version: 66.06
glider: 139
mission: 8
dive: 166
start: 8 13 110 10 55 19
data:
$ID,139
$MISSION,8
$DIVE,166
$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,-2153944.8
$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
$GPS1,104928,2106.089,-15756.479,12,2.3,31,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-70.2
$GPS2,105504,2106.031,-15756.528,13,2.4,32,9.8
$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,81.2,23520,-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,15,-1.56,-58.4,0.0,0.0,0,82,0.00,0.00,-64.12,0.000,2,0.000,0.000,427,1658,2758,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.4,-3.7,12,110,12.52,2.45,-2.10,0.000,4,0.136,0.037,2752,3099,2872,0,0,0,0,0,0
$GC,131,-0.91,-58.4,17.7,-30.4,20,139,0.68,2.40,0.00,0.000,6,0.082,0.032,2902,1697,2873,0,0,0,0,0,0
$GC,340,-1.17,-58.4,37.1,-7.8,54,345,0.25,2.42,0.00,0.000,4,0.040,0.044,2820,286,2874,0,0,0,0,0,0
$GC,383,-1.17,-58.4,42.8,-14.1,57,388,0.12,2.30,0.00,0.000,6,0.103,0.018,2845,1737,2874,0,0,0,0,0,0
$GC,644,-1.35,-58.4,69.3,-9.3,77,649,0.17,2.50,0.00,0.000,4,0.048,0.046,2785,292,2875,0,0,0,0,0,0
$GC,760,-1.35,-58.4,85.3,-13.5,85,766,0.00,2.22,0.00,0.000,6,0.000,0.018,2785,1707,2875,0,0,0,0,0,0
$GC,1019,-1.43,-58.4,117.4,-12.2,106,1024,0.00,2.42,0.00,0.000,4,0.000,0.045,2785,290,2876,0,0,0,0,0,0
$GC,1039,-1.48,-58.4,120.1,-13.1,107,1045,0.00,2.20,0.00,0.000,6,0.000,0.018,2785,1699,2876,0,0,0,0,0,0
$GC,1300,-1.58,-58.4,151.9,-10.9,128,1305,0.12,2.22,0.00,0.000,4,0.064,0.023,2743,3066,2877,0,0,0,0,0,0
$GC,1319,-1.66,-58.4,154.4,-11.9,129,1324,0.00,2.30,0.00,0.000,6,0.000,0.032,2742,1685,2877,0,0,0,0,0,0
$GC,1582,-1.70,-58.4,183.3,-10.6,150,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1686,2877,0,0,0,0,0,0
$GC,1835,-1.75,-58.4,213.2,-12.3,167,1840,0.12,2.38,0.00,0.000,4,0.063,0.046,2700,293,2878,0,0,0,0,0,0
$GC,1850,-1.75,-58.4,215.7,-12.3,167,1856,0.00,2.22,0.00,0.000,6,0.000,0.020,2700,1696,2878,0,0,0,0,0,0
$GC,2167,-1.75,-58.4,263.8,-13.4,183,2171,0.00,2.25,0.00,0.000,4,0.000,0.025,2700,3069,2878,0,0,0,0,0,0
$GC,2262,-1.75,-58.4,274.5,-10.9,187,2266,0.00,2.30,0.00,0.000,6,0.000,0.033,2699,1691,2878,0,0,0,0,0,0
$GC,2590,-1.75,-58.4,311.1,-12.9,201,2594,0.00,2.25,0.00,0.000,4,0.000,0.026,2700,3064,2877,0,0,0,0,0,0
$GC,2733,-1.80,-58.4,328.8,-12.7,204,2738,0.00,2.33,0.00,0.000,6,0.000,0.037,2700,1697,2877,0,0,0,0,0,0
$GC,3051,-1.80,-58.4,365.1,-11.2,212,3056,0.00,2.45,0.00,0.000,4,0.000,0.052,2700,290,2876,0,0,0,0,0,0
$GC,3070,-1.75,-58.4,367.4,-11.9,212,3075,0.00,2.25,0.00,0.000,6,0.000,0.024,2700,1689,2876,0,0,0,0,0,0
$GC,3421,-1.75,-58.4,408.8,-11.7,221,3425,0.00,2.35,0.00,0.000,4,0.000,0.031,2700,3078,2873,0,0,0,0,0,0
$GC,3518,-1.81,-58.4,417.8,-8.4,223,3523,0.00,2.38,0.00,0.000,6,0.000,0.040,2699,1693,2872,0,0,0,0,0,0
$GC,3839,-1.81,-58.4,448.1,-9.9,231,3840,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1692,2870,0,0,0,0,0,0
$STATE,3874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3875,begin apogee
$GC,3881,-0.31,0.0,452.2,10.2,232,3934,1.58,0.00,49.33,0.843,6,0.082,0.000,3029,1763,2630,0,0,0,0,0,0
$STATE,3935,end apogee,CONTROL_FINISHED_OK
$STATE,3935,begin climb
$GC,3938,1.56,58.4,453.3,0.0,233,3993,1.75,0.00,50.28,0.824,6,0.028,0.000,3450,1763,2391,0,0,0,0,0,0
$GC,4308,1.32,114.5,444.1,2.8,242,4365,0.30,2.42,48.78,0.834,4,0.108,0.034,3390,3161,2162,0,0,0,0,0,0
$GC,4466,1.18,114.5,432.6,9.3,245,4471,0.17,2.42,0.00,0.000,6,0.117,0.041,3358,1769,2159,0,0,0,0,0,0
$GC,4812,1.08,114.5,399.7,9.1,254,4814,0.12,0.00,0.00,0.000,6,0.117,0.000,3336,1770,2154,0,0,0,0,0,0
$GC,5138,1.04,114.5,371.2,8.9,262,5142,0.00,2.47,0.00,0.000,4,0.000,0.056,3335,358,2150,0,0,0,0,0,0
$GC,5152,0.95,114.5,369.4,9.7,262,5157,0.15,2.35,0.00,0.000,6,0.116,0.028,3308,1764,2148,0,0,0,0,0,0
$GC,5503,0.95,114.5,339.4,8.0,271,5507,0.00,2.47,0.00,0.000,4,0.000,0.054,3308,353,2147,0,0,0,0,0,0
$GC,5541,0.88,114.5,335.9,9.1,271,5547,0.00,2.38,0.00,0.000,6,0.000,0.028,3308,1786,2144,0,0,0,0,0,0
$GC,5873,0.96,147.2,317.1,4.9,280,5906,0.00,2.62,26.88,0.779,4,0.000,0.054,3308,357,2030,0,0,0,0,0,0
$GC,5985,0.90,147.2,307.3,11.1,282,5990,0.00,2.38,0.00,0.000,6,0.000,0.028,3309,1764,2025,0,0,0,0,0,0
$GC,6314,0.93,147.2,278.1,7.9,296,6318,0.00,2.38,0.00,0.000,4,0.000,0.033,3308,3184,2024,0,0,0,0,0,0
$GC,6469,1.01,151.3,266.6,7.5,302,6479,0.00,2.47,4.43,0.520,6,0.000,0.037,3308,1768,2012,0,0,0,0,0,0
$GC,6812,1.09,163.8,241.9,6.8,319,6834,0.12,2.42,12.57,0.687,4,0.071,0.030,3344,3178,1962,0,0,0,0,0,0
$GC,6849,1.09,163.8,238.6,7.9,320,6853,0.00,2.42,0.00,0.000,6,0.000,0.036,3344,1768,1961,0,0,0,0,0,0
$GC,7167,1.09,163.8,212.3,8.0,335,7171,0.00,2.47,0.00,0.000,4,0.000,0.051,3343,348,1958,0,0,0,0,0,0
$GC,7251,1.00,163.8,204.4,9.6,338,7258,0.10,2.40,0.00,0.000,6,0.087,0.025,3320,1780,1955,0,0,0,0,0,0
$GC,7574,1.06,163.8,180.3,8.2,362,7578,0.00,2.47,0.00,0.000,4,0.000,0.048,3320,357,1955,0,0,0,0,0,0
$GC,7628,1.06,163.8,174.8,10.1,366,7632,0.00,2.35,0.00,0.000,6,0.000,0.023,3320,1785,1954,0,0,0,0,0,0
$GC,7895,1.13,163.8,150.0,9.0,387,7900,0.10,2.47,0.00,0.000,4,0.077,0.047,3353,357,1953,0,0,0,0,0,0
$GC,7922,1.05,163.8,147.2,10.7,389,7927,0.12,2.30,0.00,0.000,6,0.109,0.022,3329,1776,1954,0,0,0,0,0,0
$GC,8190,1.15,189.5,129.3,5.6,410,8215,0.10,0.00,23.00,0.611,6,0.077,0.000,3362,1781,1856,0,0,0,0,0,0
$GC,8466,1.15,189.5,105.3,10.4,432,8470,0.00,2.30,0.00,0.000,4,0.000,0.025,3362,3168,1854,0,0,0,0,0,0
$GC,8485,1.15,189.5,103.0,10.3,433,8491,0.00,2.38,0.00,0.000,6,0.000,0.031,3362,1756,1854,0,0,0,0,0,0
$GC,8746,1.18,189.5,78.2,8.3,454,8747,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,1756,1854,0,0,0,0,0,0
$GC,8999,1.30,233.1,64.4,4.0,474,9044,0.00,2.50,38.20,0.557,4,0.000,0.044,3362,350,1677,0,0,0,0,0,0
$GC,9241,1.30,233.1,42.3,12.4,491,9247,0.00,2.33,0.00,0.000,6,0.000,0.019,3362,1768,1672,0,0,0,0,0,0
$GC,9503,1.39,233.1,16.8,8.1,532,9510,0.17,2.45,0.00,0.000,4,0.051,0.043,3414,355,1671,0,0,0,0,0,0
$GC,9561,1.25,233.1,10.5,11.3,544,9568,0.17,2.33,0.00,0.000,6,0.079,0.018,3375,1778,1671,0,0,0,0,0,0
$STATE,9636,end climb,SURFACE_DEPTH_REACHED
$STATE,9636,begin surface coast
$FINISH,0.8,1.018897
$STATE,9669,end surface coast,CONTROL_FINISHED_OK
$STATE,9669,begin surface
$SM_CCo,9692,98.70,0.498,0,0,958,410.14
$SM_GC,1.48,0.00,0.00,98.70,0.000,0.000,0.498,427,1676,958,-12.30,-0.54,410.14
$IRIDIUM_FIX,2057.14,-15801.19,071199,080838
$TT8_MAMPS,0.029146
$HUMID,52.04
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.5,14.934
$10V_AH,10.4,11.566
$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,31.550,104.800,253.450,98.700,0.000,28.380,28.748,143.555,4.500,0.000,33.095,1109.884,6398.065,422.857,1737.663,456.508,0.000,1172.480,0.000,1705.071,0.000,29.250,0.000
$DEVICE_MAMPS,135.759,91.273,842.933,497.783,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,382.286,362.227,850.274,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,31798,568
$CAP_FILE_SIZE,107757,0
$CFSIZE,260165632,204865536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130810,133940,2105.956,-15755.988,11,2.1,30,9.8