version: 66.06
glider: 139
mission: 8
dive: 317
start: 8 30 110 18 51 50
data:
$ID,139
$MISSION,8
$DIVE,317
$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,-2157483.2
$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
$GPS1,184558,2101.759,-15754.797,12,3.2,31,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-71.9
$GPS2,185134,2101.651,-15754.839,14,2.4,33,9.8
$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,59.7,21994,-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,-58.4,0.0,0.0,0,81,0.00,0.00,-64.22,0.000,2,0.000,0.000,426,1717,2766,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.6,-3.9,12,109,12.48,2.53,-1.92,0.000,4,0.134,0.054,2751,288,2872,0,0,0,0,0,0
$GC,118,-0.33,-58.4,15.6,-27.1,17,126,1.30,2.38,0.00,0.000,6,0.090,0.019,3026,1748,2872,0,0,0,0,0,0
$GC,321,-1.07,-58.4,26.3,-4.7,63,329,0.70,2.50,0.00,0.000,4,0.048,0.040,2861,293,2874,0,0,0,0,0,0
$GC,434,-1.23,-58.4,36.1,-10.6,79,439,0.12,2.22,0.00,0.000,6,0.063,0.018,2819,1713,2874,0,0,0,0,0,0
$GC,703,-1.31,-58.4,69.8,-12.7,100,707,0.00,2.45,0.00,0.000,4,0.000,0.045,2819,291,2875,0,0,0,0,0,0
$GC,742,-1.31,-58.4,75.5,-14.4,103,746,0.00,2.22,0.00,0.000,6,0.000,0.018,2819,1701,2875,0,0,0,0,0,0
$GC,1006,-1.43,-58.4,105.0,-10.8,124,1008,0.12,0.00,0.00,0.000,6,0.062,0.000,2775,1707,2875,0,0,0,0,0,0
$GC,1258,-1.46,-58.4,139.1,-12.2,144,1262,0.00,2.40,0.00,0.000,4,0.000,0.045,2775,295,2876,0,0,0,0,0,0
$GC,1286,-1.46,-58.4,142.5,-12.1,146,1291,0.00,2.22,0.00,0.000,6,0.000,0.018,2775,1704,2876,0,0,0,0,0,0
$GC,1554,-1.53,-58.4,166.9,-9.7,167,1558,0.00,2.40,0.00,0.000,4,0.000,0.044,2775,294,2877,0,0,0,0,0,0
$GC,1587,-1.57,-58.4,171.1,-11.8,169,1593,0.00,2.22,0.00,0.000,6,0.000,0.018,2775,1703,2877,0,0,0,0,0,0
$GC,1849,-1.66,-58.4,199.5,-10.2,190,1854,0.17,2.45,0.00,0.000,4,0.052,0.045,2722,289,2878,0,0,0,0,0,0
$GC,1901,-1.58,-58.4,206.5,-13.6,193,1905,0.17,2.22,0.00,0.000,6,0.097,0.019,2757,1695,2878,0,0,0,0,0,0
$GC,2236,-1.65,-58.4,240.5,-10.1,209,2240,0.00,2.45,0.00,0.000,4,0.000,0.046,2756,287,2878,0,0,0,0,0,0
$GC,2268,-1.65,-58.4,245.0,-11.9,210,2273,0.00,2.25,0.00,0.000,6,0.000,0.019,2756,1702,2878,0,0,0,0,0,0
$GC,2585,-1.72,-58.4,277.5,-9.9,225,2587,0.15,0.00,0.00,0.000,6,0.058,0.000,2710,1707,2878,0,0,0,0,0,0
$GC,2914,-1.72,-58.4,308.3,-10.1,239,2918,0.00,2.25,0.00,0.000,4,0.000,0.026,2710,3076,2878,0,0,0,0,0,0
$GC,2988,-1.78,-58.4,315.8,-9.5,240,2992,0.00,2.30,0.00,0.000,6,0.000,0.035,2710,1698,2877,0,0,0,0,0,0
$GC,3325,-1.78,-58.4,348.2,-10.0,249,3329,0.00,2.28,0.00,0.000,4,0.000,0.027,2710,3077,2877,0,0,0,0,0,0
$GC,3343,-1.82,-58.4,350.4,-10.7,249,3348,0.00,2.35,0.00,0.000,6,0.000,0.035,2710,1694,2876,0,0,0,0,0,0
$GC,3688,-1.82,-58.4,386.2,-10.1,258,3692,0.00,2.28,0.00,0.000,4,0.000,0.028,2710,3071,2874,0,0,0,0,0,0
$GC,3759,-1.88,-58.4,393.1,-9.3,259,3763,0.00,2.35,0.00,0.000,6,0.000,0.038,2710,1693,2874,0,0,0,0,0,0
$GC,4099,-1.88,-58.4,429.5,-10.7,268,4100,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1693,2872,0,0,0,0,0,0
$STATE,4300,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4300,begin apogee
$GC,4306,-0.31,0.0,450.1,10.1,273,4358,1.52,0.00,48.90,0.832,6,0.078,0.000,3031,1693,2630,0,0,0,0,0,0
$STATE,4359,end apogee,CONTROL_FINISHED_OK
$STATE,4359,begin climb
$GC,4363,1.56,58.4,450.5,0.0,274,4418,1.75,0.00,49.95,0.811,6,0.030,0.000,3448,1693,2391,0,0,0,0,0,0
$GC,4733,1.33,113.4,441.3,2.9,283,4787,0.28,2.50,47.53,0.822,4,0.108,0.032,3392,3115,2167,0,0,0,0,0,0
$GC,5055,1.20,113.4,408.8,11.4,290,5060,0.17,2.40,0.00,0.000,6,0.117,0.039,3360,1736,2161,0,0,0,0,0,0
$GC,5379,1.10,113.4,379.1,8.7,298,5380,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,1736,2156,0,0,0,0,0,0
$GC,5704,1.01,113.4,350.3,8.8,306,5709,0.20,2.35,0.00,0.000,4,0.110,0.031,3323,3108,2154,0,0,0,0,0,0
$GC,5768,1.02,119.3,345.4,7.4,307,5777,0.00,2.38,4.03,0.509,6,0.000,0.039,3322,1734,2143,0,0,0,0,0,0
$GC,6117,1.02,119.3,319.0,8.2,316,6121,0.00,2.35,0.00,0.000,4,0.000,0.031,3323,3113,2141,0,0,0,0,0,0
$GC,6165,1.04,141.9,315.7,5.9,317,6193,0.00,2.38,21.15,0.758,6,0.000,0.038,3322,1737,2051,0,0,0,0,0,0
$GC,6513,1.08,168.9,295.7,5.5,327,6544,0.00,2.58,24.73,0.747,4,0.000,0.056,3322,334,1941,0,0,0,0,0,0
$GC,6592,1.01,168.9,287.9,12.0,330,6598,0.00,2.33,0.00,0.000,6,0.000,0.027,3323,1719,1937,0,0,0,0,0,0
$GC,6907,1.06,168.9,255.3,11.4,346,6911,0.00,2.38,0.00,0.000,4,0.000,0.031,3323,3135,1935,0,0,0,0,0,0
$GC,6941,1.14,168.9,251.5,11.3,347,6946,0.12,2.42,0.00,0.000,6,0.070,0.038,3357,1734,1935,0,0,0,0,0,0
$GC,7264,1.14,168.9,219.1,8.0,363,7268,0.00,2.42,0.00,0.000,4,0.000,0.051,3358,334,1933,0,0,0,0,0,0
$GC,7320,1.03,168.9,213.3,11.0,365,7325,0.17,2.33,0.00,0.000,6,0.103,0.024,3323,1744,1930,0,0,0,0,0,0
$GC,7647,1.10,168.9,183.8,9.1,385,7651,0.00,2.45,0.00,0.000,4,0.000,0.049,3323,329,1929,0,0,0,0,0,0
$GC,7813,1.10,168.9,167.6,9.2,397,7817,0.00,2.33,0.00,0.000,6,0.000,0.021,3324,1753,1927,0,0,0,0,0,0
$GC,8079,1.19,184.4,148.7,6.5,418,8098,0.15,2.53,12.98,0.589,4,0.059,0.047,3368,330,1878,0,0,0,0,0,0
$GC,8185,1.09,184.4,139.9,10.5,425,8191,0.15,2.30,0.00,0.000,6,0.103,0.021,3339,1751,1874,0,0,0,0,0,0
$GC,8447,1.17,184.4,118.4,10.1,446,8451,0.00,2.45,0.00,0.000,4,0.000,0.045,3338,324,1874,0,0,0,0,0,0
$GC,8554,1.17,184.4,107.2,9.4,454,8558,0.00,2.30,0.00,0.000,6,0.000,0.020,3339,1751,1874,0,0,0,0,0,0
$GC,8822,1.28,200.7,87.2,6.4,475,8843,0.17,2.47,15.45,0.537,4,0.053,0.044,3389,326,1810,0,0,0,0,0,0
$GC,8916,1.21,204.6,80.2,7.5,481,8926,0.12,2.28,4.53,0.377,6,0.107,0.019,3365,1743,1795,0,0,0,0,0,0
$GC,9186,1.27,204.6,59.5,8.5,503,9187,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,1743,1795,0,0,0,0,0,0
$GC,9440,1.32,204.6,37.7,8.8,523,9445,0.10,2.45,0.00,0.000,4,0.075,0.044,3399,330,1794,0,0,0,0,0,0
$GC,9696,1.21,204.6,7.6,10.7,572,9703,0.15,2.28,0.00,0.000,6,0.080,0.018,3365,1741,1794,0,0,0,0,0,0
$STATE,9750,end climb,SURFACE_DEPTH_REACHED
$STATE,9750,begin surface coast
$FINISH,0.8,1.002825
$STATE,9793,end surface coast,CONTROL_FINISHED_OK
$STATE,9793,begin surface
$SM_CCo,9817,118.97,0.486,0,0,957,410.14
$SM_GC,1.66,0.00,0.00,118.97,0.000,0.000,0.486,428,1675,957,-12.30,-0.71,410.14
$IRIDIUM_FIX,2054.83,-15714.46,241199,161603
$TT8_MAMPS,0.028379
$HUMID,52.83
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.5,27.584
$10V_AH,10.3,22.782
$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,32.875,99.425,229.225,118.975,0.000,25.241,27.212,145.868,4.500,0.000,34.648,1149.494,6445.269,415.652,1792.424,468.764,0.000,1163.568,0.000,1757.652,0.000,29.258,0.000
$DEVICE_MAMPS,134.225,102.778,832.195,485.511,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,399.288,383.533,905.267,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,31803,593
$CAP_FILE_SIZE,107457,0
$CFSIZE,260165632,196964352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300810,213836,2101.729,-15754.851,31,1.0,31,9.8