version: 66.06
glider: 139
mission: 8
dive: 167
start: 8 13 110 13 45 19
data:
$ID,139
$MISSION,8
$DIVE,167
$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,-2153961
$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
$GPS1,133940,2105.956,-15755.988,11,2.1,30,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-69.6
$GPS2,134502,2105.922,-15756.039,15,2.0,15,9.8
$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,80.7,22673,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.56,-58.4,0.0,0.0,0,83,0.00,0.00,-64.72,0.000,2,0.000,0.000,427,1677,2782,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.4,-4.1,12,105,12.52,0.00,-1.58,0.000,6,0.135,0.000,2753,1677,2870,0,0,0,0,0,0
$GC,297,-1.48,-58.4,53.1,-18.6,42,302,0.12,2.38,0.00,0.000,4,0.115,0.022,2776,3108,2874,0,0,0,0,0,0
$GC,323,-1.48,-58.4,57.7,-17.2,44,327,0.00,2.42,0.00,0.000,6,0.000,0.034,2776,1686,2873,0,0,0,0,0,0
$GC,588,-1.53,-58.4,92.5,-12.5,65,593,0.00,2.40,0.00,0.000,4,0.000,0.046,2776,291,2875,0,0,0,0,0,0
$GC,621,-1.53,-58.4,97.2,-12.8,67,627,0.00,2.28,0.00,0.000,6,0.000,0.018,2776,1730,2875,0,0,0,0,0,0
$GC,882,-1.60,-58.4,129.1,-13.5,88,887,0.12,2.20,0.00,0.000,4,0.065,0.023,2736,3078,2876,0,0,0,0,0,0
$GC,1038,-1.67,-58.4,148.0,-11.2,99,1043,0.00,2.33,0.00,0.000,6,0.000,0.031,2736,1691,2875,0,0,0,0,0,0
$GC,1301,-1.67,-58.4,181.2,-13.0,120,1305,0.00,2.28,0.00,0.000,4,0.000,0.022,2736,3074,2876,0,0,0,0,0,0
$GC,1395,-1.76,-58.4,194.3,-12.6,127,1399,0.00,2.30,0.00,0.000,6,0.000,0.033,2736,1697,2877,0,0,0,0,0,0
$GC,1652,-1.80,-58.4,226.2,-11.6,141,1653,0.12,0.00,0.00,0.000,6,0.065,0.000,2697,1696,2877,0,0,0,0,0,0
$GC,1958,-1.80,-58.4,262.8,-12.2,156,1963,0.00,2.28,0.00,0.000,4,0.000,0.025,2697,3081,2877,0,0,0,0,0,0
$GC,2027,-1.83,-58.4,270.6,-11.6,159,2031,0.00,2.35,0.00,0.000,6,0.000,0.034,2696,1690,2877,0,0,0,0,0,0
$GC,2355,-1.83,-58.4,306.2,-11.4,174,2359,0.00,2.30,0.00,0.000,4,0.000,0.026,2697,3074,2877,0,0,0,0,0,0
$GC,2541,-1.88,-58.4,327.0,-10.9,178,2545,0.00,2.33,0.00,0.000,6,0.000,0.037,2696,1695,2876,0,0,0,0,0,0
$GC,2864,-1.88,-58.4,361.4,-11.0,186,2865,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,1695,2875,0,0,0,0,0,0
$GC,3189,-1.88,-58.4,395.7,-10.2,194,3193,0.00,2.47,0.00,0.000,4,0.000,0.056,2696,287,2873,0,0,0,0,0,0
$GC,3203,-1.82,-58.4,397.4,-9.3,194,3208,0.00,2.28,0.00,0.000,6,0.000,0.025,2696,1686,2872,0,0,0,0,0,0
$GC,3553,-1.82,-58.4,438.1,-13.1,203,3557,0.00,2.35,0.00,0.000,4,0.000,0.033,2696,3082,2870,0,0,0,0,0,0
$STATE,3647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3647,begin apogee
$GC,3659,-0.31,0.0,450.1,11.2,205,3712,1.58,0.00,48.92,0.847,6,0.086,0.000,3026,1774,2630,0,0,0,0,0,0
$STATE,3713,end apogee,CONTROL_FINISHED_OK
$STATE,3713,begin climb
$GC,3715,1.56,58.4,452.0,0.0,206,3770,1.77,0.00,50.58,0.829,6,0.031,0.000,3450,1774,2391,0,0,0,0,0,0
$GC,4086,1.32,111.2,444.3,3.1,215,4139,0.30,2.60,45.72,0.838,4,0.110,0.055,3389,359,2176,0,0,0,0,0,0
$GC,4177,1.03,111.2,439.5,8.5,217,4182,0.32,2.38,0.00,0.000,6,0.104,0.028,3327,1754,2171,0,0,0,0,0,0
$GC,4501,0.99,111.2,413.7,8.4,225,4506,0.00,2.42,0.00,0.000,4,0.000,0.037,3327,3176,2167,0,0,0,0,0,0
$GC,4585,0.99,111.2,405.8,10.0,226,4590,0.00,2.45,0.00,0.000,6,0.000,0.039,3327,1770,2167,0,0,0,0,0,0
$GC,4917,0.96,117.8,378.6,7.3,235,4929,0.00,2.45,5.15,0.606,4,0.000,0.034,3327,3185,2148,0,0,0,0,0,0
$GC,4948,0.99,142.0,376.6,5.7,235,4976,0.00,2.47,23.08,0.799,6,0.000,0.039,3327,1767,2051,0,0,0,0,0,0
$GC,5295,1.00,150.3,351.5,7.1,244,5308,0.00,2.55,8.05,0.693,4,0.000,0.057,3327,355,2017,0,0,0,0,0,0
$GC,5322,0.92,150.3,348.8,8.2,244,5328,0.12,2.40,0.00,0.000,6,0.122,0.028,3305,1783,2015,0,0,0,0,0,0
$GC,5659,0.97,150.9,325.4,7.8,253,5664,0.00,2.53,0.00,0.000,4,0.000,0.055,3304,351,2013,0,0,0,0,0,0
$GC,5758,0.93,150.9,313.8,11.9,255,5762,0.00,2.40,0.00,0.000,6,0.000,0.028,3305,1776,2010,0,0,0,0,0,0
$GC,6080,0.99,150.9,281.9,9.0,267,6085,0.00,2.35,0.00,0.000,4,0.000,0.034,3305,3181,2009,0,0,0,0,0,0
$GC,6318,1.12,175.4,266.0,5.7,277,6347,0.17,2.42,22.90,0.743,6,0.059,0.038,3351,1764,1914,0,0,0,0,0,0
$GC,6663,1.12,175.4,237.3,9.1,294,6664,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,1764,1909,0,0,0,0,0,0
$GC,6973,1.13,181.6,213.6,7.3,309,6986,0.00,2.50,5.90,0.560,4,0.000,0.051,3351,365,1888,0,0,0,0,0,0
$GC,7052,1.01,181.6,205.8,10.3,312,7057,0.15,2.33,0.00,0.000,6,0.106,0.023,3322,1790,1886,0,0,0,0,0,0
$GC,7378,1.08,181.6,175.8,9.7,336,7382,0.00,2.50,0.00,0.000,4,0.000,0.049,3322,350,1886,0,0,0,0,0,0
$GC,7515,1.08,181.6,160.3,12.5,346,7519,0.00,2.33,0.00,0.000,6,0.000,0.022,3322,1762,1884,0,0,0,0,0,0
$GC,7775,1.16,181.6,135.4,8.1,366,7780,0.12,2.45,0.00,0.000,4,0.068,0.047,3360,348,1883,0,0,0,0,0,0
$GC,7816,1.05,181.6,131.3,10.7,369,7821,0.15,2.33,0.00,0.000,6,0.104,0.021,3332,1776,1884,0,0,0,0,0,0
$GC,8082,1.12,181.6,108.8,9.3,390,8086,0.00,2.42,0.00,0.000,4,0.000,0.044,3331,355,1883,0,0,0,0,0,0
$GC,8115,1.12,181.6,105.1,10.9,392,8122,0.00,2.33,0.00,0.000,6,0.000,0.021,3331,1767,1883,0,0,0,0,0,0
$GC,8377,1.21,186.3,84.7,7.5,413,8391,0.15,2.45,5.10,0.436,4,0.059,0.043,3376,350,1869,0,0,0,0,0,0
$GC,8403,1.17,186.3,81.8,10.9,414,8410,0.08,2.35,0.00,0.000,6,0.088,0.020,3357,1785,1869,0,0,0,0,0,0
$GC,8665,1.25,208.8,60.3,5.9,435,8693,0.00,2.33,21.38,0.543,4,0.000,0.022,3357,3158,1778,0,0,0,0,0,0
$GC,8783,1.35,208.8,51.3,9.4,443,8788,0.15,2.35,0.00,0.000,6,0.058,0.031,3403,1764,1778,0,0,0,0,0,0
$GC,9044,1.35,208.8,26.2,9.4,469,9051,0.00,2.42,0.00,0.000,4,0.000,0.044,3403,363,1777,0,0,0,0,0,0
$STATE,9251,end climb,SURFACE_DEPTH_REACHED
$STATE,9252,begin surface coast
$FINISH,0.9,1.023225
$STATE,9278,end surface coast,CONTROL_FINISHED_OK
$STATE,9278,begin surface
$SM_CCo,9303,109.10,0.502,0,0,958,410.14
$SM_GC,1.39,0.00,0.00,109.10,0.000,0.000,0.502,425,1702,958,-12.31,0.20,410.14
$IRIDIUM_FIX,2057.14,-15756.04,071199,111104
$TT8_MAMPS,0.028379
$HUMID,52.63
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.90
$XPDR_PINGS,1
$24V_AH,23.5,15.013
$10V_AH,10.3,11.637
$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,30.750,99.900,236.775,109.100,0.000,24.813,36.776,138.879,4.750,0.000,15.450,1049.189,6176.729,402.471,1668.753,435.941,0.000,1142.904,0.000,1645.958,0.000,29.245,0.000
$DEVICE_MAMPS,134.992,56.758,846.768,501.618,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,352.775,327.895,749.933,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,28629,523
$CAP_FILE_SIZE,103631,0
$CFSIZE,260165632,204816384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130810,162336,2105.828,-15756.247,40,1.0,46,9.8