version: 66.06
glider: 139
mission: 8
dive: 151
start: 8 11 110 18 10 25
data:
$ID,139
$MISSION,8
$DIVE,151
$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,-2153590.8
$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,1690
$C_ROLL_CLIMB,1830
$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
$GPS1,180455,2107.560,-15802.440,45,2.0,45,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-71.5
$GPS2,181008,2107.528,-15802.433,14,1.7,14,9.8
$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,85.6,33868,-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,-64.32,0.000,2,0.000,0.000,427,1671,2793,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.7,-4.7,12,105,12.73,2.45,-1.42,0.000,4,0.143,0.038,2753,3101,2871,0,0,0,0,0,0
$GC,239,-1.59,-58.4,37.0,-15.4,39,244,0.00,2.38,0.00,0.000,6,0.000,0.035,2753,1689,2873,0,0,0,0,0,0
$GC,503,-1.52,-58.4,85.9,-19.2,60,504,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1689,2874,0,0,0,0,0,0
$GC,756,-1.52,-58.4,124.5,-13.9,80,760,0.00,2.40,0.00,0.000,4,0.000,0.048,2753,286,2875,0,0,0,0,0,0
$GC,812,-1.49,-58.4,133.2,-15.6,84,816,0.00,2.30,0.00,0.000,6,0.000,0.018,2753,1724,2875,0,0,0,0,0,0
$GC,1073,-1.52,-58.4,166.5,-14.5,104,1077,0.00,2.20,0.00,0.000,4,0.000,0.023,2753,3084,2876,0,0,0,0,0,0
$GC,1196,-1.64,-58.4,182.9,-12.5,113,1201,0.00,2.35,0.00,0.000,6,0.000,0.031,2753,1682,2876,0,0,0,0,0,0
$GC,1458,-1.69,-58.4,216.0,-12.0,130,1462,0.00,2.38,0.00,0.000,4,0.000,0.045,2753,282,2877,0,0,0,0,0,0
$GC,1472,-1.69,-58.4,217.9,-11.3,130,1476,0.00,2.25,0.00,0.000,6,0.000,0.019,2753,1714,2876,0,0,0,0,0,0
$GC,1790,-1.74,-58.4,252.5,-10.0,145,1792,0.15,0.00,0.00,0.000,6,0.059,0.000,2707,1717,2877,0,0,0,0,0,0
$GC,2098,-1.74,-58.4,289.7,-11.8,160,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1718,2877,0,0,0,0,0,0
$GC,2405,-1.74,-58.4,321.6,-10.3,170,2409,0.00,2.25,0.00,0.000,4,0.000,0.028,2708,3064,2876,0,0,0,0,0,0
$GC,2503,-1.80,-58.4,332.2,-10.5,172,2507,0.00,2.33,0.00,0.000,6,0.000,0.035,2708,1682,2876,0,0,0,0,0,0
$GC,2821,-1.80,-58.4,370.1,-12.9,180,2825,0.00,2.30,0.00,0.000,4,0.000,0.029,2708,3055,2875,0,0,0,0,0,0
$GC,2935,-1.87,-58.4,385.0,-12.0,182,2939,0.00,2.33,0.00,0.000,6,0.000,0.038,2708,1683,2875,0,0,0,0,0,0
$GC,3281,-1.87,-58.4,421.8,-9.9,191,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1683,2872,0,0,0,0,0,0
$GC,3606,-1.87,-58.4,447.4,-7.9,199,3610,0.00,2.30,0.00,0.000,4,0.000,0.034,2708,3054,2869,0,0,0,0,0,0
$STATE,3636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3636,begin apogee
$GC,3644,-0.31,0.0,450.3,8.6,199,3697,1.52,0.00,49.17,0.836,6,0.084,0.000,3028,1828,2629,0,0,0,0,0,0
$STATE,3698,end apogee,CONTROL_FINISHED_OK
$STATE,3698,begin climb
$GC,3700,1.56,58.4,451.2,0.0,201,3760,1.80,2.40,50.60,0.819,4,0.028,0.035,3456,3205,2390,0,0,0,0,0,0
$GC,4025,1.31,95.4,437.6,4.6,208,4063,0.35,2.38,32.00,0.811,6,0.105,0.038,3389,1827,2239,0,0,0,0,0,0
$GC,4377,1.15,95.4,408.2,9.3,217,4382,0.20,2.35,0.00,0.000,4,0.111,0.035,3351,3197,2232,0,0,0,0,0,0
$GC,4646,1.10,113.5,390.5,6.3,222,4667,0.00,2.38,15.62,0.770,6,0.000,0.039,3351,1831,2167,0,0,0,0,0,0
$GC,4984,1.03,113.5,357.9,10.4,231,4989,0.12,2.50,0.00,0.000,4,0.117,0.057,3328,420,2161,0,0,0,0,0,0
$GC,5093,0.91,113.5,346.2,10.3,233,5098,0.15,2.28,0.00,0.000,6,0.116,0.028,3300,1806,2158,0,0,0,0,0,0
$GC,5445,1.00,150.6,327.3,4.6,242,5486,0.00,2.45,32.88,0.783,4,0.000,0.034,3301,3223,2015,0,0,0,0,0,0
$GC,5603,1.08,150.6,313.0,10.4,245,5608,0.15,2.45,0.00,0.000,6,0.064,0.039,3340,1822,2013,0,0,0,0,0,0
$GC,5932,1.08,150.6,280.0,10.0,258,5936,0.00,2.47,0.00,0.000,4,0.000,0.056,3340,422,2010,0,0,0,0,0,0
$GC,5978,0.97,150.6,274.5,12.2,260,5983,0.15,2.35,0.00,0.000,6,0.109,0.028,3313,1837,2007,0,0,0,0,0,0
$GC,6306,1.04,150.6,242.6,8.4,276,6311,0.00,2.47,0.00,0.000,4,0.000,0.053,3312,421,2006,0,0,0,0,0,0
$GC,6384,1.04,153.3,236.0,7.6,279,6389,0.00,2.30,0.00,0.000,6,0.000,0.026,3312,1838,2004,0,0,0,0,0,0
$GC,6701,1.13,163.6,215.4,7.0,294,6718,0.15,2.53,10.93,0.649,4,0.062,0.051,3355,421,1963,0,0,0,0,0,0
$GC,6773,1.02,163.6,207.9,12.0,297,6778,0.17,2.30,0.00,0.000,6,0.103,0.025,3321,1837,1961,0,0,0,0,0,0
$GC,7096,1.09,172.8,181.2,7.1,320,7112,0.00,2.50,9.32,0.601,4,0.000,0.048,3321,420,1924,0,0,0,0,0,0
$GC,7176,1.09,172.8,174.7,8.8,325,7183,0.00,2.28,0.00,0.000,6,0.000,0.023,3321,1835,1922,0,0,0,0,0,0
$GC,7437,1.19,186.9,155.7,6.6,346,7457,0.15,2.50,13.52,0.605,4,0.061,0.048,3364,422,1868,0,0,0,0,0,0
$GC,7529,1.08,186.9,147.5,10.5,352,7537,0.12,2.30,0.00,0.000,6,0.083,0.021,3336,1831,1864,0,0,0,0,0,0
$GC,7792,1.19,193.7,127.5,7.3,373,7806,0.00,2.47,7.25,0.517,4,0.000,0.046,3336,420,1839,0,0,0,0,0,0
$GC,7956,1.19,193.7,113.5,8.8,384,7963,0.00,2.30,0.00,0.000,6,0.000,0.021,3336,1831,1837,0,0,0,0,0,0
$GC,8218,1.35,224.7,97.5,5.1,405,8253,0.25,2.47,28.33,0.571,4,0.044,0.044,3409,418,1712,0,0,0,0,0,0
$GC,8429,1.23,224.7,78.5,10.9,420,8434,0.20,2.25,0.00,0.000,6,0.097,0.019,3370,1849,1708,0,0,0,0,0,0
$GC,8691,1.29,224.7,55.7,10.1,440,8695,0.00,2.47,0.00,0.000,4,0.000,0.044,3369,416,1708,0,0,0,0,0,0
$GC,8778,1.29,224.7,45.6,11.6,446,8784,0.00,2.28,0.00,0.000,6,0.000,0.018,3370,1832,1707,0,0,0,0,0,0
$GC,9041,1.35,224.7,18.6,9.8,483,9048,0.10,2.47,0.00,0.000,4,0.075,0.043,3404,416,1707,0,0,0,0,0,0
$GC,9142,1.22,224.7,4.8,14.4,505,9149,0.17,2.28,0.00,0.000,6,0.079,0.018,3364,1855,1707,0,0,0,0,0,0
$STATE,9154,end climb,SURFACE_DEPTH_REACHED
$STATE,9154,begin surface coast
$FINISH,0.9,1.023185
$STATE,9177,end surface coast,CONTROL_FINISHED_OK
$STATE,9177,begin surface
$SM_CCo,9201,103.03,0.493,0,0,957,410.14
$SM_GC,1.53,0.00,0.00,103.03,0.000,0.000,0.493,430,1663,957,-12.28,-0.79,410.14
$IRIDIUM_FIX,2059.45,-15803.33,051199,151502
$TT8_MAMPS,0.028379
$HUMID,51.41
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.80
$XPDR_PINGS,0
$24V_AH,23.5,13.708
$10V_AH,10.4,10.465
$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,31.275,94.825,249.625,103.025,0.000,29.810,37.117,128.466,4.500,0.000,14.756,1054.661,5979.477,409.764,1739.236,434.077,0.000,1179.281,0.000,1713.049,0.000,29.256,0.000
$DEVICE_MAMPS,142.662,56.758,836.030,493.181,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,344.321,322.455,722.394,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,28655,512
$CAP_FILE_SIZE,104731,0
$CFSIZE,260165632,205647872
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110810,204620,2107.480,-15801.417,13,1.6,13,9.8