version: 66.06
glider: 139
mission: 8
dive: 297
start: 8 28 110 12 3 43
data:
$ID,139
$MISSION,8
$DIVE,297
$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,-2157017.2
$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
$GPS1,115806,2104.829,-15754.185,38,0.9,43,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-71.0
$GPS2,120326,2104.787,-15754.229,15,1.1,15,9.8
$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,74.6,19635,-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,-64.43,0.000,2,0.000,0.000,426,1674,2768,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.6,-4.2,12,110,12.48,2.45,-1.85,0.000,4,0.134,0.036,2753,3112,2872,0,0,0,0,0,0
$GC,131,-0.87,-58.4,18.8,-32.5,20,138,0.70,2.42,0.00,0.000,6,0.081,0.033,2910,1699,2873,0,0,0,0,0,0
$GC,341,-1.12,-58.4,36.1,-8.6,56,346,0.25,2.40,0.00,0.000,4,0.039,0.044,2827,296,2874,0,0,0,0,0,0
$GC,369,-1.19,-58.4,39.4,-13.2,58,373,0.00,2.30,0.00,0.000,6,0.000,0.018,2826,1739,2874,0,0,0,0,0,0
$GC,635,-1.30,-58.4,74.3,-11.8,79,639,0.00,2.50,0.00,0.000,4,0.000,0.045,2826,293,2875,0,0,0,0,0,0
$GC,702,-1.38,-58.4,80.3,-9.2,84,707,0.12,2.25,0.00,0.000,6,0.062,0.018,2784,1709,2875,0,0,0,0,0,0
$GC,969,-1.45,-58.4,112.6,-11.0,105,973,0.00,2.22,0.00,0.000,4,0.000,0.022,2783,3087,2876,0,0,0,0,0,0
$GC,1063,-1.62,-58.4,123.2,-11.1,112,1068,0.15,2.35,0.00,0.000,6,0.054,0.031,2734,1687,2876,0,0,0,0,0,0
$GC,1330,-1.62,-58.4,159.6,-13.7,133,1337,0.00,2.25,0.00,0.000,4,0.000,0.022,2735,3079,2877,0,0,0,0,0,0
$GC,1353,-1.65,-58.4,162.9,-13.4,134,1357,0.00,2.28,0.00,0.000,6,0.000,0.031,2734,1699,2877,0,0,0,0,0,0
$GC,1611,-1.65,-58.4,192.3,-10.9,154,1615,0.00,2.28,0.00,0.000,4,0.000,0.022,2734,3084,2877,0,0,0,0,0,0
$GC,1728,-1.74,-58.4,204.3,-10.4,162,1732,0.00,2.33,0.00,0.000,6,0.000,0.033,2735,1700,2877,0,0,0,0,0,0
$GC,2053,-1.79,-58.4,235.8,-10.3,178,2058,0.12,2.42,0.00,0.000,4,0.064,0.048,2694,288,2878,0,0,0,0,0,0
$GC,2123,-1.69,-58.4,244.7,-13.2,181,2128,0.17,2.25,0.00,0.000,6,0.098,0.020,2729,1708,2878,0,0,0,0,0,0
$GC,2457,-1.69,-58.4,281.3,-11.2,197,2461,0.00,2.25,0.00,0.000,4,0.000,0.025,2729,3077,2878,0,0,0,0,0,0
$GC,2571,-1.79,-58.4,295.1,-11.1,202,2575,0.00,2.33,0.00,0.000,6,0.000,0.035,2728,1701,2877,0,0,0,0,0,0
$GC,2916,-1.84,-58.4,336.8,-12.3,212,2921,0.12,2.45,0.00,0.000,4,0.066,0.050,2689,294,2877,0,0,0,0,0,0
$GC,2945,-1.74,-58.4,341.0,-14.3,212,2950,0.15,2.25,0.00,0.000,6,0.101,0.022,2719,1701,2877,0,0,0,0,0,0
$GC,3283,-1.74,-58.4,380.5,-10.9,221,3287,0.00,2.30,0.00,0.000,4,0.000,0.029,2719,3082,2875,0,0,0,0,0,0
$GC,3376,-1.83,-58.4,389.7,-9.3,223,3380,0.00,2.35,0.00,0.000,6,0.000,0.038,2719,1696,2874,0,0,0,0,0,0
$GC,3701,-1.87,-58.4,423.6,-11.1,231,3706,0.12,2.35,0.00,0.000,4,0.068,0.031,2682,3080,2872,0,0,0,0,0,0
$GC,3794,-1.87,-58.4,435.5,-11.4,233,3798,0.00,2.38,0.00,0.000,6,0.000,0.039,2682,1695,2871,0,0,0,0,0,0
$STATE,3911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3911,begin apogee
$GC,3918,-0.31,0.0,450.4,12.7,236,3971,1.67,0.00,49.35,0.827,6,0.082,0.000,3032,1695,2630,0,0,0,0,0,0
$STATE,3972,end apogee,CONTROL_FINISHED_OK
$STATE,3972,begin climb
$GC,3975,1.56,58.4,452.5,0.0,237,4033,1.77,0.00,50.92,0.813,6,0.028,0.000,3454,1695,2390,0,0,0,0,0,0
$GC,4360,1.32,109.1,446.5,3.3,247,4413,0.35,2.45,44.62,0.820,4,0.104,0.053,3386,328,2184,0,0,0,0,0,0
$GC,4432,1.04,109.1,441.9,8.9,248,4438,0.30,2.35,0.00,0.000,6,0.103,0.025,3329,1734,2180,0,0,0,0,0,0
$GC,4764,1.00,109.1,412.2,8.8,256,4768,0.00,2.38,0.00,0.000,4,0.000,0.033,3329,3133,2176,0,0,0,0,0,0
$GC,4790,1.01,115.9,410.3,7.3,256,4802,0.00,2.42,6.07,0.630,6,0.000,0.038,3329,1737,2156,0,0,0,0,0,0
$GC,5134,0.99,125.9,385.0,7.0,265,5150,0.00,2.45,10.00,0.717,4,0.000,0.032,3329,3130,2116,0,0,0,0,0,0
$GC,5184,0.99,126.1,380.9,7.9,266,5189,0.00,2.40,0.00,0.000,6,0.000,0.040,3329,1745,2116,0,0,0,0,0,0
$GC,5507,1.00,131.4,354.9,7.4,274,5520,0.00,2.42,5.88,0.617,4,0.000,0.033,3329,3126,2093,0,0,0,0,0,0
$GC,5740,1.00,131.4,332.4,10.3,279,5745,0.00,2.40,0.00,0.000,6,0.000,0.038,3328,1736,2094,0,0,0,0,0,0
$GC,6068,1.00,131.4,298.8,9.7,287,6072,0.00,2.45,0.00,0.000,4,0.000,0.054,3329,325,2090,0,0,0,0,0,0
$GC,6084,0.94,131.4,297.5,8.4,287,6090,0.12,2.38,0.00,0.000,6,0.120,0.026,3307,1749,2088,0,0,0,0,0,0
$GC,6401,1.02,163.4,278.4,5.0,303,6438,0.00,2.60,29.55,0.744,4,0.000,0.052,3306,334,1961,0,0,0,0,0,0
$GC,6544,1.02,163.4,268.3,8.5,309,6548,0.00,2.35,0.00,0.000,6,0.000,0.025,3307,1746,1956,0,0,0,0,0,0
$GC,6865,1.09,163.4,239.9,9.8,325,6870,0.15,2.35,0.00,0.000,4,0.062,0.030,3348,3143,1954,0,0,0,0,0,0
$GC,6986,1.09,163.4,226.6,10.5,330,6990,0.00,2.42,0.00,0.000,6,0.000,0.038,3348,1736,1954,0,0,0,0,0,0
$GC,7311,1.09,163.4,198.6,8.4,346,7315,0.00,2.42,0.00,0.000,4,0.000,0.050,3349,332,1952,0,0,0,0,0,0
$GC,7343,0.99,163.4,195.4,10.5,348,7350,0.12,2.35,0.00,0.000,6,0.090,0.025,3320,1742,1951,0,0,0,0,0,0
$GC,7606,1.06,163.4,173.5,9.6,369,7610,0.00,2.47,0.00,0.000,4,0.000,0.048,3320,324,1950,0,0,0,0,0,0
$GC,7652,1.06,163.4,168.4,10.1,372,7659,0.00,2.35,0.00,0.000,6,0.000,0.023,3320,1746,1949,0,0,0,0,0,0
$GC,7916,1.22,224.6,156.5,2.4,393,7976,0.20,2.58,52.33,0.642,4,0.050,0.048,3376,328,1713,0,0,0,0,0,0
$GC,8058,1.10,224.6,145.4,11.1,403,8063,0.17,2.30,0.00,0.000,6,0.098,0.021,3342,1746,1709,0,0,0,0,0,0
$GC,8320,1.18,224.6,125.3,8.1,423,8324,0.00,2.47,0.00,0.000,4,0.000,0.046,3342,327,1707,0,0,0,0,0,0
$GC,8362,1.18,224.6,120.9,10.6,426,8366,0.00,2.28,0.00,0.000,6,0.000,0.021,3342,1745,1705,0,0,0,0,0,0
$GC,8623,1.26,224.6,95.1,10.3,446,8628,0.15,2.42,0.00,0.000,4,0.057,0.044,3387,327,1705,0,0,0,0,0,0
$GC,8636,1.30,224.6,93.1,12.0,447,8640,0.00,2.25,0.00,0.000,6,0.000,0.020,3387,1746,1705,0,0,0,0,0,0
$GC,8903,1.33,224.6,69.9,8.2,468,8907,0.00,2.42,0.00,0.000,4,0.000,0.044,3387,330,1705,0,0,0,0,0,0
$GC,9104,1.26,224.6,46.5,10.6,482,9112,0.00,2.28,0.00,0.000,6,0.000,0.018,3387,1742,1704,0,0,0,0,0,0
$GC,9367,1.26,224.6,24.5,8.7,513,9373,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,1743,1704,0,0,0,0,0,0
$GC,9568,1.26,224.6,3.4,12.8,559,9574,0.00,2.45,0.00,0.000,4,0.000,0.044,3387,330,1704,0,0,0,0,0,0
$STATE,9581,end climb,SURFACE_DEPTH_REACHED
$STATE,9581,begin surface coast
$FINISH,0.7,1.013469
$STATE,9604,end surface coast,CONTROL_FINISHED_OK
$STATE,9604,begin surface
$SM_CCo,9629,103.35,0.486,0,0,958,410.14
$SM_GC,1.54,0.00,0.00,103.35,0.000,0.000,0.486,427,1722,958,-12.30,0.62,410.14
$IRIDIUM_FIX,2059.45,-15753.90,221199,090956
$TT8_MAMPS,0.029146
$HUMID,53.15
$INTERNAL_PRESSURE,9.30354
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.5,25.998
$10V_AH,10.3,21.316
$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,32.075,118.450,248.725,103.350,0.000,27.736,29.552,140.773,4.500,0.000,15.665,1137.457,6212.425,453.635,1780.102,466.787,0.000,1224.974,0.000,1764.111,0.000,29.262,0.000
$DEVICE_MAMPS,134.225,53.690,826.826,486.278,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,381.001,363.821,845.037,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,31807,566
$CAP_FILE_SIZE,111134,0
$CFSIZE,260165632,197996544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280810,144707,2104.643,-15754.466,33,0.9,33,9.8