version: 66.06
glider: 139
mission: 8
dive: 46
start: 7 31 110 1 17 20
data:
$ID,139
$MISSION,8
$DIVE,46
$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,80
$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,430
$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,-2151116.8
$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,3060
$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,1720
$C_ROLL_CLIMB,2010
$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,2700
$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
$GPS1,010204,2106.178,-15753.924,13,4.6,32,9.8
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-70.7
$GPS2,011704,2106.032,-15754.079,12,5.0,31,9.8
$SPEED_LIMITS,0.137,0.183
$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,81.4,19289,-20.5,-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,-1.38,-77.9,0.0,0.0,0,87,0.00,0.00,-69.62,0.000,2,0.000,0.000,422,1720,2949,0,0,0,0,0,0
$GC,91,-1.38,-77.9,3.9,-5.6,13,109,12.80,0.00,-1.17,0.000,6,0.143,0.000,2751,1720,3021,0,0,0,0,0,0
$GC,306,-1.24,-77.9,54.0,-17.9,42,311,0.17,2.47,0.00,0.000,4,0.105,0.048,2785,311,3023,0,0,0,0,0,0
$GC,362,-1.09,-77.9,64.6,-17.0,46,367,0.17,2.30,0.00,0.000,6,0.100,0.018,2821,1749,3023,0,0,0,0,0,0
$GC,623,-1.15,-77.9,93.9,-11.7,66,627,0.00,2.47,0.00,0.000,4,0.000,0.046,2821,316,3024,0,0,0,0,0,0
$GC,663,-1.15,-77.9,99.2,-13.6,69,670,0.00,2.25,0.00,0.000,6,0.000,0.018,2820,1732,3024,0,0,0,0,0,0
$GC,935,-1.23,-77.9,133.2,-12.0,90,940,0.12,2.47,0.00,0.000,4,0.064,0.046,2779,312,3024,0,0,0,0,0,0
$GC,977,-1.17,-77.9,139.3,-16.5,93,982,0.12,2.28,0.00,0.000,6,0.100,0.019,2805,1728,3025,0,0,0,0,0,0
$GC,1246,-1.25,-77.9,170.1,-11.4,114,1250,0.00,2.45,0.00,0.000,4,0.000,0.047,2805,312,3025,0,0,0,0,0,0
$GC,1349,-1.28,-77.9,182.6,-12.4,121,1355,0.12,2.28,0.00,0.000,6,0.067,0.019,2767,1725,3025,0,0,0,0,0,0
$GC,1612,-1.28,-77.9,212.6,-11.5,139,1616,0.00,2.45,0.00,0.000,4,0.000,0.048,2767,311,3024,0,0,0,0,0,0
$GC,1641,-1.24,-77.9,216.6,-13.2,140,1646,0.12,2.25,0.00,0.000,6,0.102,0.020,2792,1722,3025,0,0,0,0,0,0
$GC,1968,-1.33,-77.9,250.3,-9.9,156,1973,0.10,2.28,0.00,0.000,4,0.075,0.028,2760,3101,3025,0,0,0,0,0,0
$GC,2025,-1.44,-77.9,256.8,-11.6,158,2029,0.00,2.35,0.00,0.000,6,0.000,0.035,2759,1713,3025,0,0,0,0,0,0
$GC,2345,-1.47,-77.9,292.9,-11.3,174,2349,0.00,2.42,0.00,0.000,4,0.000,0.051,2759,315,3024,0,0,0,0,0,0
$GC,2391,-1.47,-77.9,298.9,-13.0,176,2396,0.00,2.25,0.00,0.000,6,0.000,0.022,2759,1717,3024,0,0,0,0,0,0
$GC,2732,-1.51,-77.9,334.5,-10.4,185,2737,0.12,2.45,0.00,0.000,4,0.069,0.053,2720,316,3022,0,0,0,0,0,0
$GC,2798,-1.44,-77.9,343.5,-13.3,186,2803,0.12,2.28,0.00,0.000,6,0.104,0.024,2746,1718,3022,0,0,0,0,0,0
$GC,3145,-1.44,-77.9,376.0,-8.7,195,3150,0.00,2.50,0.00,0.000,4,0.000,0.055,2745,313,3019,0,0,0,0,0,0
$GC,3174,-1.39,-77.9,378.8,-9.2,195,3178,0.00,2.30,0.00,0.000,6,0.000,0.025,2747,1720,3019,0,0,0,0,0,0
$GC,3514,-1.43,-77.9,405.2,-7.5,204,3518,0.00,2.47,0.00,0.000,4,0.000,0.057,2746,319,3017,0,0,0,0,0,0
$GC,3631,-1.43,-77.9,415.9,-9.7,206,3635,0.00,2.30,0.00,0.000,6,0.000,0.026,2746,1719,3016,0,0,0,0,0,0
$GC,3972,-1.47,-77.9,448.5,-10.2,215,3977,0.00,2.50,0.00,0.000,4,0.000,0.058,2746,311,3013,0,0,0,0,0,0
$STATE,3984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3984,begin apogee
$GC,3994,-0.31,0.0,450.3,9.9,215,4063,1.15,0.00,64.45,0.851,6,0.081,0.000,2990,2014,2700,0,0,0,0,0,0
$STATE,4063,end apogee,CONTROL_FINISHED_OK
$STATE,4063,begin climb
$GC,4066,1.38,77.9,453.1,0.0,217,4144,1.60,2.47,67.70,0.836,4,0.037,0.043,3360,3409,2381,0,0,0,0,0,0
$GC,4201,1.32,209.2,457.2,-1.0,220,4323,0.00,2.42,115.05,0.840,6,0.000,0.038,3360,2006,1846,0,0,0,0,0,0
$GC,4653,1.14,209.2,407.7,13.6,231,4659,0.25,2.50,0.00,0.000,4,0.108,0.055,3308,600,1837,0,0,0,0,0,0
$GC,4812,1.00,209.2,384.7,14.2,234,4817,0.15,2.40,0.00,0.000,6,0.119,0.029,3281,2018,1832,0,0,0,0,0,0
$GC,5157,1.00,209.2,344.3,11.6,243,5162,0.00,2.53,0.00,0.000,4,0.000,0.054,3281,601,1831,0,0,0,0,0,0
$GC,5399,0.93,209.2,316.1,11.0,248,5403,0.00,2.35,0.00,0.000,6,0.000,0.028,3281,2019,1827,0,0,0,0,0,0
$GC,5716,0.93,209.2,287.1,9.5,259,5720,0.00,2.50,0.00,0.000,4,0.000,0.054,3281,607,1827,0,0,0,0,0,0
$GC,5971,0.90,209.2,259.2,10.5,270,5976,0.12,2.33,0.00,0.000,6,0.122,0.028,3258,2018,1824,0,0,0,0,0,0
$GC,6299,0.99,209.2,232.5,8.0,286,6303,0.00,2.47,0.00,0.000,4,0.000,0.051,3258,606,1823,0,0,0,0,0,0
$GC,6437,1.03,209.2,218.3,10.8,292,6442,0.12,2.33,0.00,0.000,6,0.074,0.027,3294,2016,1822,0,0,0,0,0,0
$GC,6768,1.07,209.2,187.6,8.2,312,6772,0.00,2.47,0.00,0.000,4,0.000,0.048,3294,598,1822,0,0,0,0,0,0
$GC,6965,1.07,211.8,171.1,7.7,326,6972,0.00,2.35,0.00,0.000,6,0.000,0.025,3295,2012,1821,0,0,0,0,0,0
$GC,7225,1.13,211.8,150.9,8.4,347,7230,0.00,2.45,0.00,0.000,4,0.000,0.047,3294,602,1821,0,0,0,0,0,0
$GC,7390,1.13,211.8,135.6,8.7,359,7394,0.00,2.30,0.00,0.000,6,0.000,0.023,3294,2022,1821,0,0,0,0,0,0
$GC,7660,1.21,222.3,113.7,7.2,380,7675,0.12,2.47,8.18,0.533,4,0.068,0.044,3332,597,1792,0,0,0,0,0,0
$GC,7866,1.14,222.3,95.4,8.6,394,7873,0.10,2.33,0.00,0.000,6,0.084,0.021,3309,2017,1791,0,0,0,0,0,0
$GC,8128,1.20,222.6,75.8,7.9,415,8133,0.00,2.42,0.00,0.000,4,0.000,0.044,3308,600,1790,0,0,0,0,0,0
$GC,8393,1.24,257.9,55.2,5.5,434,8430,0.00,2.30,31.73,0.545,6,0.000,0.021,3308,2022,1648,0,0,0,0,0,0
$GC,8695,1.35,257.9,36.2,7.9,458,8700,0.20,2.45,0.00,0.000,4,0.049,0.043,3368,596,1645,0,0,0,0,0,0
$GC,8950,1.25,257.9,7.6,14.1,507,8956,0.15,2.30,0.00,0.000,6,0.077,0.020,3333,2015,1642,0,0,0,0,0,0
$STATE,8992,end climb,SURFACE_DEPTH_REACHED
$STATE,8992,begin surface coast
$FINISH,1.3,1.022987
$STATE,9025,end surface coast,CONTROL_FINISHED_OK
$STATE,9025,begin surface
$SM_CCo,9048,105.38,0.502,0,0,946,430.01
$SM_GC,0.96,0.00,0.00,105.38,0.000,0.000,0.502,427,1707,946,-12.11,-0.37,430.01
$IRIDIUM_FIX,2059.45,-15756.04,251099,010143
$TT8_MAMPS,0.029146
$HUMID,52.16
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.4,4.809
$10V_AH,10.4,2.752
$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,30.475,101.300,287.100,105.375,0.000,108.859,181.226,274.444,4.500,0.000,32.436,1081.033,5842.452,422.187,1879.613,825.764,0.000,1252.561,0.000,1834.759,0.000,29.267,0.000
$DEVICE_MAMPS,143.429,58.292,851.370,502.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,352.564,335.832,769.674,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,28640,523
$CAP_FILE_SIZE,113975,0
$CFSIZE,260165632,211038208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310710,035107,2105.630,-15754.096,35,1.3,35,9.8