version: 66.06
glider: 139
mission: 8
dive: 169
start: 8 13 110 19 10 35
data:
$ID,139
$MISSION,8
$DIVE,169
$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,-2153997.5
$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,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
$GPS1,190513,2105.856,-15756.339,13,1.3,18,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-72.5
$GPS2,191019,2105.870,-15756.407,14,1.5,19,9.8
$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,80.5,23308,-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,-64.82,0.000,2,0.000,0.000,428,1725,2774,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.4,-3.8,12,110,12.55,2.38,-1.80,0.000,4,0.136,0.038,2753,3116,2872,0,0,0,0,0,0
$GC,135,-1.09,-58.4,18.3,-28.9,21,142,0.45,2.45,0.00,0.000,6,0.079,0.035,2859,1692,2873,0,0,0,0,0,0
$GC,339,-1.25,-58.4,44.5,-12.3,50,344,0.15,2.42,0.00,0.000,4,0.057,0.046,2810,289,2874,0,0,0,0,0,0
$GC,359,-1.31,-58.4,47.4,-13.6,51,366,0.00,2.33,0.00,0.000,6,0.000,0.018,2811,1736,2873,0,0,0,0,0,0
$GC,619,-1.41,-58.4,80.6,-11.1,72,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1736,2875,0,0,0,0,0,0
$GC,870,-1.54,-58.4,112.9,-13.5,92,875,0.20,2.47,0.00,0.000,4,0.048,0.044,2751,290,2875,0,0,0,0,0,0
$GC,918,-1.51,-58.4,119.9,-14.5,95,924,0.00,2.20,0.00,0.000,6,0.000,0.018,2751,1699,2876,0,0,0,0,0,0
$GC,1178,-1.55,-58.4,155.0,-13.5,116,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,1704,2876,0,0,0,0,0,0
$GC,1431,-1.60,-58.4,185.7,-12.9,136,1436,0.00,2.45,0.00,0.000,4,0.000,0.047,2751,283,2877,0,0,0,0,0,0
$GC,1486,-1.60,-58.4,194.1,-14.9,140,1490,0.00,2.22,0.00,0.000,6,0.000,0.019,2751,1694,2877,0,0,0,0,0,0
$GC,1758,-1.67,-58.4,226.7,-10.4,154,1762,0.00,2.22,0.00,0.000,4,0.000,0.024,2751,3070,2877,0,0,0,0,0,0
$GC,1813,-1.79,-58.4,232.3,-9.9,156,1818,0.20,2.30,0.00,0.000,6,0.050,0.033,2693,1691,2877,0,0,0,0,0,0
$GC,2133,-1.74,-58.4,271.4,-12.1,171,2137,0.12,2.28,0.00,0.000,4,0.105,0.025,2717,3069,2877,0,0,0,0,0,0
$GC,2179,-1.79,-58.4,276.7,-10.8,173,2183,0.00,2.30,0.00,0.000,6,0.000,0.033,2717,1693,2877,0,0,0,0,0,0
$GC,2507,-1.79,-58.4,314.6,-11.7,186,2509,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1692,2876,0,0,0,0,0,0
$GC,2832,-1.82,-58.4,355.7,-12.3,194,2836,0.00,2.30,0.00,0.000,4,0.000,0.027,2717,3071,2876,0,0,0,0,0,0
$GC,3036,-1.91,-58.4,376.3,-9.2,198,3041,0.15,2.33,0.00,0.000,6,0.062,0.037,2674,1689,2875,0,0,0,0,0,0
$GC,3382,-1.85,-58.4,412.0,-11.1,207,3387,0.10,2.33,0.00,0.000,4,0.120,0.031,2693,3072,2873,0,0,0,0,0,0
$GC,3531,-1.90,-58.4,426.6,-9.6,210,3535,0.00,2.38,0.00,0.000,6,0.000,0.040,2693,1691,2872,0,0,0,0,0,0
$STATE,3806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3806,begin apogee
$GC,3813,-0.31,0.0,454.6,10.7,217,3866,1.60,0.00,49.25,0.841,6,0.082,0.000,3028,1764,2630,0,0,0,0,0,0
$STATE,3867,end apogee,CONTROL_FINISHED_OK
$STATE,3867,begin climb
$GC,3870,1.56,58.4,456.4,0.0,218,3928,1.77,2.55,50.20,0.825,4,0.031,0.054,3452,355,2390,0,0,0,0,0,0
$GC,4194,1.18,96.5,450.5,4.5,225,4235,0.47,2.35,32.90,0.823,6,0.108,0.028,3361,1756,2236,0,0,0,0,0,0
$GC,4559,1.08,108.4,424.5,6.8,234,4575,0.15,0.00,10.77,0.746,6,0.114,0.000,3333,1756,2188,0,0,0,0,0,0
$GC,4891,1.04,120.6,402.4,6.8,242,4907,0.00,2.47,11.55,0.749,4,0.000,0.037,3333,3181,2138,0,0,0,0,0,0
$GC,4969,1.04,120.6,395.1,11.0,243,4974,0.00,2.47,0.00,0.000,6,0.000,0.040,3332,1768,2138,0,0,0,0,0,0
$GC,5300,1.00,120.6,364.0,9.3,251,5305,0.00,2.50,0.00,0.000,4,0.000,0.056,3333,352,2133,0,0,0,0,0,0
$GC,5324,0.89,120.6,361.3,10.8,251,5329,0.20,2.38,0.00,0.000,6,0.112,0.028,3296,1773,2131,0,0,0,0,0,0
$GC,5667,0.95,123.9,334.8,7.6,260,5668,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1778,2130,0,0,0,0,0,0
$GC,5991,1.06,163.3,318.4,4.4,268,6033,0.15,0.00,38.17,0.790,6,0.066,0.000,3335,1778,1964,0,0,0,0,0,0
$GC,6343,1.06,163.3,285.3,11.0,279,6348,0.00,2.53,0.00,0.000,4,0.000,0.054,3335,351,1958,0,0,0,0,0,0
$GC,6388,0.97,163.3,280.4,10.5,281,6393,0.12,2.38,0.00,0.000,6,0.116,0.027,3312,1780,1955,0,0,0,0,0,0
$GC,6721,1.02,163.3,251.6,9.2,297,6726,0.00,2.53,0.00,0.000,4,0.000,0.052,3313,348,1954,0,0,0,0,0,0
$GC,6862,0.99,163.3,236.6,10.4,303,6866,0.00,2.35,0.00,0.000,6,0.000,0.025,3312,1772,1952,0,0,0,0,0,0
$GC,7189,1.06,163.3,208.6,8.8,319,7193,0.00,2.47,0.00,0.000,4,0.000,0.050,3312,356,1951,0,0,0,0,0,0
$GC,7279,1.06,163.3,199.9,9.0,323,7285,0.00,2.33,0.00,0.000,6,0.000,0.024,3313,1783,1950,0,0,0,0,0,0
$GC,7540,1.14,164.4,179.8,7.8,344,7545,0.15,2.45,0.00,0.000,4,0.062,0.048,3355,357,1950,0,0,0,0,0,0
$GC,7786,1.04,164.4,153.1,11.5,362,7791,0.15,2.30,0.00,0.000,6,0.106,0.022,3327,1772,1949,0,0,0,0,0,0
$GC,8048,1.10,164.4,129.2,8.7,382,8052,0.00,2.45,0.00,0.000,4,0.000,0.047,3326,355,1949,0,0,0,0,0,0
$GC,8268,1.10,166.7,110.7,7.7,398,8272,0.00,2.30,0.00,0.000,6,0.000,0.021,3327,1775,1949,0,0,0,0,0,0
$GC,8528,1.23,195.6,97.4,5.3,418,8558,0.17,0.00,27.02,0.579,6,0.054,0.000,3377,1780,1831,0,0,0,0,0,0
$GC,8810,1.23,195.6,73.6,9.5,440,8814,0.00,2.45,0.00,0.000,4,0.000,0.044,3377,356,1829,0,0,0,0,0,0
$GC,8855,1.17,195.6,68.5,10.8,443,8862,0.08,2.33,0.00,0.000,6,0.087,0.020,3358,1769,1827,0,0,0,0,0,0
$GC,9118,1.27,210.3,49.0,6.6,464,9136,0.00,2.30,13.73,0.504,4,0.000,0.022,3358,3166,1771,0,0,0,0,0,0
$GC,9261,1.39,210.3,38.0,8.2,474,9268,0.15,2.40,0.00,0.000,6,0.032,0.029,3410,1759,1771,0,0,0,0,0,0
$GC,9523,1.39,210.3,12.9,9.4,521,9530,0.00,2.33,0.00,0.000,4,0.000,0.022,3410,3160,1771,0,0,0,0,0,0
$GC,9555,1.39,210.3,10.0,9.1,527,9561,0.00,2.38,0.00,0.000,6,0.000,0.028,3410,1762,1771,0,0,0,0,0,0
$STATE,9632,end climb,SURFACE_DEPTH_REACHED
$STATE,9632,begin surface coast
$FINISH,0.7,1.023079
$STATE,9665,end surface coast,CONTROL_FINISHED_OK
$STATE,9665,begin surface
$SM_CCo,9688,115.93,0.497,0,0,957,410.14
$SM_GC,1.51,0.00,0.00,115.93,0.000,0.000,0.497,426,1664,957,-12.31,-0.88,410.14
$IRIDIUM_FIX,2059.45,-15759.05,071199,161654
$TT8_MAMPS,0.029146
$HUMID,51.73
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,15.173
$10V_AH,10.4,11.787
$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,31.925,90.500,233.600,115.925,0.000,27.564,35.882,120.146,4.500,0.000,19.617,1102.875,6365.446,408.527,1799.295,433.459,0.000,1185.716,0.000,1770.522,0.000,29.264,0.000
$DEVICE_MAMPS,135.759,89.739,840.632,497.016,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,371.148,347.579,812.339,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,31771,551
$CAP_FILE_SIZE,106934,0
$CFSIZE,260165632,204709888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130810,215506,2105.961,-15755.743,28,1.6,28,9.8