version: 66.06
glider: 139
mission: 8
dive: 45
start: 7 30 110 22 18 45
data:
$ID,139
$MISSION,8
$DIVE,45
$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,-2151083.5
$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
$GPS1,221301,2106.285,-15754.770,41,1.5,41,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-70.9
$GPS2,221828,2106.245,-15754.786,13,1.5,15,9.8
$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,82.4,20522,-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,-77.9,0.0,0.0,0,82,0.00,0.00,-64.18,0.000,2,0.000,0.000,430,1711,2764,0,0,0,0,0,0
$GC,85,-1.38,-77.9,3.5,-4.7,12,110,12.65,2.42,-4.47,0.000,4,0.140,0.055,2751,314,3018,0,0,0,0,0,0
$GC,118,-0.00,-77.9,15.8,-29.2,17,126,1.45,2.35,0.00,0.000,6,0.090,0.019,3056,1741,3019,0,0,0,0,0,0
$GC,321,-0.69,-77.9,26.1,-4.5,63,328,0.62,2.47,0.00,0.000,4,0.044,0.041,2904,309,3021,0,0,0,0,0,0
$GC,378,-0.91,-77.9,29.6,-6.2,75,386,0.15,2.30,0.00,0.000,6,0.032,0.018,2851,1726,3021,0,0,0,0,0,0
$GC,576,-0.97,-77.9,55.0,-14.0,91,577,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1731,3021,0,0,0,0,0,0
$GC,828,-1.08,-77.9,80.6,-9.8,111,833,0.12,2.45,0.00,0.000,4,0.064,0.046,2808,311,3022,0,0,0,0,0,0
$GC,945,-1.08,-77.9,97.9,-14.5,119,950,0.00,2.25,0.00,0.000,6,0.000,0.018,2808,1725,3023,0,0,0,0,0,0
$GC,1206,-1.13,-77.9,131.7,-12.5,140,1210,0.00,2.42,0.00,0.000,4,0.000,0.045,2808,314,3023,0,0,0,0,0,0
$GC,1247,-1.16,-77.9,137.4,-12.7,143,1251,0.00,2.22,0.00,0.000,6,0.000,0.018,2808,1722,3023,0,0,0,0,0,0
$GC,1512,-1.23,-77.9,163.6,-8.5,164,1516,0.00,2.42,0.00,0.000,4,0.000,0.047,2808,311,3024,0,0,0,0,0,0
$GC,1558,-1.29,-77.9,168.3,-9.9,167,1565,0.10,2.25,0.00,0.000,6,0.037,0.019,2767,1719,3024,0,0,0,0,0,0
$GC,1819,-1.29,-77.9,194.5,-9.5,188,1823,0.00,2.40,0.00,0.000,4,0.000,0.047,2766,315,3024,0,0,0,0,0,0
$GC,1851,-1.23,-77.9,198.2,-11.4,190,1859,0.08,2.25,0.00,0.000,6,0.084,0.020,2786,1718,3024,0,0,0,0,0,0
$GC,2112,-1.30,-77.9,224.3,-10.6,204,2113,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1719,3024,0,0,0,0,0,0
$GC,2421,-1.39,-77.9,260.2,-11.3,219,2426,0.12,2.45,0.00,0.000,4,0.067,0.049,2745,316,3024,0,0,0,0,0,0
$GC,2491,-1.36,-77.9,270.2,-13.9,222,2495,0.00,2.22,0.00,0.000,6,0.000,0.021,2745,1710,3024,0,0,0,0,0,0
$GC,2836,-1.36,-77.9,309.0,-10.1,237,2840,0.00,2.42,0.00,0.000,4,0.000,0.051,2744,316,3023,0,0,0,0,0,0
$GC,2864,-1.30,-77.9,312.1,-10.8,237,2869,0.15,2.25,0.00,0.000,6,0.098,0.023,2775,1717,3023,0,0,0,0,0,0
$GC,3201,-1.38,-77.9,339.7,-8.6,246,3206,0.00,2.42,0.00,0.000,4,0.000,0.054,2775,314,3021,0,0,0,0,0,0
$GC,3277,-1.44,-77.9,348.3,-11.4,247,3282,0.12,2.28,0.00,0.000,6,0.068,0.024,2737,1718,3021,0,0,0,0,0,0
$GC,3619,-1.44,-77.9,387.9,-11.5,256,3623,0.00,2.50,0.00,0.000,4,0.000,0.055,2736,313,3019,0,0,0,0,0,0
$GC,3638,-1.40,-77.9,390.3,-11.8,256,3642,0.00,2.30,0.00,0.000,6,0.000,0.025,2737,1719,3019,0,0,0,0,0,0
$GC,3987,-1.40,-77.9,426.8,-10.0,265,3991,0.00,2.47,0.00,0.000,4,0.000,0.057,2736,317,3016,0,0,0,0,0,0
$GC,4021,-1.36,-77.9,430.3,-10.7,265,4026,0.12,2.30,0.00,0.000,6,0.107,0.026,2761,1722,3016,0,0,0,0,0,0
$STATE,4227,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4227,begin apogee
$GC,4234,-0.31,0.0,450.3,9.5,270,4302,1.08,0.00,64.85,0.851,6,0.074,0.000,2990,2034,2700,0,0,0,0,0,0
$STATE,4303,end apogee,CONTROL_FINISHED_OK
$STATE,4303,begin climb
$GC,4305,1.38,77.9,451.8,0.0,271,4385,1.60,2.40,67.12,0.834,4,0.037,0.042,3361,3390,2381,0,0,0,0,0,0
$GC,4536,1.25,156.9,452.9,2.6,276,4617,0.15,2.40,69.22,0.835,6,0.123,0.038,3334,2009,2059,0,0,0,0,0,0
$GC,4940,1.11,156.9,410.9,12.5,286,4945,0.17,2.50,0.00,0.000,4,0.117,0.056,3302,604,2050,0,0,0,0,0,0
$GC,5025,0.96,156.9,400.8,11.4,287,5031,0.17,2.35,0.00,0.000,6,0.114,0.029,3270,1995,2046,0,0,0,0,0,0
$GC,5356,0.96,156.9,366.5,10.3,296,5360,0.00,2.47,0.00,0.000,4,0.000,0.054,3269,605,2044,0,0,0,0,0,0
$GC,5524,0.91,161.0,352.0,7.6,299,5528,0.00,2.35,0.00,0.000,6,0.000,0.029,3270,2012,2041,0,0,0,0,0,0
$GC,5860,0.95,197.9,332.3,5.4,308,5902,0.00,2.60,34.10,0.793,4,0.000,0.054,3270,602,1892,0,0,0,0,0,0
$GC,5987,0.92,202.2,323.7,7.6,310,5997,0.00,2.40,4.68,0.549,6,0.000,0.029,3270,2026,1875,0,0,0,0,0,0
$GC,6322,0.97,205.7,298.6,7.7,319,6334,0.00,2.53,4.43,0.530,4,0.000,0.052,3269,600,1860,0,0,0,0,0,0
$GC,6541,0.97,205.7,278.4,9.9,328,6545,0.00,2.35,0.00,0.000,6,0.000,0.028,3270,2014,1857,0,0,0,0,0,0
$GC,6859,1.02,205.7,251.7,8.0,343,6863,0.00,2.47,0.00,0.000,4,0.000,0.051,3270,598,1857,0,0,0,0,0,0
$GC,6989,1.02,205.7,238.8,9.4,348,6996,0.00,2.38,0.00,0.000,6,0.000,0.027,3270,2012,1855,0,0,0,0,0,0
$GC,7306,1.09,207.3,214.8,7.8,364,7311,0.12,2.50,0.00,0.000,4,0.071,0.051,3304,600,1855,0,0,0,0,0,0
$GC,7397,1.00,207.3,206.8,8.5,368,7402,0.12,2.33,0.00,0.000,6,0.115,0.026,3282,2015,1854,0,0,0,0,0,0
$GC,7729,1.11,247.6,185.5,5.2,391,7772,0.00,2.55,37.25,0.680,4,0.000,0.048,3281,602,1689,0,0,0,0,0,0
$GC,8014,1.11,247.6,157.2,8.4,412,8018,0.00,2.30,0.00,0.000,6,0.000,0.024,3281,2015,1683,0,0,0,0,0,0
$GC,8275,1.20,247.6,135.2,8.6,432,8280,0.17,2.45,0.00,0.000,4,0.057,0.048,3330,600,1682,0,0,0,0,0,0
$GC,8540,1.13,247.6,101.6,12.5,451,8546,0.12,2.30,0.00,0.000,6,0.109,0.022,3307,2024,1680,0,0,0,0,0,0
$GC,8803,1.19,247.6,77.1,8.0,472,8807,0.00,2.45,0.00,0.000,4,0.000,0.044,3307,596,1680,0,0,0,0,0,0
$GC,9067,1.21,265.7,52.9,6.7,491,9088,0.00,2.30,15.48,0.528,6,0.000,0.021,3307,2020,1616,0,0,0,0,0,0
$GC,9342,1.33,274.7,35.1,7.3,513,9357,0.17,2.47,9.20,0.476,4,0.054,0.042,3360,590,1579,0,0,0,0,0,0
$STATE,9596,end climb,SURFACE_DEPTH_REACHED
$STATE,9598,begin surface coast
$FINISH,0.2,1.008700
$STATE,9616,end surface coast,CONTROL_FINISHED_OK
$STATE,9616,begin surface
$SM_CCo,9641,86.75,0.507,0,0,946,430.01
$SM_GC,1.04,0.00,0.00,86.75,0.000,0.000,0.507,423,1722,946,-12.13,0.06,430.01
$IRIDIUM_FIX,2057.14,-15753.90,241099,191929
$TT8_MAMPS,0.029146
$HUMID,53.07
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.4,4.700
$10V_AH,10.4,2.672
$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,32.200,104.975,306.325,86.750,0.000,23.837,31.290,155.729,4.500,0.000,15.906,1138.031,6107.898,441.308,1914.953,452.162,0.000,1278.709,0.000,1887.416,0.000,29.266,0.000
$DEVICE_MAMPS,139.594,56.758,850.603,506.987,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,381.460,364.039,861.624,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31677,567
$CAP_FILE_SIZE,112343,0
$CFSIZE,260165632,211087360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310710,010204,2106.178,-15753.924,13,4.6,32,9.8