version: 66.06
glider: 139
mission: 8
dive: 327
start: 8 31 110 21 46 55
data:
$ID,139
$MISSION,8
$DIVE,327
$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,-2157701.8
$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
$GPS1,213807,2107.487,-15801.767,42,1.2,42,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-71.5
$GPS2,214638,2107.420,-15801.723,14,1.5,14,9.8
$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,85.4,32628,-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,17,-1.56,-58.4,0.0,0.0,0,84,0.00,0.00,-64.65,0.000,2,0.000,0.000,424,1710,2766,0,0,0,0,0,0
$GC,87,-1.56,-58.4,3.3,-3.2,12,112,12.52,2.38,-1.98,0.000,4,0.134,0.036,2755,3110,2872,0,0,0,0,0,0
$GC,138,-1.08,-58.4,18.3,-29.3,21,145,0.45,2.42,0.00,0.000,6,0.080,0.034,2860,1701,2873,0,0,0,0,0,0
$GC,344,-1.23,-58.4,43.9,-12.2,50,349,0.12,2.42,0.00,0.000,4,0.064,0.046,2818,288,2874,0,0,0,0,0,0
$GC,384,-1.23,-58.4,50.3,-16.8,53,388,0.00,2.33,0.00,0.000,6,0.000,0.018,2818,1740,2874,0,0,0,0,0,0
$GC,648,-1.29,-58.4,91.7,-16.1,74,652,0.00,2.50,0.00,0.000,4,0.000,0.046,2818,295,2875,0,0,0,0,0,0
$GC,701,-1.29,-58.4,100.3,-17.1,78,705,0.00,2.20,0.00,0.000,6,0.000,0.018,2818,1714,2875,0,0,0,0,0,0
$GC,967,-1.44,-58.4,131.9,-11.1,99,972,0.15,2.47,0.00,0.000,4,0.057,0.045,2770,290,2876,0,0,0,0,0,0
$GC,1104,-1.39,-58.4,152.9,-14.6,109,1109,0.12,2.22,0.00,0.000,6,0.100,0.018,2795,1703,2876,0,0,0,0,0,0
$GC,1369,-1.52,-58.4,183.2,-11.5,130,1374,0.12,2.45,0.00,0.000,4,0.064,0.045,2754,292,2876,0,0,0,0,0,0
$GC,1393,-1.52,-58.4,186.2,-12.2,132,1398,0.00,2.22,0.00,0.000,6,0.000,0.018,2754,1699,2877,0,0,0,0,0,0
$GC,1650,-1.57,-58.4,216.5,-10.7,148,1654,0.00,2.42,0.00,0.000,4,0.000,0.046,2754,290,2876,0,0,0,0,0,0
$GC,1672,-1.57,-58.4,218.9,-12.1,149,1676,0.00,2.20,0.00,0.000,6,0.000,0.019,2754,1703,2877,0,0,0,0,0,0
$GC,2005,-1.63,-58.4,253.2,-9.5,165,2009,0.00,2.20,0.00,0.000,4,0.000,0.024,2753,3065,2877,0,0,0,0,0,0
$GC,2029,-1.75,-58.4,255.7,-8.5,166,2034,0.15,2.30,0.00,0.000,6,0.057,0.033,2706,1693,2876,0,0,0,0,0,0
$GC,2357,-1.75,-58.4,291.8,-11.2,182,2361,0.00,2.25,0.00,0.000,4,0.000,0.025,2706,3065,2876,0,0,0,0,0,0
$GC,2475,-1.80,-58.4,305.1,-11.7,186,2479,0.00,2.28,0.00,0.000,6,0.000,0.034,2706,1697,2876,0,0,0,0,0,0
$GC,2815,-1.80,-58.4,347.1,-11.9,195,2819,0.00,2.28,0.00,0.000,4,0.000,0.026,2706,3065,2876,0,0,0,0,0,0
$GC,2981,-1.86,-58.4,366.2,-10.4,198,2986,0.00,2.30,0.00,0.000,6,0.000,0.037,2706,1697,2874,0,0,0,0,0,0
$GC,3318,-1.86,-58.4,402.1,-10.7,207,3322,0.00,2.42,0.00,0.000,4,0.000,0.053,2706,293,2872,0,0,0,0,0,0
$GC,3331,-1.86,-58.4,403.8,-10.5,207,3336,0.00,2.22,0.00,0.000,6,0.000,0.024,2706,1684,2872,0,0,0,0,0,0
$GC,3683,-1.86,-58.4,437.1,-9.5,216,3687,0.00,2.33,0.00,0.000,4,0.000,0.031,2706,3077,2869,0,0,0,0,0,0
$GC,3714,-1.93,-58.4,440.2,-10.0,216,3718,0.12,2.35,0.00,0.000,6,0.071,0.041,2670,1697,2869,0,0,0,0,0,0
$STATE,3803,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3804,begin apogee
$GC,3809,-0.31,0.0,450.8,11.4,219,3862,1.73,0.00,48.67,0.828,6,0.085,0.000,3028,1697,2630,0,0,0,0,0,0
$STATE,3863,end apogee,CONTROL_FINISHED_OK
$STATE,3863,begin climb
$GC,3867,1.56,58.4,452.0,0.0,220,3921,1.77,0.00,50.22,0.807,6,0.030,0.000,3453,1697,2391,0,0,0,0,0,0
$GC,4236,1.31,107.7,441.5,3.5,229,4285,0.32,2.50,42.75,0.811,4,0.107,0.033,3387,3115,2190,0,0,0,0,0,0
$GC,4453,1.18,107.7,425.9,8.7,233,4458,0.15,2.38,0.00,0.000,6,0.120,0.040,3360,1743,2186,0,0,0,0,0,0
$GC,4785,1.08,107.7,397.6,9.2,241,4790,0.12,2.35,0.00,0.000,4,0.123,0.033,3338,3114,2181,0,0,0,0,0,0
$GC,4925,1.08,107.7,385.2,9.1,244,4929,0.00,2.38,0.00,0.000,6,0.000,0.039,3338,1731,2181,0,0,0,0,0,0
$GC,5249,1.04,107.7,356.9,9.1,252,5253,0.00,2.45,0.00,0.000,4,0.000,0.055,3338,330,2176,0,0,0,0,0,0
$GC,5328,0.89,107.7,349.1,9.7,253,5333,0.22,2.33,0.00,0.000,6,0.110,0.028,3296,1729,2173,0,0,0,0,0,0
$GC,5661,0.98,131.8,328.1,5.7,261,5685,0.00,2.40,19.48,0.755,4,0.000,0.032,3296,3126,2092,0,0,0,0,0,0
$GC,5719,1.08,136.7,324.0,7.5,262,5732,0.17,2.42,6.22,0.612,6,0.058,0.039,3341,1734,2071,0,0,0,0,0,0
$GC,6055,1.04,136.7,295.0,9.0,271,6060,0.00,2.35,0.00,0.000,4,0.000,0.031,3341,3126,2067,0,0,0,0,0,0
$GC,6130,1.05,137.2,288.7,7.9,274,6134,0.00,2.38,0.00,0.000,6,0.000,0.038,3341,1737,2067,0,0,0,0,0,0
$GC,6450,1.07,155.8,266.3,6.2,290,6472,0.00,2.40,17.42,0.713,4,0.000,0.029,3341,3129,1993,0,0,0,0,0,0
$GC,6602,1.12,159.8,254.9,7.5,296,6613,0.00,2.40,5.07,0.538,6,0.000,0.038,3341,1742,1978,0,0,0,0,0,0
$GC,6922,1.12,165.7,231.6,7.4,312,6935,0.00,2.40,6.28,0.571,4,0.000,0.028,3342,3130,1953,0,0,0,0,0,0
$GC,6958,1.19,165.7,228.3,8.3,313,6962,0.00,2.42,0.00,0.000,6,0.000,0.038,3341,1732,1953,0,0,0,0,0,0
$GC,7273,1.19,165.7,200.7,8.8,328,7278,0.00,2.42,0.00,0.000,4,0.000,0.050,3342,327,1951,0,0,0,0,0,0
$GC,7296,1.14,165.7,198.8,9.6,329,7301,0.00,2.33,0.00,0.000,6,0.000,0.023,3341,1748,1949,0,0,0,0,0,0
$GC,7554,1.14,165.7,176.9,8.6,350,7558,0.00,2.47,0.00,0.000,4,0.000,0.048,3341,327,1949,0,0,0,0,0,0
$GC,7684,1.08,165.7,164.4,9.9,359,7690,0.00,2.30,0.00,0.000,6,0.000,0.021,3341,1751,1948,0,0,0,0,0,0
$GC,7945,1.14,185.2,146.0,6.1,380,7969,0.00,2.55,17.77,0.601,4,0.000,0.046,3341,328,1874,0,0,0,0,0,0
$GC,7991,1.12,195.0,142.7,7.0,383,8010,0.00,2.33,10.20,0.556,6,0.000,0.021,3342,1752,1834,0,0,0,0,0,0
$GC,8263,1.18,195.0,118.0,9.8,405,8268,0.00,2.47,0.00,0.000,4,0.000,0.045,3341,325,1832,0,0,0,0,0,0
$GC,8413,1.19,205.7,105.4,6.9,416,8429,0.00,2.28,10.32,0.523,6,0.000,0.020,3342,1745,1791,0,0,0,0,0,0
$GC,8684,1.32,208.5,85.0,7.6,437,8692,0.20,0.00,4.18,0.375,6,0.049,0.000,3398,1746,1779,0,0,0,0,0,0
$GC,8948,1.34,229.6,66.0,6.0,458,8970,0.00,0.00,19.48,0.522,6,0.000,0.000,3398,1746,1694,0,0,0,0,0,0
$GC,9222,1.34,229.6,40.1,10.4,480,9226,0.00,2.42,0.00,0.000,4,0.000,0.044,3398,333,1693,0,0,0,0,0,0
$GC,9255,1.25,229.6,36.4,11.6,482,9262,0.10,2.30,0.00,0.000,6,0.082,0.018,3375,1753,1690,0,0,0,0,0,0
$GC,9518,1.30,229.6,10.3,9.4,533,9524,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,1754,1690,0,0,0,0,0,0
$STATE,9600,end climb,SURFACE_DEPTH_REACHED
$STATE,9600,begin surface coast
$FINISH,0.9,1.023125
$STATE,9642,end surface coast,CONTROL_FINISHED_OK
$STATE,9642,begin surface
$SM_CCo,9665,103.22,0.483,0,0,958,410.14
$SM_GC,1.61,0.00,0.00,103.22,0.000,0.000,0.483,428,1689,958,-12.30,-0.31,410.14
$IRIDIUM_FIX,2057.14,-15801.19,251199,191922
$TT8_MAMPS,0.028379
$HUMID,53.97
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.5,28.385
$10V_AH,10.3,23.500
$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,31.200,108.700,258.075,103.225,0.000,60.832,117.959,150.521,4.500,0.000,14.397,1117.471,6389.397,430.138,1750.481,591.017,0.000,1201.957,0.000,1731.363,0.000,29.259,0.000
$DEVICE_MAMPS,134.225,92.040,827.593,483.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,377.118,362.313,829.185,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,31824,561
$CAP_FILE_SIZE,111346,0
$CFSIZE,260165632,196452352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010910,003137,2107.266,-15800.514,74,0.8,74,9.8