version: 66.06
glider: 139
mission: 8
dive: 296
start: 8 28 110 9 18 20
data:
$ID,139
$MISSION,8
$DIVE,296
$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,-2157000.8
$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
$GPS1,091210,2104.925,-15754.538,12,5.6,31,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-72.2
$GPS2,091804,2104.865,-15754.586,18,6.0,37,9.8
$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,75.2,20236,-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,-64.70,0.000,2,0.000,0.000,426,1675,2792,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.8,-4.2,12,105,12.45,2.40,-1.42,0.000,4,0.133,0.035,2754,3119,2870,0,0,0,0,0,0
$GC,130,-0.88,-58.4,19.2,-33.8,20,137,0.68,2.45,0.00,0.000,6,0.084,0.033,2906,1693,2871,0,0,0,0,0,0
$GC,337,-1.14,-58.4,40.8,-8.8,47,342,0.25,2.40,0.00,0.000,4,0.039,0.044,2823,294,2872,0,0,0,0,0,0
$GC,371,-1.18,-58.4,44.6,-11.4,49,378,0.00,2.33,0.00,0.000,6,0.000,0.018,2822,1732,2872,0,0,0,0,0,0
$GC,631,-1.27,-58.4,79.8,-14.4,70,635,0.00,2.47,0.00,0.000,4,0.000,0.046,2823,290,2873,0,0,0,0,0,0
$GC,711,-1.34,-58.4,91.4,-14.0,76,715,0.00,2.25,0.00,0.000,6,0.000,0.018,2823,1719,2873,0,0,0,0,0,0
$GC,977,-1.48,-58.4,119.9,-10.0,97,979,0.20,0.00,0.00,0.000,6,0.046,0.000,2761,1724,2874,0,0,0,0,0,0
$GC,1230,-1.53,-58.4,151.3,-12.0,117,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1725,2875,0,0,0,0,0,0
$GC,1479,-1.60,-58.4,181.5,-11.4,137,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1725,2875,0,0,0,0,0,0
$GC,1739,-1.68,-58.4,207.1,-8.3,155,1744,0.12,2.22,0.00,0.000,4,0.064,0.024,2719,3082,2876,0,0,0,0,0,0
$GC,1764,-1.73,-58.4,209.7,-9.8,156,1768,0.00,2.30,0.00,0.000,6,0.000,0.032,2719,1694,2876,0,0,0,0,0,0
$GC,2088,-1.73,-58.4,245.0,-12.5,172,2092,0.00,2.38,0.00,0.000,4,0.000,0.047,2718,296,2876,0,0,0,0,0,0
$GC,2144,-1.67,-58.4,252.5,-12.6,174,2148,0.00,2.22,0.00,0.000,6,0.000,0.020,2719,1700,2876,0,0,0,0,0,0
$GC,2461,-1.67,-58.4,287.5,-10.7,189,2465,0.00,2.28,0.00,0.000,4,0.000,0.026,2718,3078,2876,0,0,0,0,0,0
$GC,2677,-1.74,-58.4,309.5,-9.3,196,2681,0.00,2.30,0.00,0.000,6,0.000,0.035,2718,1700,2875,0,0,0,0,0,0
$GC,3012,-1.74,-58.4,347.3,-11.3,205,3016,0.00,2.33,0.00,0.000,4,0.000,0.027,2719,3079,2874,0,0,0,0,0,0
$GC,3056,-1.82,-58.4,352.0,-10.5,206,3060,0.00,2.35,0.00,0.000,6,0.000,0.036,2718,1697,2874,0,0,0,0,0,0
$GC,3385,-1.87,-58.4,385.7,-10.2,214,3390,0.12,2.33,0.00,0.000,4,0.067,0.029,2680,3074,2872,0,0,0,0,0,0
$GC,3575,-1.87,-58.4,407.7,-10.8,218,3579,0.00,2.33,0.00,0.000,6,0.000,0.039,2680,1701,2870,0,0,0,0,0,0
$GC,3893,-1.87,-58.4,445.8,-11.9,226,3897,0.00,2.28,0.00,0.000,4,0.000,0.031,2680,3069,2868,0,0,0,0,0,0
$GC,3917,-1.87,-58.4,448.8,-11.8,226,3921,0.00,2.33,0.00,0.000,6,0.000,0.040,2680,1702,2868,0,0,0,0,0,0
$STATE,3929,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3929,begin apogee
$GC,3935,-0.31,0.0,450.4,11.2,227,3988,1.67,0.00,48.95,0.828,6,0.083,0.000,3029,1702,2630,0,0,0,0,0,0
$STATE,3989,end apogee,CONTROL_FINISHED_OK
$STATE,3989,begin climb
$GC,3992,1.56,58.4,451.9,0.0,228,4046,1.80,0.00,50.67,0.811,6,0.028,0.000,3457,1702,2391,0,0,0,0,0,0
$GC,4339,1.29,101.0,443.4,4.1,237,4382,0.35,2.53,37.10,0.812,4,0.105,0.054,3386,333,2217,0,0,0,0,0,0
$GC,4508,1.01,101.0,427.3,12.3,240,4513,0.32,2.33,0.00,0.000,6,0.102,0.026,3324,1722,2210,0,0,0,0,0,0
$GC,4845,1.01,121.1,403.0,6.1,249,4870,0.00,2.42,17.35,0.772,4,0.000,0.032,3324,3126,2135,0,0,0,0,0,0
$GC,4967,1.03,137.8,395.1,6.4,251,4989,0.00,2.40,16.45,0.763,6,0.000,0.039,3324,1737,2068,0,0,0,0,0,0
$GC,5309,1.03,137.8,365.1,9.2,260,5313,0.00,2.38,0.00,0.000,4,0.000,0.033,3324,3133,2061,0,0,0,0,0,0
$GC,5341,1.03,137.8,362.0,8.3,260,5345,0.00,2.42,0.00,0.000,6,0.000,0.039,3324,1735,2062,0,0,0,0,0,0
$GC,5673,1.03,137.8,327.9,11.2,268,5677,0.00,2.38,0.00,0.000,4,0.000,0.031,3324,3128,2060,0,0,0,0,0,0
$GC,5696,1.03,137.8,325.2,11.1,268,5700,0.00,2.40,0.00,0.000,6,0.000,0.038,3324,1741,2059,0,0,0,0,0,0
$GC,6017,1.03,137.8,295.1,8.0,278,6021,0.00,2.45,0.00,0.000,4,0.000,0.054,3323,333,2057,0,0,0,0,0,0
$GC,6091,0.95,137.8,288.2,9.6,281,6096,0.00,2.35,0.00,0.000,6,0.000,0.027,3323,1745,2054,0,0,0,0,0,0
$GC,6413,0.95,142.2,264.4,7.5,297,6417,0.00,2.45,0.00,0.000,4,0.000,0.051,3323,334,2054,0,0,0,0,0,0
$GC,6427,0.95,142.2,263.1,8.0,297,6432,0.00,2.35,0.00,0.000,6,0.000,0.026,3324,1749,2052,0,0,0,0,0,0
$GC,6744,0.96,147.0,239.9,7.5,313,6757,0.00,2.38,6.93,0.604,4,0.000,0.031,3324,3131,2029,0,0,0,0,0,0
$GC,6878,1.05,168.4,230.4,6.0,318,6906,0.00,2.42,20.62,0.693,6,0.000,0.036,3324,1733,1943,0,0,0,0,0,0
$GC,7219,1.09,168.4,200.3,9.2,335,7223,0.00,2.45,0.00,0.000,4,0.000,0.051,3323,332,1939,0,0,0,0,0,0
$GC,7450,1.09,168.4,172.9,12.3,352,7455,0.00,2.33,0.00,0.000,6,0.000,0.023,3323,1745,1935,0,0,0,0,0,0
$GC,7717,1.20,198.0,151.3,5.2,373,7750,0.17,2.53,26.40,0.636,4,0.056,0.048,3372,334,1822,0,0,0,0,0,0
$GC,7829,1.08,198.0,141.6,11.2,381,7834,0.17,2.33,0.00,0.000,6,0.101,0.022,3338,1747,1818,0,0,0,0,0,0
$GC,8096,1.16,198.0,116.6,9.1,402,8100,0.00,2.30,0.00,0.000,4,0.000,0.025,3338,3130,1817,0,0,0,0,0,0
$GC,8155,1.29,198.0,110.6,9.8,406,8163,0.15,2.40,0.00,0.000,6,0.034,0.033,3387,1734,1816,0,0,0,0,0,0
$GC,8416,1.29,198.0,85.1,10.2,427,8420,0.00,2.40,0.00,0.000,4,0.000,0.044,3387,334,1816,0,0,0,0,0,0
$GC,8427,1.26,198.0,83.6,10.1,428,8431,0.00,2.30,0.00,0.000,6,0.000,0.020,3387,1757,1815,0,0,0,0,0,0
$GC,8692,1.30,231.0,66.5,4.9,449,8727,0.00,2.55,28.77,0.549,4,0.000,0.044,3387,333,1687,0,0,0,0,0,0
$GC,8902,1.24,231.0,48.2,10.7,464,8909,0.00,2.28,0.00,0.000,6,0.000,0.019,3387,1744,1682,0,0,0,0,0,0
$GC,9164,1.24,231.0,21.7,9.9,497,9171,0.00,2.25,0.00,0.000,4,0.000,0.021,3388,3104,1682,0,0,0,0,0,0
$GC,9212,1.31,231.0,17.5,9.6,507,9219,0.00,2.30,0.00,0.000,6,0.000,0.027,3387,1744,1682,0,0,0,0,0,0
$STATE,9353,end climb,SURFACE_DEPTH_REACHED
$STATE,9353,begin surface coast
$FINISH,0.8,1.001079
$STATE,9380,end surface coast,CONTROL_FINISHED_OK
$STATE,9380,begin surface
$SM_CCo,9404,100.35,0.489,0,0,957,410.14
$SM_GC,1.59,0.00,0.00,100.35,0.000,0.000,0.489,426,1674,957,-12.30,-0.74,410.14
$IRIDIUM_FIX,2054.83,-15751.76,221199,060614
$TT8_MAMPS,0.029146
$HUMID,54.13
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,25.918
$10V_AH,10.3,21.239
$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,31.050,104.050,253.250,100.350,0.000,30.918,32.437,144.578,4.500,0.000,38.284,1088.307,6125.402,424.709,1766.209,450.371,0.000,1181.936,0.000,1716.946,0.000,29.253,0.000
$DEVICE_MAMPS,132.691,104.312,827.593,489.346,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,366.839,351.965,810.056,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,31628,545
$CAP_FILE_SIZE,106186,0
$CFSIZE,260165632,198057984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280810,115806,2104.829,-15754.185,38,0.9,43,9.8