version: 66.06
glider: 139
mission: 8
dive: 303
start: 8 29 110 4 47 12
data:
$ID,139
$MISSION,8
$DIVE,303
$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,-2157148.2
$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
$GPS1,044137,2104.765,-15754.401,30,1.2,30,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-70.3
$GPS2,044655,2104.737,-15754.467,12,1.3,12,9.8
$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,74.5,20054,-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,-64.55,0.000,2,0.000,0.000,427,1686,2800,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.9,-4.9,12,104,12.45,2.38,-1.25,0.000,4,0.133,0.035,2753,3112,2870,0,0,0,0,0,0
$GC,143,-1.38,-58.4,21.8,-25.9,23,150,0.17,2.42,0.00,0.000,6,0.089,0.035,2791,1705,2871,0,0,0,0,0,0
$GC,343,-1.38,-58.4,54.9,-16.4,45,344,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1704,2872,0,0,0,0,0,0
$GC,596,-1.38,-58.4,90.8,-13.0,65,600,0.00,2.42,0.00,0.000,4,0.000,0.046,2791,295,2873,0,0,0,0,0,0
$GC,623,-1.34,-58.4,94.4,-12.7,67,627,0.00,2.28,0.00,0.000,6,0.000,0.018,2791,1735,2873,0,0,0,0,0,0
$GC,890,-1.41,-58.4,121.4,-11.4,88,894,0.00,2.17,0.00,0.000,4,0.000,0.021,2791,3087,2874,0,0,0,0,0,0
$GC,918,-1.55,-58.4,125.3,-11.3,90,924,0.12,2.33,0.00,0.000,6,0.061,0.031,2749,1687,2874,0,0,0,0,0,0
$GC,1179,-1.55,-58.4,158.5,-12.6,110,1180,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1686,2874,0,0,0,0,0,0
$GC,1431,-1.58,-58.4,191.1,-12.5,130,1435,0.00,2.30,0.00,0.000,4,0.000,0.023,2749,3081,2875,0,0,0,0,0,0
$GC,1470,-1.70,-58.4,195.7,-10.8,133,1474,0.00,2.30,0.00,0.000,6,0.000,0.032,2749,1699,2875,0,0,0,0,0,0
$GC,1727,-1.75,-58.4,222.6,-10.2,147,1732,0.15,2.30,0.00,0.000,4,0.058,0.023,2705,3085,2875,0,0,0,0,0,0
$GC,1820,-1.78,-58.4,233.4,-12.3,151,1824,0.00,2.30,0.00,0.000,6,0.000,0.032,2704,1701,2875,0,0,0,0,0,0
$GC,2151,-1.78,-58.4,275.4,-12.3,167,2155,0.00,2.28,0.00,0.000,4,0.000,0.025,2704,3078,2876,0,0,0,0,0,0
$GC,2170,-1.78,-58.4,278.0,-11.7,168,2174,0.00,2.30,0.00,0.000,6,0.000,0.033,2705,1698,2876,0,0,0,0,0,0
$GC,2517,-1.78,-58.4,318.5,-10.9,181,2521,0.00,2.28,0.00,0.000,4,0.000,0.025,2704,3082,2875,0,0,0,0,0,0
$GC,2661,-1.83,-58.4,332.6,-9.9,184,2665,0.00,2.33,0.00,0.000,6,0.000,0.035,2704,1696,2874,0,0,0,0,0,0
$GC,2980,-1.83,-58.4,364.7,-10.3,192,2984,0.00,2.30,0.00,0.000,4,0.000,0.028,2704,3082,2873,0,0,0,0,0,0
$GC,3065,-1.88,-58.4,373.3,-10.6,193,3070,0.00,2.33,0.00,0.000,6,0.000,0.037,2704,1703,2872,0,0,0,0,0,0
$GC,3397,-1.88,-58.4,407.3,-10.0,202,3401,0.00,2.30,0.00,0.000,4,0.000,0.029,2704,3076,2870,0,0,0,0,0,0
$GC,3545,-1.93,-58.4,424.0,-12.1,205,3550,0.12,2.35,0.00,0.000,6,0.070,0.040,2669,1693,2869,0,0,0,0,0,0
$STATE,3776,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3776,begin apogee
$GC,3781,-0.31,0.0,451.9,11.6,211,3834,1.75,0.00,48.92,0.828,6,0.086,0.000,3032,1692,2630,0,0,0,0,0,0
$STATE,3835,end apogee,CONTROL_FINISHED_OK
$STATE,3835,begin climb
$GC,3839,1.56,58.4,452.9,0.0,212,3897,1.75,2.47,50.22,0.815,4,0.030,0.032,3450,3115,2390,0,0,0,0,0,0
$GC,3942,1.37,130.0,451.9,1.4,214,4014,0.28,2.38,62.88,0.813,6,0.107,0.037,3398,1736,2100,0,0,0,0,0,0
$GC,4342,1.19,130.0,413.9,10.5,224,4347,0.20,2.50,0.00,0.000,4,0.110,0.054,3361,332,2090,0,0,0,0,0,0
$GC,4363,1.00,130.0,411.4,11.6,224,4368,0.22,2.33,0.00,0.000,6,0.104,0.026,3318,1726,2087,0,0,0,0,0,0
$GC,4709,1.00,130.0,379.8,9.8,233,4713,0.00,2.38,0.00,0.000,4,0.000,0.031,3318,3126,2085,0,0,0,0,0,0
$GC,4778,1.04,130.0,372.8,10.1,234,4783,0.00,2.40,0.00,0.000,6,0.000,0.039,3318,1743,2085,0,0,0,0,0,0
$GC,5120,1.04,130.0,340.5,9.5,243,5124,0.00,2.35,0.00,0.000,4,0.000,0.032,3318,3136,2082,0,0,0,0,0,0
$GC,5281,1.09,130.0,326.1,8.0,246,5286,0.00,2.42,0.00,0.000,6,0.000,0.039,3318,1733,2081,0,0,0,0,0,0
$GC,5623,1.11,146.6,302.5,6.4,255,5641,0.10,2.47,12.18,0.706,4,0.081,0.053,3346,335,2031,0,0,0,0,0,0
$GC,5651,1.03,146.6,300.1,8.0,255,5655,0.00,2.35,0.00,0.000,6,0.000,0.026,3346,1739,2029,0,0,0,0,0,0
$GC,5973,1.03,146.6,270.3,10.4,271,5977,0.00,2.33,0.00,0.000,4,0.000,0.031,3346,3127,2027,0,0,0,0,0,0
$GC,6074,1.03,146.6,259.1,9.9,275,6078,0.00,2.40,0.00,0.000,6,0.000,0.038,3347,1740,2027,0,0,0,0,0,0
$GC,6391,1.07,176.1,239.4,5.2,290,6424,0.00,2.40,26.75,0.710,4,0.000,0.028,3346,3138,1911,0,0,0,0,0,0
$GC,6498,1.11,178.7,232.1,7.7,294,6508,0.00,2.45,3.92,0.446,6,0.000,0.036,3346,1734,1900,0,0,0,0,0,0
$GC,6842,1.11,178.7,203.3,8.2,311,6846,0.00,2.45,0.00,0.000,4,0.000,0.051,3346,330,1896,0,0,0,0,0,0
$GC,6909,1.03,178.7,196.7,9.7,315,6914,0.10,2.33,0.00,0.000,6,0.122,0.022,3328,1747,1894,0,0,0,0,0,0
$GC,7176,1.10,178.7,172.7,10.8,336,7177,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,1747,1893,0,0,0,0,0,0
$GC,7425,1.18,178.7,149.7,9.4,356,7430,0.12,2.45,0.00,0.000,4,0.067,0.046,3365,331,1893,0,0,0,0,0,0
$GC,7523,1.10,178.7,139.5,10.1,363,7528,0.12,2.30,0.00,0.000,6,0.108,0.021,3342,1753,1891,0,0,0,0,0,0
$GC,7789,1.17,181.2,118.1,7.7,384,7793,0.00,2.45,0.00,0.000,4,0.000,0.044,3341,331,1891,0,0,0,0,0,0
$GC,7950,1.17,181.2,102.5,11.0,396,7954,0.00,2.25,0.00,0.000,6,0.000,0.020,3341,1751,1890,0,0,0,0,0,0
$GC,8221,1.28,201.9,84.6,6.0,417,8249,0.17,2.28,20.45,0.545,4,0.053,0.022,3393,3114,1805,0,0,0,0,0,0
$GC,8366,1.31,201.9,71.6,9.2,427,8370,0.00,2.30,0.00,0.000,6,0.000,0.029,3392,1731,1805,0,0,0,0,0,0
$GC,8626,1.31,201.9,47.9,9.0,447,8630,0.00,2.25,0.00,0.000,4,0.000,0.021,3392,3113,1804,0,0,0,0,0,0
$GC,8640,1.31,201.9,46.4,9.3,448,8644,0.00,2.30,0.00,0.000,6,0.000,0.031,3392,1737,1804,0,0,0,0,0,0
$GC,8901,1.31,204.2,23.4,7.7,480,8908,0.00,2.42,0.00,0.000,4,0.000,0.044,3392,331,1804,0,0,0,0,0,0
$STATE,9084,end climb,SURFACE_DEPTH_REACHED
$STATE,9084,begin surface coast
$FINISH,1.0,1.000316
$STATE,9111,end surface coast,CONTROL_FINISHED_OK
$STATE,9111,begin surface
$SM_CCo,9136,124.82,0.486,0,0,957,410.14
$SM_GC,1.64,0.00,0.00,124.82,0.000,0.000,0.486,428,1706,957,-12.29,0.17,410.14
$IRIDIUM_FIX,2057.14,-15756.04,231199,020223
$TT8_MAMPS,0.028379
$HUMID,52.67
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,26.479
$10V_AH,10.3,21.747
$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,30.450,103.250,225.325,124.825,0.000,28.217,29.306,143.495,4.500,0.000,12.306,1057.901,5995.223,409.564,1676.638,438.897,0.000,1142.671,0.000,1654.742,0.000,29.257,0.000
$DEVICE_MAMPS,132.691,53.690,827.593,485.511,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,355.771,337.382,770.280,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,28665,528
$CAP_FILE_SIZE,103523,0
$CFSIZE,260165632,197685248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290810,072246,2104.683,-15754.412,14,2.4,33,9.8