version: 66.06
glider: 139
mission: 8
dive: 164
start: 8 13 110 5 27 19
data:
$ID,139
$MISSION,8
$DIVE,164
$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,-2153890.2
$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
$GPS1,052137,2106.203,-15757.269,43,0.9,43,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-72.1
$GPS2,052702,2106.226,-15757.352,17,1.3,17,9.8
$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,82.0,24950,-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,-64.20,0.000,2,0.000,0.000,428,1670,2762,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.3,-3.7,12,110,12.50,2.42,-2.03,0.000,4,0.135,0.053,2750,283,2872,0,0,0,0,0,0
$GC,119,-0.29,-58.4,15.0,-26.2,17,126,1.35,2.38,0.00,0.000,6,0.093,0.019,3033,1730,2873,0,0,0,0,0,0
$GC,321,-1.05,-58.4,28.5,-6.7,63,328,0.70,2.47,0.00,0.000,4,0.044,0.041,2865,289,2874,0,0,0,0,0,0
$GC,374,-1.20,-58.4,33.3,-9.9,69,381,0.10,2.28,0.00,0.000,6,0.033,0.018,2823,1704,2874,0,0,0,0,0,0
$GC,636,-1.31,-58.4,64.6,-11.3,90,640,0.00,2.45,0.00,0.000,4,0.000,0.047,2823,284,2875,0,0,0,0,0,0
$GC,668,-1.36,-58.4,68.5,-11.2,92,675,0.00,2.25,0.00,0.000,6,0.000,0.018,2823,1695,2875,0,0,0,0,0,0
$GC,929,-1.51,-58.4,89.9,-7.3,113,934,0.22,2.45,0.00,0.000,4,0.044,0.044,2757,282,2876,0,0,0,0,0,0
$GC,945,-1.58,-58.4,91.6,-8.6,114,949,0.00,2.22,0.00,0.000,6,0.000,0.018,2757,1700,2876,0,0,0,0,0,0
$GC,1204,-1.58,-58.4,130.4,-16.8,134,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1705,2877,0,0,0,0,0,0
$GC,1457,-1.63,-58.4,167.4,-14.1,154,1461,0.00,2.22,0.00,0.000,4,0.000,0.022,2758,3066,2877,0,0,0,0,0,0
$GC,1489,-1.74,-58.4,172.7,-14.2,156,1496,0.12,2.33,0.00,0.000,6,0.032,0.031,2710,1695,2877,0,0,0,0,0,0
$GC,1758,-1.70,-58.4,211.9,-13.8,175,1762,0.00,2.25,0.00,0.000,4,0.000,0.023,2710,3065,2877,0,0,0,0,0,0
$GC,1786,-1.70,-58.4,216.4,-13.7,176,1790,0.00,2.30,0.00,0.000,6,0.000,0.033,2710,1686,2878,0,0,0,0,0,0
$GC,2106,-1.70,-58.4,256.4,-12.7,192,2110,0.00,2.25,0.00,0.000,4,0.000,0.024,2710,3055,2878,0,0,0,0,0,0
$GC,2239,-1.75,-58.4,271.3,-9.8,198,2243,0.00,2.28,0.00,0.000,6,0.000,0.033,2710,1691,2878,0,0,0,0,0,0
$GC,2567,-1.75,-58.4,305.0,-10.3,213,2571,0.00,2.25,0.00,0.000,4,0.000,0.025,2710,3055,2878,0,0,0,0,0,0
$GC,2686,-1.79,-58.4,316.4,-8.6,215,2690,0.00,2.30,0.00,0.000,6,0.000,0.034,2711,1691,2878,0,0,0,0,0,0
$GC,3031,-1.79,-58.4,353.0,-11.2,224,3035,0.00,2.25,0.00,0.000,4,0.000,0.027,2710,3058,2877,0,0,0,0,0,0
$GC,3065,-1.86,-58.4,357.1,-12.1,224,3069,0.00,2.30,0.00,0.000,6,0.000,0.036,2710,1695,2877,0,0,0,0,0,0
$GC,3400,-1.86,-58.4,398.9,-12.3,233,3404,0.00,2.28,0.00,0.000,4,0.000,0.030,2710,3052,2875,0,0,0,0,0,0
$GC,3433,-1.93,-58.4,402.5,-11.3,233,3438,0.15,2.30,0.00,0.000,6,0.061,0.038,2668,1688,2875,0,0,0,0,0,0
$GC,3765,-1.89,-58.4,446.1,-12.8,241,3770,0.10,2.33,0.00,0.000,4,0.118,0.031,2686,3058,2873,0,0,0,0,0,0
$GC,3795,-1.93,-58.4,449.7,-11.7,241,3799,0.00,2.08,0.00,0.000,3,0.000,0.038,2686,1833,2872,0,0,0,0,0,0
$STATE,3799,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3799,begin apogee
$GC,3806,-0.31,0.0,450.3,11.3,241,3859,1.62,0.00,49.60,0.825,6,0.087,0.000,3026,1770,2630,0,0,0,0,0,0
$STATE,3860,end apogee,CONTROL_FINISHED_OK
$STATE,3860,begin climb
$GC,3864,1.56,58.4,452.2,0.0,243,3918,1.80,0.00,50.60,0.811,6,0.029,0.000,3450,1770,2391,0,0,0,0,0,0
$GC,4221,1.29,83.4,437.8,5.6,252,4250,0.32,2.58,21.25,0.786,4,0.105,0.053,3383,357,2289,0,0,0,0,0,0
$GC,4436,1.05,105.9,423.9,5.9,256,4464,0.28,2.30,20.60,0.783,6,0.106,0.026,3331,1739,2197,0,0,0,0,0,0
$GC,4779,1.01,105.9,400.9,8.0,265,4783,0.00,2.42,0.00,0.000,4,0.000,0.034,3331,3177,2192,0,0,0,0,0,0
$GC,4793,1.01,105.9,399.5,8.4,265,4797,0.00,2.42,0.00,0.000,6,0.000,0.038,3331,1764,2192,0,0,0,0,0,0
$GC,5142,1.01,107.6,370.9,7.7,274,5143,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,1764,2189,0,0,0,0,0,0
$GC,5468,1.03,127.6,350.8,6.1,282,5489,0.00,0.00,18.70,0.765,6,0.000,0.000,3331,1764,2109,0,0,0,0,0,0
$GC,5834,1.03,127.6,319.2,8.9,291,5835,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,1764,2105,0,0,0,0,0,0
$GC,6141,1.06,147.9,297.1,6.1,299,6165,0.00,2.47,18.55,0.736,4,0.000,0.031,3331,3174,2026,0,0,0,0,0,0
$GC,6181,1.07,159.6,294.3,6.8,300,6198,0.00,2.47,12.23,0.693,6,0.000,0.037,3331,1771,1978,0,0,0,0,0,0
$GC,6522,1.07,159.6,263.9,10.6,317,6523,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,1771,1973,0,0,0,0,0,0
$GC,6829,1.07,159.6,233.2,9.1,332,6830,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,1771,1972,0,0,0,0,0,0
$GC,7139,1.10,179.5,210.9,6.1,347,7163,0.00,2.58,17.60,0.667,4,0.000,0.051,3331,351,1897,0,0,0,0,0,0
$GC,7201,1.04,179.5,206.2,8.0,349,7206,0.00,2.38,0.00,0.000,6,0.000,0.023,3331,1783,1894,0,0,0,0,0,0
$GC,7528,1.10,190.9,184.5,6.9,372,7545,0.00,2.58,10.95,0.603,4,0.000,0.048,3331,354,1850,0,0,0,0,0,0
$GC,7578,1.05,190.9,180.3,8.4,375,7584,0.00,2.35,0.00,0.000,6,0.000,0.021,3331,1782,1848,0,0,0,0,0,0
$GC,7840,1.12,199.0,160.8,7.2,396,7855,0.00,2.53,8.45,0.561,4,0.000,0.047,3331,362,1817,0,0,0,0,0,0
$GC,7974,1.12,199.0,146.4,12.9,405,7980,0.00,2.30,0.00,0.000,6,0.000,0.021,3331,1766,1815,0,0,0,0,0,0
$GC,8234,1.19,199.0,118.1,10.6,426,8239,0.12,2.35,0.00,0.000,4,0.067,0.025,3370,3174,1814,0,0,0,0,0,0
$GC,8275,1.24,199.0,113.9,10.2,429,8279,0.00,2.38,0.00,0.000,6,0.000,0.032,3369,1765,1814,0,0,0,0,0,0
$GC,8543,1.24,199.0,88.1,9.2,450,8547,0.00,2.40,0.00,0.000,4,0.000,0.046,3369,360,1815,0,0,0,0,0,0
$GC,8724,1.17,199.0,69.3,12.0,463,8728,0.00,2.28,0.00,0.000,6,0.000,0.019,3370,1780,1813,0,0,0,0,0,0
$GC,8990,1.23,201.2,43.5,7.7,484,8994,0.00,2.42,0.00,0.000,4,0.000,0.044,3369,360,1813,0,0,0,0,0,0
$GC,9184,1.20,201.2,28.5,7.9,501,9190,0.00,2.30,0.00,0.000,6,0.000,0.019,3370,1780,1813,0,0,0,0,0,0
$GC,9386,1.26,208.5,13.7,7.2,547,9406,0.00,2.30,9.20,0.454,4,0.000,0.023,3370,3153,1780,0,0,0,0,0,0
$GC,9430,1.34,208.5,9.9,8.4,555,9437,0.00,2.35,0.00,0.000,6,0.000,0.030,3369,1774,1779,0,0,0,0,0,0
$STATE,9505,end climb,SURFACE_DEPTH_REACHED
$STATE,9505,begin surface coast
$FINISH,0.8,1.005585
$STATE,9542,end surface coast,CONTROL_FINISHED_OK
$STATE,9542,begin surface
$SM_CCo,9565,112.07,0.498,0,0,958,410.14
$SM_GC,1.52,0.00,0.00,112.07,0.000,0.000,0.498,431,1681,958,-12.28,-0.42,410.14
$IRIDIUM_FIX,2059.45,-15759.05,071199,020226
$TT8_MAMPS,0.028379
$HUMID,51.73
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,14.773
$10V_AH,10.4,11.417
$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,31.900,99.000,237.725,112.075,0.000,30.341,39.032,131.234,4.500,0.000,17.789,1106.857,6306.510,428.477,1715.119,444.482,0.000,1162.936,0.000,1694.874,0.000,29.257,0.000
$DEVICE_MAMPS,134.992,102.778,825.292,497.783,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,389.575,374.660,899.597,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,31806,580
$CAP_FILE_SIZE,104632,0
$CFSIZE,260165632,204972032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130810,080955,2106.302,-15757.084,40,1.9,40,9.8