version: 66.06
glider: 139
mission: 8
dive: 54
start: 7 31 110 22 58 8
data:
$ID,139
$MISSION,8
$DIVE,54
$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,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,-2151310
$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,3090
$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,1690
$C_ROLL_CLIMB,1900
$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,2680
$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
$GPS1,225158,2105.206,-15752.539,9,2.8,28,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-68.1
$GPS2,225752,2105.156,-15752.587,20,2.9,39,9.8
$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,76.0,16751,-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,-77.9,0.0,0.0,0,82,0.00,0.00,-64.15,0.000,2,0.000,0.000,430,1711,2833,0,0,0,0,0,0
$GC,85,-1.38,-77.9,3.4,-4.7,12,109,12.80,2.50,-2.95,0.000,4,0.140,0.056,2782,290,3001,0,0,0,0,0,0
$GC,148,-1.13,-77.9,23.0,-24.8,24,155,0.22,2.35,0.00,0.000,6,0.085,0.019,2839,1720,3003,0,0,0,0,0,0
$GC,358,-1.20,-77.9,52.8,-13.4,46,362,0.00,2.47,0.00,0.000,4,0.000,0.047,2839,286,3004,0,0,0,0,0,0
$GC,404,-1.20,-77.9,59.8,-14.8,49,410,0.00,2.28,0.00,0.000,6,0.000,0.018,2839,1699,3005,0,0,0,0,0,0
$GC,662,-1.30,-77.9,90.6,-11.5,70,667,0.15,2.45,0.00,0.000,4,0.055,0.046,2789,285,3005,0,0,0,0,0,0
$GC,703,-1.25,-77.9,96.2,-15.7,73,708,0.15,2.22,0.00,0.000,6,0.095,0.018,2821,1699,3005,0,0,0,0,0,0
$GC,967,-1.33,-77.9,126.4,-10.3,94,971,0.00,2.42,0.00,0.000,4,0.000,0.046,2821,285,3006,0,0,0,0,0,0
$GC,1046,-1.39,-77.9,135.3,-11.3,100,1051,0.15,2.22,0.00,0.000,6,0.057,0.019,2773,1702,3006,0,0,0,0,0,0
$GC,1311,-1.39,-77.9,165.0,-10.8,121,1315,0.00,2.42,0.00,0.000,4,0.000,0.047,2773,284,3007,0,0,0,0,0,0
$GC,1349,-1.33,-77.9,169.6,-11.8,124,1354,0.12,2.22,0.00,0.000,6,0.105,0.020,2798,1691,3007,0,0,0,0,0,0
$GC,1622,-1.39,-77.9,193.4,-8.1,145,1626,0.00,2.22,0.00,0.000,4,0.000,0.025,2798,3065,3007,0,0,0,0,0,0
$GC,1648,-1.50,-77.9,195.8,-8.2,147,1653,0.15,2.30,0.00,0.000,6,0.054,0.034,2746,1688,3007,0,0,0,0,0,0
$GC,1907,-1.47,-77.9,222.7,-9.9,161,1909,0.12,0.00,0.00,0.000,6,0.102,0.000,2772,1688,3007,0,0,0,0,0,0
$GC,2214,-1.51,-77.9,245.8,-8.2,176,2218,0.00,2.42,0.00,0.000,4,0.000,0.048,2772,282,3007,0,0,0,0,0,0
$GC,2229,-1.51,-77.9,247.5,-9.0,176,2236,0.00,2.28,0.00,0.000,6,0.000,0.021,2772,1697,3007,0,0,0,0,0,0
$GC,2545,-1.56,-77.9,276.3,-9.1,192,2549,0.00,2.25,0.00,0.000,4,0.000,0.028,2772,3060,3007,0,0,0,0,0,0
$GC,2581,-1.67,-77.9,279.3,-8.2,193,2587,0.20,2.30,0.00,0.000,6,0.049,0.035,2714,1688,3007,0,0,0,0,0,0
$GC,2896,-1.60,-77.9,315.4,-11.5,206,2901,0.12,2.42,0.00,0.000,4,0.106,0.052,2738,287,3006,0,0,0,0,0,0
$GC,2916,-1.52,-77.9,317.5,-10.1,206,2920,0.00,2.22,0.00,0.000,6,0.000,0.022,2739,1686,3006,0,0,0,0,0,0
$GC,3261,-1.52,-77.9,343.2,-7.2,215,3263,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1691,3005,0,0,0,0,0,0
$GC,3585,-1.52,-77.9,373.1,-9.5,223,3590,0.00,2.47,0.00,0.000,4,0.000,0.055,2738,282,3003,0,0,0,0,0,0
$GC,3623,-1.46,-77.9,377.4,-11.7,223,3629,0.15,2.30,0.00,0.000,6,0.103,0.025,2768,1688,3003,0,0,0,0,0,0
$GC,3955,-1.53,-77.9,406.0,-8.4,232,3959,0.00,2.33,0.00,0.000,4,0.000,0.034,2768,3073,3000,0,0,0,0,0,0
$GC,3978,-1.65,-77.9,408.1,-9.1,232,3983,0.17,2.35,0.00,0.000,6,0.056,0.041,2720,1694,3000,0,0,0,0,0,0
$GC,4320,-1.65,-77.9,443.7,-10.9,241,4324,0.00,2.50,0.00,0.000,4,0.000,0.060,2720,281,2998,0,0,0,0,0,0
$GC,4364,-1.57,-77.9,448.9,-12.4,242,4369,0.12,2.30,0.00,0.000,6,0.107,0.027,2744,1688,2998,0,0,0,0,0,0
$STATE,4372,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4372,begin apogee
$GC,4379,-0.31,0.0,450.3,11.7,242,4449,1.30,0.00,65.20,0.854,6,0.080,0.000,3021,1920,2680,0,0,0,0,0,0
$STATE,4450,end apogee,CONTROL_FINISHED_OK
$STATE,4450,begin climb
$GC,4453,1.38,77.9,452.4,0.0,244,4532,1.58,2.42,67.65,0.839,4,0.030,0.041,3395,3282,2361,0,0,0,0,0,0
$GC,4556,1.24,197.3,455.4,-0.2,246,4669,0.17,2.40,104.90,0.840,6,0.119,0.038,3363,1896,1874,0,0,0,0,0,0
$GC,4999,1.05,197.3,404.3,13.7,257,5004,0.22,2.50,0.00,0.000,4,0.107,0.058,3320,494,1864,0,0,0,0,0,0
$GC,5125,0.87,197.3,385.6,14.7,259,5130,0.20,2.33,0.00,0.000,6,0.112,0.030,3283,1884,1859,0,0,0,0,0,0
$GC,5455,0.87,197.3,355.0,8.6,267,5460,0.00,2.47,0.00,0.000,4,0.000,0.057,3283,491,1857,0,0,0,0,0,0
$GC,5646,0.80,197.3,335.4,10.9,271,5650,0.00,2.38,0.00,0.000,6,0.000,0.029,3283,1904,1854,0,0,0,0,0,0
$GC,5964,0.80,197.3,299.8,11.7,279,5968,0.00,2.53,0.00,0.000,4,0.000,0.054,3283,488,1854,0,0,0,0,0,0
$GC,6057,0.74,197.3,288.9,10.4,283,6062,0.15,2.38,0.00,0.000,6,0.115,0.028,3255,1908,1852,0,0,0,0,0,0
$GC,6386,0.83,197.3,259.9,8.8,299,6390,0.00,2.47,0.00,0.000,4,0.000,0.054,3254,495,1852,0,0,0,0,0,0
$GC,6554,0.87,197.3,243.9,9.0,306,6559,0.10,2.35,0.00,0.000,6,0.084,0.027,3285,1910,1850,0,0,0,0,0,0
$GC,6878,0.93,216.5,219.8,6.6,322,6901,0.00,2.58,13.55,0.676,4,0.000,0.051,3285,494,1796,0,0,0,0,0,0
$GC,7063,0.93,216.5,204.3,9.9,330,7067,0.00,2.33,0.00,0.000,6,0.000,0.025,3285,1912,1793,0,0,0,0,0,0
$GC,7392,0.99,216.5,169.4,12.0,354,7396,0.00,2.47,0.00,0.000,4,0.000,0.048,3285,487,1792,0,0,0,0,0,0
$GC,7553,0.99,216.5,147.7,11.5,366,7557,0.00,2.30,0.00,0.000,6,0.000,0.024,3285,1901,1791,0,0,0,0,0,0
$GC,7819,1.10,252.7,126.4,5.4,387,7860,0.20,2.55,32.12,0.621,4,0.051,0.047,3342,489,1648,0,0,0,0,0,0
$GC,8068,0.99,252.7,102.5,10.6,405,8073,0.17,2.33,0.00,0.000,6,0.097,0.021,3307,1909,1643,0,0,0,0,0,0
$GC,8335,1.07,252.7,80.2,8.5,426,8340,0.00,2.45,0.00,0.000,4,0.000,0.045,3307,487,1643,0,0,0,0,0,0
$GC,8499,1.07,252.7,64.1,9.3,438,8504,0.00,2.28,0.00,0.000,6,0.000,0.021,3307,1913,1641,0,0,0,0,0,0
$GC,8762,1.17,262.0,45.2,7.3,458,8778,0.17,2.47,8.75,0.481,4,0.053,0.043,3361,487,1610,0,0,0,0,0,0
$GC,8944,1.07,262.0,24.9,12.3,477,8951,0.15,2.30,0.00,0.000,6,0.075,0.020,3326,1904,1607,0,0,0,0,0,0
$GC,9145,1.14,262.0,3.9,11.0,523,9152,0.00,2.47,0.00,0.000,4,0.000,0.045,3325,489,1607,0,0,0,0,0,0
$STATE,9158,end climb,SURFACE_DEPTH_REACHED
$STATE,9158,begin surface coast
$FINISH,0.9,1.023224
$STATE,9189,end surface coast,CONTROL_FINISHED_OK
$STATE,9189,begin surface
$SM_CCo,9214,82.72,0.505,0,0,1007,410.14
$SM_GC,1.01,0.00,0.00,82.72,0.000,0.000,0.505,431,1710,1007,-12.24,0.57,410.14
$IRIDIUM_FIX,2057.14,-15756.04,251099,202043
$TT8_MAMPS,0.029146
$HUMID,52.24
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.4,5.601
$10V_AH,10.5,3.363
$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,31.425,109.275,292.175,82.725,0.000,27.446,39.735,142.806,4.500,0.000,40.501,1075.838,5917.447,418.513,1782.719,455.009,0.000,1211.848,0.000,1732.844,0.000,29.245,0.000
$DEVICE_MAMPS,139.594,59.826,854.438,505.453,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,358.185,340.015,779.613,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,28598,532
$CAP_FILE_SIZE,110083,0
$CFSIZE,260165632,210612224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010810,013430,2104.971,-15751.746,47,1.2,47,9.8