,0.000
$DEVICE_MAMPS,133.458,89.739,824.525,485.511,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,359.816,340.985,767.435,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,28636,535
$CAP_FILE_SIZE,108009,0
$CFSIZE,260165632,199954432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240810,091137,2106.114,-15754.725,34,1.4,34,9.8