version: 66.06
glider: 139
mission: 8
dive: 244
start: 8 22 110 9 16 23
data:
$ID,139
$MISSION,8
$DIVE,244
$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,-2155676.5
$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,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
$GPS1,090445,2107.786,-15757.534,32,4.7,51,9.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-69.6
$GPS2,091607,2107.760,-15757.558,37,1.5,37,9.8
$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,88.3,25550,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.56,-58.4,0.0,0.0,0,84,0.00,0.00,-64.12,0.000,2,0.000,0.000,429,1676,2740,0,0,0,0,0,0
$GC,87,-1.56,-58.4,3.1,-2.9,12,112,12.48,2.42,-2.47,0.000,4,0.134,0.055,2751,293,2871,0,0,0,0,0,0
$GC,120,-0.34,-58.4,14.9,-25.8,17,127,1.27,2.35,0.00,0.000,6,0.091,0.019,3020,1737,2872,0,0,0,0,0,0
$GC,323,-0.89,-58.4,28.5,-2.5,63,330,0.47,2.50,0.00,0.000,4,0.030,0.043,2886,289,2874,0,0,0,0,0,0
$GC,384,-1.11,-58.4,33.3,-9.9,71,389,0.12,2.20,0.00,0.000,6,0.062,0.018,2842,1706,2873,0,0,0,0,0,0
$GC,652,-1.24,-58.4,65.3,-11.6,92,656,0.00,2.45,0.00,0.000,4,0.000,0.046,2842,284,2874,0,0,0,0,0,0
$GC,678,-1.32,-58.4,68.6,-12.3,94,683,0.12,2.20,0.00,0.000,6,0.063,0.018,2799,1704,2874,0,0,0,0,0,0
$GC,948,-1.43,-58.4,103.8,-12.2,115,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1710,2874,0,0,0,0,0,0
$GC,1208,-1.56,-58.4,130.7,-9.7,136,1213,0.17,2.47,0.00,0.000,4,0.051,0.046,2744,282,2875,0,0,0,0,0,0
$GC,1264,-1.51,-58.4,138.5,-14.2,140,1269,0.12,2.20,0.00,0.000,6,0.109,0.018,2769,1696,2876,0,0,0,0,0,0
$GC,1523,-1.58,-58.4,167.9,-10.9,160,1527,0.00,2.22,0.00,0.000,4,0.000,0.022,2768,3066,2876,0,0,0,0,0,0
$GC,1635,-1.70,-58.4,180.3,-11.0,168,1640,0.17,2.33,0.00,0.000,6,0.053,0.031,2715,1682,2876,0,0,0,0,0,0
$GC,1892,-1.70,-58.4,217.3,-13.9,184,1893,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1681,2876,0,0,0,0,0,0
$GC,2203,-1.70,-58.4,256.1,-11.7,199,2207,0.00,2.28,0.00,0.000,4,0.000,0.024,2715,3062,2876,0,0,0,0,0,0
$GC,2295,-1.77,-58.4,266.0,-10.0,203,2299,0.00,2.30,0.00,0.000,6,0.000,0.033,2715,1692,2875,0,0,0,0,0,0
$GC,2626,-1.77,-58.4,300.7,-11.1,219,2630,0.00,2.28,0.00,0.000,4,0.000,0.025,2715,3065,2875,0,0,0,0,0,0
$GC,2656,-1.83,-58.4,304.2,-10.8,219,2660,0.00,2.28,0.00,0.000,6,0.000,0.034,2715,1695,2875,0,0,0,0,0,0
$GC,2992,-1.83,-58.4,339.9,-10.1,228,2997,0.00,2.28,0.00,0.000,4,0.000,0.027,2715,3063,2874,0,0,0,0,0,0
$GC,3159,-1.91,-58.4,356.8,-10.0,231,3164,0.15,2.33,0.00,0.000,6,0.061,0.037,2672,1696,2873,0,0,0,0,0,0
$GC,3502,-1.86,-58.4,391.8,-9.9,240,3507,0.12,2.30,0.00,0.000,4,0.107,0.029,2696,3059,2870,0,0,0,0,0,0
$GC,3526,-1.86,-58.4,394.3,-8.3,240,3530,0.00,2.30,0.00,0.000,6,0.000,0.038,2696,1698,2870,0,0,0,0,0,0
$GC,3869,-1.86,-58.4,423.7,-9.2,249,3870,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,1697,2868,0,0,0,0,0,0
$STATE,4189,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4189,begin apogee
$GC,4195,-0.31,0.0,451.3,8.4,257,4247,1.60,0.00,48.55,0.838,6,0.083,0.000,3029,1698,2630,0,0,0,0,0,0
$STATE,4248,end apogee,CONTROL_FINISHED_OK
$STATE,4248,begin climb
$GC,4251,1.56,58.4,451.2,0.0,258,4306,1.80,0.00,50.95,0.818,6,0.031,0.000,3450,1697,2391,0,0,0,0,0,0
$GC,4598,1.29,79.2,432.2,6.0,267,4623,0.32,2.42,18.12,0.782,4,0.107,0.054,3384,369,2305,0,0,0,0,0,0
$GC,4735,1.01,79.2,422.1,8.0,270,4740,0.32,2.30,0.00,0.000,6,0.105,0.027,3322,1737,2300,0,0,0,0,0,0
$GC,5067,1.03,114.9,404.4,4.7,278,5104,0.00,2.50,31.48,0.810,4,0.000,0.054,3321,363,2160,0,0,0,0,0,0
$GC,5143,0.91,115.9,400.3,7.8,278,5149,0.12,2.38,0.00,0.000,6,0.120,0.028,3300,1776,2156,0,0,0,0,0,0
$GC,5476,0.96,128.8,379.1,6.7,286,5496,0.00,2.53,12.85,0.749,4,0.000,0.053,3299,362,2103,0,0,0,0,0,0
$GC,5563,0.90,128.8,371.9,9.9,287,5569,0.00,2.38,0.00,0.000,6,0.000,0.028,3299,1772,2100,0,0,0,0,0,0
$GC,5896,0.95,129.4,345.4,7.8,296,5897,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1776,2099,0,0,0,0,0,0
$GC,6220,1.02,143.4,322.9,6.6,304,6240,0.10,2.42,13.32,0.732,4,0.081,0.031,3328,3183,2044,0,0,0,0,0,0
$GC,6295,1.06,143.4,316.1,10.4,305,6299,0.00,2.45,0.00,0.000,6,0.000,0.039,3328,1769,2044,0,0,0,0,0,0
$GC,6619,1.06,143.4,287.1,8.0,317,6620,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,1768,2041,0,0,0,0,0,0
$GC,6927,1.10,178.6,271.1,4.7,332,6965,0.00,2.58,32.22,0.743,4,0.000,0.053,3328,358,1900,0,0,0,0,0,0
$GC,7015,1.04,178.6,264.6,9.8,335,7021,0.00,2.38,0.00,0.000,6,0.000,0.026,3328,1772,1896,0,0,0,0,0,0
$GC,7332,1.09,178.6,233.6,10.3,351,7334,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1778,1893,0,0,0,0,0,0
$GC,7642,1.14,178.6,199.2,10.7,366,7646,0.00,2.47,0.00,0.000,4,0.000,0.049,3328,348,1892,0,0,0,0,0,0
$GC,7678,1.10,178.6,194.8,11.9,368,7685,0.00,2.38,0.00,0.000,6,0.000,0.024,3328,1775,1890,0,0,0,0,0,0
$GC,7942,1.16,185.8,173.2,7.2,389,7956,0.10,2.53,5.85,0.518,4,0.078,0.048,3360,357,1872,0,0,0,0,0,0
$GC,8068,1.05,185.8,159.1,12.8,398,8073,0.15,2.30,0.00,0.000,6,0.105,0.022,3331,1772,1870,0,0,0,0,0,0
$GC,8336,1.11,185.8,133.7,10.0,419,8337,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,1778,1870,0,0,0,0,0,0
$GC,8585,1.19,185.8,110.5,7.9,439,8590,0.12,2.47,0.00,0.000,4,0.066,0.046,3370,350,1870,0,0,0,0,0,0
$GC,8642,1.09,185.8,105.3,9.1,443,8647,0.17,2.30,0.00,0.000,6,0.099,0.021,3335,1783,1870,0,0,0,0,0,0
$GC,8904,1.21,208.7,88.5,5.8,463,8928,0.12,0.00,21.60,0.558,6,0.064,0.000,3376,1789,1779,0,0,0,0,0,0
$GC,9181,1.25,212.3,64.3,7.6,485,9195,0.00,2.47,4.65,0.393,4,0.000,0.043,3375,355,1763,0,0,0,0,0,0
$GC,9300,1.21,212.3,51.9,11.2,493,9306,0.00,2.33,0.00,0.000,6,0.000,0.019,3376,1781,1761,0,0,0,0,0,0
$GC,9561,1.27,212.3,29.6,9.6,514,9567,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,1787,1760,0,0,0,0,0,0
$GC,9763,1.33,212.3,11.0,9.0,560,9770,0.00,2.47,0.00,0.000,4,0.000,0.043,3376,349,1761,0,0,0,0,0,0
$GC,9799,1.33,212.3,7.5,9.7,567,9805,0.00,2.30,0.00,0.000,6,0.000,0.019,3376,1801,1761,0,0,0,0,0,0
$STATE,9848,end climb,SURFACE_DEPTH_REACHED
$STATE,9848,begin surface coast
$FINISH,0.7,1.023066
$STATE,9885,end surface coast,CONTROL_FINISHED_OK
$STATE,9885,begin surface
$SM_CCo,9909,114.05,0.492,0,0,957,410.14
$SM_GC,1.56,0.00,0.00,114.05,0.000,0.000,0.492,426,1674,957,-12.30,-0.59,410.14
$IRIDIUM_FIX,2101.76,-15758.18,161199,060614
$TT8_MAMPS,0.029146
$HUMID,53.62
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.5,21.403
$10V_AH,10.4,17.334
$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,32.750,90.225,239.600,114.050,0.000,27.259,37.687,465.261,4.500,0.000,37.583,1124.702,6634.935,440.882,1709.662,793.144,0.000,1155.617,0.000,1672.030,0.000,29.262,0.000
$DEVICE_MAMPS,134.225,67.496,837.564,491.647,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,394.423,374.536,890.219,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355792
$DATA_FILE_SIZE,31795,586
$CAP_FILE_SIZE,108332,0
$CFSIZE,260165632,200810496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,220810,120437,2107.570,-15757.589,32,1.3,32,9.8