version: 66.06
glider: 139
mission: 8
dive: 170
start: 8 13 110 22 0 19
data:
$ID,139
$MISSION,8
$DIVE,170
$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,-2154013
$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
$GPS1,215506,2105.961,-15755.743,28,1.6,28,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-70.5
$GPS2,220002,2105.971,-15755.780,14,1.6,14,9.8
$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,81.0,22226,-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,-64.43,0.000,2,0.000,0.000,426,1665,2771,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.3,-3.7,12,103,12.62,0.00,-1.85,0.000,6,0.138,0.000,2752,1665,2872,0,0,0,0,0,0
$GC,305,-1.48,-58.4,51.1,-17.8,44,309,0.12,2.40,0.00,0.000,4,0.116,0.021,2774,3115,2874,0,0,0,0,0,0
$GC,360,-1.56,-58.4,59.6,-13.6,48,364,0.00,2.38,0.00,0.000,6,0.000,0.031,2774,1692,2874,0,0,0,0,0,0
$GC,619,-1.56,-58.4,93.0,-14.8,68,623,0.00,2.33,0.00,0.000,4,0.000,0.021,2774,3110,2876,0,0,0,0,0,0
$GC,642,-1.64,-58.4,96.6,-14.1,69,648,0.15,2.38,0.00,0.000,6,0.057,0.033,2729,1696,2875,0,0,0,0,0,0
$GC,903,-1.64,-58.4,134.5,-14.6,90,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1695,2876,0,0,0,0,0,0
$GC,1153,-1.64,-58.4,172.2,-14.4,110,1157,0.00,2.38,0.00,0.000,4,0.000,0.023,2730,3113,2877,0,0,0,0,0,0
$GC,1231,-1.70,-58.4,182.5,-12.8,116,1235,0.00,2.38,0.00,0.000,6,0.000,0.033,2730,1694,2877,0,0,0,0,0,0
$GC,1505,-1.70,-58.4,215.8,-12.0,134,1509,0.00,2.40,0.00,0.000,4,0.000,0.047,2729,290,2877,0,0,0,0,0,0
$GC,1560,-1.66,-58.4,223.4,-12.8,136,1564,0.00,2.30,0.00,0.000,6,0.000,0.019,2729,1728,2878,0,0,0,0,0,0
$GC,1882,-1.66,-58.4,260.1,-11.7,152,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1730,2878,0,0,0,0,0,0
$GC,2191,-1.69,-58.4,293.7,-10.9,167,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1731,2878,0,0,0,0,0,0
$GC,2496,-1.75,-58.4,327.0,-10.9,176,2501,0.00,2.50,0.00,0.000,4,0.000,0.050,2729,293,2877,0,0,0,0,0,0
$GC,2552,-1.75,-58.4,334.3,-12.3,177,2556,0.00,2.25,0.00,0.000,6,0.000,0.022,2729,1694,2877,0,0,0,0,0,0
$GC,2870,-1.81,-58.4,369.2,-10.8,185,2872,0.10,0.00,0.00,0.000,6,0.079,0.000,2698,1699,2876,0,0,0,0,0,0
$GC,3196,-1.81,-58.4,405.3,-10.5,193,3200,0.00,2.33,0.00,0.000,4,0.000,0.031,2699,3082,2874,0,0,0,0,0,0
$GC,3242,-1.86,-58.4,410.0,-10.1,194,3247,0.00,2.35,0.00,0.000,6,0.000,0.039,2698,1700,2874,0,0,0,0,0,0
$GC,3567,-1.86,-58.4,444.9,-11.2,202,3571,0.00,2.33,0.00,0.000,4,0.000,0.033,2698,3073,2871,0,0,0,0,0,0
$STATE,3611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3611,begin apogee
$GC,3620,-0.31,0.0,450.5,11.1,203,3673,1.58,0.00,48.90,0.839,6,0.086,0.000,3028,1763,2630,0,0,0,0,0,0
$STATE,3674,end apogee,CONTROL_FINISHED_OK
$STATE,3674,begin climb
$GC,3677,1.56,58.4,452.2,0.0,204,3735,1.77,2.50,50.20,0.821,4,0.031,0.051,3450,358,2389,0,0,0,0,0,0
$GC,3877,1.20,117.8,450.3,2.5,208,3936,0.45,2.35,51.70,0.825,6,0.108,0.026,3364,1754,2149,0,0,0,0,0,0
$GC,4261,1.09,117.8,417.7,10.2,217,4266,0.15,2.40,0.00,0.000,4,0.115,0.035,3336,3175,2140,0,0,0,0,0,0
$GC,4272,0.99,117.8,416.4,10.6,217,4276,0.00,2.45,0.00,0.000,6,0.000,0.039,3336,1768,2139,0,0,0,0,0,0
$GC,4586,0.93,117.8,383.6,10.7,225,4591,0.17,2.40,0.00,0.000,4,0.112,0.035,3304,3174,2136,0,0,0,0,0,0
$GC,4638,0.98,117.8,378.0,10.4,226,4642,0.00,2.45,0.00,0.000,6,0.000,0.040,3304,1768,2136,0,0,0,0,0,0
$GC,4957,0.99,124.8,352.7,7.3,234,4969,0.00,2.42,4.72,0.566,4,0.000,0.034,3304,3175,2120,0,0,0,0,0,0
$GC,4993,1.05,128.8,350.0,7.5,234,5006,0.10,2.42,5.47,0.604,6,0.082,0.040,3331,1769,2104,0,0,0,0,0,0
$GC,5336,1.05,132.8,322.9,7.5,243,5343,0.00,0.00,4.75,0.562,6,0.000,0.000,3332,1770,2088,0,0,0,0,0,0
$GC,5659,1.06,139.8,298.8,7.3,251,5671,0.00,2.53,7.57,0.662,4,0.000,0.056,3331,358,2059,0,0,0,0,0,0
$GC,5769,0.96,139.8,289.2,9.2,256,5774,0.10,2.38,0.00,0.000,6,0.124,0.028,3314,1783,2056,0,0,0,0,0,0
$GC,6102,1.00,139.8,262.4,8.4,272,6106,0.00,2.33,0.00,0.000,4,0.000,0.032,3314,3175,2055,0,0,0,0,0,0
$GC,6240,1.08,139.8,251.2,8.7,278,6244,0.00,2.42,0.00,0.000,6,0.000,0.038,3313,1770,2054,0,0,0,0,0,0
$GC,6569,1.14,143.9,225.8,7.5,294,6581,0.15,2.38,4.32,0.492,4,0.064,0.028,3354,3184,2043,0,0,0,0,0,0
$GC,6587,1.14,143.9,224.3,8.7,294,6593,0.00,2.45,0.00,0.000,6,0.000,0.036,3354,1773,2042,0,0,0,0,0,0
$GC,6909,1.10,143.9,196.9,8.1,311,6911,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,1773,2041,0,0,0,0,0,0
$GC,7160,1.13,165.0,179.9,6.0,331,7188,0.00,2.55,20.02,0.657,4,0.000,0.051,3354,356,1956,0,0,0,0,0,0
$GC,7289,1.02,165.0,167.1,12.1,340,7294,0.17,2.33,0.00,0.000,6,0.106,0.023,3321,1780,1952,0,0,0,0,0,0
$GC,7551,1.10,171.9,146.2,7.3,360,7566,0.00,2.53,6.78,0.526,4,0.000,0.048,3320,364,1928,0,0,0,0,0,0
$GC,7599,1.10,171.9,141.6,8.6,363,7603,0.00,2.30,0.00,0.000,6,0.000,0.022,3321,1776,1927,0,0,0,0,0,0
$GC,7864,1.21,187.9,123.6,6.5,384,7886,0.17,2.53,15.73,0.585,4,0.055,0.046,3370,364,1863,0,0,0,0,0,0
$GC,7983,1.12,187.9,110.4,10.9,392,7990,0.10,2.33,0.00,0.000,6,0.084,0.021,3347,1775,1859,0,0,0,0,0,0
$GC,8246,1.22,205.4,92.8,6.3,413,8267,0.00,2.50,16.40,0.556,4,0.000,0.044,3347,354,1791,0,0,0,0,0,0
$GC,8286,1.23,217.5,89.8,6.8,415,8303,0.00,2.33,11.73,0.530,6,0.000,0.020,3347,1779,1742,0,0,0,0,0,0
$GC,8558,1.33,217.5,68.7,9.0,436,8563,0.17,2.47,0.00,0.000,4,0.053,0.044,3397,352,1741,0,0,0,0,0,0
$GC,8822,1.22,217.5,37.5,11.6,455,8829,0.12,2.33,0.00,0.000,6,0.082,0.018,3369,1776,1738,0,0,0,0,0,0
$GC,9085,1.28,217.5,13.4,9.2,504,9091,0.00,2.45,0.00,0.000,4,0.000,0.043,3368,362,1739,0,0,0,0,0,0
$STATE,9176,end climb,SURFACE_DEPTH_REACHED
$STATE,9176,begin surface coast
$FINISH,0.7,1.010456
$STATE,9201,end surface coast,CONTROL_FINISHED_OK
$STATE,9201,begin surface
$SM_CCo,9226,111.03,0.499,0,0,957,410.14
$SM_GC,1.47,0.00,0.00,111.03,0.000,0.000,0.499,426,1724,957,-12.30,0.82,410.14
$IRIDIUM_FIX,2057.14,-15759.05,071199,191956
$TT8_MAMPS,0.028379
$HUMID,52.59
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.5,15.251
$10V_AH,10.3,11.857
$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,30.800,95.650,248.300,111.025,0.000,22.512,27.694,127.505,4.500,0.000,14.633,1048.703,6124.413,401.991,1644.991,413.298,0.000,1134.916,0.000,1623.972,0.000,29.252,0.000
$DEVICE_MAMPS,138.060,55.991,839.098,498.550,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,357.217,340.236,764.948,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,28749,530
$CAP_FILE_SIZE,102812,0
$CFSIZE,260165632,204660736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140810,003706,2105.985,-15755.176,31,1.2,31,9.8