version: 66.06
glider: 139
mission: 8
dive: 168
start: 8 13 110 16 31 36
data:
$ID,139
$MISSION,8
$DIVE,168
$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,-2153977.2
$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
$GPS1,162336,2105.828,-15756.247,40,1.0,46,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-71.2
$GPS2,163119,2105.848,-15756.400,10,1.0,15,9.8
$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,80.4,23295,-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,-58.4,0.0,0.0,0,87,0.00,0.00,-68.28,0.000,6,0.000,0.000,425,1703,2870,0,0,0,0,0,0
$GC,90,-1.56,-58.4,3.7,-4.1,13,108,12.55,2.35,0.00,0.000,4,0.136,0.021,2754,3115,2872,0,0,0,0,0,0
$GC,269,-1.60,-58.4,42.1,-14.2,41,273,0.00,2.40,0.00,0.000,6,0.000,0.034,2753,1688,2874,0,0,0,0,0,0
$GC,529,-1.60,-58.4,78.5,-12.8,61,533,0.00,2.35,0.00,0.000,4,0.000,0.023,2754,3116,2875,0,0,0,0,0,0
$GC,662,-1.67,-58.4,93.7,-11.4,70,669,0.00,2.42,0.00,0.000,6,0.000,0.031,2753,1688,2875,0,0,0,0,0,0
$GC,924,-1.67,-58.4,127.0,-13.3,91,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1687,2876,0,0,0,0,0,0
$GC,1176,-1.71,-58.4,164.1,-14.9,111,1181,0.12,2.38,0.00,0.000,4,0.067,0.024,2714,3115,2877,0,0,0,0,0,0
$GC,1202,-1.71,-58.4,168.3,-15.5,113,1206,0.00,2.40,0.00,0.000,6,0.000,0.032,2714,1688,2877,0,0,0,0,0,0
$GC,1481,-1.71,-58.4,209.6,-12.9,133,1485,0.00,2.33,0.00,0.000,4,0.000,0.023,2715,3107,2877,0,0,0,0,0,0
$GC,1504,-1.71,-58.4,213.3,-13.1,134,1508,0.00,2.38,0.00,0.000,6,0.000,0.033,2714,1688,2877,0,0,0,0,0,0
$GC,1833,-1.71,-58.4,252.0,-10.9,150,1834,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1688,2877,0,0,0,0,0,0
$GC,2143,-1.71,-58.4,286.0,-12.3,165,2147,0.00,2.35,0.00,0.000,4,0.000,0.025,2715,3111,2877,0,0,0,0,0,0
$GC,2318,-1.77,-58.4,306.9,-11.4,171,2322,0.00,2.40,0.00,0.000,6,0.000,0.034,2714,1692,2877,0,0,0,0,0,0
$GC,2649,-1.77,-58.4,344.6,-11.6,179,2653,0.00,2.35,0.00,0.000,4,0.000,0.027,2714,3107,2876,0,0,0,0,0,0
$GC,2739,-1.84,-58.4,353.4,-9.1,181,2743,0.00,2.38,0.00,0.000,6,0.000,0.035,2714,1695,2876,0,0,0,0,0,0
$GC,3066,-1.84,-58.4,384.4,-9.6,189,3070,0.00,2.35,0.00,0.000,4,0.000,0.029,2714,3102,2875,0,0,0,0,0,0
$GC,3108,-1.93,-58.4,388.9,-10.8,189,3114,0.15,2.38,0.00,0.000,6,0.062,0.037,2672,1697,2874,0,0,0,0,0,0
$GC,3440,-1.87,-58.4,432.4,-13.7,198,3445,0.10,2.40,0.00,0.000,4,0.117,0.031,2690,3102,2873,0,0,0,0,0,0
$GC,3545,-1.87,-58.4,445.9,-12.1,200,3549,0.00,2.42,0.00,0.000,6,0.000,0.041,2690,1693,2873,0,0,0,0,0,0
$STATE,3612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3612,begin apogee
$GC,3620,-0.31,0.0,454.8,12.5,202,3673,1.62,0.00,49.38,0.833,6,0.082,0.000,3030,1819,2630,0,0,0,0,0,0
$STATE,3674,end apogee,CONTROL_FINISHED_OK
$STATE,3674,begin climb
$GC,3676,1.56,58.4,456.8,0.0,203,3736,1.80,2.35,50.28,0.818,4,0.029,0.035,3457,3151,2391,0,0,0,0,0,0
$GC,3797,1.34,124.9,457.4,1.9,206,3862,0.32,2.38,58.55,0.821,6,0.106,0.036,3395,1772,2119,0,0,0,0,0,0
$GC,4196,1.16,124.9,416.6,11.9,216,4201,0.22,2.38,0.00,0.000,4,0.107,0.033,3353,3144,2109,0,0,0,0,0,0
$GC,4354,1.11,124.9,397.9,10.6,219,4359,0.00,2.40,0.00,0.000,6,0.000,0.041,3352,1764,2109,0,0,0,0,0,0
$GC,4700,1.04,124.9,363.5,9.9,228,4705,0.12,2.35,0.00,0.000,4,0.121,0.034,3330,3155,2104,0,0,0,0,0,0
$GC,4872,1.04,124.9,348.4,8.0,231,4876,0.00,2.40,0.00,0.000,6,0.000,0.038,3330,1770,2104,0,0,0,0,0,0
$GC,5204,1.06,137.6,326.5,6.8,239,5219,0.00,2.38,8.80,0.688,4,0.000,0.031,3329,3146,2068,0,0,0,0,0,0
$GC,5243,1.06,137.6,323.3,8.2,239,5248,0.00,2.40,0.00,0.000,6,0.000,0.039,3330,1770,2068,0,0,0,0,0,0
$GC,5574,1.08,156.3,297.4,6.2,248,5598,0.00,2.58,17.88,0.736,4,0.000,0.054,3330,355,1991,0,0,0,0,0,0
$GC,5610,1.05,169.9,295.1,6.7,249,5630,0.00,2.35,13.43,0.702,6,0.000,0.026,3330,1755,1937,0,0,0,0,0,0
$GC,5952,1.05,169.9,266.7,9.1,266,5957,0.00,2.47,0.00,0.000,4,0.000,0.052,3329,354,1932,0,0,0,0,0,0
$GC,6000,0.98,169.9,261.9,11.0,268,6004,0.00,2.35,0.00,0.000,6,0.000,0.025,3330,1779,1930,0,0,0,0,0,0
$GC,6325,1.01,169.9,232.7,9.2,284,6329,0.00,2.47,0.00,0.000,4,0.000,0.051,3330,358,1929,0,0,0,0,0,0
$GC,6474,0.95,169.9,216.0,9.9,290,6478,0.10,2.33,0.00,0.000,6,0.124,0.023,3311,1776,1927,0,0,0,0,0,0
$GC,6796,1.04,169.9,190.5,8.7,309,6800,0.00,2.47,0.00,0.000,4,0.000,0.048,3310,355,1927,0,0,0,0,0,0
$GC,6870,1.04,169.9,182.4,11.4,314,6877,0.00,2.35,0.00,0.000,6,0.000,0.022,3310,1770,1925,0,0,0,0,0,0
$GC,7130,1.12,169.9,157.1,9.7,335,7135,0.15,2.45,0.00,0.000,4,0.061,0.048,3354,355,1926,0,0,0,0,0,0
$GC,7178,1.04,169.9,151.8,11.1,338,7185,0.10,2.35,0.00,0.000,6,0.085,0.021,3330,1780,1926,0,0,0,0,0,0
$GC,7441,1.10,175.2,131.0,7.4,359,7454,0.00,2.45,4.40,0.429,4,0.000,0.044,3329,357,1914,0,0,0,0,0,0
$GC,7464,1.11,178.3,128.8,7.6,360,7474,0.00,2.33,4.65,0.436,6,0.000,0.021,3330,1769,1902,0,0,0,0,0,0
$GC,7740,1.20,178.3,106.7,8.3,382,7745,0.12,2.45,0.00,0.000,4,0.065,0.046,3368,350,1902,0,0,0,0,0,0
$GC,7787,1.11,178.3,102.4,8.5,385,7793,0.12,2.30,0.00,0.000,6,0.108,0.020,3344,1781,1900,0,0,0,0,0,0
$GC,8049,1.22,208.9,87.3,5.1,406,8083,0.10,2.35,27.85,0.568,4,0.076,0.024,3378,3155,1778,0,0,0,0,0,0
$GC,8149,1.28,210.0,80.6,7.8,413,8153,0.00,2.35,0.00,0.000,6,0.000,0.031,3377,1763,1777,0,0,0,0,0,0
$GC,8416,1.32,210.0,57.1,8.0,434,8420,0.00,2.40,0.00,0.000,4,0.000,0.044,3377,351,1776,0,0,0,0,0,0
$GC,8680,1.28,210.0,31.7,10.6,453,8686,0.00,2.30,0.00,0.000,6,0.000,0.018,3377,1770,1773,0,0,0,0,0,0
$GC,8944,1.32,217.5,8.8,7.2,512,8957,0.00,2.45,8.40,0.440,4,0.000,0.042,3377,351,1743,0,0,0,0,0,0
$STATE,8996,end climb,SURFACE_DEPTH_REACHED
$STATE,8996,begin surface coast
$FINISH,0.7,1.010632
$STATE,9024,end surface coast,CONTROL_FINISHED_OK
$STATE,9024,begin surface
$SM_CCo,9050,110.62,0.495,0,0,957,410.14
$SM_GC,1.49,0.00,0.00,110.62,0.000,0.000,0.495,428,1724,957,-12.29,0.82,410.14
$IRIDIUM_FIX,2059.45,-15756.04,071199,161655
$TT8_MAMPS,0.029146
$HUMID,51.18
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,15.095
$10V_AH,10.4,11.712
$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,30.375,104.950,243.600,110.625,0.000,50.297,109.588,124.692,4.500,0.000,15.552,1061.812,5876.596,423.002,1734.555,526.992,0.000,1181.296,0.000,1713.699,0.000,29.250,0.000
$DEVICE_MAMPS,135.759,59.059,832.962,495.482,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,355.575,337.106,786.564,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,28730,529
$CAP_FILE_SIZE,104341,0
$CFSIZE,260165632,204763136
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130810,190513,2105.856,-15756.339,13,1.3,18,9.8