version: 66.06
glider: 139
mission: 8
dive: 290
start: 8 27 110 16 41 32
data:
$ID,139
$MISSION,8
$DIVE,290
$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,-2156855.8
$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,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
$GPS1,163520,2105.517,-15755.701,11,2.0,11,9.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-70.0
$GPS2,164116,2105.495,-15755.768,13,4.9,32,9.8
$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,78.7,22210,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.56,-58.4,0.0,0.0,0,83,0.00,0.00,-64.18,0.000,2,0.000,0.000,427,1668,2769,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.6,-3.9,12,105,12.60,0.00,-1.85,0.000,6,0.138,0.000,2752,1668,2872,0,0,0,0,0,0
$GC,302,-1.45,-58.4,51.5,-18.2,43,307,0.15,2.40,0.00,0.000,4,0.106,0.022,2781,3121,2875,0,0,0,0,0,0
$GC,343,-1.52,-58.4,58.0,-14.2,46,347,0.00,2.40,0.00,0.000,6,0.000,0.033,2780,1690,2874,0,0,0,0,0,0
$GC,608,-1.52,-58.4,96.2,-12.5,67,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1691,2875,0,0,0,0,0,0
$GC,860,-1.56,-58.4,129.7,-14.3,87,864,0.00,2.40,0.00,0.000,4,0.000,0.046,2780,295,2876,0,0,0,0,0,0
$GC,880,-1.56,-58.4,133.0,-15.2,88,886,0.00,2.33,0.00,0.000,6,0.000,0.018,2780,1744,2876,0,0,0,0,0,0
$GC,1143,-1.63,-58.4,169.3,-13.4,109,1148,0.15,2.50,0.00,0.000,4,0.057,0.045,2733,289,2876,0,0,0,0,0,0
$GC,1214,-1.55,-58.4,182.8,-16.7,114,1219,0.15,2.22,0.00,0.000,6,0.098,0.018,2763,1713,2876,0,0,0,0,0,0
$GC,1482,-1.62,-58.4,211.8,-10.2,132,1486,0.00,2.20,0.00,0.000,4,0.000,0.023,2763,3065,2877,0,0,0,0,0,0
$GC,1550,-1.75,-58.4,218.5,-10.2,135,1555,0.20,2.28,0.00,0.000,6,0.047,0.032,2702,1700,2877,0,0,0,0,0,0
$GC,1883,-1.75,-58.4,259.9,-11.1,151,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1699,2877,0,0,0,0,0,0
$GC,2189,-1.75,-58.4,295.3,-11.6,166,2193,0.00,2.25,0.00,0.000,4,0.000,0.025,2702,3065,2877,0,0,0,0,0,0
$GC,2239,-1.78,-58.4,300.7,-9.8,168,2243,0.00,2.28,0.00,0.000,6,0.000,0.034,2702,1701,2877,0,0,0,0,0,0
$GC,2564,-1.78,-58.4,342.9,-14.3,176,2568,0.00,2.25,0.00,0.000,4,0.000,0.026,2702,3066,2876,0,0,0,0,0,0
$GC,2752,-1.82,-58.4,367.4,-12.5,180,2756,0.00,2.30,0.00,0.000,6,0.000,0.036,2702,1699,2875,0,0,0,0,0,0
$GC,3076,-1.82,-58.4,403.0,-10.5,188,3080,0.00,2.30,0.00,0.000,4,0.000,0.029,2702,3069,2873,0,0,0,0,0,0
$GC,3184,-1.88,-58.4,413.9,-9.5,190,3189,0.00,2.33,0.00,0.000,6,0.000,0.039,2702,1700,2873,0,0,0,0,0,0
$GC,3534,-1.88,-58.4,444.0,-8.4,199,3535,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1700,2870,0,0,0,0,0,0
$STATE,3613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3613,begin apogee
$GC,3619,-0.31,0.0,451.0,8.7,201,3673,1.58,0.00,49.12,0.823,6,0.081,0.000,3031,1700,2630,0,0,0,0,0,0
$STATE,3673,end apogee,CONTROL_FINISHED_OK
$STATE,3673,begin climb
$GC,3676,1.56,58.4,451.8,0.0,202,3731,1.75,0.00,50.33,0.808,6,0.028,0.000,3455,1699,2391,0,0,0,0,0,0
$GC,4047,1.32,121.7,443.4,2.2,211,4108,0.30,2.45,54.65,0.819,4,0.105,0.033,3394,3103,2134,0,0,0,0,0,0
$GC,4241,1.18,121.7,430.6,9.0,215,4246,0.17,2.38,0.00,0.000,6,0.114,0.039,3362,1732,2131,0,0,0,0,0,0
$GC,4556,1.09,121.7,401.8,9.2,223,4561,0.12,2.47,0.00,0.000,4,0.117,0.054,3339,334,2124,0,0,0,0,0,0
$GC,4571,0.96,121.7,400.1,9.7,223,4576,0.15,2.30,0.00,0.000,6,0.113,0.028,3311,1713,2122,0,0,0,0,0,0
$GC,4923,0.96,121.7,370.3,8.4,232,4927,0.00,2.40,0.00,0.000,4,0.000,0.033,3311,3125,2120,0,0,0,0,0,0
$GC,4942,0.99,121.7,368.5,8.8,232,4946,0.00,2.38,0.00,0.000,6,0.000,0.039,3311,1738,2120,0,0,0,0,0,0
$GC,5286,1.01,132.7,340.7,6.9,241,5302,0.00,2.38,8.62,0.689,4,0.000,0.031,3311,3126,2087,0,0,0,0,0,0
$GC,5366,1.10,158.9,336.4,5.5,242,5399,0.12,2.40,24.70,0.769,6,0.068,0.039,3346,1739,1982,0,0,0,0,0,0
$GC,5709,1.07,158.9,304.7,11.2,251,5713,0.00,2.47,0.00,0.000,4,0.000,0.053,3346,333,1977,0,0,0,0,0,0
$GC,5792,0.94,158.9,294.0,12.6,253,5799,0.20,2.35,0.00,0.000,6,0.100,0.026,3309,1742,1973,0,0,0,0,0,0
$GC,6110,1.02,172.8,271.3,6.6,269,6127,0.00,2.50,12.15,0.685,4,0.000,0.051,3308,334,1925,0,0,0,0,0,0
$GC,6138,1.02,172.8,268.9,8.1,269,6142,0.00,2.35,0.00,0.000,6,0.000,0.025,3308,1749,1923,0,0,0,0,0,0
$GC,6460,1.10,172.8,238.9,9.9,285,6465,0.15,2.53,0.00,0.000,4,0.061,0.051,3351,327,1921,0,0,0,0,0,0
$GC,6575,0.99,172.8,223.7,14.4,290,6580,0.17,2.35,0.00,0.000,6,0.100,0.025,3318,1748,1919,0,0,0,0,0,0
$GC,6899,1.06,181.1,198.1,7.1,306,6915,0.00,2.53,8.00,0.585,4,0.000,0.051,3318,337,1891,0,0,0,0,0,0
$GC,6954,1.06,181.1,193.1,9.8,309,6960,0.00,2.30,0.00,0.000,6,0.000,0.023,3318,1748,1889,0,0,0,0,0,0
$GC,7213,1.15,181.1,167.1,10.4,330,7218,0.15,2.50,0.00,0.000,4,0.058,0.048,3363,324,1889,0,0,0,0,0,0
$GC,7348,1.06,181.1,151.7,10.6,340,7353,0.17,2.33,0.00,0.000,6,0.097,0.021,3329,1748,1887,0,0,0,0,0,0
$GC,7615,1.17,194.6,132.9,6.7,361,7636,0.10,2.47,13.07,0.574,4,0.075,0.044,3363,330,1835,0,0,0,0,0,0
$GC,7661,1.08,194.6,128.8,9.4,364,7666,0.12,2.30,0.00,0.000,6,0.104,0.021,3338,1752,1833,0,0,0,0,0,0
$GC,7922,1.17,194.6,105.2,9.4,384,7926,0.00,2.47,0.00,0.000,4,0.000,0.045,3338,324,1833,0,0,0,0,0,0
$GC,8188,1.26,221.1,83.7,5.5,403,8221,0.15,2.25,24.23,0.552,6,0.057,0.019,3385,1751,1726,0,0,0,0,0,0
$GC,8474,1.26,226.1,62.6,7.5,426,8491,0.00,2.53,5.55,0.416,4,0.000,0.044,3385,322,1707,0,0,0,0,0,0
$GC,8670,1.19,226.1,42.9,10.9,440,8675,0.12,2.25,0.00,0.000,6,0.104,0.018,3360,1741,1704,0,0,0,0,0,0
$GC,8934,1.28,226.1,20.2,9.0,478,8941,0.00,2.45,0.00,0.000,4,0.000,0.045,3360,334,1704,0,0,0,0,0,0
$GC,9011,1.28,226.1,12.0,9.7,495,9018,0.00,2.25,0.00,0.000,6,0.000,0.018,3360,1740,1703,0,0,0,0,0,0
$STATE,9103,end climb,SURFACE_DEPTH_REACHED
$STATE,9103,begin surface coast
$FINISH,0.9,1.012842
$STATE,9141,end surface coast,CONTROL_FINISHED_OK
$STATE,9141,begin surface
$SM_CCo,9164,102.85,0.481,0,0,958,410.14
$SM_GC,1.61,0.00,0.00,102.85,0.000,0.000,0.481,427,1681,958,-12.30,-0.54,410.14
$IRIDIUM_FIX,2057.14,-15759.05,211199,141417
$TT8_MAMPS,0.029146
$HUMID,53.11
$INTERNAL_PRESSURE,9.30354
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.5,25.430
$10V_AH,10.3,20.789
$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,31.250,94.825,250.425,102.850,0.000,28.166,27.572,163.339,4.500,0.000,33.774,1059.330,5970.195,413.022,1712.363,466.017,0.000,1156.863,0.000,1669.658,0.000,29.255,0.000
$DEVICE_MAMPS,138.060,104.312,822.991,480.909,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,352.553,332.082,767.752,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,28656,524
$CAP_FILE_SIZE,105353,0
$CFSIZE,260165632,198373376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270810,191707,2105.469,-15755.478,30,1.1,30,9.8