version: 66.06
glider: 139
mission: 8
dive: 268
start: 8 25 110 4 12 37
data:
$ID,139
$MISSION,8
$DIVE,268
$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,-2156271.8
$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
$GPS1,040706,2105.761,-15755.420,38,1.5,38,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-71.6
$GPS2,041220,2105.792,-15755.474,14,1.7,14,9.8
$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,80.1,21694,-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,-64.53,0.000,2,0.000,0.000,425,1671,2785,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.8,-4.7,12,104,12.52,0.00,-1.50,0.000,6,0.135,0.000,2755,1672,2871,0,0,0,0,0,0
$GC,301,-1.48,-58.4,53.6,-20.2,41,305,0.10,2.38,0.00,0.000,4,0.123,0.021,2773,3113,2874,0,0,0,0,0,0
$GC,333,-1.54,-58.4,59.8,-16.2,43,340,0.00,2.42,0.00,0.000,6,0.000,0.034,2773,1696,2874,0,0,0,0,0,0
$GC,593,-1.57,-58.4,97.4,-11.4,64,597,0.00,2.35,0.00,0.000,4,0.000,0.021,2774,3113,2874,0,0,0,0,0,0
$GC,716,-1.68,-58.4,112.1,-11.2,73,721,0.17,2.38,0.00,0.000,6,0.051,0.031,2722,1686,2874,0,0,0,0,0,0
$GC,980,-1.64,-58.4,153.8,-15.8,94,984,0.00,2.35,0.00,0.000,4,0.000,0.044,2721,299,2875,0,0,0,0,0,0
$GC,1066,-1.55,-58.4,167.5,-15.6,100,1074,0.15,2.30,0.00,0.000,6,0.084,0.018,2756,1731,2876,0,0,0,0,0,0
$GC,1329,-1.62,-58.4,195.1,-8.7,121,1333,0.00,2.47,0.00,0.000,4,0.000,0.046,2756,296,2876,0,0,0,0,0,0
$GC,1389,-1.62,-58.4,201.2,-9.9,125,1395,0.00,2.22,0.00,0.000,6,0.000,0.019,2756,1714,2876,0,0,0,0,0,0
$GC,1707,-1.69,-58.4,228.8,-9.5,141,1712,0.10,2.22,0.00,0.000,4,0.076,0.024,2723,3079,2876,0,0,0,0,0,0
$GC,1728,-1.74,-58.4,231.3,-11.2,142,1732,0.00,2.30,0.00,0.000,6,0.000,0.032,2723,1698,2876,0,0,0,0,0,0
$GC,2057,-1.74,-58.4,272.5,-12.1,158,2061,0.00,2.25,0.00,0.000,4,0.000,0.024,2723,3077,2876,0,0,0,0,0,0
$GC,2080,-1.81,-58.4,275.7,-12.9,159,2085,0.00,2.30,0.00,0.000,6,0.000,0.034,2723,1698,2876,0,0,0,0,0,0
$GC,2403,-1.81,-58.4,315.9,-11.4,172,2404,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1697,2875,0,0,0,0,0,0
$GC,2729,-1.84,-58.4,346.6,-9.0,180,2734,0.10,2.30,0.00,0.000,4,0.077,0.028,2691,3070,2875,0,0,0,0,0,0
$GC,2864,-1.84,-58.4,358.7,-8.9,183,2869,0.00,2.30,0.00,0.000,6,0.000,0.037,2691,1703,2874,0,0,0,0,0,0
$GC,3194,-1.84,-58.4,391.6,-10.8,191,3198,0.00,2.28,0.00,0.000,4,0.000,0.028,2690,3069,2873,0,0,0,0,0,0
$GC,3321,-1.87,-58.4,406.4,-11.2,193,3325,0.00,2.30,0.00,0.000,6,0.000,0.038,2690,1701,2872,0,0,0,0,0,0
$GC,3653,-1.87,-58.4,442.1,-10.2,201,3657,0.00,2.33,0.00,0.000,4,0.000,0.031,2690,3069,2869,0,0,0,0,0,0
$GC,3715,-1.93,-58.4,447.9,-9.5,202,3719,0.00,2.35,0.00,0.000,6,0.000,0.041,2690,1702,2869,0,0,0,0,0,0
$STATE,3737,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3737,begin apogee
$GC,3743,-0.31,0.0,450.4,10.1,203,3796,1.62,0.00,49.10,0.823,6,0.084,0.000,3028,1702,2630,0,0,0,0,0,0
$STATE,3797,end apogee,CONTROL_FINISHED_OK
$STATE,3797,begin climb
$GC,3800,1.56,58.4,451.3,0.0,204,3859,1.80,0.00,50.83,0.808,6,0.029,0.000,3453,1702,2391,0,0,0,0,0,0
$GC,4185,1.27,78.3,432.0,6.1,214,4210,0.35,2.50,17.15,0.771,4,0.105,0.053,3381,331,2309,0,0,0,0,0,0
$GC,4373,1.00,78.3,416.2,9.5,218,4378,0.32,2.30,0.00,0.000,6,0.104,0.027,3319,1719,2304,0,0,0,0,0,0
$GC,4697,1.06,129.2,401.0,3.3,226,4749,0.00,2.42,45.20,0.809,4,0.000,0.032,3320,3125,2103,0,0,0,0,0,0
$GC,4792,1.11,162.8,397.6,4.9,228,4828,0.00,2.40,31.10,0.788,6,0.000,0.040,3319,1743,1966,0,0,0,0,0,0
$GC,5156,1.11,162.8,365.1,9.8,237,5160,0.00,2.50,0.00,0.000,4,0.000,0.057,3319,325,1958,0,0,0,0,0,0
$GC,5199,1.03,162.8,360.3,11.1,238,5203,0.00,2.38,0.00,0.000,6,0.000,0.028,3319,1739,1955,0,0,0,0,0,0
$GC,5526,1.03,162.8,328.2,10.0,246,5528,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,1739,1953,0,0,0,0,0,0
$GC,5852,1.03,162.8,299.0,8.6,254,5856,0.00,2.38,0.00,0.000,4,0.000,0.031,3319,3146,1951,0,0,0,0,0,0
$GC,5876,1.10,163.2,297.1,7.9,255,5880,0.00,2.42,0.00,0.000,6,0.000,0.038,3319,1739,1951,0,0,0,0,0,0
$GC,6202,1.15,163.2,271.9,8.6,271,6207,0.12,2.45,0.00,0.000,4,0.071,0.053,3354,332,1950,0,0,0,0,0,0
$GC,6283,1.02,163.2,263.3,12.3,274,6288,0.15,2.33,0.00,0.000,6,0.108,0.025,3325,1748,1947,0,0,0,0,0,0
$GC,6600,1.07,163.2,232.4,10.2,289,6604,0.00,2.47,0.00,0.000,4,0.000,0.051,3324,331,1947,0,0,0,0,0,0
$GC,6727,1.03,163.2,217.3,12.1,294,6732,0.00,2.35,0.00,0.000,6,0.000,0.024,3325,1756,1945,0,0,0,0,0,0
$GC,7058,1.12,191.9,192.3,5.3,313,7088,0.00,2.58,23.23,0.656,4,0.000,0.048,3324,332,1846,0,0,0,0,0,0
$GC,7115,1.09,205.9,188.7,6.6,317,7135,0.00,2.35,13.62,0.616,6,0.000,0.022,3324,1752,1790,0,0,0,0,0,0
$GC,7397,1.16,205.9,163.7,10.5,339,7402,0.12,2.50,0.00,0.000,4,0.067,0.048,3362,331,1787,0,0,0,0,0,0
$GC,7492,1.07,205.9,150.1,14.9,346,7497,0.15,2.33,0.00,0.000,6,0.104,0.021,3333,1754,1785,0,0,0,0,0,0
$GC,7761,1.14,205.9,123.8,9.5,367,7765,0.00,2.47,0.00,0.000,4,0.000,0.046,3333,328,1785,0,0,0,0,0,0
$GC,7830,1.14,205.9,116.2,10.9,372,7834,0.00,2.30,0.00,0.000,6,0.000,0.021,3333,1749,1784,0,0,0,0,0,0
$GC,8091,1.26,211.3,97.3,7.4,392,8107,0.17,2.53,5.35,0.438,4,0.053,0.046,3384,324,1767,0,0,0,0,0,0
$GC,8181,1.23,229.4,91.0,6.3,398,8203,0.00,2.30,17.12,0.542,6,0.000,0.019,3384,1751,1695,0,0,0,0,0,0
$GC,8458,1.26,229.4,69.9,9.0,419,8462,0.00,2.25,0.00,0.000,4,0.000,0.022,3384,3126,1693,0,0,0,0,0,0
$GC,8586,1.34,229.4,59.0,11.5,428,8590,0.00,2.33,0.00,0.000,6,0.000,0.029,3384,1731,1693,0,0,0,0,0,0
$GC,8853,1.39,229.4,34.0,8.9,449,8857,0.00,2.40,0.00,0.000,4,0.000,0.044,3384,329,1693,0,0,0,0,0,0
$GC,8909,1.32,229.4,27.7,11.4,456,8916,0.00,2.28,0.00,0.000,6,0.000,0.018,3384,1741,1691,0,0,0,0,0,0
$GC,9113,1.36,229.4,5.4,9.6,502,9118,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,1746,1692,0,0,0,0,0,0
$STATE,9140,end climb,SURFACE_DEPTH_REACHED
$STATE,9140,begin surface coast
$FINISH,1.0,1.023122
$STATE,9180,end surface coast,CONTROL_FINISHED_OK
$STATE,9180,begin surface
$SM_CCo,9204,103.22,0.482,0,0,958,410.14
$SM_GC,1.39,0.00,0.00,103.22,0.000,0.000,0.482,428,1679,958,-12.29,-0.59,410.14
$IRIDIUM_FIX,2059.45,-15753.90,191199,010140
$TT8_MAMPS,0.029146
$HUMID,52.83
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.5,23.601
$10V_AH,10.4,19.155
$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,30.550,99.375,252.700,103.225,0.000,28.018,30.109,136.353,4.500,0.000,15.081,1045.861,6053.281,430.321,1649.175,441.535,0.000,1160.537,0.000,1627.256,0.000,29.253,0.000
$DEVICE_MAMPS,134.992,102.011,822.991,482.443,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,347.870,326.803,745.344,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355748
$DATA_FILE_SIZE,28727,517
$CAP_FILE_SIZE,104382,0
$CFSIZE,260165632,199536640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250810,064837,2105.858,-15755.283,9,1.9,14,9.8