version: 66.06
glider: 139
mission: 8
dive: 48
start: 7 31 110 6 30 1
data:
$ID,139
$MISSION,8
$DIVE,48
$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,-2151145.5
$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,3070
$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,1950
$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,2695
$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
$GPS1,061930,2105.521,-15754.409,66,1.0,66,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-71.8
$GPS2,062944,2105.538,-15754.641,12,1.2,12,9.8
$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,78.8,20261,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.38,-77.9,0.0,0.0,0,82,0.00,0.00,-64.10,0.000,2,0.000,0.000,425,1686,2769,0,0,0,0,0,0
$GC,85,-1.38,-77.9,3.2,-4.1,12,110,12.68,2.40,-4.45,0.000,4,0.138,0.054,2762,295,3015,0,0,0,0,0,0
$GC,131,-0.54,-77.9,19.0,-33.9,20,138,0.88,2.35,0.00,0.000,6,0.087,0.019,2952,1731,3016,0,0,0,0,0,0
$GC,333,-0.86,-77.9,34.1,-5.4,54,338,0.28,2.50,0.00,0.000,4,0.037,0.043,2863,294,3016,0,0,0,0,0,0
$GC,386,-0.93,-77.9,39.5,-11.3,58,390,0.00,2.28,0.00,0.000,6,0.000,0.018,2863,1717,3016,0,0,0,0,0,0
$GC,652,-1.06,-77.9,68.5,-12.1,79,657,0.10,2.50,0.00,0.000,4,0.073,0.047,2822,288,3017,0,0,0,0,0,0
$GC,678,-1.06,-77.9,72.5,-16.0,81,682,0.00,2.25,0.00,0.000,6,0.000,0.018,2822,1714,3017,0,0,0,0,0,0
$GC,943,-1.14,-77.9,105.6,-12.3,102,947,0.00,2.42,0.00,0.000,4,0.000,0.045,2822,295,3018,0,0,0,0,0,0
$GC,1004,-1.21,-77.9,113.9,-13.1,106,1010,0.00,2.22,0.00,0.000,6,0.000,0.019,2822,1688,3018,0,0,0,0,0,0
$GC,1265,-1.29,-77.9,141.3,-9.2,127,1267,0.15,0.00,0.00,0.000,6,0.057,0.000,2773,1693,3019,0,0,0,0,0,0
$GC,1516,-1.29,-77.9,168.5,-10.9,147,1520,0.00,2.42,0.00,0.000,4,0.000,0.048,2773,290,3019,0,0,0,0,0,0
$GC,1569,-1.24,-77.9,174.5,-11.7,151,1574,0.12,2.22,0.00,0.000,6,0.106,0.020,2798,1698,3019,0,0,0,0,0,0
$GC,1835,-1.31,-77.9,196.2,-8.4,172,1837,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1703,3019,0,0,0,0,0,0
$GC,2090,-1.39,-77.9,220.5,-10.6,186,2095,0.12,2.42,0.00,0.000,4,0.065,0.049,2755,296,3019,0,0,0,0,0,0
$GC,2161,-1.32,-77.9,230.4,-14.5,189,2166,0.12,2.25,0.00,0.000,6,0.104,0.021,2780,1702,3019,0,0,0,0,0,0
$GC,2491,-1.37,-77.9,267.3,-11.1,205,2495,0.00,2.28,0.00,0.000,4,0.000,0.028,2780,3078,3018,0,0,0,0,0,0
$GC,2588,-1.48,-77.9,278.1,-11.0,209,2593,0.15,2.33,0.00,0.000,6,0.058,0.034,2734,1691,3018,0,0,0,0,0,0
$GC,2928,-1.48,-77.9,314.2,-10.2,223,2932,0.00,2.40,0.00,0.000,4,0.000,0.051,2734,298,3017,0,0,0,0,0,0
$GC,2947,-1.42,-77.9,316.3,-10.5,223,2952,0.12,2.25,0.00,0.000,6,0.104,0.022,2759,1707,3017,0,0,0,0,0,0
$GC,3295,-1.45,-77.9,346.9,-9.1,232,3299,0.00,2.47,0.00,0.000,4,0.000,0.052,2759,296,3015,0,0,0,0,0,0
$GC,3318,-1.45,-77.9,349.6,-10.8,232,3322,0.00,2.25,0.00,0.000,6,0.000,0.024,2759,1700,3015,0,0,0,0,0,0
$GC,3661,-1.50,-77.9,385.5,-10.9,241,3665,0.00,2.30,0.00,0.000,4,0.000,0.032,2759,3077,3014,0,0,0,0,0,0
$GC,3679,-1.58,-77.9,387.9,-10.9,241,3684,0.15,2.35,0.00,0.000,6,0.061,0.039,2715,1703,3013,0,0,0,0,0,0
$GC,4027,-1.54,-77.9,430.3,-11.9,250,4031,0.00,2.47,0.00,0.000,4,0.000,0.057,2715,296,3011,0,0,0,0,0,0
$GC,4047,-1.46,-77.9,432.9,-12.0,250,4052,0.17,2.28,0.00,0.000,6,0.099,0.026,2750,1694,3011,0,0,0,0,0,0
$STATE,4268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4268,begin apogee
$GC,4274,-0.31,0.0,453.2,8.7,256,4343,1.17,0.00,64.85,0.849,6,0.076,0.000,3000,1960,2695,0,0,0,0,0,0
$STATE,4343,end apogee,CONTROL_FINISHED_OK
$STATE,4344,begin climb
$GC,4347,1.38,77.9,453.8,0.0,257,4426,1.60,2.40,67.35,0.831,4,0.033,0.041,3374,3325,2375,0,0,0,0,0,0
$GC,4510,1.21,133.6,452.7,4.1,260,4566,0.20,2.38,49.17,0.825,6,0.108,0.038,3337,1948,2150,0,0,0,0,0,0
$GC,4890,1.05,133.6,413.4,11.2,270,4895,0.17,2.50,0.00,0.000,4,0.111,0.055,3303,539,2140,0,0,0,0,0,0
$GC,5063,0.90,133.6,394.7,10.6,273,5068,0.20,2.33,0.00,0.000,6,0.113,0.029,3265,1934,2135,0,0,0,0,0,0
$GC,5394,0.92,147.8,370.5,6.9,281,5411,0.00,2.45,11.30,0.734,4,0.000,0.040,3266,3345,2092,0,0,0,0,0,0
$GC,5427,0.99,181.9,368.6,5.6,281,5464,0.00,2.42,31.88,0.797,6,0.000,0.038,3266,1944,1953,0,0,0,0,0,0
$GC,5805,1.03,181.9,336.7,8.8,291,5810,0.12,2.47,0.00,0.000,4,0.071,0.055,3300,542,1946,0,0,0,0,0,0
$GC,6055,0.93,181.9,306.7,10.3,296,6060,0.12,2.35,0.00,0.000,6,0.116,0.029,3277,1953,1940,0,0,0,0,0,0
$GC,6387,0.98,187.5,280.8,7.5,310,6396,0.00,2.53,4.07,0.495,4,0.000,0.051,3276,538,1930,0,0,0,0,0,0
$GC,6606,0.95,187.5,260.4,9.1,319,6610,0.00,2.35,0.00,0.000,6,0.000,0.027,3276,1960,1927,0,0,0,0,0,0
$GC,6922,1.00,187.5,234.3,8.3,334,6923,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1967,1928,0,0,0,0,0,0
$GC,7233,1.07,197.3,210.5,7.2,349,7249,0.12,2.55,10.00,0.633,4,0.070,0.048,3312,541,1889,0,0,0,0,0,0
$GC,7388,0.97,197.3,195.2,9.6,357,7393,0.15,2.33,0.00,0.000,6,0.109,0.025,3283,1953,1886,0,0,0,0,0,0
$GC,7655,1.04,203.2,175.8,7.5,378,7671,0.00,2.53,6.10,0.535,4,0.000,0.047,3283,539,1866,0,0,0,0,0,0
$GC,7702,1.04,203.2,172.2,8.1,381,7707,0.00,2.33,0.00,0.000,6,0.000,0.024,3283,1957,1865,0,0,0,0,0,0
$GC,7973,1.14,231.0,154.4,6.0,402,8007,0.15,2.50,25.95,0.634,4,0.060,0.046,3327,539,1752,0,0,0,0,0,0
$GC,8206,1.06,231.0,130.3,11.2,419,8211,0.12,2.33,0.00,0.000,6,0.107,0.022,3303,1957,1747,0,0,0,0,0,0
$GC,8472,1.11,231.0,105.5,9.7,440,8476,0.00,2.47,0.00,0.000,4,0.000,0.045,3302,533,1747,0,0,0,0,0,0
$GC,8690,1.11,231.0,83.7,9.4,456,8694,0.00,2.30,0.00,0.000,6,0.000,0.021,3302,1956,1746,0,0,0,0,0,0
$GC,8956,1.21,242.6,66.0,7.1,477,8973,0.15,2.45,10.82,0.512,4,0.058,0.042,3349,538,1705,0,0,0,0,0,0
$GC,9094,1.14,242.6,50.7,10.1,486,9101,0.12,2.30,0.00,0.000,6,0.076,0.020,3319,1947,1702,0,0,0,0,0,0
$GC,9356,1.26,242.6,30.9,7.9,507,9361,0.10,2.30,0.00,0.000,4,0.076,0.027,3354,3328,1702,0,0,0,0,0,0
$GC,9424,1.31,242.6,24.8,8.4,521,9430,0.00,2.35,0.00,0.000,6,0.000,0.028,3354,1942,1702,0,0,0,0,0,0
$GC,9626,1.31,242.6,6.2,9.7,567,9632,0.00,2.40,0.00,0.000,4,0.000,0.044,3354,549,1702,0,0,0,0,0,0
$STATE,9658,end climb,SURFACE_DEPTH_REACHED
$STATE,9659,begin surface coast
$FINISH,0.5,1.023073
$STATE,9694,end surface coast,CONTROL_FINISHED_OK
$STATE,9694,begin surface
$SM_CCo,9718,105.75,0.501,0,0,941,430.01
$SM_GC,1.00,0.00,0.00,105.75,0.000,0.000,0.501,431,1723,941,-12.14,0.62,430.01
$IRIDIUM_FIX,2057.14,-15756.04,251099,060602
$TT8_MAMPS,0.029146
$HUMID,52.24
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.4,5.012
$10V_AH,10.4,2.912
$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,32.025,109.175,281.500,105.750,0.000,52.362,54.204,326.747,4.500,0.000,12.784,1167.528,6255.696,441.129,1882.191,691.578,0.000,1259.342,0.000,1862.340,0.000,29.255,0.000
$DEVICE_MAMPS,138.060,56.758,849.069,500.851,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,392.236,378.933,887.762,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355812
$DATA_FILE_SIZE,31772,582
$CAP_FILE_SIZE,119968,0
$CFSIZE,260165632,210923520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310710,091458,2105.570,-15754.283,14,9.7,33,9.8