version: 66.06
glider: 139
mission: 8
dive: 155
start: 8 12 110 4 55 12
data:
$ID,139
$MISSION,8
$DIVE,155
$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,-2153655.8
$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
$GPS1,044927,2107.234,-15800.158,10,1.7,10,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-71.7
$GPS2,045455,2107.193,-15800.204,14,1.6,14,9.8
$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,85.1,29977,-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,-64.57,0.000,2,0.000,0.000,428,1680,2764,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.3,-3.4,12,104,12.52,0.00,-2.00,0.000,6,0.135,0.000,2753,1680,2871,0,0,0,0,0,0
$GC,296,-1.48,-58.4,48.8,-18.0,44,298,0.12,0.00,0.00,0.000,6,0.115,0.000,2776,1681,2874,0,0,0,0,0,0
$GC,547,-1.51,-58.4,87.5,-14.1,64,552,0.00,2.38,0.00,0.000,4,0.000,0.024,2777,3109,2875,0,0,0,0,0,0
$GC,588,-1.65,-58.4,92.3,-12.6,67,592,0.15,2.40,0.00,0.000,6,0.056,0.035,2731,1688,2874,0,0,0,0,0,0
$GC,854,-1.61,-58.4,130.7,-12.4,88,858,0.00,2.38,0.00,0.000,4,0.000,0.045,2730,290,2876,0,0,0,0,0,0
$GC,915,-1.52,-58.4,139.7,-14.5,92,925,0.15,2.33,0.00,0.000,6,0.083,0.019,2765,1728,2876,0,0,0,0,0,0
$GC,1177,-1.58,-58.4,171.3,-13.1,113,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1729,2876,0,0,0,0,0,0
$GC,1430,-1.65,-58.4,206.1,-12.9,132,1435,0.12,2.50,0.00,0.000,4,0.065,0.047,2724,290,2876,0,0,0,0,0,0
$GC,1459,-1.57,-58.4,210.1,-14.2,133,1464,0.15,2.25,0.00,0.000,6,0.101,0.019,2754,1713,2877,0,0,0,0,0,0
$GC,1785,-1.63,-58.4,243.4,-9.9,149,1789,0.00,2.20,0.00,0.000,4,0.000,0.025,2753,3071,2877,0,0,0,0,0,0
$GC,1845,-1.76,-58.4,250.3,-9.0,151,1851,0.17,2.30,0.00,0.000,6,0.053,0.033,2702,1692,2877,0,0,0,0,0,0
$GC,2164,-1.76,-58.4,291.1,-13.8,167,2168,0.00,2.25,0.00,0.000,4,0.000,0.025,2702,3071,2877,0,0,0,0,0,0
$GC,2187,-1.79,-58.4,295.1,-14.5,168,2192,0.00,2.30,0.00,0.000,6,0.000,0.034,2702,1692,2877,0,0,0,0,0,0
$GC,2528,-1.79,-58.4,338.4,-12.6,178,2532,0.00,2.30,0.00,0.000,4,0.000,0.027,2702,3076,2877,0,0,0,0,0,0
$GC,2710,-1.85,-58.4,359.2,-12.2,182,2714,0.00,2.33,0.00,0.000,6,0.000,0.036,2702,1697,2876,0,0,0,0,0,0
$GC,3037,-1.85,-58.4,396.2,-12.0,190,3041,0.00,2.30,0.00,0.000,4,0.000,0.028,2702,3069,2875,0,0,0,0,0,0
$GC,3194,-1.92,-58.4,413.2,-10.1,193,3198,0.00,2.35,0.00,0.000,6,0.000,0.038,2702,1696,2875,0,0,0,0,0,0
$GC,3539,-1.92,-58.4,449.3,-11.2,202,3543,0.00,2.30,0.00,0.000,4,0.000,0.032,2702,3070,2872,0,0,0,0,0,0
$STATE,3546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3547,begin apogee
$GC,3555,-0.31,0.0,450.4,11.2,202,3609,1.55,0.00,49.35,0.828,6,0.085,0.000,3027,1771,2630,0,0,0,0,0,0
$STATE,3609,end apogee,CONTROL_FINISHED_OK
$STATE,3610,begin climb
$GC,3612,1.56,58.4,452.0,0.0,203,3667,1.77,0.00,50.30,0.812,6,0.030,0.000,3452,1771,2391,0,0,0,0,0,0
$GC,3983,1.33,121.9,447.0,2.2,212,4044,0.28,2.42,55.15,0.825,4,0.110,0.035,3395,3147,2132,0,0,0,0,0,0
$GC,4094,1.18,121.9,439.7,9.7,214,4099,0.20,2.42,0.00,0.000,6,0.107,0.040,3358,1771,2130,0,0,0,0,0,0
$GC,4435,1.08,121.9,404.0,10.8,223,4440,0.12,2.53,0.00,0.000,4,0.120,0.056,3335,356,2123,0,0,0,0,0,0
$GC,4455,0.94,121.9,401.8,10.4,223,4460,0.15,2.35,0.00,0.000,6,0.115,0.028,3308,1749,2120,0,0,0,0,0,0
$GC,4802,1.00,172.7,382.4,3.3,232,4851,0.00,2.53,44.35,0.810,4,0.000,0.057,3308,359,1925,0,0,0,0,0,0
$GC,4876,0.93,176.0,378.9,7.6,233,4886,0.00,2.38,4.00,0.497,6,0.000,0.028,3308,1772,1912,0,0,0,0,0,0
$GC,5212,0.97,176.0,342.0,12.2,242,5216,0.00,2.38,0.00,0.000,4,0.000,0.033,3308,3176,1907,0,0,0,0,0,0
$GC,5236,1.05,176.0,339.1,11.0,242,5240,0.00,2.45,0.00,0.000,6,0.000,0.041,3308,1770,1907,0,0,0,0,0,0
$GC,5576,1.10,176.0,304.8,9.8,251,5581,0.15,2.53,0.00,0.000,4,0.064,0.056,3348,352,1905,0,0,0,0,0,0
$GC,5657,0.98,176.0,294.2,13.3,253,5662,0.17,2.38,0.00,0.000,6,0.106,0.026,3315,1772,1902,0,0,0,0,0,0
$GC,5973,1.03,176.0,263.2,9.8,268,5977,0.00,2.50,0.00,0.000,4,0.000,0.054,3315,355,1902,0,0,0,0,0,0
$GC,6062,0.99,176.0,254.5,10.0,272,6066,0.00,2.38,0.00,0.000,6,0.000,0.026,3315,1783,1900,0,0,0,0,0,0
$GC,6392,1.08,192.0,228.4,6.5,288,6415,0.00,2.60,13.50,0.671,4,0.000,0.051,3314,351,1845,0,0,0,0,0,0
$GC,6454,1.08,192.0,223.3,9.7,290,6458,0.00,2.38,0.00,0.000,6,0.000,0.025,3315,1773,1843,0,0,0,0,0,0
$GC,6775,1.16,192.0,189.2,11.3,308,6780,0.17,2.50,0.00,0.000,4,0.057,0.050,3363,358,1842,0,0,0,0,0,0
$GC,6817,1.03,192.0,183.7,15.2,311,6822,0.20,2.33,0.00,0.000,6,0.099,0.023,3324,1782,1840,0,0,0,0,0,0
$GC,7083,1.10,192.0,156.2,9.7,332,7087,0.00,2.47,0.00,0.000,4,0.000,0.049,3324,349,1840,0,0,0,0,0,0
$GC,7184,1.10,192.0,144.9,11.5,339,7189,0.00,2.30,0.00,0.000,6,0.000,0.021,3324,1769,1839,0,0,0,0,0,0
$GC,7443,1.19,192.0,120.9,8.3,360,7448,0.15,2.28,0.00,0.000,4,0.059,0.025,3368,3169,1839,0,0,0,0,0,0
$GC,7523,1.24,192.0,113.3,9.9,366,7528,0.00,2.38,0.00,0.000,6,0.000,0.032,3368,1755,1839,0,0,0,0,0,0
$GC,7788,1.24,192.0,91.3,8.5,387,7792,0.00,2.38,0.00,0.000,4,0.000,0.046,3368,355,1839,0,0,0,0,0,0
$GC,7966,1.22,205.0,74.3,6.7,400,7984,0.00,2.28,11.73,0.525,6,0.000,0.020,3368,1788,1794,0,0,0,0,0,0
$GC,8249,1.30,226.8,56.4,5.9,422,8278,0.00,2.53,20.25,0.530,4,0.000,0.044,3368,359,1704,0,0,0,0,0,0
$GC,8352,1.30,226.8,47.1,11.4,429,8357,0.00,2.25,0.00,0.000,6,0.000,0.018,3368,1763,1701,0,0,0,0,0,0
$GC,8615,1.36,226.8,20.8,9.3,463,8622,0.12,2.47,0.00,0.000,4,0.065,0.046,3408,355,1700,0,0,0,0,0,0
$GC,8647,1.31,226.8,16.8,11.9,469,8655,0.10,2.30,0.00,0.000,6,0.083,0.018,3384,1766,1700,0,0,0,0,0,0
$STATE,8750,end climb,SURFACE_DEPTH_REACHED
$STATE,8750,begin surface coast
$FINISH,1.0,1.023216
$STATE,8773,end surface coast,CONTROL_FINISHED_OK
$STATE,8773,begin surface
$SM_CCo,8797,98.93,0.497,0,0,956,410.14
$SM_GC,1.31,0.00,0.00,98.93,0.000,0.000,0.497,429,1681,956,-12.29,-0.40,410.14
$IRIDIUM_FIX,2059.45,-15758.18,061199,020240
$TT8_MAMPS,0.029146
$HUMID,52.71
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,14.027
$10V_AH,10.4,10.748
$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,31.250,99.900,248.625,98.925,0.000,28.570,34.144,148.681,4.500,0.000,14.186,1001.746,5824.661,413.434,1535.310,447.339,0.000,1102.603,0.000,1523.712,0.000,29.259,0.000
$DEVICE_MAMPS,134.992,78.234,827.593,497.016,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,334.463,319.040,724.978,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,28624,497
$CAP_FILE_SIZE,101283,0
$CFSIZE,260165632,205455360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120810,072457,2107.155,-15759.500,31,2.3,50,9.8