version: 66.06
glider: 139
mission: 8
dive: 44
start: 7 30 110 19 25 19
data:
$ID,139
$MISSION,8
$DIVE,44
$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,80
$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,430
$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,-2151066.8
$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,3060
$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,1720
$C_ROLL_CLIMB,2010
$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,2700
$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
$GPS1,191956,2106.226,-15755.613,13,1.9,13,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-72.0
$GPS2,192502,2106.214,-15755.660,13,1.6,13,9.8
$SPEED_LIMITS,0.137,0.183
$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,82.1,22029,-20.5,-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,13,begin dive
$GC,15,-1.38,-77.9,0.0,0.0,0,87,0.00,0.00,-69.47,0.000,2,0.000,0.000,427,1752,2923,0,0,0,0,0,0
$GC,91,-1.38,-77.9,4.2,-6.2,13,115,12.65,2.53,-1.58,0.000,4,0.140,0.054,2752,313,3021,0,0,0,0,0,0
$GC,137,-0.45,-77.9,24.1,-42.2,21,144,0.98,2.35,0.00,0.000,6,0.096,0.019,2958,1751,3023,0,0,0,0,0,0
$GC,347,-0.79,-77.9,42.7,-6.9,41,352,0.28,2.47,0.00,0.000,4,0.038,0.044,2873,314,3023,0,0,0,0,0,0
$GC,428,-0.91,-77.9,52.3,-13.0,47,432,0.00,2.22,0.00,0.000,6,0.000,0.018,2873,1727,3023,0,0,0,0,0,0
$GC,693,-1.09,-77.9,81.0,-8.9,68,698,0.22,2.45,0.00,0.000,4,0.044,0.044,2805,309,3024,0,0,0,0,0,0
$GC,777,-1.09,-77.9,91.2,-12.6,74,781,0.00,2.25,0.00,0.000,6,0.000,0.018,2805,1722,3025,0,0,0,0,0,0
$GC,1037,-1.09,-77.9,122.4,-11.5,94,1041,0.00,2.42,0.00,0.000,4,0.000,0.045,2805,316,3025,0,0,0,0,0,0
$GC,1092,-1.09,-77.9,129.6,-12.7,98,1096,0.00,2.22,0.00,0.000,6,0.000,0.018,2805,1723,3025,0,0,0,0,0,0
$GC,1353,-1.14,-77.9,156.9,-10.3,118,1354,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1725,3026,0,0,0,0,0,0
$GC,1604,-1.22,-77.9,184.7,-11.3,138,1608,0.00,2.42,0.00,0.000,4,0.000,0.047,2805,313,3026,0,0,0,0,0,0
$GC,1645,-1.27,-77.9,189.8,-12.1,141,1649,0.00,2.22,0.00,0.000,6,0.000,0.020,2805,1718,3026,0,0,0,0,0,0
$GC,1919,-1.37,-77.9,216.9,-10.1,157,1924,0.20,2.40,0.00,0.000,4,0.049,0.046,2745,316,3026,0,0,0,0,0,0
$GC,1995,-1.29,-77.9,227.4,-14.9,160,2000,0.15,2.22,0.00,0.000,6,0.100,0.020,2775,1715,3026,0,0,0,0,0,0
$GC,2319,-1.32,-77.9,262.0,-9.9,176,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1717,3026,0,0,0,0,0,0
$GC,2627,-1.39,-77.9,288.9,-8.7,191,2631,0.00,2.42,0.00,0.000,4,0.000,0.050,2775,316,3026,0,0,0,0,0,0
$GC,2659,-1.39,-77.9,292.8,-11.1,192,2663,0.00,2.25,0.00,0.000,6,0.000,0.022,2775,1721,3026,0,0,0,0,0,0
$GC,2972,-1.46,-77.9,330.2,-12.2,201,2974,0.15,0.00,0.00,0.000,6,0.061,0.000,2731,1723,3025,0,0,0,0,0,0
$GC,3297,-1.46,-77.9,368.8,-10.8,209,3301,0.00,2.45,0.00,0.000,4,0.000,0.054,2731,313,3024,0,0,0,0,0,0
$GC,3362,-1.40,-77.9,376.0,-10.6,210,3367,0.12,2.28,0.00,0.000,6,0.106,0.025,2755,1719,3023,0,0,0,0,0,0
$GC,3711,-1.45,-77.9,404.5,-8.3,219,3716,0.00,2.47,0.00,0.000,4,0.000,0.056,2754,317,3021,0,0,0,0,0,0
$GC,3758,-1.45,-77.9,409.1,-9.8,220,3762,0.00,2.33,0.00,0.000,6,0.000,0.026,2756,1726,3021,0,0,0,0,0,0
$GC,4082,-1.50,-77.9,434.2,-7.5,228,4086,0.00,2.50,0.00,0.000,4,0.000,0.058,2755,317,3018,0,0,0,0,0,0
$GC,4110,-1.50,-77.9,436.7,-8.9,228,4114,0.00,2.30,0.00,0.000,6,0.000,0.028,2755,1719,3018,0,0,0,0,0,0
$STATE,4280,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4280,begin apogee
$GC,4286,-0.31,0.0,450.5,8.0,233,4355,1.10,0.00,65.03,0.853,6,0.076,0.000,2988,2034,2700,0,0,0,0,0,0
$STATE,4356,end apogee,CONTROL_FINISHED_OK
$STATE,4356,begin climb
$GC,4359,1.38,77.9,451.0,0.0,234,4438,1.62,2.38,67.20,0.833,4,0.038,0.042,3364,3381,2381,0,0,0,0,0,0
$GC,4702,1.25,157.6,446.5,2.5,241,4782,0.17,2.38,69.97,0.840,6,0.121,0.038,3332,2010,2056,0,0,0,0,0,0
$GC,5092,1.12,157.6,415.3,9.4,251,5097,0.15,2.53,0.00,0.000,4,0.119,0.056,3305,604,2047,0,0,0,0,0,0
$GC,5158,0.96,157.6,409.3,8.6,252,5163,0.17,2.35,0.00,0.000,6,0.114,0.029,3272,1991,2044,0,0,0,0,0,0
$GC,5504,0.99,178.3,387.0,6.5,261,5529,0.00,2.53,17.30,0.790,4,0.000,0.054,3272,598,1971,0,0,0,0,0,0
$GC,5705,0.92,178.3,368.1,9.4,265,5710,0.00,2.38,0.00,0.000,6,0.000,0.031,3272,2016,1966,0,0,0,0,0,0
$GC,6055,0.92,178.3,337.8,8.4,274,6059,0.00,2.53,0.00,0.000,4,0.000,0.054,3272,597,1965,0,0,0,0,0,0
$GC,6324,0.88,178.3,314.4,9.6,279,6330,0.00,2.35,0.00,0.000,6,0.000,0.029,3272,2015,1961,0,0,0,0,0,0
$GC,6636,0.91,178.3,288.0,9.2,290,6641,0.00,2.50,0.00,0.000,4,0.000,0.051,3272,597,1961,0,0,0,0,0,0
$GC,6753,0.88,180.2,277.5,7.8,295,6757,0.00,2.38,0.00,0.000,6,0.000,0.028,3272,2019,1959,0,0,0,0,0,0
$GC,7084,0.97,217.4,256.0,5.4,311,7127,0.00,2.60,33.88,0.742,4,0.000,0.051,3272,601,1811,0,0,0,0,0,0
$GC,7246,0.97,217.4,237.9,13.9,318,7250,0.00,2.35,0.00,0.000,6,0.000,0.027,3272,2014,1807,0,0,0,0,0,0
$GC,7580,1.05,217.4,203.9,9.0,334,7584,0.00,2.45,0.00,0.000,4,0.000,0.048,3273,603,1806,0,0,0,0,0,0
$GC,7786,1.05,217.4,185.3,8.4,347,7790,0.00,2.33,0.00,0.000,6,0.000,0.025,3272,2017,1802,0,0,0,0,0,0
$GC,8049,1.18,251.8,170.2,5.6,367,8089,0.20,2.53,29.92,0.656,4,0.054,0.046,3326,602,1670,0,0,0,0,0,0
$GC,8176,1.09,251.8,155.3,13.1,376,8181,0.15,2.30,0.00,0.000,6,0.105,0.023,3298,2012,1667,0,0,0,0,0,0
$GC,8437,1.15,251.8,130.3,8.8,396,8441,0.00,2.45,0.00,0.000,4,0.000,0.046,3298,601,1666,0,0,0,0,0,0
$GC,8701,1.15,251.8,107.6,9.5,415,8707,0.00,2.28,0.00,0.000,6,0.000,0.021,3298,2014,1665,0,0,0,0,0,0
$GC,8962,1.25,257.0,88.1,7.5,436,8977,0.15,2.45,4.65,0.416,4,0.061,0.043,3343,596,1652,0,0,0,0,0,0
$GC,9243,1.19,257.0,57.4,12.3,456,9248,0.12,2.30,0.00,0.000,6,0.104,0.020,3319,2019,1651,0,0,0,0,0,0
$GC,9512,1.31,276.0,36.3,6.6,477,9541,0.12,2.47,18.35,0.512,4,0.065,0.041,3360,592,1572,0,0,0,0,0,0
$GC,9689,1.23,276.0,17.0,12.8,506,9696,0.12,2.33,0.00,0.000,6,0.076,0.019,3330,2022,1569,0,0,0,0,0,0
$STATE,9837,end climb,SURFACE_DEPTH_REACHED
$STATE,9837,begin surface coast
$FINISH,0.6,1.023000
$STATE,9870,end surface coast,CONTROL_FINISHED_OK
$STATE,9870,begin surface
$SM_CCo,9893,89.40,0.500,0,0,947,430.01
$SM_GC,1.02,0.00,0.00,89.40,0.000,0.000,0.500,430,1712,947,-12.10,-0.23,430.01
$IRIDIUM_FIX,2059.45,-15524.95,241099,171740
$TT8_MAMPS,0.028379
$HUMID,51.96
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.4,4.608
$10V_AH,10.4,2.592
$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,31.375,101.275,306.300,89.400,0.000,27.489,29.730,135.149,4.500,0.000,13.834,1127.729,6356.593,443.959,1934.811,425.028,0.000,1304.048,0.000,1903.843,0.000,29.259,0.000
$DEVICE_MAMPS,139.594,58.292,852.904,500.084,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,368.343,344.140,787.191,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,31797,547
$CAP_FILE_SIZE,113173,0
$CFSIZE,260165632,211140608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300710,221301,2106.285,-15754.770,41,1.5,41,9.8