version: 66.06
glider: 139
mission: 8
dive: 163
start: 8 13 110 2 41 25
data:
$ID,139
$MISSION,8
$DIVE,163
$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,-2153871.8
$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,1695
$C_ROLL_CLIMB,1770
$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
$GPS1,023036,2106.418,-15756.922,25,1.7,25,9.8
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-72.7
$GPS2,024108,2106.409,-15757.090,13,1.7,13,9.8
$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,82.8,24511,-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,-64.70,0.000,2,0.000,0.000,430,1715,2755,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.0,-3.1,12,110,12.50,2.50,-2.20,0.000,4,0.136,0.053,2751,289,2872,0,0,0,0,0,0
$GC,123,-0.52,-58.4,15.5,-28.5,18,130,1.08,2.35,0.00,0.000,6,0.086,0.019,2982,1724,2874,0,0,0,0,0,0
$GC,334,-1.00,-58.4,30.9,-6.2,64,341,0.40,2.47,0.00,0.000,4,0.031,0.044,2864,290,2875,0,0,0,0,0,0
$GC,375,-1.16,-58.4,34.7,-9.6,67,380,0.00,2.25,0.00,0.000,6,0.000,0.018,2864,1716,2875,0,0,0,0,0,0
$GC,641,-1.40,-58.4,61.1,-8.2,88,646,0.28,2.47,0.00,0.000,4,0.038,0.044,2778,282,2875,0,0,0,0,0,0
$GC,683,-1.40,-58.4,66.1,-14.4,91,687,0.00,2.22,0.00,0.000,6,0.000,0.018,2779,1695,2875,0,0,0,0,0,0
$GC,947,-1.48,-58.4,102.7,-12.9,112,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1700,2876,0,0,0,0,0,0
$GC,1199,-1.57,-58.4,135.6,-12.4,132,1203,0.00,2.22,0.00,0.000,4,0.000,0.023,2779,3072,2877,0,0,0,0,0,0
$GC,1231,-1.73,-58.4,139.7,-11.5,134,1239,0.22,2.35,0.00,0.000,6,0.027,0.032,2708,1691,2877,0,0,0,0,0,0
$GC,1494,-1.69,-58.4,176.7,-13.6,155,1499,0.10,2.28,0.00,0.000,4,0.117,0.023,2729,3074,2877,0,0,0,0,0,0
$GC,1513,-1.69,-58.4,179.8,-12.5,156,1523,0.00,2.35,0.00,0.000,6,0.000,0.031,2729,1692,2877,0,0,0,0,0,0
$GC,1774,-1.69,-58.4,213.5,-12.8,174,1778,0.00,2.25,0.00,0.000,4,0.000,0.023,2729,3070,2877,0,0,0,0,0,0
$GC,1817,-1.75,-58.4,218.5,-11.8,176,1821,0.00,2.30,0.00,0.000,6,0.000,0.032,2729,1690,2877,0,0,0,0,0,0
$GC,2148,-1.78,-58.4,256.7,-12.4,192,2152,0.00,2.38,0.00,0.000,4,0.000,0.046,2729,293,2877,0,0,0,0,0,0
$GC,2158,-1.78,-58.4,258.3,-13.0,192,2162,0.00,2.22,0.00,0.000,6,0.000,0.021,2729,1710,2877,0,0,0,0,0,0
$GC,2476,-1.83,-58.4,294.3,-10.2,207,2481,0.12,2.25,0.00,0.000,4,0.066,0.026,2689,3064,2877,0,0,0,0,0,0
$GC,2547,-1.88,-58.4,303.3,-13.3,210,2551,0.00,2.30,0.00,0.000,6,0.000,0.035,2688,1690,2877,0,0,0,0,0,0
$GC,2887,-1.84,-58.4,347.7,-12.7,219,2891,0.00,2.28,0.00,0.000,4,0.000,0.028,2689,3055,2876,0,0,0,0,0,0
$GC,3050,-1.84,-58.4,367.1,-10.6,222,3054,0.00,2.30,0.00,0.000,6,0.000,0.037,2688,1688,2876,0,0,0,0,0,0
$GC,3391,-1.84,-58.4,402.9,-10.1,231,3395,0.00,2.33,0.00,0.000,4,0.000,0.030,2688,3059,2873,0,0,0,0,0,0
$GC,3452,-1.88,-58.4,409.2,-9.5,232,3456,0.00,2.33,0.00,0.000,6,0.000,0.039,2688,1688,2873,0,0,0,0,0,0
$GC,3801,-1.88,-58.4,445.5,-11.3,241,3805,0.00,2.30,0.00,0.000,4,0.000,0.033,2688,3057,2870,0,0,0,0,0,0
$GC,3824,-1.88,-58.4,448.2,-11.7,241,3829,0.00,2.35,0.00,0.000,6,0.000,0.042,2689,1689,2870,0,0,0,0,0,0
$STATE,3878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3878,begin apogee
$GC,3884,-0.31,0.0,454.4,11.4,243,3938,1.65,0.00,49.35,0.843,6,0.084,0.000,3031,1688,2630,0,0,0,0,0,0
$STATE,3938,end apogee,CONTROL_FINISHED_OK
$STATE,3939,begin climb
$GC,3941,1.56,58.4,455.7,0.0,244,3996,1.75,0.00,50.40,0.825,6,0.028,0.000,3451,1689,2391,0,0,0,0,0,0
$GC,4311,1.28,89.1,440.1,5.1,253,4340,0.35,0.00,26.75,0.814,6,0.106,0.000,3385,1689,2266,0,0,0,0,0,0
$GC,4635,1.13,99.8,418.3,6.9,261,4647,0.20,0.00,9.95,0.733,6,0.110,0.000,3346,1689,2223,0,0,0,0,0,0
$GC,4959,1.08,126.7,400.7,5.5,269,4991,0.00,2.42,24.92,0.810,4,0.000,0.056,3346,356,2113,0,0,0,0,0,0
$GC,5052,0.90,126.7,392.9,10.5,271,5057,0.25,2.33,0.00,0.000,6,0.104,0.028,3299,1732,2108,0,0,0,0,0,0
$GC,5381,0.95,126.7,366.8,8.1,279,5385,0.00,2.45,0.00,0.000,4,0.000,0.035,3298,3172,2106,0,0,0,0,0,0
$GC,5414,1.02,126.7,364.0,8.1,279,5420,0.10,2.42,0.00,0.000,6,0.081,0.040,3327,1770,2106,0,0,0,0,0,0
$GC,5746,1.03,135.6,339.1,7.1,287,5758,0.00,2.42,7.75,0.683,4,0.000,0.035,3327,3181,2077,0,0,0,0,0,0
$GC,5805,1.07,163.2,335.5,5.4,288,5838,0.00,2.45,26.83,0.785,6,0.000,0.038,3327,1770,1963,0,0,0,0,0,0
$GC,6161,1.07,163.2,307.2,9.1,297,6165,0.00,2.50,0.00,0.000,4,0.000,0.057,3326,359,1957,0,0,0,0,0,0
$GC,6270,1.00,163.2,295.1,9.3,299,6276,0.00,2.38,0.00,0.000,6,0.000,0.027,3326,1774,1954,0,0,0,0,0,0
$GC,6587,1.03,163.2,266.4,8.3,315,6588,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,1779,1953,0,0,0,0,0,0
$GC,6895,1.07,169.9,241.9,7.3,330,6907,0.00,2.38,5.20,0.539,4,0.000,0.028,3326,3184,1936,0,0,0,0,0,0
$GC,6967,1.16,174.8,237.0,7.5,333,6979,0.12,2.45,6.40,0.584,6,0.069,0.036,3362,1763,1916,0,0,0,0,0,0
$GC,7303,1.13,174.8,204.4,11.9,349,7307,0.00,2.42,0.00,0.000,4,0.000,0.049,3362,352,1914,0,0,0,0,0,0
$GC,7341,1.00,174.8,198.9,14.7,350,7348,0.20,2.35,0.00,0.000,6,0.084,0.022,3311,1770,1912,0,0,0,0,0,0
$GC,7663,1.08,174.8,164.1,10.2,376,7668,0.10,2.45,0.00,0.000,4,0.077,0.048,3343,356,1912,0,0,0,0,0,0
$GC,7786,1.02,174.8,148.0,12.1,385,7791,0.10,2.30,0.00,0.000,6,0.116,0.021,3324,1778,1911,0,0,0,0,0,0
$GC,8053,1.10,178.5,122.3,7.6,406,8062,0.00,2.47,4.00,0.403,4,0.000,0.047,3323,356,1902,0,0,0,0,0,0
$GC,8095,1.11,190.2,119.1,6.8,408,8113,0.00,2.28,12.18,0.564,6,0.000,0.021,3323,1778,1853,0,0,0,0,0,0
$GC,8373,1.23,199.8,103.4,7.0,430,8390,0.20,2.30,10.00,0.531,4,0.049,0.023,3380,3157,1814,0,0,0,0,0,0
$GC,8413,1.23,199.8,98.8,11.8,432,8421,0.00,2.40,0.00,0.000,6,0.000,0.031,3380,1764,1814,0,0,0,0,0,0
$GC,8673,1.23,199.8,64.6,8.8,453,8677,0.00,2.42,0.00,0.000,4,0.000,0.045,3380,351,1814,0,0,0,0,0,0
$GC,8878,1.17,199.8,42.5,8.0,468,8883,0.12,2.28,0.00,0.000,6,0.106,0.018,3357,1773,1811,0,0,0,0,0,0
$GC,9141,1.30,240.0,29.3,4.3,490,9182,0.12,2.55,35.12,0.522,4,0.065,0.044,3396,353,1650,0,0,0,0,0,0
$GC,9276,1.21,240.0,14.9,13.1,518,9282,0.12,2.33,0.00,0.000,6,0.082,0.018,3367,1770,1645,0,0,0,0,0,0
$STATE,9382,end climb,SURFACE_DEPTH_REACHED
$STATE,9382,begin surface coast
$FINISH,0.9,1.023139
$STATE,9410,end surface coast,CONTROL_FINISHED_OK
$STATE,9411,begin surface
$SM_CCo,9434,96.20,0.500,0,0,958,410.14
$SM_GC,1.41,0.00,0.00,96.20,0.000,0.000,0.500,428,1669,958,-12.29,-0.74,410.14
$IRIDIUM_FIX,2059.45,-15756.04,071199,020222
$TT8_MAMPS,0.029146
$HUMID,52.87
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.5,14.695
$10V_AH,10.4,11.339
$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,32.825,103.925,268.850,96.200,0.000,60.193,63.903,312.959,4.500,0.000,13.895,1081.316,6316.770,433.771,1635.048,694.588,0.000,1158.101,0.000,1613.970,0.000,29.271,0.000
$DEVICE_MAMPS,135.759,71.331,842.933,500.084,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,368.606,347.443,824.740,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,31762,548
$CAP_FILE_SIZE,111368,0
$CFSIZE,260165632,205021184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130810,052137,2106.203,-15757.269,43,0.9,43,9.8