version: 66.06
glider: 139
mission: 8
dive: 298
start: 8 28 110 14 52 31
data:
$ID,139
$MISSION,8
$DIVE,298
$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,-2157031.8
$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
$GPS1,144707,2104.643,-15754.466,33,0.9,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-72.4
$GPS2,145214,2104.615,-15754.513,13,1.3,13,9.8
$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,73.9,20156,-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,-64.57,0.000,2,0.000,0.000,427,1721,2774,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.6,-4.2,12,104,12.48,2.38,-1.77,0.000,4,0.133,0.037,2754,3115,2872,0,0,0,0,0,0
$GC,190,-1.56,-58.4,30.6,-19.2,34,195,0.00,2.40,0.00,0.000,6,0.000,0.034,2753,1692,2874,0,0,0,0,0,0
$GC,450,-1.50,-58.4,78.5,-17.2,54,454,0.00,2.40,0.00,0.000,4,0.000,0.045,2753,297,2875,0,0,0,0,0,0
$GC,484,-1.34,-58.4,84.8,-20.5,56,491,0.20,2.33,0.00,0.000,6,0.087,0.018,2804,1742,2875,0,0,0,0,0,0
$GC,745,-1.43,-58.4,118.8,-12.9,77,749,0.00,2.15,0.00,0.000,4,0.000,0.021,2804,3079,2876,0,0,0,0,0,0
$GC,814,-1.62,-58.4,127.8,-12.4,82,819,0.25,2.30,0.00,0.000,6,0.041,0.031,2733,1692,2876,0,0,0,0,0,0
$GC,1075,-1.58,-58.4,172.4,-17.0,102,1077,0.12,0.00,0.00,0.000,6,0.103,0.000,2758,1692,2877,0,0,0,0,0,0
$GC,1344,-1.63,-58.4,205.3,-10.7,122,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1692,2878,0,0,0,0,0,0
$GC,1652,-1.71,-58.4,233.0,-8.3,137,1657,0.15,2.28,0.00,0.000,4,0.058,0.024,2710,3077,2879,0,0,0,0,0,0
$GC,1667,-1.78,-58.4,234.6,-8.3,137,1673,0.00,2.30,0.00,0.000,6,0.000,0.031,2710,1700,2879,0,0,0,0,0,0
$GC,1986,-1.78,-58.4,270.0,-11.8,153,1990,0.00,2.28,0.00,0.000,4,0.000,0.025,2710,3075,2879,0,0,0,0,0,0
$GC,2095,-1.81,-58.4,282.1,-10.8,157,2100,0.00,2.30,0.00,0.000,6,0.000,0.032,2710,1694,2879,0,0,0,0,0,0
$GC,2409,-1.81,-58.4,314.8,-10.5,170,2413,0.00,2.28,0.00,0.000,4,0.000,0.025,2710,3074,2878,0,0,0,0,0,0
$GC,2423,-1.81,-58.4,316.3,-10.0,170,2427,0.00,2.30,0.00,0.000,6,0.000,0.034,2709,1696,2878,0,0,0,0,0,0
$GC,2736,-1.81,-58.4,346.3,-9.5,178,2737,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1696,2876,0,0,0,0,0,0
$GC,3062,-1.81,-58.4,376.3,-9.0,186,3066,0.00,2.30,0.00,0.000,4,0.000,0.028,2710,3073,2875,0,0,0,0,0,0
$GC,3170,-1.88,-58.4,386.9,-9.7,188,3175,0.00,2.35,0.00,0.000,6,0.000,0.038,2709,1700,2874,0,0,0,0,0,0
$GC,3521,-1.88,-58.4,425.1,-11.3,197,3525,0.00,2.33,0.00,0.000,4,0.000,0.031,2710,3077,2872,0,0,0,0,0,0
$GC,3553,-1.96,-58.4,429.1,-11.8,197,3558,0.17,2.35,0.00,0.000,6,0.057,0.041,2662,1699,2871,0,0,0,0,0,0
$STATE,3719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3719,begin apogee
$GC,3725,-0.31,0.0,450.7,13.0,201,3779,1.77,0.00,49.30,0.831,6,0.086,0.000,3030,1699,2630,0,0,0,0,0,0
$STATE,3779,end apogee,CONTROL_FINISHED_OK
$STATE,3780,begin climb
$GC,3783,1.56,58.4,452.1,0.0,202,3838,1.75,0.00,50.38,0.815,6,0.030,0.000,3447,1699,2391,0,0,0,0,0,0
$GC,4153,1.32,102.4,441.7,3.9,211,4198,0.28,2.50,38.15,0.815,4,0.107,0.033,3391,3104,2212,0,0,0,0,0,0
$GC,4245,1.18,107.9,436.4,7.4,213,4258,0.17,2.38,6.43,0.639,6,0.114,0.039,3359,1734,2189,0,0,0,0,0,0
$GC,4574,1.08,107.9,407.8,9.4,221,4576,0.12,0.00,0.00,0.000,6,0.118,0.000,3337,1734,2183,0,0,0,0,0,0
$GC,4898,1.04,112.4,382.0,7.5,229,4902,0.00,2.38,0.00,0.000,4,0.000,0.033,3337,3119,2180,0,0,0,0,0,0
$GC,5167,1.08,144.5,365.2,5.0,234,5204,0.00,2.40,31.92,0.795,6,0.000,0.038,3337,1730,2040,0,0,0,0,0,0
$GC,5537,1.08,144.5,335.7,8.9,244,5541,0.00,2.35,0.00,0.000,4,0.000,0.032,3337,3115,2033,0,0,0,0,0,0
$GC,5741,1.09,155.5,319.7,6.9,248,5757,0.00,2.38,10.38,0.699,6,0.000,0.039,3337,1742,1994,0,0,0,0,0,0
$GC,6069,1.09,155.5,291.6,9.4,258,6073,0.00,2.47,0.00,0.000,4,0.000,0.053,3336,334,1990,0,0,0,0,0,0
$GC,6117,0.99,155.5,286.9,10.2,260,6121,0.00,2.30,0.00,0.000,6,0.000,0.026,3337,1727,1988,0,0,0,0,0,0
$GC,6441,1.00,161.3,258.8,7.4,276,6448,0.00,0.00,5.30,0.554,6,0.000,0.000,3337,1728,1972,0,0,0,0,0,0
$GC,6753,1.00,163.2,236.7,7.7,291,6757,0.00,2.42,0.00,0.000,4,0.000,0.050,3337,331,1971,0,0,0,0,0,0
$GC,6809,0.93,163.2,231.3,9.2,293,6813,0.17,2.33,0.00,0.000,6,0.107,0.024,3303,1748,1969,0,0,0,0,0,0
$GC,7125,1.03,163.2,203.8,9.0,308,7129,0.00,2.28,0.00,0.000,4,0.000,0.027,3304,3126,1969,0,0,0,0,0,0
$GC,7181,1.19,180.4,199.7,6.4,310,7208,0.22,2.38,18.10,0.654,6,0.049,0.035,3365,1731,1894,0,0,0,0,0,0
$GC,7461,1.19,187.3,179.1,7.3,332,7476,0.00,2.47,7.22,0.547,4,0.000,0.049,3364,341,1866,0,0,0,0,0,0
$GC,7520,1.11,187.3,172.6,11.9,336,7525,0.10,2.28,0.00,0.000,6,0.116,0.021,3345,1747,1864,0,0,0,0,0,0
$GC,7788,1.17,187.3,148.8,8.3,357,7792,0.00,2.42,0.00,0.000,4,0.000,0.047,3345,336,1863,0,0,0,0,0,0
$GC,7834,1.17,187.3,143.3,11.0,360,7841,0.00,2.30,0.00,0.000,6,0.000,0.021,3345,1743,1862,0,0,0,0,0,0
$GC,8096,1.25,197.1,123.2,7.0,381,8113,0.12,2.53,9.77,0.532,4,0.065,0.045,3384,324,1826,0,0,0,0,0,0
$GC,8172,1.13,197.1,115.9,10.3,386,8177,0.20,2.30,0.00,0.000,6,0.096,0.020,3345,1748,1824,0,0,0,0,0,0
$GC,8433,1.22,209.0,97.5,6.8,406,8451,0.00,2.30,12.12,0.525,4,0.000,0.022,3344,3110,1776,0,0,0,0,0,0
$GC,8519,1.38,216.3,92.1,7.2,412,8535,0.25,2.33,8.10,0.483,6,0.043,0.030,3414,1730,1747,0,0,0,0,0,0
$GC,8787,1.38,216.3,65.8,10.4,433,8791,0.00,2.40,0.00,0.000,4,0.000,0.044,3413,333,1746,0,0,0,0,0,0
$GC,8956,1.26,216.3,44.8,13.0,445,8963,0.17,2.28,0.00,0.000,6,0.081,0.018,3375,1748,1744,0,0,0,0,0,0
$GC,9218,1.32,216.3,23.5,8.7,476,9224,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,1754,1743,0,0,0,0,0,0
$GC,9420,1.36,216.3,5.2,9.3,522,9426,0.00,2.45,0.00,0.000,4,0.000,0.044,3374,335,1743,0,0,0,0,0,0
$STATE,9435,end climb,SURFACE_DEPTH_REACHED
$STATE,9435,begin surface coast
$FINISH,1.5,1.023116
$STATE,9450,end surface coast,CONTROL_FINISHED_OK
$STATE,9450,begin surface
$SM_CCo,9475,109.72,0.484,0,0,957,410.14
$SM_GC,1.51,0.00,0.00,109.72,0.000,0.000,0.484,428,1726,957,-12.29,0.74,410.14
$IRIDIUM_FIX,2054.83,-15756.91,221199,121246
$TT8_MAMPS,0.029146
$HUMID,53.07
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.80
$XPDR_PINGS,0
$24V_AH,23.5,26.076
$10V_AH,10.3,21.386
$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,31.300,93.800,247.175,109.725,0.000,25.344,27.318,131.431,4.750,0.000,13.869,1048.026,6361.713,420.184,1630.526,429.230,0.000,1144.687,0.000,1607.173,0.000,32.072,0.000
$DEVICE_MAMPS,133.458,52.923,831.428,483.977,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,355.099,333.000,749.947,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,28646,528
$CAP_FILE_SIZE,102912,0
$CFSIZE,260165632,197951488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280810,173308,2104.612,-15754.746,13,1.4,13,9.8