version: 66.06
glider: 139
mission: 8
dive: 305
start: 8 29 110 10 9 12
data:
$ID,139
$MISSION,8
$DIVE,305
$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,-2157230.5
$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
$GPS1,100230,2104.581,-15754.030,39,1.3,39,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-71.0
$GPS2,100856,2104.512,-15754.072,33,1.3,33,9.8
$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,73.1,19423,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.56,-58.4,0.0,0.0,0,78,0.00,0.00,-58.83,0.000,2,0.000,0.000,427,1713,2630,0,0,0,0,0,0
$GC,81,-1.56,-58.4,3.6,-4.3,11,105,12.45,2.47,-4.47,0.000,4,0.133,0.057,2751,289,2871,0,0,0,0,0,0
$GC,114,-0.31,-58.4,15.0,-26.0,16,122,1.30,2.35,0.00,0.000,6,0.086,0.019,3028,1742,2872,0,0,0,0,0,0
$GC,317,-0.94,-58.4,27.9,-2.9,62,325,0.57,2.50,0.00,0.000,4,0.037,0.041,2883,293,2874,0,0,0,0,0,0
$GC,350,-1.34,-58.4,29.8,-5.0,68,357,0.28,2.28,0.00,0.000,6,0.026,0.018,2791,1706,2874,0,0,0,0,0,0
$GC,546,-1.34,-58.4,56.8,-15.6,84,547,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1713,2873,0,0,0,0,0,0
$GC,799,-1.38,-58.4,91.4,-11.9,104,803,0.00,2.42,0.00,0.000,4,0.000,0.046,2790,295,2875,0,0,0,0,0,0
$GC,915,-1.42,-58.4,105.9,-11.1,112,921,0.00,2.25,0.00,0.000,6,0.000,0.018,2791,1710,2875,0,0,0,0,0,0
$GC,1178,-1.51,-58.4,135.5,-11.6,133,1182,0.00,2.42,0.00,0.000,4,0.000,0.044,2790,289,2876,0,0,0,0,0,0
$GC,1210,-1.55,-58.4,139.9,-12.6,135,1217,0.12,2.22,0.00,0.000,6,0.063,0.018,2747,1699,2876,0,0,0,0,0,0
$GC,1471,-1.55,-58.4,170.6,-11.7,156,1475,0.00,2.28,0.00,0.000,4,0.000,0.023,2746,3078,2877,0,0,0,0,0,0
$GC,1503,-1.64,-58.4,174.7,-11.9,158,1510,0.00,2.35,0.00,0.000,6,0.000,0.031,2747,1691,2876,0,0,0,0,0,0
$GC,1782,-1.68,-58.4,205.8,-11.0,179,1786,0.00,2.28,0.00,0.000,4,0.000,0.023,2746,3076,2877,0,0,0,0,0,0
$GC,1888,-1.81,-58.4,216.7,-9.2,183,1893,0.17,2.30,0.00,0.000,6,0.051,0.031,2693,1692,2877,0,0,0,0,0,0
$GC,2207,-1.75,-58.4,255.1,-14.5,198,2212,0.12,2.30,0.00,0.000,4,0.108,0.025,2717,3072,2877,0,0,0,0,0,0
$GC,2396,-1.80,-58.4,278.1,-11.2,206,2400,0.00,2.33,0.00,0.000,6,0.000,0.034,2717,1695,2877,0,0,0,0,0,0
$GC,2735,-1.80,-58.4,313.1,-10.6,220,2739,0.00,2.28,0.00,0.000,4,0.000,0.025,2717,3067,2877,0,0,0,0,0,0
$GC,2872,-1.87,-58.4,324.9,-7.3,222,2879,0.10,2.30,0.00,0.000,6,0.076,0.037,2683,1702,2875,0,0,0,0,0,0
$GC,3203,-1.82,-58.4,356.8,-10.2,231,3208,0.00,2.28,0.00,0.000,4,0.000,0.028,2684,3067,2874,0,0,0,0,0,0
$GC,3222,-1.82,-58.4,358.9,-10.8,231,3226,0.00,2.33,0.00,0.000,6,0.000,0.037,2684,1700,2873,0,0,0,0,0,0
$GC,3572,-1.79,-58.4,399.5,-12.7,240,3574,0.12,0.00,0.00,0.000,6,0.108,0.000,2708,1699,2871,0,0,0,0,0,0
$GC,3898,-1.79,-58.4,440.8,-12.3,248,3902,0.00,2.30,0.00,0.000,4,0.000,0.031,2708,3065,2870,0,0,0,0,0,0
$STATE,3978,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3979,begin apogee
$GC,3988,-0.31,0.0,450.5,10.8,249,4041,1.52,0.00,49.08,0.824,6,0.081,0.000,3029,1733,2630,0,0,0,0,0,0
$STATE,4042,end apogee,CONTROL_FINISHED_OK
$STATE,4042,begin climb
$GC,4045,1.56,58.4,453.5,0.0,251,4100,1.80,0.00,50.70,0.809,6,0.028,0.000,3458,1733,2391,0,0,0,0,0,0
$GC,4400,1.33,128.2,452.5,1.6,260,4472,0.32,2.53,60.83,0.825,4,0.103,0.053,3391,334,2106,0,0,0,0,0,0
$GC,4737,1.05,128.2,412.4,13.3,267,4742,0.32,2.30,0.00,0.000,6,0.100,0.027,3328,1720,2096,0,0,0,0,0,0
$GC,5087,1.05,128.2,379.2,8.6,276,5091,0.00,2.45,0.00,0.000,4,0.000,0.054,3328,330,2093,0,0,0,0,0,0
$GC,5206,0.94,129.6,370.5,7.8,278,5211,0.12,2.35,0.00,0.000,6,0.117,0.027,3306,1737,2090,0,0,0,0,0,0
$GC,5548,1.00,143.8,349.9,6.6,287,5565,0.00,2.55,12.00,0.727,4,0.000,0.054,3305,330,2043,0,0,0,0,0,0
$GC,5598,0.95,143.8,345.5,8.8,288,5603,0.00,2.35,0.00,0.000,6,0.000,0.027,3306,1739,2040,0,0,0,0,0,0
$GC,5918,1.00,143.8,315.4,9.9,296,5922,0.00,2.50,0.00,0.000,4,0.000,0.053,3306,327,2038,0,0,0,0,0,0
$GC,5936,1.00,143.8,313.4,9.7,296,5941,0.00,2.38,0.00,0.000,6,0.000,0.027,3306,1745,2037,0,0,0,0,0,0
$GC,6265,1.07,152.4,287.4,7.1,308,6277,0.12,0.00,8.30,0.653,6,0.070,0.000,3342,1747,2008,0,0,0,0,0,0
$GC,6597,1.07,152.4,259.9,8.2,324,6601,0.00,2.33,0.00,0.000,4,0.000,0.031,3341,3139,2005,0,0,0,0,0,0
$GC,6652,1.07,152.4,255.2,8.4,326,6657,0.00,2.40,0.00,0.000,6,0.000,0.037,3341,1730,2006,0,0,0,0,0,0
$GC,6970,1.08,160.2,229.4,7.2,341,6983,0.00,2.40,7.95,0.611,4,0.000,0.031,3342,3140,1977,0,0,0,0,0,0
$GC,7014,1.08,160.2,225.1,11.0,343,7018,0.00,2.40,0.00,0.000,6,0.000,0.035,3341,1742,1977,0,0,0,0,0,0
$GC,7335,1.08,160.2,192.8,8.1,361,7339,0.00,2.33,0.00,0.000,4,0.000,0.028,3342,3137,1975,0,0,0,0,0,0
$GC,7484,1.12,160.2,180.7,8.1,372,7488,0.00,2.38,0.00,0.000,6,0.000,0.035,3341,1732,1975,0,0,0,0,0,0
$GC,7749,1.12,160.2,159.8,9.5,393,7753,0.00,2.40,0.00,0.000,4,0.000,0.048,3341,332,1974,0,0,0,0,0,0
$GC,7829,1.06,160.2,151.9,10.2,399,7834,0.00,2.33,0.00,0.000,6,0.000,0.022,3342,1751,1972,0,0,0,0,0,0
$GC,8096,1.14,193.6,137.4,4.9,420,8129,0.00,0.00,30.38,0.614,6,0.000,0.000,3341,1751,1840,0,0,0,0,0,0
$GC,8385,1.20,193.6,112.0,10.1,443,8389,0.00,2.28,0.00,0.000,4,0.000,0.024,3342,3130,1836,0,0,0,0,0,0
$GC,8400,1.28,193.6,110.1,10.1,444,8405,0.17,2.35,0.00,0.000,6,0.053,0.031,3391,1731,1836,0,0,0,0,0,0
$GC,8660,1.28,193.6,81.1,9.1,464,8664,0.00,2.38,0.00,0.000,4,0.000,0.044,3391,336,1836,0,0,0,0,0,0
$GC,8755,1.24,225.4,75.6,5.0,471,8790,0.00,2.30,28.05,0.552,6,0.000,0.019,3392,1759,1709,0,0,0,0,0,0
$GC,9050,1.24,225.4,53.8,8.0,494,9054,0.00,2.45,0.00,0.000,4,0.000,0.045,3391,334,1708,0,0,0,0,0,0
$GC,9315,1.16,225.4,25.6,11.5,519,9321,0.15,2.28,0.00,0.000,6,0.075,0.018,3356,1744,1704,0,0,0,0,0,0
$GC,9517,1.27,225.4,6.6,9.5,565,9524,0.00,2.45,0.00,0.000,4,0.000,0.043,3356,332,1704,0,0,0,0,0,0
$STATE,9558,end climb,SURFACE_DEPTH_REACHED
$STATE,9558,begin surface coast
$FINISH,0.8,1.013581
$STATE,9593,end surface coast,CONTROL_FINISHED_OK
$STATE,9593,begin surface
$SM_CCo,9619,99.70,0.487,0,0,957,410.14
$SM_GC,1.47,0.00,0.00,99.70,0.000,0.000,0.487,427,1720,957,-12.30,0.59,410.14
$IRIDIUM_FIX,2057.14,-15751.76,231199,070725
$TT8_MAMPS,0.028379
$HUMID,53.81
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.5,26.639
$10V_AH,10.4,21.903
$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,32.275,103.575,247.275,99.700,0.000,31.248,31.383,182.470,4.500,0.000,33.564,1142.659,6180.457,425.802,1857.199,496.273,0.000,1202.477,0.000,1816.501,0.000,29.266,0.000
$DEVICE_MAMPS,133.458,56.758,825.292,487.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,391.645,376.393,886.962,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,31890,582
$CAP_FILE_SIZE,108763,0
$CFSIZE,260165632,197578752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290810,125222,2104.307,-15753.861,13,4.5,32,9.8