version: 66.06
glider: 139
mission: 8
dive: 53
start: 7 31 110 20 14 1
data:
$ID,139
$MISSION,8
$DIVE,53
$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,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,-2151268.8
$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,3090
$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,1690
$C_ROLL_CLIMB,1900
$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,2680
$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
$GPS1,200807,2105.169,-15753.438,49,1.1,49,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-69.3
$GPS2,201344,2105.170,-15753.496,16,1.3,16,9.8
$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,76.5,18316,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.38,-77.9,0.0,0.0,0,82,0.00,0.00,-64.07,0.000,2,0.000,0.000,429,1714,2784,0,0,0,0,0,0
$GC,85,-1.38,-77.9,3.8,-5.9,12,110,12.88,2.50,-3.75,0.000,4,0.142,0.054,2780,288,3000,0,0,0,0,0,0
$GC,139,-0.89,-77.9,21.9,-31.6,22,147,0.50,2.35,0.00,0.000,6,0.081,0.019,2896,1724,3002,0,0,0,0,0,0
$GC,341,-1.06,-77.9,43.8,-8.7,46,346,0.17,2.50,0.00,0.000,4,0.052,0.047,2842,286,3002,0,0,0,0,0,0
$GC,381,-1.06,-77.9,49.1,-14.8,49,386,0.00,2.25,0.00,0.000,6,0.000,0.019,2842,1703,3002,0,0,0,0,0,0
$GC,647,-1.16,-77.9,79.3,-10.9,70,651,0.00,2.45,0.00,0.000,4,0.000,0.046,2842,283,3003,0,0,0,0,0,0
$GC,689,-1.22,-77.9,84.5,-12.1,73,693,0.00,2.22,0.00,0.000,6,0.000,0.018,2842,1700,3003,0,0,0,0,0,0
$GC,950,-1.34,-77.9,116.8,-13.0,93,955,0.20,2.47,0.00,0.000,4,0.048,0.045,2781,277,3003,0,0,0,0,0,0
$GC,965,-1.38,-77.9,119.4,-13.0,94,970,0.00,2.22,0.00,0.000,6,0.000,0.019,2781,1702,3004,0,0,0,0,0,0
$GC,1232,-1.38,-77.9,154.1,-12.4,115,1237,0.00,2.42,0.00,0.000,4,0.000,0.046,2781,285,3005,0,0,0,0,0,0
$GC,1275,-1.34,-77.9,160.2,-14.2,118,1279,0.00,2.20,0.00,0.000,6,0.000,0.019,2781,1687,3005,0,0,0,0,0,0
$GC,1536,-1.37,-77.9,190.9,-11.8,138,1540,0.00,2.22,0.00,0.000,4,0.000,0.025,2781,3062,3005,0,0,0,0,0,0
$GC,1605,-1.46,-77.9,199.5,-11.5,143,1611,0.00,2.30,0.00,0.000,6,0.000,0.032,2781,1682,3005,0,0,0,0,0,0
$GC,1868,-1.50,-77.9,227.9,-9.7,156,1872,0.00,2.28,0.00,0.000,4,0.000,0.025,2781,3062,3006,0,0,0,0,0,0
$GC,1891,-1.59,-77.9,230.3,-9.0,157,1896,0.17,2.30,0.00,0.000,6,0.051,0.034,2728,1687,3005,0,0,0,0,0,0
$GC,2220,-1.53,-77.9,268.9,-13.0,173,2225,0.15,2.42,0.00,0.000,4,0.100,0.048,2758,286,3005,0,0,0,0,0,0
$GC,2241,-1.47,-77.9,272.1,-12.9,174,2245,0.00,2.25,0.00,0.000,6,0.000,0.021,2758,1690,3005,0,0,0,0,0,0
$GC,2569,-1.47,-77.9,309.1,-11.2,188,2573,0.00,2.28,0.00,0.000,4,0.000,0.028,2758,3064,3005,0,0,0,0,0,0
$GC,2640,-1.55,-77.9,316.8,-10.9,189,2644,0.00,2.30,0.00,0.000,6,0.000,0.036,2758,1690,3005,0,0,0,0,0,0
$GC,2980,-1.59,-77.9,351.4,-9.6,198,2984,0.00,2.45,0.00,0.000,4,0.000,0.054,2758,286,3004,0,0,0,0,0,0
$GC,3018,-1.59,-77.9,355.2,-10.3,198,3023,0.00,2.25,0.00,0.000,6,0.000,0.023,2758,1685,3004,0,0,0,0,0,0
$GC,3349,-1.63,-77.9,385.9,-9.2,207,3354,0.10,2.33,0.00,0.000,4,0.081,0.032,2729,3075,3002,0,0,0,0,0,0
$GC,3412,-1.67,-77.9,392.0,-9.7,208,3416,0.00,2.35,0.00,0.000,6,0.000,0.040,2728,1692,3002,0,0,0,0,0,0
$GC,3762,-1.67,-77.9,425.8,-9.3,217,3766,0.00,2.47,0.00,0.000,4,0.000,0.058,2728,276,2999,0,0,0,0,0,0
$GC,3781,-1.61,-77.9,427.6,-8.8,217,3786,0.00,2.30,0.00,0.000,6,0.000,0.026,2728,1689,2999,0,0,0,0,0,0
$STATE,4042,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4042,begin apogee
$GC,4050,-0.31,0.0,451.0,9.3,224,4119,1.40,0.00,65.45,0.852,6,0.080,0.000,3023,1911,2680,0,0,0,0,0,0
$STATE,4120,end apogee,CONTROL_FINISHED_OK
$STATE,4120,begin climb
$GC,4122,1.38,77.9,451.7,0.0,225,4201,1.58,2.40,67.47,0.835,4,0.031,0.041,3396,3275,2361,0,0,0,0,0,0
$GC,4467,1.15,120.3,440.2,5.0,232,4512,0.28,2.40,37.53,0.826,6,0.113,0.040,3345,1899,2188,0,0,0,0,0,0
$GC,4853,0.99,128.2,410.3,7.4,242,4866,0.20,2.45,6.82,0.670,4,0.111,0.039,3307,3271,2157,0,0,0,0,0,0
$GC,4877,0.95,167.5,409.0,5.2,242,4921,0.00,2.40,36.90,0.818,6,0.000,0.039,3307,1900,1997,0,0,0,0,0,0
$GC,5266,0.89,173.5,381.5,7.5,252,5279,0.12,2.55,5.50,0.614,4,0.124,0.056,3285,495,1972,0,0,0,0,0,0
$GC,5368,0.80,173.5,370.1,12.3,254,5372,0.00,2.35,0.00,0.000,6,0.000,0.030,3284,1887,1969,0,0,0,0,0,0
$GC,5686,0.80,173.5,331.6,12.2,262,5690,0.00,2.47,0.00,0.000,4,0.000,0.054,3284,486,1968,0,0,0,0,0,0
$GC,5795,0.72,173.5,319.1,10.7,264,5800,0.20,2.35,0.00,0.000,6,0.110,0.028,3247,1904,1965,0,0,0,0,0,0
$GC,6128,0.84,198.2,296.7,6.2,273,6157,0.12,2.60,22.02,0.759,4,0.071,0.054,3282,491,1872,0,0,0,0,0,0
$GC,6237,0.78,198.2,285.9,10.8,277,6243,0.10,2.38,0.00,0.000,6,0.123,0.028,3263,1910,1867,0,0,0,0,0,0
$GC,6554,0.85,198.2,258.0,8.5,293,6558,0.00,2.53,0.00,0.000,4,0.000,0.052,3263,485,1865,0,0,0,0,0,0
$GC,6763,0.85,198.2,235.0,10.1,302,6767,0.00,2.33,0.00,0.000,6,0.000,0.026,3263,1908,1863,0,0,0,0,0,0
$GC,7093,0.98,219.5,209.5,6.4,318,7120,0.17,2.58,18.92,0.681,4,0.058,0.049,3312,493,1784,0,0,0,0,0,0
$GC,7204,0.90,219.5,198.7,10.7,322,7210,0.10,2.35,0.00,0.000,6,0.088,0.025,3289,1899,1782,0,0,0,0,0,0
$GC,7526,0.95,219.5,174.0,8.3,348,7530,0.00,2.47,0.00,0.000,4,0.000,0.048,3289,485,1781,0,0,0,0,0,0
$GC,7655,0.95,219.5,160.2,12.5,357,7661,0.00,2.33,0.00,0.000,6,0.000,0.022,3288,1909,1779,0,0,0,0,0,0
$GC,7915,1.01,219.5,136.0,8.3,378,7919,0.00,2.47,0.00,0.000,4,0.000,0.047,3289,487,1779,0,0,0,0,0,0
$GC,8080,1.01,219.5,118.8,9.8,390,8084,0.00,2.28,0.00,0.000,6,0.000,0.021,3289,1903,1779,0,0,0,0,0,0
$GC,8341,1.13,249.0,100.8,5.9,410,8375,0.20,2.50,26.20,0.584,4,0.051,0.045,3347,481,1665,0,0,0,0,0,0
$GC,8629,1.05,249.0,64.3,14.1,431,8634,0.15,2.30,0.00,0.000,6,0.099,0.021,3317,1897,1659,0,0,0,0,0,0
$GC,8897,1.18,296.7,44.1,4.7,452,8945,0.12,2.47,41.03,0.542,4,0.065,0.044,3358,490,1468,0,0,0,0,0,0
$GC,9021,1.09,296.7,32.4,13.1,461,9026,0.15,2.30,0.00,0.000,6,0.097,0.020,3328,1907,1464,0,0,0,0,0,0
$GC,9286,1.14,296.7,3.8,11.6,519,9292,0.00,2.53,0.00,0.000,4,0.000,0.053,3328,493,1463,0,0,0,0,0,0
$STATE,9297,end climb,SURFACE_DEPTH_REACHED
$STATE,9298,begin surface coast
$FINISH,0.5,1.023246
$STATE,9320,end surface coast,CONTROL_FINISHED_OK
$STATE,9320,begin surface
$SM_CCo,9345,64.55,0.503,0,0,1007,410.14
$SM_GC,1.05,0.00,0.00,64.55,0.000,0.000,0.503,431,1710,1007,-12.24,0.57,410.14
$IRIDIUM_FIX,2057.14,-15756.04,251099,171718
$TT8_MAMPS,0.029146
$HUMID,51.92
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.4,5.511
$10V_AH,10.4,3.288
$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,31.500,114.125,327.850,64.550,0.000,31.369,30.662,159.594,4.500,0.000,16.995,1081.710,5970.700,429.427,1789.360,475.086,0.000,1247.296,0.000,1763.029,0.000,29.260,0.000
$DEVICE_MAMPS,141.895,57.525,852.137,503.152,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,354.298,333.351,767.460,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,28692,526
$CAP_FILE_SIZE,112434,0
$CFSIZE,260165632,210661376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,310710,225158,2105.206,-15752.539,9,2.8,28,9.8