version: 66.06
glider: 139
mission: 8
dive: 273
start: 8 25 110 17 59 19
data:
$ID,139
$MISSION,8
$DIVE,273
$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,-2156400
$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,1700
$C_ROLL_CLIMB,1740
$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
$GPS1,175354,2105.905,-15755.313,28,1.0,45,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-70.2
$GPS2,175902,2105.902,-15755.321,15,1.4,15,9.8
$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,80.6,21432,-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,-64.47,0.000,2,0.000,0.000,427,1718,2746,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.2,-2.9,12,110,12.48,2.50,-2.30,0.000,4,0.134,0.056,2753,300,2871,0,0,0,0,0,0
$GC,175,-1.39,-58.4,29.3,-24.2,30,182,0.17,2.33,0.00,0.000,6,0.089,0.018,2791,1739,2873,0,0,0,0,0,0
$GC,371,-1.39,-58.4,64.6,-15.3,46,372,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1744,2873,0,0,0,0,0,0
$GC,624,-1.46,-58.4,95.4,-11.1,66,628,0.00,2.50,0.00,0.000,4,0.000,0.047,2791,286,2874,0,0,0,0,0,0
$GC,697,-1.46,-58.4,105.8,-12.8,71,703,0.00,2.25,0.00,0.000,6,0.000,0.018,2791,1713,2875,0,0,0,0,0,0
$GC,957,-1.54,-58.4,135.6,-11.7,92,962,0.12,2.22,0.00,0.000,4,0.064,0.022,2750,3071,2875,0,0,0,0,0,0
$GC,981,-1.60,-58.4,138.5,-11.7,93,986,0.00,2.30,0.00,0.000,6,0.000,0.031,2750,1694,2876,0,0,0,0,0,0
$GC,1241,-1.60,-58.4,169.9,-11.2,114,1245,0.00,2.22,0.00,0.000,4,0.000,0.021,2751,3070,2876,0,0,0,0,0,0
$GC,1408,-1.69,-58.4,186.1,-9.1,126,1412,0.00,2.28,0.00,0.000,6,0.000,0.031,2750,1702,2876,0,0,0,0,0,0
$GC,1665,-1.75,-58.4,216.8,-12.8,142,1667,0.15,0.00,0.00,0.000,6,0.058,0.000,2704,1701,2877,0,0,0,0,0,0
$GC,1975,-1.72,-58.4,259.3,-12.3,157,1980,0.10,2.25,0.00,0.000,4,0.115,0.025,2724,3068,2877,0,0,0,0,0,0
$GC,2038,-1.79,-58.4,266.9,-11.6,159,2042,0.00,2.28,0.00,0.000,6,0.000,0.033,2724,1699,2877,0,0,0,0,0,0
$GC,2355,-1.82,-58.4,298.4,-9.5,174,2356,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1699,2878,0,0,0,0,0,0
$GC,2660,-1.86,-58.4,330.3,-10.7,182,2665,0.12,2.45,0.00,0.000,4,0.066,0.050,2684,293,2876,0,0,0,0,0,0
$GC,2681,-1.80,-58.4,333.1,-12.6,182,2686,0.12,2.22,0.00,0.000,6,0.109,0.022,2708,1694,2876,0,0,0,0,0,0
$GC,3028,-1.80,-58.4,372.5,-10.9,191,3032,0.00,2.28,0.00,0.000,4,0.000,0.029,2709,3077,2875,0,0,0,0,0,0
$GC,3108,-1.86,-58.4,381.6,-10.9,192,3112,0.00,2.35,0.00,0.000,6,0.000,0.038,2708,1698,2875,0,0,0,0,0,0
$GC,3445,-1.86,-58.4,418.4,-10.9,201,3449,0.00,2.30,0.00,0.000,4,0.000,0.031,2708,3076,2872,0,0,0,0,0,0
$GC,3492,-1.93,-58.4,423.8,-11.5,202,3497,0.15,2.38,0.00,0.000,6,0.062,0.039,2667,1692,2872,0,0,0,0,0,0
$STATE,3732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3732,begin apogee
$GC,3738,-0.31,0.0,453.6,12.4,208,3792,1.75,0.00,49.47,0.825,6,0.085,0.000,3029,1692,2630,0,0,0,0,0,0
$STATE,3793,end apogee,CONTROL_FINISHED_OK
$STATE,3793,begin climb
$GC,3795,1.56,58.4,455.3,0.0,209,3856,1.75,2.42,50.72,0.811,4,0.029,0.051,3448,331,2388,0,0,0,0,0,0
$GC,3902,1.23,127.0,454.9,1.7,211,3971,0.43,2.33,60.42,0.811,6,0.106,0.025,3367,1734,2112,0,0,0,0,0,0
$GC,4294,1.11,127.0,418.2,10.2,221,4299,0.12,2.38,0.00,0.000,4,0.117,0.034,3344,3138,2103,0,0,0,0,0,0
$GC,4309,1.02,127.0,416.7,9.1,221,4314,0.12,2.45,0.00,0.000,6,0.124,0.039,3322,1732,2103,0,0,0,0,0,0
$GC,4659,1.02,127.0,388.1,8.3,230,4660,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,1733,2098,0,0,0,0,0,0
$GC,4986,1.03,129.3,362.0,7.7,238,4990,0.00,2.40,0.00,0.000,4,0.000,0.033,3322,3136,2096,0,0,0,0,0,0
$GC,5079,1.04,139.3,355.2,7.0,240,5095,0.00,2.40,8.98,0.694,6,0.000,0.039,3322,1738,2063,0,0,0,0,0,0
$GC,5410,1.05,148.5,330.7,7.1,248,5426,0.00,2.55,9.52,0.693,4,0.000,0.055,3322,334,2023,0,0,0,0,0,0
$GC,5464,0.97,148.5,326.2,9.2,249,5469,0.00,2.33,0.00,0.000,6,0.000,0.027,3322,1738,2021,0,0,0,0,0,0
$GC,5783,0.97,150.1,301.7,7.8,257,5786,0.00,2.47,0.00,0.000,4,0.000,0.052,3322,332,2019,0,0,0,0,0,0
$GC,5890,0.89,150.1,292.8,8.7,260,5895,0.15,2.35,0.00,0.000,6,0.114,0.026,3295,1745,2017,0,0,0,0,0,0
$GC,6207,1.01,165.3,272.1,6.5,275,6225,0.10,0.00,15.43,0.710,6,0.082,0.000,3325,1745,1956,0,0,0,0,0,0
$GC,6537,1.05,165.3,242.7,9.5,291,6538,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1745,1952,0,0,0,0,0,0
$GC,6844,1.10,167.9,218.8,7.7,306,6849,0.00,2.47,0.00,0.000,4,0.000,0.050,3324,330,1951,0,0,0,0,0,0
$GC,6901,1.07,167.9,213.4,9.0,308,6905,0.00,2.33,0.00,0.000,6,0.000,0.024,3325,1750,1949,0,0,0,0,0,0
$GC,7223,1.13,167.9,184.6,9.3,329,7228,0.00,2.47,0.00,0.000,4,0.000,0.048,3325,327,1949,0,0,0,0,0,0
$GC,7305,1.10,167.9,176.2,10.7,335,7309,0.00,2.30,0.00,0.000,6,0.000,0.022,3324,1748,1947,0,0,0,0,0,0
$GC,7570,1.17,167.9,149.6,10.1,356,7575,0.12,2.45,0.00,0.000,4,0.067,0.047,3363,332,1947,0,0,0,0,0,0
$GC,7599,1.05,167.9,145.9,11.7,358,7604,0.17,2.25,0.00,0.000,6,0.100,0.021,3329,1746,1947,0,0,0,0,0,0
$GC,7861,1.17,190.4,126.8,5.9,378,7890,0.12,2.30,22.45,0.592,4,0.066,0.024,3367,3122,1852,0,0,0,0,0,0
$GC,8002,1.23,196.1,116.1,7.4,388,8018,0.00,2.35,6.38,0.479,6,0.000,0.031,3367,1734,1830,0,0,0,0,0,0
$GC,8272,1.23,196.1,90.4,7.9,409,8276,0.00,2.40,0.00,0.000,4,0.000,0.045,3367,337,1828,0,0,0,0,0,0
$GC,8484,1.27,231.4,75.8,4.7,424,8522,0.00,2.28,31.38,0.546,6,0.000,0.019,3368,1744,1685,0,0,0,0,0,0
$GC,8788,1.34,231.9,55.5,7.9,448,8793,0.10,2.45,0.00,0.000,4,0.074,0.044,3402,335,1683,0,0,0,0,0,0
$GC,8841,1.25,231.9,50.4,11.6,452,8846,0.15,2.22,0.00,0.000,6,0.100,0.018,3374,1744,1680,0,0,0,0,0,0
$GC,9105,1.31,231.9,24.6,9.1,480,9112,0.00,2.45,0.00,0.000,4,0.000,0.044,3373,337,1680,0,0,0,0,0,0
$GC,9175,1.31,231.9,16.8,11.8,495,9181,0.00,2.25,0.00,0.000,6,0.000,0.018,3374,1742,1680,0,0,0,0,0,0
$STATE,9306,end climb,SURFACE_DEPTH_REACHED
$STATE,9307,begin surface coast
$FINISH,1.0,1.023174
$STATE,9338,end surface coast,CONTROL_FINISHED_OK
$STATE,9338,begin surface
$SM_CCo,9361,95.60,0.480,0,0,956,410.14
$SM_GC,1.50,0.00,0.00,95.60,0.000,0.000,0.480,426,1677,956,-12.30,-0.68,410.14
$IRIDIUM_FIX,2057.14,-15753.90,191199,151527
$TT8_MAMPS,0.029146
$HUMID,52.79
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.5,24.032
$10V_AH,10.4,19.522
$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,31.150,94.225,254.750,95.600,0.000,30.245,29.288,127.799,4.500,0.000,15.984,1049.508,6277.762,402.973,1602.303,430.801,0.000,1119.152,0.000,1588.218,0.000,29.264,0.000
$DEVICE_MAMPS,134.225,102.778,824.525,480.142,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,357.812,340.040,769.952,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355728
$DATA_FILE_SIZE,28654,532
$CAP_FILE_SIZE,101986,0
$CFSIZE,260165632,199274496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250810,203836,2106.052,-15754.668,57,0.9,62,9.8