version: 66.06
glider: 139
mission: 8
dive: 299
start: 8 28 110 17 42 40
data:
$ID,139
$MISSION,8
$DIVE,299
$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,-2157064.2
$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
$GPS1,173308,2104.612,-15754.746,13,1.4,13,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-72.9
$GPS2,174222,2104.564,-15754.835,11,2.2,30,9.8
$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,73.8,20720,-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,-64.15,0.000,2,0.000,0.000,428,1726,2780,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.9,-4.5,12,110,12.50,2.53,-1.60,0.000,4,0.135,0.052,2753,292,2873,0,0,0,0,0,0
$GC,161,-1.40,-58.4,27.7,-25.4,27,168,0.17,2.35,0.00,0.000,6,0.093,0.018,2790,1738,2874,0,0,0,0,0,0
$GC,364,-1.40,-58.4,61.5,-17.1,44,365,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1744,2874,0,0,0,0,0,0
$GC,616,-1.44,-58.4,96.9,-12.1,64,620,0.00,2.17,0.00,0.000,4,0.000,0.021,2790,3088,2875,0,0,0,0,0,0
$GC,663,-1.58,-58.4,102.2,-12.1,67,670,0.15,2.35,0.00,0.000,6,0.055,0.031,2742,1689,2875,0,0,0,0,0,0
$GC,924,-1.58,-58.4,140.7,-12.9,88,928,0.00,2.40,0.00,0.000,4,0.000,0.044,2742,288,2876,0,0,0,0,0,0
$GC,965,-1.46,-58.4,146.7,-16.0,91,970,0.20,2.22,0.00,0.000,6,0.097,0.018,2782,1716,2876,0,0,0,0,0,0
$GC,1230,-1.57,-58.4,174.9,-8.2,112,1235,0.10,2.45,0.00,0.000,4,0.074,0.044,2746,296,2876,0,0,0,0,0,0
$GC,1311,-1.57,-58.4,184.2,-12.3,118,1314,0.00,2.22,0.00,0.000,6,0.000,0.018,2746,1710,2876,0,0,0,0,0,0
$GC,1578,-1.61,-58.4,212.6,-10.0,135,1583,0.00,2.45,0.00,0.000,4,0.000,0.044,2746,287,2877,0,0,0,0,0,0
$GC,1603,-1.61,-58.4,215.7,-12.4,136,1607,0.00,2.20,0.00,0.000,6,0.000,0.019,2746,1695,2877,0,0,0,0,0,0
$GC,1934,-1.66,-58.4,250.4,-10.3,152,1938,0.00,2.25,0.00,0.000,4,0.000,0.025,2746,3070,2877,0,0,0,0,0,0
$GC,1971,-1.79,-58.4,254.3,-9.8,153,1977,0.17,2.30,0.00,0.000,6,0.053,0.032,2693,1689,2877,0,0,0,0,0,0
$GC,2290,-1.75,-58.4,292.1,-12.5,169,2295,0.12,2.28,0.00,0.000,4,0.107,0.025,2717,3069,2876,0,0,0,0,0,0
$GC,2360,-1.80,-58.4,299.7,-10.1,172,2365,0.00,2.30,0.00,0.000,6,0.000,0.034,2717,1692,2877,0,0,0,0,0,0
$GC,2706,-1.80,-58.4,337.9,-11.7,181,2710,0.00,2.40,0.00,0.000,4,0.000,0.050,2717,293,2875,0,0,0,0,0,0
$GC,2735,-1.74,-58.4,341.8,-13.9,181,2739,0.00,2.25,0.00,0.000,6,0.000,0.022,2717,1691,2875,0,0,0,0,0,0
$GC,3072,-1.74,-58.4,383.4,-12.4,190,3076,0.00,2.30,0.00,0.000,4,0.000,0.028,2717,3077,2873,0,0,0,0,0,0
$GC,3243,-1.82,-58.4,404.2,-11.5,193,3247,0.00,2.33,0.00,0.000,6,0.000,0.039,2717,1703,2873,0,0,0,0,0,0
$GC,3576,-1.86,-58.4,443.7,-11.6,201,3580,0.00,2.30,0.00,0.000,4,0.000,0.031,2717,3079,2870,0,0,0,0,0,0
$GC,3614,-1.95,-58.4,448.2,-10.9,201,3620,0.17,2.38,0.00,0.000,6,0.058,0.039,2669,1697,2869,0,0,0,0,0,0
$STATE,3658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3658,begin apogee
$GC,3664,-0.31,0.0,453.6,11.6,203,3717,1.75,0.00,49.28,0.825,6,0.084,0.000,3032,1697,2630,0,0,0,0,0,0
$STATE,3718,end apogee,CONTROL_FINISHED_OK
$STATE,3718,begin climb
$GC,3721,1.56,58.4,455.2,0.0,204,3776,1.75,0.00,50.38,0.808,6,0.029,0.000,3449,1697,2391,0,0,0,0,0,0
$GC,4091,1.32,110.8,447.2,3.2,213,4144,0.28,2.53,45.53,0.815,4,0.107,0.032,3392,3113,2178,0,0,0,0,0,0
$GC,4273,1.18,110.8,434.9,8.7,217,4277,0.17,2.38,0.00,0.000,6,0.117,0.040,3359,1741,2176,0,0,0,0,0,0
$GC,4602,1.08,110.8,406.8,8.7,225,4604,0.12,0.00,0.00,0.000,6,0.119,0.000,3337,1742,2169,0,0,0,0,0,0
$GC,4926,1.03,113.2,379.3,7.7,233,4927,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,1742,2166,0,0,0,0,0,0
$GC,5251,1.04,150.6,363.5,4.5,241,5293,0.00,2.45,34.15,0.795,4,0.000,0.033,3337,3116,2016,0,0,0,0,0,0
$GC,5309,1.05,157.9,359.8,7.2,242,5322,0.00,2.40,8.25,0.671,6,0.000,0.040,3337,1742,1986,0,0,0,0,0,0
$GC,5663,1.05,157.9,327.7,9.2,251,5667,0.00,2.47,0.00,0.000,4,0.000,0.054,3337,328,1980,0,0,0,0,0,0
$GC,5677,1.00,157.9,326.3,9.2,251,5682,0.00,2.30,0.00,0.000,6,0.000,0.027,3337,1730,1978,0,0,0,0,0,0
$GC,6008,1.00,157.9,295.0,9.3,260,6012,0.00,2.45,0.00,0.000,4,0.000,0.053,3337,332,1977,0,0,0,0,0,0
$GC,6059,0.90,157.9,289.7,10.5,262,6064,0.20,2.35,0.00,0.000,6,0.106,0.026,3299,1742,1975,0,0,0,0,0,0
$GC,6383,0.99,165.5,268.3,7.2,278,6395,0.00,2.40,6.15,0.593,4,0.000,0.031,3299,3127,1955,0,0,0,0,0,0
$GC,6419,1.11,165.5,265.2,8.0,279,6424,0.20,2.38,0.00,0.000,6,0.054,0.037,3352,1738,1955,0,0,0,0,0,0
$GC,6735,1.11,165.5,237.7,8.8,294,6737,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,1738,1953,0,0,0,0,0,0
$GC,7045,1.11,165.5,208.4,9.6,309,7049,0.00,2.33,0.00,0.000,4,0.000,0.028,3352,3132,1952,0,0,0,0,0,0
$GC,7116,1.14,165.5,200.3,11.6,312,7120,0.00,2.38,0.00,0.000,6,0.000,0.035,3352,1729,1952,0,0,0,0,0,0
$GC,7450,1.19,203.9,170.6,4.4,338,7491,0.00,2.47,34.97,0.650,4,0.000,0.048,3352,333,1797,0,0,0,0,0,0
$GC,7502,1.17,221.8,167.7,6.3,341,7524,0.00,2.35,16.73,0.609,6,0.000,0.021,3352,1753,1725,0,0,0,0,0,0
$GC,7788,1.22,221.8,143.2,9.4,364,7792,0.00,2.47,0.00,0.000,4,0.000,0.048,3352,335,1721,0,0,0,0,0,0
$GC,7921,1.19,221.8,128.3,12.8,373,7926,0.00,2.28,0.00,0.000,6,0.000,0.021,3353,1751,1718,0,0,0,0,0,0
$GC,8179,1.25,221.8,98.0,8.9,394,8184,0.00,2.45,0.00,0.000,4,0.000,0.045,3352,334,1717,0,0,0,0,0,0
$GC,8226,1.25,221.8,93.6,10.5,397,8232,0.00,2.28,0.00,0.000,6,0.000,0.020,3352,1745,1716,0,0,0,0,0,0
$GC,8487,1.36,221.8,68.5,9.5,418,8489,0.17,0.00,0.00,0.000,6,0.052,0.000,3404,1745,1716,0,0,0,0,0,0
$GC,8739,1.37,234.5,51.8,6.8,438,8756,0.00,2.50,11.02,0.489,4,0.000,0.043,3404,334,1674,0,0,0,0,0,0
$GC,8893,1.27,234.5,32.2,14.4,449,8898,0.15,2.25,0.00,0.000,6,0.103,0.018,3375,1748,1671,0,0,0,0,0,0
$GC,9157,1.32,234.5,3.5,11.0,507,9163,0.00,2.45,0.00,0.000,4,0.000,0.044,3375,334,1671,0,0,0,0,0,0
$STATE,9170,end climb,SURFACE_DEPTH_REACHED
$STATE,9170,begin surface coast
$FINISH,0.9,1.010848
$STATE,9197,end surface coast,CONTROL_FINISHED_OK
$STATE,9197,begin surface
$SM_CCo,9222,98.62,0.488,0,0,958,410.14
$SM_GC,1.65,0.00,0.00,98.62,0.000,0.000,0.488,426,1709,958,-12.30,0.25,410.14
$IRIDIUM_FIX,2059.45,-15753.90,221199,171758
$TT8_MAMPS,0.029146
$HUMID,53.26
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.5,26.164
$10V_AH,10.3,21.457
$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,31.000,98.925,256.450,98.625,0.000,54.606,69.111,223.596,4.500,0.000,31.715,1010.238,6300.455,414.967,1548.859,600.022,0.000,1102.794,0.000,1517.034,0.000,29.264,0.000
$DEVICE_MAMPS,134.992,53.690,824.525,487.812,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,346.202,328.445,737.449,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,28571,515
$CAP_FILE_SIZE,103988,0
$CFSIZE,260165632,197898240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280810,201924,2104.761,-15754.457,26,0.9,44,9.8