version: 66.06
glider: 139
mission: 8
dive: 301
start: 8 28 110 23 12 29
data:
$ID,139
$MISSION,8
$DIVE,301
$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,-2157122
$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
$GPS1,230614,2104.827,-15754.036,11,1.5,11,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-72.5
$GPS2,231213,2104.747,-15754.051,33,1.4,40,9.8
$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,74.3,19337,-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,-64.50,0.000,2,0.000,0.000,425,1681,2772,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.6,-4.0,12,104,12.52,0.00,-1.80,0.000,6,0.135,0.000,2755,1681,2871,0,0,0,0,0,0
$GC,305,-1.46,-58.4,53.5,-20.4,44,310,0.12,2.35,0.00,0.000,4,0.114,0.021,2778,3113,2873,0,0,0,0,0,0
$GC,324,-1.46,-58.4,57.5,-18.1,45,330,0.00,2.40,0.00,0.000,6,0.000,0.031,2778,1703,2874,0,0,0,0,0,0
$GC,583,-1.50,-58.4,94.9,-13.9,66,588,0.00,2.40,0.00,0.000,4,0.000,0.044,2777,295,2874,0,0,0,0,0,0
$GC,630,-1.50,-58.4,101.4,-14.0,69,636,0.00,2.30,0.00,0.000,6,0.000,0.018,2778,1740,2875,0,0,0,0,0,0
$GC,890,-1.56,-58.4,134.5,-13.1,90,894,0.00,2.50,0.00,0.000,4,0.000,0.044,2778,289,2876,0,0,0,0,0,0
$GC,958,-1.59,-58.4,144.2,-14.8,95,963,0.12,2.22,0.00,0.000,6,0.064,0.018,2736,1708,2876,0,0,0,0,0,0
$GC,1224,-1.59,-58.4,177.2,-11.4,116,1228,0.00,2.22,0.00,0.000,4,0.000,0.023,2736,3071,2876,0,0,0,0,0,0
$GC,1256,-1.64,-58.4,181.2,-12.1,118,1263,0.00,2.33,0.00,0.000,6,0.000,0.031,2736,1701,2877,0,0,0,0,0,0
$GC,1531,-1.67,-58.4,211.0,-10.5,137,1532,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1701,2877,0,0,0,0,0,0
$GC,1841,-1.72,-58.4,244.2,-9.6,152,1842,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1700,2878,0,0,0,0,0,0
$GC,2149,-1.76,-58.4,279.0,-12.2,167,2153,0.00,2.30,0.00,0.000,4,0.000,0.026,2736,3069,2877,0,0,0,0,0,0
$GC,2267,-1.88,-58.4,290.8,-9.4,172,2272,0.20,2.30,0.00,0.000,6,0.051,0.035,2680,1698,2877,0,0,0,0,0,0
$GC,2609,-1.82,-58.4,332.0,-12.2,183,2611,0.12,0.00,0.00,0.000,6,0.108,0.000,2704,1697,2876,0,0,0,0,0,0
$GC,2936,-1.82,-58.4,365.9,-10.4,191,2940,0.00,2.30,0.00,0.000,4,0.000,0.028,2704,3071,2874,0,0,0,0,0,0
$GC,3029,-1.87,-58.4,375.7,-9.3,193,3033,0.00,2.33,0.00,0.000,6,0.000,0.037,2704,1695,2873,0,0,0,0,0,0
$GC,3353,-1.87,-58.4,410.8,-11.4,201,3357,0.00,2.28,0.00,0.000,4,0.000,0.029,2704,3066,2871,0,0,0,0,0,0
$GC,3390,-1.94,-58.4,415.5,-12.3,201,3396,0.12,2.35,0.00,0.000,6,0.071,0.040,2669,1698,2871,0,0,0,0,0,0
$STATE,3678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3678,begin apogee
$GC,3684,-0.31,0.0,454.0,13.0,209,3737,1.75,0.00,49.25,0.835,6,0.085,0.000,3032,1697,2630,0,0,0,0,0,0
$STATE,3738,end apogee,CONTROL_FINISHED_OK
$STATE,3738,begin climb
$GC,3742,1.56,58.4,455.7,0.0,210,3800,1.75,2.45,50.62,0.820,4,0.030,0.051,3449,332,2389,0,0,0,0,0,0
$GC,4000,1.20,111.3,452.8,3.1,215,4055,0.45,2.28,46.22,0.824,6,0.107,0.025,3364,1720,2176,0,0,0,0,0,0
$GC,4379,1.08,111.3,423.2,8.8,225,4384,0.15,2.38,0.00,0.000,4,0.114,0.033,3335,3126,2167,0,0,0,0,0,0
$GC,4409,1.08,111.3,420.5,8.8,225,4413,0.00,2.42,0.00,0.000,6,0.000,0.040,3335,1736,2167,0,0,0,0,0,0
$GC,4745,1.04,120.3,396.3,7.1,234,4757,0.00,2.50,7.25,0.676,4,0.000,0.054,3335,327,2139,0,0,0,0,0,0
$GC,4774,0.95,130.9,394.1,6.9,234,4792,0.15,2.35,11.27,0.738,6,0.117,0.027,3308,1736,2095,0,0,0,0,0,0
$GC,5117,0.95,137.3,369.2,7.3,243,5129,0.00,2.42,6.55,0.652,4,0.000,0.033,3308,3126,2070,0,0,0,0,0,0
$GC,5212,1.01,137.3,361.8,8.6,245,5216,0.00,2.42,0.00,0.000,6,0.000,0.041,3308,1735,2070,0,0,0,0,0,0
$GC,5540,1.05,137.3,334.4,8.1,253,5544,0.00,2.38,0.00,0.000,4,0.000,0.031,3308,3136,2067,0,0,0,0,0,0
$GC,5591,1.12,137.3,329.7,9.0,254,5596,0.15,2.40,0.00,0.000,6,0.064,0.040,3348,1741,2067,0,0,0,0,0,0
$GC,5912,1.07,137.3,300.5,9.2,262,5916,0.00,2.47,0.00,0.000,4,0.000,0.053,3348,331,2065,0,0,0,0,0,0
$GC,6053,0.93,137.3,287.6,9.7,267,6058,0.22,2.35,0.00,0.000,6,0.104,0.027,3305,1744,2062,0,0,0,0,0,0
$GC,6383,0.98,137.3,262.0,8.0,283,6387,0.00,2.47,0.00,0.000,4,0.000,0.052,3305,323,2062,0,0,0,0,0,0
$GC,6397,0.98,137.3,260.4,8.0,283,6402,0.00,2.35,0.00,0.000,6,0.000,0.026,3305,1751,2060,0,0,0,0,0,0
$GC,6714,1.04,137.3,236.1,7.9,299,6719,0.00,2.50,0.00,0.000,4,0.000,0.051,3305,325,2060,0,0,0,0,0,0
$GC,6820,1.04,137.3,227.4,8.7,303,6826,0.00,2.33,0.00,0.000,6,0.000,0.025,3305,1745,2059,0,0,0,0,0,0
$GC,7138,1.15,163.3,207.2,5.6,319,7167,0.20,2.40,22.70,0.685,4,0.054,0.030,3359,3126,1964,0,0,0,0,0,0
$GC,7173,1.16,171.3,204.7,7.2,320,7187,0.00,2.42,8.98,0.601,6,0.000,0.035,3359,1730,1931,0,0,0,0,0,0
$GC,7512,1.16,171.3,176.0,7.9,345,7516,0.00,2.38,0.00,0.000,4,0.000,0.028,3359,3140,1926,0,0,0,0,0,0
$GC,7650,1.16,171.3,163.9,9.4,355,7654,0.00,2.40,0.00,0.000,6,0.000,0.035,3359,1735,1926,0,0,0,0,0,0
$GC,7911,1.17,177.0,141.8,7.4,375,7926,0.00,2.47,5.70,0.497,4,0.000,0.048,3359,339,1907,0,0,0,0,0,0
$GC,7956,1.08,177.0,138.1,8.4,378,7961,0.12,2.30,0.00,0.000,6,0.112,0.021,3335,1754,1906,0,0,0,0,0,0
$GC,8224,1.16,185.6,120.4,7.1,399,8238,0.00,2.28,8.95,0.540,4,0.000,0.023,3335,3127,1872,0,0,0,0,0,0
$GC,8277,1.27,185.6,116.2,8.0,402,8284,0.15,2.40,0.00,0.000,6,0.034,0.032,3384,1734,1872,0,0,0,0,0,0
$GC,8540,1.29,201.8,97.2,6.4,423,8561,0.00,2.47,15.85,0.555,4,0.000,0.047,3385,330,1806,0,0,0,0,0,0
$GC,8722,1.20,201.8,80.1,9.0,436,8727,0.12,2.30,0.00,0.000,6,0.109,0.019,3361,1749,1802,0,0,0,0,0,0
$GC,8985,1.28,220.0,62.0,6.3,456,9006,0.00,2.47,16.62,0.522,4,0.000,0.044,3360,333,1732,0,0,0,0,0,0
$GC,9042,1.28,220.0,55.9,13.6,460,9047,0.00,2.25,0.00,0.000,6,0.000,0.019,3361,1745,1730,0,0,0,0,0,0
$GC,9305,1.39,231.3,33.1,6.9,480,9322,0.17,2.45,10.88,0.471,4,0.051,0.043,3412,334,1686,0,0,0,0,0,0
$GC,9430,1.27,231.3,17.9,13.7,503,9437,0.15,2.28,0.00,0.000,6,0.082,0.018,3378,1744,1684,0,0,0,0,0,0
$STATE,9557,end climb,SURFACE_DEPTH_REACHED
$STATE,9557,begin surface coast
$FINISH,0.9,1.023085
$STATE,9584,end surface coast,CONTROL_FINISHED_OK
$STATE,9584,begin surface
$SM_CCo,9607,98.88,0.489,0,0,957,410.14
$SM_GC,1.36,0.00,0.00,98.88,0.000,0.000,0.489,427,1682,957,-12.30,-0.51,410.14
$IRIDIUM_FIX,2059.45,-15751.76,221199,202008
$TT8_MAMPS,0.029146
$HUMID,53.81
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.5,26.323
$10V_AH,10.3,21.605
$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,31.450,104.400,260.850,98.875,0.000,31.481,26.686,153.579,4.500,0.000,40.429,1073.898,6412.266,417.880,1700.688,459.344,0.000,1165.700,0.000,1650.106,0.000,29.253,0.000
$DEVICE_MAMPS,134.992,102.778,835.263,488.579,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,362.239,339.944,764.887,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,28648,538
$CAP_FILE_SIZE,107679,0
$CFSIZE,260165632,197787648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290810,015536,2104.810,-15753.982,31,0.9,41,9.8