version: 66.06
glider: 139
mission: 8
dive: 307
start: 8 29 110 15 29 36
data:
$ID,139
$MISSION,8
$DIVE,307
$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,-2157276.2
$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
$GPS1,152332,2104.040,-15754.021,35,2.0,35,9.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-71.3
$GPS2,152919,2103.979,-15754.078,11,1.0,17,9.8
$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,70.2,19581,-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,-58.4,0.0,0.0,0,83,0.00,0.00,-64.20,0.000,2,0.000,0.000,427,1700,2754,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.4,-3.3,12,111,12.48,2.38,-2.12,0.000,4,0.133,0.036,2753,3109,2873,0,0,0,0,0,0
$GC,248,-1.56,-58.4,41.0,-15.6,38,254,0.00,2.42,0.00,0.000,6,0.000,0.035,2753,1695,2875,0,0,0,0,0,0
$GC,509,-1.49,-58.4,86.0,-18.6,59,514,0.10,2.40,0.00,0.000,4,0.120,0.045,2771,295,2875,0,0,0,0,0,0
$GC,563,-1.38,-58.4,97.5,-21.6,63,568,0.12,2.33,0.00,0.000,6,0.111,0.018,2795,1742,2875,0,0,0,0,0,0
$GC,828,-1.46,-58.4,136.0,-13.2,84,832,0.00,2.50,0.00,0.000,4,0.000,0.044,2794,294,2877,0,0,0,0,0,0
$GC,852,-1.46,-58.4,139.4,-14.2,86,857,0.00,2.22,0.00,0.000,6,0.000,0.018,2795,1717,2876,0,0,0,0,0,0
$GC,1124,-1.59,-58.4,172.1,-12.1,107,1129,0.20,2.20,0.00,0.000,4,0.047,0.021,2734,3068,2877,0,0,0,0,0,0
$GC,1230,-1.67,-58.4,186.6,-13.9,114,1237,0.00,2.33,0.00,0.000,6,0.000,0.032,2734,1700,2878,0,0,0,0,0,0
$GC,1504,-1.67,-58.4,221.7,-11.7,131,1508,0.00,2.25,0.00,0.000,4,0.000,0.022,2734,3075,2878,0,0,0,0,0,0
$GC,1533,-1.75,-58.4,225.0,-10.6,132,1537,0.00,2.30,0.00,0.000,6,0.000,0.031,2734,1689,2879,0,0,0,0,0,0
$GC,1858,-1.78,-58.4,259.4,-10.5,148,1865,0.00,2.25,0.00,0.000,4,0.000,0.024,2734,3068,2879,0,0,0,0,0,0
$GC,1970,-1.86,-58.4,270.8,-10.1,152,1975,0.17,2.28,0.00,0.000,6,0.052,0.033,2682,1701,2879,0,0,0,0,0,0
$GC,2306,-1.81,-58.4,311.0,-11.5,166,2311,0.10,2.28,0.00,0.000,4,0.117,0.025,2702,3066,2878,0,0,0,0,0,0
$GC,2345,-1.85,-58.4,315.4,-10.4,166,2351,0.00,2.30,0.00,0.000,6,0.000,0.034,2702,1702,2878,0,0,0,0,0,0
$GC,2676,-1.85,-58.4,348.4,-10.0,175,2678,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1700,2877,0,0,0,0,0,0
$GC,3002,-1.85,-58.4,383.0,-10.9,183,3006,0.00,2.30,0.00,0.000,4,0.000,0.029,2702,3064,2876,0,0,0,0,0,0
$GC,3050,-1.91,-58.4,388.1,-10.4,184,3054,0.00,2.33,0.00,0.000,6,0.000,0.038,2702,1703,2876,0,0,0,0,0,0
$GC,3375,-1.91,-58.4,423.6,-11.1,192,3379,0.00,2.30,0.00,0.000,4,0.000,0.031,2702,3070,2873,0,0,0,0,0,0
$GC,3450,-1.95,-58.4,431.3,-9.8,193,3455,0.12,2.33,0.00,0.000,6,0.068,0.040,2665,1696,2872,0,0,0,0,0,0
$STATE,3623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3623,begin apogee
$GC,3629,-0.31,0.0,451.2,11.5,198,3683,1.75,0.00,49.78,0.838,6,0.084,0.000,3028,1696,2630,0,0,0,0,0,0
$STATE,3684,end apogee,CONTROL_FINISHED_OK
$STATE,3684,begin climb
$GC,3686,1.56,58.4,452.5,0.0,199,3745,1.77,2.42,50.35,0.825,4,0.029,0.051,3454,334,2390,0,0,0,0,0,0
$GC,3823,1.20,114.6,450.2,2.8,202,3880,0.47,2.30,49.83,0.824,6,0.104,0.025,3363,1721,2161,0,0,0,0,0,0
$GC,4193,1.09,114.6,421.1,8.2,211,4198,0.12,2.40,0.00,0.000,4,0.113,0.033,3340,3131,2152,0,0,0,0,0,0
$GC,4323,1.08,131.3,412.8,6.4,213,4344,0.00,2.40,14.52,0.765,6,0.000,0.040,3340,1741,2093,0,0,0,0,0,0
$GC,4660,1.03,131.3,386.0,8.2,222,4664,0.00,2.50,0.00,0.000,4,0.000,0.055,3339,326,2088,0,0,0,0,0,0
$GC,4679,0.92,131.3,384.2,8.1,222,4684,0.20,2.35,0.00,0.000,6,0.105,0.027,3302,1734,2085,0,0,0,0,0,0
$GC,5027,0.99,148.3,362.5,6.4,231,5043,0.00,0.00,15.05,0.762,6,0.000,0.000,3301,1735,2024,0,0,0,0,0,0
$GC,5350,1.04,148.3,333.5,8.9,239,5355,0.12,2.50,0.00,0.000,4,0.069,0.054,3337,334,2021,0,0,0,0,0,0
$GC,5426,0.91,148.3,325.5,10.7,240,5432,0.20,2.35,0.00,0.000,6,0.100,0.027,3299,1737,2017,0,0,0,0,0,0
$GC,5745,0.98,148.3,298.2,8.4,249,5749,0.00,2.47,0.00,0.000,4,0.000,0.053,3299,332,2017,0,0,0,0,0,0
$GC,5835,0.98,148.3,289.6,9.1,253,5839,0.00,2.35,0.00,0.000,6,0.000,0.027,3299,1744,2015,0,0,0,0,0,0
$GC,6167,1.10,184.0,270.7,4.7,269,6205,0.17,2.40,31.70,0.747,4,0.057,0.031,3347,3136,1879,0,0,0,0,0,0
$GC,6251,1.10,184.0,264.7,9.3,272,6258,0.00,2.47,0.00,0.000,6,0.000,0.040,3347,1734,1878,0,0,0,0,0,0
$GC,6567,1.10,184.0,231.6,11.3,288,6568,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,1734,1875,0,0,0,0,0,0
$GC,6877,1.10,184.0,199.8,11.0,303,6882,0.00,2.45,0.00,0.000,4,0.000,0.051,3347,324,1873,0,0,0,0,0,0
$GC,6905,1.02,184.0,196.7,12.2,305,6910,0.12,2.35,0.00,0.000,6,0.107,0.023,3324,1749,1871,0,0,0,0,0,0
$GC,7171,1.11,184.0,173.1,8.3,326,7175,0.00,2.45,0.00,0.000,4,0.000,0.048,3323,331,1871,0,0,0,0,0,0
$GC,7226,1.11,186.0,168.4,7.7,330,7231,0.00,2.30,0.00,0.000,6,0.000,0.022,3324,1752,1870,0,0,0,0,0,0
$GC,7499,1.23,200.7,152.7,6.6,351,7520,0.20,2.50,14.88,0.601,4,0.048,0.047,3382,326,1810,0,0,0,0,0,0
$GC,7543,1.10,200.7,148.5,9.4,354,7548,0.20,2.30,0.00,0.000,6,0.094,0.021,3342,1746,1808,0,0,0,0,0,0
$GC,7805,1.18,200.7,128.1,9.2,374,7809,0.00,2.42,0.00,0.000,4,0.000,0.046,3343,331,1808,0,0,0,0,0,0
$GC,7844,1.18,200.7,123.2,12.5,377,7848,0.00,2.28,0.00,0.000,6,0.000,0.020,3342,1748,1806,0,0,0,0,0,0
$GC,8115,1.31,200.7,87.2,11.8,398,8120,0.17,2.47,0.00,0.000,4,0.051,0.044,3397,324,1806,0,0,0,0,0,0
$GC,8130,1.31,200.7,84.9,11.3,399,8135,0.00,2.28,0.00,0.000,6,0.000,0.020,3397,1747,1806,0,0,0,0,0,0
$GC,8391,1.31,206.3,63.2,7.4,419,8402,0.00,0.00,5.95,0.436,6,0.000,0.000,3397,1747,1789,0,0,0,0,0,0
$GC,8654,1.31,206.3,40.8,8.2,440,8659,0.00,2.42,0.00,0.000,4,0.000,0.043,3397,328,1789,0,0,0,0,0,0
$GC,8912,1.22,206.3,14.1,11.8,481,8919,0.12,2.28,0.00,0.000,6,0.081,0.018,3367,1739,1788,0,0,0,0,0,0
$STATE,9058,end climb,SURFACE_DEPTH_REACHED
$STATE,9058,begin surface coast
$FINISH,0.8,1.000706
$STATE,9114,end surface coast,CONTROL_FINISHED_OK
$STATE,9114,begin surface
$SM_CCo,9137,114.28,0.491,0,0,958,410.14
$SM_GC,1.60,0.00,0.00,114.28,0.000,0.000,0.491,428,1681,958,-12.30,-0.57,410.14
$IRIDIUM_FIX,2059.45,-15753.90,231199,131306
$TT8_MAMPS,0.029146
$HUMID,52.55
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.80
$XPDR_PINGS,0
$24V_AH,23.5,26.798
$10V_AH,10.3,22.042
$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,31.500,99.175,232.050,114.275,0.000,28.103,28.660,166.311,4.500,0.000,17.233,1036.920,6080.788,411.841,1595.253,473.944,0.000,1113.204,0.000,1576.877,0.000,29.272,0.000
$DEVICE_MAMPS,133.458,103.545,837.564,490.880,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,354.816,335.534,779.899,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,28696,527
$CAP_FILE_SIZE,102013,0
$CFSIZE,260165632,197488640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290810,180537,2103.773,-15754.263,71,1.0,71,9.8