version: 66.06
glider: 139
mission: 8
dive: 291
start: 8 27 110 19 22 31
data:
$ID,139
$MISSION,8
$DIVE,291
$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,-2156868.2
$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
$GPS1,191707,2105.469,-15755.478,30,1.1,30,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-70.0
$GPS2,192214,2105.416,-15755.506,11,2.0,11,9.8
$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,78.3,21762,-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,-58.4,0.0,0.0,0,76,0.00,0.00,-59.22,0.000,2,0.000,0.000,426,1681,2609,0,0,0,0,0,0
$GC,80,-1.56,-58.4,3.1,-3.1,11,104,12.45,2.38,-5.20,0.000,4,0.133,0.033,2751,3113,2870,0,0,0,0,0,0
$GC,177,-1.56,-58.4,23.5,-16.4,31,184,0.00,2.42,0.00,0.000,6,0.000,0.032,2750,1700,2871,0,0,0,0,0,0
$GC,376,-1.46,-58.4,62.7,-19.8,51,378,0.15,0.00,0.00,0.000,6,0.111,0.000,2778,1699,2871,0,0,0,0,0,0
$GC,630,-1.46,-58.4,100.1,-13.0,71,634,0.00,2.42,0.00,0.000,4,0.000,0.046,2778,288,2873,0,0,0,0,0,0
$GC,646,-1.46,-58.4,102.7,-13.3,72,650,0.00,2.30,0.00,0.000,6,0.000,0.018,2779,1744,2873,0,0,0,0,0,0
$GC,912,-1.51,-58.4,133.0,-13.1,93,916,0.00,2.47,0.00,0.000,4,0.000,0.044,2778,294,2874,0,0,0,0,0,0
$GC,1005,-1.51,-58.4,146.7,-14.8,100,1009,0.00,2.22,0.00,0.000,6,0.000,0.018,2778,1709,2874,0,0,0,0,0,0
$GC,1277,-1.61,-58.4,181.0,-12.4,121,1282,0.12,2.45,0.00,0.000,4,0.064,0.045,2736,295,2875,0,0,0,0,0,0
$GC,1311,-1.53,-58.4,186.1,-14.0,123,1317,0.15,2.20,0.00,0.000,6,0.102,0.018,2767,1706,2875,0,0,0,0,0,0
$GC,1576,-1.62,-58.4,215.6,-10.2,140,1577,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1711,2875,0,0,0,0,0,0
$GC,1887,-1.71,-58.4,242.0,-8.1,155,1892,0.17,2.22,0.00,0.000,4,0.052,0.025,2713,3069,2875,0,0,0,0,0,0
$GC,1911,-1.77,-58.4,244.5,-9.2,156,1916,0.00,2.30,0.00,0.000,6,0.000,0.032,2713,1688,2875,0,0,0,0,0,0
$GC,2237,-1.77,-58.4,284.3,-12.7,172,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1687,2875,0,0,0,0,0,0
$GC,2543,-1.77,-58.4,321.6,-11.7,183,2547,0.00,2.28,0.00,0.000,4,0.000,0.026,2713,3068,2875,0,0,0,0,0,0
$GC,2696,-1.83,-58.4,338.1,-10.2,186,2701,0.00,2.33,0.00,0.000,6,0.000,0.037,2712,1694,2874,0,0,0,0,0,0
$GC,3010,-1.83,-58.4,363.7,-7.1,194,3014,0.00,2.30,0.00,0.000,4,0.000,0.028,2712,3069,2872,0,0,0,0,0,0
$GC,3080,-1.89,-58.4,368.7,-6.9,195,3085,0.10,2.30,0.00,0.000,6,0.078,0.037,2680,1699,2872,0,0,0,0,0,0
$GC,3424,-1.85,-58.4,409.8,-13.7,204,3428,0.00,2.33,0.00,0.000,4,0.000,0.030,2681,3068,2870,0,0,0,0,0,0
$GC,3499,-1.85,-58.4,420.2,-12.7,205,3502,0.00,2.33,0.00,0.000,6,0.000,0.040,2681,1701,2869,0,0,0,0,0,0
$STATE,3755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3755,begin apogee
$GC,3761,-0.31,0.0,454.3,13.3,212,3814,1.67,0.00,49.00,0.827,6,0.084,0.000,3029,1700,2630,0,0,0,0,0,0
$STATE,3815,end apogee,CONTROL_FINISHED_OK
$STATE,3815,begin climb
$GC,3818,1.56,58.4,456.5,0.0,213,3876,1.77,2.47,50.28,0.812,4,0.029,0.052,3450,326,2390,0,0,0,0,0,0
$GC,3937,1.21,126.6,457.2,1.8,215,4005,0.45,2.30,59.88,0.814,6,0.105,0.025,3363,1720,2113,0,0,0,0,0,0
$GC,4320,1.10,126.6,421.1,12.0,225,4325,0.12,2.38,0.00,0.000,4,0.115,0.034,3341,3120,2104,0,0,0,0,0,0
$GC,4455,1.10,126.6,405.8,9.8,228,4459,0.00,2.40,0.00,0.000,6,0.000,0.040,3341,1744,2104,0,0,0,0,0,0
$GC,4784,1.05,126.6,376.7,8.2,236,4785,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,1744,2099,0,0,0,0,0,0
$GC,5108,1.02,138.3,355.3,6.8,244,5123,0.00,2.40,8.70,0.690,4,0.000,0.031,3341,3125,2065,0,0,0,0,0,0
$GC,5170,1.02,138.3,350.5,8.0,245,5175,0.00,2.42,0.00,0.000,6,0.000,0.038,3341,1731,2065,0,0,0,0,0,0
$GC,5521,1.02,138.3,321.1,8.7,254,5525,0.00,2.45,0.00,0.000,4,0.000,0.054,3341,329,2062,0,0,0,0,0,0
$GC,5643,0.89,138.3,308.4,9.3,256,5648,0.22,2.33,0.00,0.000,6,0.106,0.026,3298,1734,2058,0,0,0,0,0,0
$GC,5965,0.97,143.4,283.0,7.4,269,5976,0.00,2.35,4.72,0.534,4,0.000,0.030,3298,3130,2044,0,0,0,0,0,0
$GC,6071,1.09,160.2,275.4,6.4,273,6096,0.17,2.38,17.08,0.713,6,0.058,0.037,3345,1737,1976,0,0,0,0,0,0
$GC,6411,1.09,160.2,247.6,8.7,290,6416,0.00,2.45,0.00,0.000,4,0.000,0.051,3345,335,1972,0,0,0,0,0,0
$GC,6433,1.02,160.2,245.6,10.5,291,6438,0.12,2.33,0.00,0.000,6,0.114,0.025,3322,1742,1970,0,0,0,0,0,0
$GC,6767,1.06,160.2,214.3,9.2,307,6768,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,1742,1969,0,0,0,0,0,0
$GC,7081,1.14,180.7,189.1,6.1,327,7109,0.12,2.55,18.05,0.650,4,0.067,0.049,3359,334,1892,0,0,0,0,0,0
$GC,7151,1.02,180.7,184.1,8.5,331,7157,0.17,2.33,0.00,0.000,6,0.102,0.023,3326,1751,1890,0,0,0,0,0,0
$GC,7411,1.10,183.3,166.4,7.7,352,7416,0.00,2.45,0.00,0.000,4,0.000,0.048,3326,334,1889,0,0,0,0,0,0
$GC,7535,1.11,194.4,157.0,6.9,361,7555,0.00,2.30,12.77,0.590,6,0.000,0.022,3326,1751,1836,0,0,0,0,0,0
$GC,7817,1.21,196.0,135.9,7.8,383,7822,0.17,2.47,0.00,0.000,4,0.053,0.046,3378,327,1835,0,0,0,0,0,0
$GC,7851,1.09,196.0,131.9,11.7,385,7858,0.20,2.30,0.00,0.000,6,0.098,0.021,3338,1748,1834,0,0,0,0,0,0
$GC,8112,1.17,196.0,111.0,8.2,406,8113,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,1748,1833,0,0,0,0,0,0
$GC,8364,1.26,196.0,88.5,8.5,426,8369,0.15,2.45,0.00,0.000,4,0.058,0.044,3386,334,1834,0,0,0,0,0,0
$GC,8628,1.23,229.7,70.8,4.9,445,8665,0.00,2.28,31.65,0.542,6,0.000,0.019,3386,1749,1692,0,0,0,0,0,0
$GC,8931,1.26,229.7,48.7,8.7,469,8935,0.00,2.42,0.00,0.000,4,0.000,0.044,3386,331,1690,0,0,0,0,0,0
$GC,9025,1.21,229.7,37.8,12.6,476,9030,0.12,2.22,0.00,0.000,6,0.107,0.018,3362,1745,1687,0,0,0,0,0,0
$GC,9289,1.30,229.7,11.7,9.4,526,9296,0.00,2.45,0.00,0.000,4,0.000,0.044,3362,336,1687,0,0,0,0,0,0
$GC,9349,1.30,229.7,4.5,11.8,539,9356,0.00,2.25,0.00,0.000,6,0.000,0.018,3362,1746,1687,0,0,0,0,0,0
$STATE,9361,end climb,SURFACE_DEPTH_REACHED
$STATE,9361,begin surface coast
$FINISH,1.1,1.023102
$STATE,9389,end surface coast,CONTROL_FINISHED_OK
$STATE,9389,begin surface
$SM_CCo,9414,101.50,0.482,0,0,958,410.14
$SM_GC,1.47,0.00,0.00,101.50,0.000,0.000,0.482,427,1678,958,-12.30,-0.62,410.14
$IRIDIUM_FIX,2059.45,-15756.04,211199,161658
$TT8_MAMPS,0.028379
$HUMID,53.38
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.5,25.508
$10V_AH,10.3,20.862
$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,31.200,94.450,252.125,101.500,0.000,27.789,26.688,133.923,4.500,0.000,11.865,1079.868,6199.876,402.408,1707.886,430.294,0.000,1151.850,0.000,1685.629,0.000,29.251,0.000
$DEVICE_MAMPS,132.691,102.778,826.826,482.443,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,368.035,348.722,800.272,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,31808,547
$CAP_FILE_SIZE,104882,0
$CFSIZE,260165632,198320128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270810,220225,2105.492,-15754.654,41,1.5,41,9.8