version: 66.06
glider: 139
mission: 8
dive: 51
start: 7 31 110 14 52 49
data:
$ID,139
$MISSION,8
$DIVE,51
$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,80
$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,430
$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,-2151213
$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,3070
$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,1950
$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,2695
$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
$GPS1,144434,2105.311,-15753.440,15,4.1,34,9.8
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-72.3
$GPS2,145232,2105.382,-15753.586,16,1.3,16,9.8
$SPEED_LIMITS,0.137,0.183
$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,77.7,18450,-20.5,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.38,-77.9,0.0,0.0,0,88,0.00,0.00,-69.50,0.000,2,0.000,0.000,426,1684,2934,0,0,0,0,0,0
$GC,91,-1.38,-77.9,3.8,-5.4,13,111,12.73,2.45,-1.33,0.000,4,0.140,0.052,2759,289,3015,0,0,0,0,0,0
$GC,152,-1.04,-77.9,27.3,-30.0,25,159,0.35,2.35,0.00,0.000,6,0.088,0.019,2842,1723,3017,0,0,0,0,0,0
$GC,357,-1.09,-77.9,55.5,-11.2,42,361,0.00,2.22,0.00,0.000,4,0.000,0.023,2842,3089,3018,0,0,0,0,0,0
$GC,457,-1.28,-77.9,66.7,-10.2,49,464,0.20,2.38,0.00,0.000,6,0.027,0.031,2773,1693,3019,0,0,0,0,0,0
$GC,718,-1.25,-77.9,104.0,-14.8,70,723,0.12,2.42,0.00,0.000,4,0.103,0.047,2798,298,3019,0,0,0,0,0,0
$GC,737,-1.19,-77.9,107.6,-15.4,71,743,0.00,2.25,0.00,0.000,6,0.000,0.019,2799,1724,3020,0,0,0,0,0,0
$GC,997,-1.22,-77.9,139.5,-11.0,92,1002,0.00,2.45,0.00,0.000,4,0.000,0.047,2798,297,3020,0,0,0,0,0,0
$GC,1034,-1.22,-77.9,144.4,-12.9,94,1041,0.00,2.25,0.00,0.000,6,0.000,0.019,2798,1704,3020,0,0,0,0,0,0
$GC,1296,-1.29,-77.9,172.3,-11.5,115,1301,0.00,2.42,0.00,0.000,4,0.000,0.046,2798,297,3020,0,0,0,0,0,0
$GC,1324,-1.29,-77.9,176.5,-13.1,117,1328,0.00,2.22,0.00,0.000,6,0.000,0.020,2798,1710,3021,0,0,0,0,0,0
$GC,1584,-1.36,-77.9,208.2,-12.4,135,1589,0.12,2.22,0.00,0.000,4,0.066,0.025,2759,3069,3021,0,0,0,0,0,0
$GC,1641,-1.42,-77.9,216.1,-13.0,137,1645,0.00,2.30,0.00,0.000,6,0.000,0.034,2758,1699,3021,0,0,0,0,0,0
$GC,1964,-1.42,-77.9,254.4,-10.4,153,1968,0.00,2.40,0.00,0.000,4,0.000,0.048,2758,295,3021,0,0,0,0,0,0
$GC,2031,-1.42,-77.9,263.0,-12.4,156,2035,0.00,2.22,0.00,0.000,6,0.000,0.021,2759,1700,3021,0,0,0,0,0,0
$GC,2362,-1.46,-77.9,295.2,-9.2,172,2366,0.00,2.25,0.00,0.000,4,0.000,0.027,2759,3073,3020,0,0,0,0,0,0
$GC,2496,-1.55,-77.9,305.7,-7.8,177,2501,0.12,2.33,0.00,0.000,6,0.067,0.037,2721,1698,3020,0,0,0,0,0,0
$GC,2829,-1.50,-77.9,337.4,-9.5,185,2831,0.10,0.00,0.00,0.000,6,0.114,0.000,2740,1698,3019,0,0,0,0,0,0
$GC,3154,-1.50,-77.9,372.9,-11.9,193,3158,0.00,2.45,0.00,0.000,4,0.000,0.055,2739,299,3017,0,0,0,0,0,0
$GC,3188,-1.45,-77.9,377.6,-13.3,193,3193,0.00,2.25,0.00,0.000,6,0.000,0.025,2740,1691,3017,0,0,0,0,0,0
$GC,3519,-1.45,-77.9,417.0,-11.8,201,3524,0.00,2.47,0.00,0.000,4,0.000,0.057,2739,293,3015,0,0,0,0,0,0
$GC,3553,-1.39,-77.9,421.1,-12.9,201,3558,0.12,2.28,0.00,0.000,6,0.105,0.026,2765,1695,3014,0,0,0,0,0,0
$STATE,3800,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3800,begin apogee
$GC,3806,-0.31,0.0,450.7,12.5,207,3875,1.12,0.00,65.65,0.847,6,0.077,0.000,3004,1958,2695,0,0,0,0,0,0
$STATE,3876,end apogee,CONTROL_FINISHED_OK
$STATE,3876,begin climb
$GC,3880,1.38,77.9,453.4,0.0,208,3958,1.58,2.45,67.22,0.833,4,0.034,0.040,3372,3335,2377,0,0,0,0,0,0
$GC,4090,1.23,150.8,461.0,3.0,212,4165,0.17,2.42,64.75,0.836,6,0.119,0.038,3340,1947,2080,0,0,0,0,0,0
$GC,4474,1.08,150.8,418.2,12.5,222,4479,0.17,2.50,0.00,0.000,4,0.117,0.055,3308,541,2070,0,0,0,0,0,0
$GC,4595,0.91,150.8,402.6,13.2,224,4601,0.20,2.35,0.00,0.000,6,0.113,0.029,3271,1944,2066,0,0,0,0,0,0
$GC,4936,0.91,150.8,366.6,10.3,233,4941,0.00,2.50,0.00,0.000,4,0.000,0.054,3270,542,2064,0,0,0,0,0,0
$GC,5132,0.85,150.8,348.5,8.9,237,5137,0.00,2.35,0.00,0.000,6,0.000,0.030,3270,1953,2060,0,0,0,0,0,0
$GC,5446,0.86,159.0,324.9,7.3,245,5458,0.00,2.50,5.07,0.584,4,0.000,0.052,3270,544,2045,0,0,0,0,0,0
$GC,5653,0.88,213.7,311.4,4.2,249,5710,0.00,2.38,50.03,0.784,6,0.000,0.029,3270,1961,1823,0,0,0,0,0,0
$GC,6024,0.94,228.9,291.7,6.9,261,6046,0.00,2.60,13.82,0.716,4,0.000,0.053,3270,543,1761,0,0,0,0,0,0
$GC,6210,0.94,228.9,269.0,11.9,269,6214,0.00,2.38,0.00,0.000,6,0.000,0.028,3270,1953,1755,0,0,0,0,0,0
$GC,6541,1.01,231.6,240.5,7.7,285,6545,0.00,2.50,0.00,0.000,4,0.000,0.051,3270,542,1754,0,0,0,0,0,0
$GC,6750,1.01,231.6,220.2,10.3,294,6754,0.00,2.33,0.00,0.000,6,0.000,0.025,3270,1955,1751,0,0,0,0,0,0
$GC,7072,1.10,231.6,186.5,11.7,313,7077,0.17,2.50,0.00,0.000,4,0.058,0.050,3318,542,1750,0,0,0,0,0,0
$GC,7291,1.03,231.6,153.2,12.1,329,7296,0.12,2.33,0.00,0.000,6,0.112,0.024,3295,1957,1749,0,0,0,0,0,0
$GC,7558,1.11,231.6,130.8,8.4,350,7562,0.00,2.47,0.00,0.000,4,0.000,0.046,3294,534,1749,0,0,0,0,0,0
$GC,7746,1.11,231.6,110.9,9.8,364,7750,0.00,2.33,0.00,0.000,6,0.000,0.021,3294,1975,1748,0,0,0,0,0,0
$GC,8013,1.22,247.6,89.3,6.8,385,8034,0.17,2.53,15.77,0.562,4,0.055,0.046,3345,537,1685,0,0,0,0,0,0
$GC,8160,1.13,247.6,71.2,13.6,395,8165,0.15,2.28,0.00,0.000,6,0.103,0.021,3316,1944,1680,0,0,0,0,0,0
$GC,8427,1.25,278.4,50.7,5.8,416,8460,0.12,2.47,27.08,0.542,4,0.067,0.042,3355,540,1559,0,0,0,0,0,0
$GC,8525,1.17,278.4,39.1,13.8,423,8530,0.15,2.28,0.00,0.000,6,0.098,0.020,3326,1951,1555,0,0,0,0,0,0
$GC,8789,1.22,282.0,15.2,7.7,471,8802,0.00,2.50,4.00,0.341,4,0.000,0.046,3325,541,1544,0,0,0,0,0,0
$GC,8902,1.15,282.0,4.3,12.9,495,8909,0.00,2.30,0.00,0.000,6,0.000,0.019,3326,1964,1542,0,0,0,0,0,0
$STATE,8914,end climb,SURFACE_DEPTH_REACHED
$STATE,8914,begin surface coast
$FINISH,0.4,1.023280
$STATE,8937,end surface coast,CONTROL_FINISHED_OK
$STATE,8937,begin surface
$SM_CCo,8960,83.97,0.503,0,0,942,430.01
$SM_GC,1.03,0.00,0.00,83.97,0.000,0.000,0.503,426,1677,942,-12.16,-0.65,430.01
$IRIDIUM_FIX,2059.45,-15751.76,251099,121258
$TT8_MAMPS,0.029146
$HUMID,51.89
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.4,5.317
$10V_AH,10.5,3.139
$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,30.475,100.675,313.400,83.975,0.000,22.218,25.896,312.081,4.500,0.000,16.849,1049.420,5649.954,432.658,1782.301,607.550,0.000,1239.743,0.000,1760.156,0.000,29.264,0.000
$DEVICE_MAMPS,139.594,56.758,846.768,503.152,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,337.920,322.979,739.945,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355812
$DATA_FILE_SIZE,28674,502
$CAP_FILE_SIZE,110299,0
$CFSIZE,260165632,210771968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310710,172444,2105.115,-15753.562,33,1.9,33,9.8