version: 66.06
glider: 139
mission: 8
dive: 154
start: 8 12 110 2 26 42
data:
$ID,139
$MISSION,8
$DIVE,154
$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,-2153640.8
$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
$GPS1,022100,2107.276,-15800.151,40,1.0,45,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-71.1
$GPS2,022625,2107.264,-15800.203,15,1.0,15,9.8
$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,85.3,29987,-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,-64.78,0.000,2,0.000,0.000,426,1674,2772,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.3,-3.8,12,110,12.57,2.45,-1.83,0.000,4,0.137,0.055,2752,289,2871,0,0,0,0,0,0
$GC,118,-0.25,-58.4,15.6,-27.5,17,126,1.38,2.35,0.00,0.000,6,0.087,0.019,3043,1735,2872,0,0,0,0,0,0
$GC,322,-1.08,-58.4,27.8,-6.6,63,329,0.80,2.50,0.00,0.000,4,0.054,0.041,2860,289,2874,0,0,0,0,0,0
$GC,350,-1.69,-58.4,30.2,-7.9,68,357,0.52,2.28,0.00,0.000,6,0.025,0.018,2718,1708,2874,0,0,0,0,0,0
$GC,611,-1.62,-58.4,76.8,-13.6,89,616,0.15,2.22,0.00,0.000,4,0.104,0.022,2748,3071,2874,0,0,0,0,0,0
$GC,676,-1.69,-58.4,85.6,-12.7,93,682,0.00,2.33,0.00,0.000,6,0.000,0.031,2747,1688,2874,0,0,0,0,0,0
$GC,935,-1.69,-58.4,119.1,-13.0,114,939,0.00,2.28,0.00,0.000,4,0.000,0.022,2747,3069,2876,0,0,0,0,0,0
$GC,956,-1.73,-58.4,121.9,-13.2,115,962,0.12,2.30,0.00,0.000,6,0.065,0.031,2709,1693,2876,0,0,0,0,0,0
$GC,1217,-1.67,-58.4,159.7,-15.0,136,1222,0.12,2.28,0.00,0.000,4,0.107,0.023,2733,3066,2877,0,0,0,0,0,0
$GC,1298,-1.74,-58.4,170.6,-12.7,141,1303,0.00,2.30,0.00,0.000,6,0.000,0.033,2733,1689,2876,0,0,0,0,0,0
$GC,1566,-1.74,-58.4,202.7,-10.8,162,1567,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1689,2876,0,0,0,0,0,0
$GC,1876,-1.77,-58.4,239.0,-10.6,177,1881,0.00,2.28,0.00,0.000,4,0.000,0.024,2732,3068,2877,0,0,0,0,0,0
$GC,2084,-1.86,-58.4,263.3,-10.8,186,2089,0.17,2.30,0.00,0.000,6,0.054,0.033,2682,1695,2877,0,0,0,0,0,0
$GC,2437,-1.81,-58.4,306.9,-11.5,202,2442,0.10,2.28,0.00,0.000,4,0.117,0.027,2701,3065,2877,0,0,0,0,0,0
$GC,2484,-1.88,-58.4,312.4,-10.6,203,2488,0.00,2.30,0.00,0.000,6,0.000,0.035,2701,1696,2877,0,0,0,0,0,0
$GC,2807,-1.88,-58.4,348.6,-12.2,211,2812,0.00,2.47,0.00,0.000,4,0.000,0.052,2701,289,2876,0,0,0,0,0,0
$GC,2840,-1.81,-58.4,353.4,-14.6,211,2845,0.00,2.25,0.00,0.000,6,0.000,0.023,2701,1680,2876,0,0,0,0,0,0
$GC,3171,-1.81,-58.4,390.0,-9.9,219,3175,0.00,2.33,0.00,0.000,4,0.000,0.031,2701,3072,2874,0,0,0,0,0,0
$GC,3200,-1.87,-58.4,392.9,-10.1,219,3205,0.00,2.35,0.00,0.000,6,0.000,0.040,2701,1692,2874,0,0,0,0,0,0
$STATE,3293,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3293,begin apogee
$GC,3299,-0.31,0.0,402.1,10.0,222,3353,1.58,0.00,49.55,0.793,6,0.082,0.000,3030,1767,2630,0,0,0,0,0,0
$STATE,3353,end apogee,CONTROL_FINISHED_OK
$STATE,3353,begin climb
$GC,3357,1.56,58.4,403.5,0.0,223,3412,1.77,0.00,50.30,0.779,6,0.028,0.000,3453,1767,2391,0,0,0,0,0,0
$GC,3738,1.32,113.5,395.5,2.9,233,3792,0.30,2.40,47.60,0.788,4,0.107,0.034,3392,3156,2166,0,0,0,0,0,0
$GC,3810,1.18,120.8,391.8,7.2,234,3824,0.17,2.40,7.82,0.651,6,0.119,0.038,3361,1774,2137,0,0,0,0,0,0
$GC,4149,1.09,120.8,359.8,9.1,243,4154,0.12,2.38,0.00,0.000,4,0.120,0.034,3338,3161,2130,0,0,0,0,0,0
$GC,4173,1.06,124.0,357.7,7.6,243,4178,0.00,2.40,0.00,0.000,6,0.000,0.039,3338,1769,2129,0,0,0,0,0,0
$GC,4515,1.02,124.0,329.4,9.0,252,4519,0.00,2.50,0.00,0.000,4,0.000,0.054,3338,348,2126,0,0,0,0,0,0
$GC,4725,0.90,133.5,311.6,7.0,256,4743,0.20,2.35,10.05,0.689,6,0.111,0.027,3300,1751,2085,0,0,0,0,0,0
$GC,5051,1.01,176.7,297.9,4.0,265,5093,0.00,0.00,39.80,0.758,6,0.000,0.000,3301,1750,1909,0,0,0,0,0,0
$GC,5398,1.10,176.7,269.8,9.3,282,5403,0.17,2.47,0.00,0.000,4,0.059,0.053,3347,358,1902,0,0,0,0,0,0
$GC,5436,0.99,176.7,265.1,12.6,283,5442,0.15,2.35,0.00,0.000,6,0.109,0.026,3318,1776,1900,0,0,0,0,0,0
$GC,5753,1.06,178.8,235.0,7.7,299,5757,0.00,2.50,0.00,0.000,4,0.000,0.051,3318,355,1899,0,0,0,0,0,0
$GC,5768,1.06,179.9,233.6,7.8,299,5774,0.00,2.35,0.00,0.000,6,0.000,0.025,3319,1781,1897,0,0,0,0,0,0
$GC,6085,1.13,179.9,207.7,8.4,315,6090,0.12,2.33,0.00,0.000,4,0.069,0.028,3355,3182,1897,0,0,0,0,0,0
$GC,6132,1.13,179.9,203.7,9.1,317,6137,0.00,2.40,0.00,0.000,6,0.000,0.035,3355,1768,1897,0,0,0,0,0,0
$GC,6463,1.13,179.9,172.3,9.4,342,6467,0.00,2.42,0.00,0.000,4,0.000,0.048,3355,351,1896,0,0,0,0,0,0
$GC,6496,1.03,179.9,168.7,11.5,344,6503,0.12,2.35,0.00,0.000,6,0.087,0.021,3327,1772,1894,0,0,0,0,0,0
$GC,6758,1.08,179.9,144.8,9.5,365,6762,0.00,2.28,0.00,0.000,4,0.000,0.025,3327,3171,1894,0,0,0,0,0,0
$GC,6840,1.18,179.9,137.2,9.4,371,6845,0.12,2.38,0.00,0.000,6,0.065,0.033,3366,1759,1894,0,0,0,0,0,0
$GC,7103,1.18,179.9,114.4,9.0,391,7107,0.00,2.40,0.00,0.000,4,0.000,0.047,3366,360,1894,0,0,0,0,0,0
$GC,7261,1.08,179.9,98.1,10.3,402,7268,0.12,2.30,0.00,0.000,6,0.082,0.020,3337,1769,1893,0,0,0,0,0,0
$GC,7523,1.19,218.4,84.0,4.4,423,7564,0.10,2.47,34.67,0.565,4,0.077,0.044,3369,356,1739,0,0,0,0,0,0
$GC,7629,1.12,218.4,71.0,14.8,430,7636,0.10,2.33,0.00,0.000,6,0.083,0.019,3346,1766,1734,0,0,0,0,0,0
$GC,7891,1.27,241.1,50.3,5.9,451,7920,0.15,2.53,19.70,0.520,4,0.058,0.045,3391,355,1646,0,0,0,0,0,0
$GC,8012,1.18,241.1,38.8,11.0,459,8020,0.12,2.33,0.00,0.000,6,0.081,0.019,3362,1776,1643,0,0,0,0,0,0
$GC,8275,1.25,241.1,16.0,10.2,506,8282,0.00,2.47,0.00,0.000,4,0.000,0.044,3361,358,1643,0,0,0,0,0,0
$GC,8360,1.25,241.1,4.4,13.4,525,8367,0.00,2.30,0.00,0.000,6,0.000,0.018,3362,1766,1641,0,0,0,0,0,0
$STATE,8372,end climb,SURFACE_DEPTH_REACHED
$STATE,8372,begin surface coast
$FINISH,1.2,1.023197
$STATE,8395,end surface coast,CONTROL_FINISHED_OK
$STATE,8395,begin surface
$SM_CCo,8419,97.12,0.497,0,0,957,410.14
$SM_GC,1.39,0.00,0.00,97.12,0.000,0.000,0.497,428,1679,957,-12.29,-0.45,410.14
$IRIDIUM_FIX,2059.45,-15801.19,051199,232301
$TT8_MAMPS,0.029146
$HUMID,52.12
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,402.1,10.0
$24V_AH,23.5,13.947
$10V_AH,10.4,10.680
$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,33.950,99.400,259.500,97.125,0.000,28.737,33.627,146.327,4.250,0.000,15.263,1031.551,5339.720,447.869,1580.207,443.054,0.000,1130.010,0.000,1563.254,0.000,29.012,0.000
$DEVICE_MAMPS,136.526,89.739,793.078,497.016,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,356.597,350.555,832.199,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,28653,532
$CAP_FILE_SIZE,101177,0
$CFSIZE,260165632,205504512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120810,044927,2107.234,-15800.158,10,1.7,10,9.8