version: 66.06
glider: 139
mission: 8
dive: 309
start: 8 29 110 20 59 31
data:
$ID,139
$MISSION,8
$DIVE,309
$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,-2157305.5
$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
$GPS1,205350,2103.602,-15754.117,13,1.7,13,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-69.4
$GPS2,205914,2103.514,-15754.147,12,1.5,12,9.8
$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,67.8,19864,-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,-64.38,0.000,2,0.000,0.000,429,1685,2792,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.9,-4.7,12,105,12.45,2.38,-1.40,0.000,4,0.133,0.034,2753,3116,2870,0,0,0,0,0,0
$GC,135,-1.02,-58.4,19.7,-31.0,21,142,0.52,2.45,0.00,0.000,6,0.078,0.035,2874,1698,2871,0,0,0,0,0,0
$GC,339,-1.23,-58.4,40.3,-10.3,52,344,0.20,2.40,0.00,0.000,4,0.047,0.044,2814,296,2872,0,0,0,0,0,0
$GC,413,-1.23,-58.4,52.0,-16.1,57,419,0.00,2.33,0.00,0.000,6,0.000,0.018,2814,1734,2872,0,0,0,0,0,0
$GC,671,-1.30,-58.4,89.7,-15.0,78,675,0.00,2.17,0.00,0.000,4,0.000,0.021,2814,3084,2873,0,0,0,0,0,0
$GC,719,-1.44,-58.4,96.4,-13.5,81,726,0.12,2.33,0.00,0.000,6,0.061,0.031,2768,1698,2873,0,0,0,0,0,0
$GC,980,-1.48,-58.4,133.4,-12.9,102,984,0.00,2.38,0.00,0.000,4,0.000,0.044,2768,298,2874,0,0,0,0,0,0
$GC,1059,-1.48,-58.4,144.4,-13.5,108,1063,0.00,2.22,0.00,0.000,6,0.000,0.018,2768,1723,2874,0,0,0,0,0,0
$GC,1326,-1.55,-58.4,171.9,-9.6,129,1330,0.00,2.42,0.00,0.000,4,0.000,0.044,2768,297,2875,0,0,0,0,0,0
$GC,1402,-1.55,-58.4,180.0,-10.8,134,1408,0.00,2.22,0.00,0.000,6,0.000,0.018,2768,1697,2875,0,0,0,0,0,0
$GC,1661,-1.63,-58.4,206.1,-9.4,153,1663,0.10,0.00,0.00,0.000,6,0.076,0.000,2734,1702,2875,0,0,0,0,0,0
$GC,1969,-1.63,-58.4,237.2,-10.5,168,1970,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1702,2876,0,0,0,0,0,0
$GC,2279,-1.67,-58.4,266.6,-8.8,183,2283,0.00,2.22,0.00,0.000,4,0.000,0.025,2734,3065,2876,0,0,0,0,0,0
$GC,2330,-1.77,-58.4,271.8,-9.9,185,2334,0.00,2.30,0.00,0.000,6,0.000,0.034,2734,1696,2876,0,0,0,0,0,0
$GC,2675,-1.83,-58.4,309.4,-11.0,200,2680,0.15,2.28,0.00,0.000,4,0.058,0.026,2689,3065,2875,0,0,0,0,0,0
$GC,2759,-1.83,-58.4,320.4,-13.3,201,2765,0.00,2.33,0.00,0.000,6,0.000,0.035,2688,1695,2875,0,0,0,0,0,0
$GC,3093,-1.80,-58.4,361.4,-11.9,210,3097,0.00,2.33,0.00,0.000,4,0.000,0.028,2688,3069,2874,0,0,0,0,0,0
$GC,3208,-1.80,-58.4,374.3,-10.6,212,3212,0.00,2.35,0.00,0.000,6,0.000,0.038,2688,1693,2873,0,0,0,0,0,0
$GC,3549,-1.80,-58.4,407.2,-9.1,221,3553,0.00,2.33,0.00,0.000,4,0.000,0.029,2688,3065,2871,0,0,0,0,0,0
$GC,3642,-1.84,-58.4,415.3,-8.5,223,3646,0.00,2.33,0.00,0.000,6,0.000,0.040,2688,1698,2870,0,0,0,0,0,0
$GC,3966,-1.84,-58.4,445.9,-9.9,231,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1697,2868,0,0,0,0,0,0
$STATE,4003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4003,begin apogee
$GC,4009,-0.31,0.0,450.0,10.1,232,4062,1.65,0.00,48.85,0.831,6,0.084,0.000,3031,1697,2630,0,0,0,0,0,0
$STATE,4062,end apogee,CONTROL_FINISHED_OK
$STATE,4063,begin climb
$GC,4065,1.56,58.4,451.4,0.0,233,4120,1.75,0.00,50.53,0.815,6,0.030,0.000,3450,1697,2391,0,0,0,0,0,0
$GC,4436,1.37,158.1,454.0,-1.1,242,4531,0.25,2.47,87.25,0.839,4,0.110,0.057,3398,333,1984,0,0,0,0,0,0
$GC,4745,1.08,158.1,422.0,16.1,248,4751,0.32,2.33,0.00,0.000,6,0.104,0.028,3337,1717,1974,0,0,0,0,0,0
$GC,5076,1.05,158.1,378.4,13.0,257,5080,0.00,2.40,0.00,0.000,4,0.000,0.032,3337,3128,1972,0,0,0,0,0,0
$GC,5095,1.05,158.1,376.1,11.7,257,5099,0.00,2.42,0.00,0.000,6,0.000,0.040,3336,1735,1971,0,0,0,0,0,0
$GC,5445,1.05,158.1,335.2,10.9,266,5449,0.00,2.47,0.00,0.000,4,0.000,0.055,3336,334,1968,0,0,0,0,0,0
$GC,5473,0.91,158.1,331.8,12.2,266,5478,0.20,2.35,0.00,0.000,6,0.107,0.028,3299,1736,1966,0,0,0,0,0,0
$GC,5811,0.98,158.1,301.9,8.5,275,5815,0.00,2.38,0.00,0.000,4,0.000,0.032,3299,3142,1965,0,0,0,0,0,0
$GC,5827,1.06,160.1,300.7,7.7,275,5832,0.15,2.40,0.00,0.000,6,0.064,0.038,3339,1740,1965,0,0,0,0,0,0
$GC,6164,1.06,161.6,273.9,7.8,291,6169,0.00,2.47,0.00,0.000,4,0.000,0.054,3339,329,1963,0,0,0,0,0,0
$GC,6279,0.97,161.6,261.5,11.0,296,6284,0.15,2.35,0.00,0.000,6,0.110,0.026,3311,1742,1960,0,0,0,0,0,0
$GC,6612,1.03,161.6,231.1,8.7,312,6616,0.00,2.47,0.00,0.000,4,0.000,0.051,3311,331,1960,0,0,0,0,0,0
$GC,6626,1.03,161.6,229.3,9.5,312,6632,0.00,2.35,0.00,0.000,6,0.000,0.026,3311,1741,1960,0,0,0,0,0,0
$GC,6941,1.11,161.6,202.7,8.1,328,6946,0.12,2.30,0.00,0.000,4,0.069,0.028,3348,3132,1959,0,0,0,0,0,0
$GC,7003,1.15,161.6,197.4,8.8,331,7008,0.00,2.38,0.00,0.000,6,0.000,0.035,3348,1738,1959,0,0,0,0,0,0
$GC,7261,1.16,165.9,177.2,7.5,352,7265,0.00,2.42,0.00,0.000,4,0.000,0.048,3348,331,1959,0,0,0,0,0,0
$GC,7308,1.07,165.9,172.5,10.3,355,7314,0.00,2.30,0.00,0.000,6,0.000,0.022,3348,1745,1957,0,0,0,0,0,0
$GC,7568,1.07,165.9,148.8,9.0,376,7569,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,1746,1957,0,0,0,0,0,0
$GC,7820,1.16,209.4,131.6,4.0,396,7867,0.00,2.55,40.72,0.616,4,0.000,0.046,3348,334,1776,0,0,0,0,0,0
$GC,7999,1.12,209.4,118.6,8.9,409,8003,0.00,2.30,0.00,0.000,6,0.000,0.021,3348,1748,1770,0,0,0,0,0,0
$GC,8264,1.21,209.4,93.5,10.1,430,8268,0.00,2.45,0.00,0.000,4,0.000,0.045,3348,334,1770,0,0,0,0,0,0
$GC,8310,1.21,209.4,87.1,13.3,433,8316,0.00,2.25,0.00,0.000,6,0.000,0.020,3349,1748,1768,0,0,0,0,0,0
$GC,8571,1.31,212.4,64.3,7.6,454,8573,0.17,0.00,0.00,0.000,6,0.053,0.000,3400,1748,1768,0,0,0,0,0,0
$GC,8822,1.32,216.9,43.8,7.5,474,8838,0.00,2.50,6.97,0.439,4,0.000,0.044,3400,330,1745,0,0,0,0,0,0
$GC,9065,1.22,216.9,19.8,11.8,506,9071,0.15,2.28,0.00,0.000,6,0.081,0.018,3366,1742,1744,0,0,0,0,0,0
$STATE,9239,end climb,SURFACE_DEPTH_REACHED
$STATE,9239,begin surface coast
$FINISH,0.8,1.023096
$STATE,9270,end surface coast,CONTROL_FINISHED_OK
$STATE,9270,begin surface
$SM_CCo,9294,106.60,0.486,0,0,957,410.14
$SM_GC,1.71,0.00,0.00,106.60,0.000,0.000,0.486,428,1689,957,-12.29,-0.31,410.14
$IRIDIUM_FIX,2054.83,-15756.91,231199,181820
$TT8_MAMPS,0.029146
$HUMID,54.33
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.60
$XPDR_PINGS,1
$24V_AH,23.5,26.956
$10V_AH,10.3,22.188
$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,31.075,94.425,234.325,106.600,0.000,24.080,29.761,149.364,4.750,0.000,12.818,1075.322,6122.986,406.740,1681.823,435.825,0.000,1131.182,0.000,1662.703,0.000,29.254,0.000
$DEVICE_MAMPS,133.458,105.079,839.098,486.278,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,371.896,357.988,824.886,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,31702,553
$CAP_FILE_SIZE,101660,0
$CFSIZE,260165632,197382144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290810,233736,2103.415,-15753.759,41,1.5,46,9.8