version: 66.06
glider: 139
mission: 8
dive: 196
start: 8 16 110 21 8 43
data:
$ID,139
$MISSION,8
$DIVE,196
$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,-2154538.2
$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
$GPS1,205934,2106.274,-15749.794,12,3.3,31,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-72.3
$GPS2,210826,2106.357,-15749.741,11,1.7,11,9.8
$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,85.1,11833,-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,16,-1.56,-58.4,0.0,0.0,0,82,0.00,0.00,-64.07,0.000,2,0.000,0.000,429,1711,2747,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.2,-3.3,12,110,12.48,2.50,-2.30,0.000,4,0.134,0.054,2753,289,2872,0,0,0,0,0,0
$GC,122,-0.50,-58.4,16.5,-30.5,18,130,1.10,2.35,0.00,0.000,6,0.089,0.018,2988,1735,2873,0,0,0,0,0,0
$GC,326,-0.97,-58.4,31.5,-5.5,60,333,0.43,2.50,0.00,0.000,4,0.031,0.042,2864,282,2874,0,0,0,0,0,0
$GC,422,-1.12,-58.4,43.7,-14.6,67,427,0.00,2.25,0.00,0.000,6,0.000,0.018,2864,1704,2874,0,0,0,0,0,0
$GC,688,-1.34,-58.4,74.7,-11.0,88,693,0.25,2.20,0.00,0.000,4,0.041,0.019,2785,3066,2875,0,0,0,0,0,0
$GC,707,-1.49,-58.4,77.3,-11.8,89,714,0.00,2.33,0.00,0.000,6,0.000,0.031,2785,1690,2875,0,0,0,0,0,0
$GC,967,-1.56,-58.4,112.8,-12.6,110,971,0.12,2.40,0.00,0.000,4,0.065,0.044,2744,294,2876,0,0,0,0,0,0
$GC,1012,-1.47,-58.4,121.2,-18.6,113,1019,0.17,2.20,0.00,0.000,6,0.097,0.018,2779,1700,2876,0,0,0,0,0,0
$GC,1274,-1.56,-58.4,151.5,-12.0,134,1278,0.00,2.17,0.00,0.000,4,0.000,0.021,2779,3058,2877,0,0,0,0,0,0
$GC,1313,-1.71,-58.4,156.1,-11.9,137,1318,0.22,2.28,0.00,0.000,6,0.044,0.031,2713,1685,2877,0,0,0,0,0,0
$GC,1576,-1.71,-58.4,196.2,-13.5,158,1581,0.00,2.22,0.00,0.000,4,0.000,0.022,2713,3058,2877,0,0,0,0,0,0
$GC,1604,-1.71,-58.4,199.7,-12.6,160,1608,0.00,2.25,0.00,0.000,6,0.000,0.031,2713,1694,2877,0,0,0,0,0,0
$GC,1864,-1.71,-58.4,228.5,-10.1,173,1868,0.00,2.25,0.00,0.000,4,0.000,0.023,2713,3064,2877,0,0,0,0,0,0
$GC,1992,-1.77,-58.4,241.4,-10.1,178,1996,0.00,2.28,0.00,0.000,6,0.000,0.033,2712,1697,2877,0,0,0,0,0,0
$GC,2309,-1.77,-58.4,276.5,-11.3,193,2310,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1696,2878,0,0,0,0,0,0
$GC,2636,-1.77,-58.4,310.6,-10.8,207,2640,0.00,2.22,0.00,0.000,4,0.000,0.026,2713,3054,2877,0,0,0,0,0,0
$GC,2649,-1.77,-58.4,312.3,-10.8,207,2653,0.00,2.30,0.00,0.000,6,0.000,0.035,2713,1695,2877,0,0,0,0,0,0
$GC,2999,-1.77,-58.4,355.4,-12.5,216,3003,0.00,2.30,0.00,0.000,4,0.000,0.028,2713,3062,2875,0,0,0,0,0,0
$GC,3073,-1.85,-58.4,363.8,-10.3,217,3077,0.00,2.33,0.00,0.000,6,0.000,0.037,2713,1694,2874,0,0,0,0,0,0
$GC,3413,-1.89,-58.4,397.3,-9.7,226,3418,0.10,2.30,0.00,0.000,4,0.078,0.030,2681,3057,2872,0,0,0,0,0,0
$GC,3470,-1.89,-58.4,402.7,-9.6,227,3474,0.00,2.30,0.00,0.000,6,0.000,0.039,2681,1695,2872,0,0,0,0,0,0
$GC,3783,-1.85,-58.4,434.1,-10.2,235,3787,0.00,2.30,0.00,0.000,4,0.000,0.031,2680,3053,2870,0,0,0,0,0,0
$STATE,3938,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3938,begin apogee
$GC,3947,-0.31,0.0,450.5,9.8,238,4000,1.65,0.00,49.00,0.838,6,0.086,0.000,3026,1770,2630,0,0,0,0,0,0
$STATE,4001,end apogee,CONTROL_FINISHED_OK
$STATE,4001,begin climb
$GC,4003,1.56,58.4,451.5,0.0,239,4058,1.77,0.00,50.42,0.820,6,0.031,0.000,3447,1770,2391,0,0,0,0,0,0
$GC,4374,1.33,113.7,441.5,2.9,248,4430,0.28,2.38,48.30,0.827,4,0.107,0.031,3392,3123,2166,0,0,0,0,0,0
$GC,4448,1.18,121.6,437.6,7.2,249,4463,0.17,2.38,8.35,0.690,6,0.111,0.038,3359,1771,2133,0,0,0,0,0,0
$GC,4787,1.09,121.6,403.1,10.6,258,4792,0.12,2.33,0.00,0.000,4,0.116,0.035,3336,3122,2127,0,0,0,0,0,0
$GC,4969,1.09,121.6,387.0,8.2,262,4974,0.00,2.38,0.00,0.000,6,0.000,0.040,3336,1763,2126,0,0,0,0,0,0
$GC,5297,1.05,121.6,360.8,8.8,270,5301,0.00,2.33,0.00,0.000,4,0.000,0.033,3336,3123,2122,0,0,0,0,0,0
$GC,5330,1.05,121.6,357.3,10.4,270,5334,0.00,2.33,0.00,0.000,6,0.000,0.040,3336,1768,2122,0,0,0,0,0,0
$GC,5661,1.01,121.6,326.8,8.8,278,5665,0.00,2.33,0.00,0.000,4,0.000,0.033,3336,3130,2119,0,0,0,0,0,0
$GC,5708,1.01,121.6,322.7,8.1,279,5712,0.00,2.35,0.00,0.000,6,0.000,0.038,3336,1761,2119,0,0,0,0,0,0
$GC,6031,1.02,127.2,298.5,7.4,287,6032,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,1761,2117,0,0,0,0,0,0
$GC,6340,1.04,144.8,279.6,6.3,302,6360,0.00,0.00,18.75,0.736,6,0.000,0.000,3336,1762,2039,0,0,0,0,0,0
$GC,6669,1.05,152.9,254.4,7.2,318,6684,0.00,2.47,8.43,0.644,4,0.000,0.053,3336,359,2005,0,0,0,0,0,0
$GC,6709,0.95,152.9,250.5,10.0,319,6715,0.15,2.30,0.00,0.000,6,0.111,0.025,3309,1738,2002,0,0,0,0,0,0
$GC,7026,1.02,163.8,227.5,6.9,335,7038,0.00,0.00,10.77,0.652,6,0.000,0.000,3309,1738,1962,0,0,0,0,0,0
$GC,7335,1.11,170.9,205.7,7.3,350,7348,0.15,2.45,7.40,0.587,4,0.062,0.050,3351,351,1933,0,0,0,0,0,0
$GC,7378,1.00,170.9,201.3,11.2,352,7383,0.17,2.35,0.00,0.000,6,0.101,0.024,3317,1769,1931,0,0,0,0,0,0
$GC,7703,1.07,171.3,174.4,7.9,377,7707,0.00,2.45,0.00,0.000,4,0.000,0.048,3317,351,1930,0,0,0,0,0,0
$GC,7722,1.07,171.3,172.5,9.0,378,7728,0.00,2.35,0.00,0.000,6,0.000,0.022,3317,1769,1929,0,0,0,0,0,0
$GC,7983,1.17,171.3,150.8,8.3,399,7988,0.15,2.47,0.00,0.000,4,0.059,0.048,3361,355,1928,0,0,0,0,0,0
$GC,8011,1.06,171.3,147.6,11.1,401,8016,0.15,2.30,0.00,0.000,6,0.104,0.021,3332,1781,1928,0,0,0,0,0,0
$GC,8274,1.13,176.8,127.7,7.4,421,8282,0.00,0.00,6.15,0.495,6,0.000,0.000,3332,1787,1909,0,0,0,0,0,0
$GC,8536,1.23,188.9,109.9,6.8,442,8555,0.15,2.53,12.48,0.555,4,0.059,0.044,3376,361,1859,0,0,0,0,0,0
$GC,8575,1.13,188.9,106.7,8.8,444,8583,0.12,2.33,0.00,0.000,6,0.082,0.020,3348,1772,1857,0,0,0,0,0,0
$GC,8837,1.18,188.9,85.0,8.9,465,8842,0.00,2.42,0.00,0.000,4,0.000,0.044,3348,354,1857,0,0,0,0,0,0
$GC,9097,1.18,188.9,61.9,9.4,484,9101,0.00,2.28,0.00,0.000,6,0.000,0.019,3349,1781,1856,0,0,0,0,0,0
$GC,9359,1.31,213.6,45.1,5.7,504,9387,0.15,2.28,22.55,0.520,4,0.058,0.021,3395,3153,1758,0,0,0,0,0,0
$GC,9478,1.36,218.8,35.1,7.4,512,9489,0.00,2.38,6.03,0.416,6,0.000,0.028,3394,1760,1737,0,0,0,0,0,0
$GC,9747,1.36,218.8,11.9,9.3,565,9754,0.00,2.42,0.00,0.000,4,0.000,0.044,3394,356,1736,0,0,0,0,0,0
$STATE,9826,end climb,SURFACE_DEPTH_REACHED
$STATE,9826,begin surface coast
$FINISH,0.8,1.005150
$STATE,9856,end surface coast,CONTROL_FINISHED_OK
$STATE,9856,begin surface
$SM_CCo,9880,108.10,0.492,0,0,957,410.14
$SM_GC,1.52,0.00,0.00,108.10,0.000,0.000,0.492,428,1720,957,-12.29,0.71,410.14
$IRIDIUM_FIX,2057.14,-15751.76,101199,212116
$TT8_MAMPS,0.029146
$HUMID,52.44
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,17.351
$10V_AH,10.3,13.776
$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,32.775,107.200,248.625,108.100,0.000,56.333,65.241,209.363,4.500,0.000,11.968,1150.729,6563.526,424.259,1781.915,598.972,0.000,1193.349,0.000,1761.918,0.000,29.266,0.000
$DEVICE_MAMPS,134.225,54.457,837.564,492.414,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,396.710,380.828,896.625,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,31806,589
$CAP_FILE_SIZE,113302,0
$CFSIZE,260165632,203296768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160810,235630,2106.468,-15749.173,36,1.8,40,9.8