version: 66.06
glider: 139
mission: 8
dive: 175
start: 8 14 110 11 33 1
data:
$ID,139
$MISSION,8
$DIVE,175
$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,-2154130.2
$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
$GPS1,112706,2106.003,-15754.281,15,1.7,31,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,2
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-72.6
$GPS2,113244,2105.980,-15754.341,12,1.8,12,9.8
$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,81.1,19740,-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,-64.45,0.000,2,0.000,0.000,426,1702,2760,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.2,-3.3,12,104,12.55,0.00,-2.05,0.000,6,0.135,0.000,2755,1702,2872,0,0,0,0,0,0
$GC,301,-1.50,-58.4,53.8,-20.1,43,305,0.00,2.33,0.00,0.000,4,0.000,0.021,2755,3109,2874,0,0,0,0,0,0
$GC,328,-1.57,-58.4,59.3,-19.1,45,332,0.00,2.38,0.00,0.000,6,0.000,0.035,2754,1694,2874,0,0,0,0,0,0
$GC,588,-1.57,-58.4,97.6,-13.2,65,593,0.00,2.42,0.00,0.000,4,0.000,0.045,2754,286,2876,0,0,0,0,0,0
$GC,608,-1.53,-58.4,100.9,-14.4,66,615,0.00,2.33,0.00,0.000,6,0.000,0.018,2755,1729,2876,0,0,0,0,0,0
$GC,869,-1.57,-58.4,132.1,-11.9,87,873,0.00,2.20,0.00,0.000,4,0.000,0.022,2755,3076,2876,0,0,0,0,0,0
$GC,961,-1.68,-58.4,143.0,-10.7,94,966,0.00,2.35,0.00,0.000,6,0.000,0.032,2755,1686,2876,0,0,0,0,0,0
$GC,1229,-1.75,-58.4,172.5,-11.5,115,1234,0.15,2.40,0.00,0.000,4,0.059,0.047,2710,288,2877,0,0,0,0,0,0
$GC,1298,-1.65,-58.4,182.5,-14.3,120,1303,0.15,2.25,0.00,0.000,6,0.103,0.019,2739,1702,2877,0,0,0,0,0,0
$GC,1567,-1.68,-58.4,212.9,-11.5,138,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1707,2878,0,0,0,0,0,0
$GC,1874,-1.74,-58.4,242.0,-9.0,153,1879,0.00,2.25,0.00,0.000,4,0.000,0.025,2740,3069,2878,0,0,0,0,0,0
$GC,1894,-1.82,-58.4,243.8,-8.5,154,1899,0.15,2.30,0.00,0.000,6,0.059,0.033,2695,1693,2878,0,0,0,0,0,0
$GC,2227,-1.78,-58.4,271.4,-7.7,170,2229,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1692,2877,0,0,0,0,0,0
$GC,2536,-1.78,-58.4,301.7,-11.1,185,2540,0.00,2.25,0.00,0.000,4,0.000,0.027,2695,3065,2876,0,0,0,0,0,0
$GC,2580,-1.82,-58.4,307.3,-11.9,186,2584,0.00,2.30,0.00,0.000,6,0.000,0.036,2695,1697,2876,0,0,0,0,0,0
$GC,2908,-1.82,-58.4,351.0,-13.8,194,2912,0.00,2.30,0.00,0.000,4,0.000,0.028,2695,3071,2875,0,0,0,0,0,0
$GC,3126,-1.87,-58.4,377.7,-10.9,198,3130,0.00,2.33,0.00,0.000,6,0.000,0.038,2695,1697,2874,0,0,0,0,0,0
$GC,3457,-1.87,-58.4,411.1,-9.5,206,3458,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1695,2872,0,0,0,0,0,0
$GC,3783,-1.87,-58.4,441.7,-9.8,214,3784,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1695,2869,0,0,0,0,0,0
$STATE,3901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3901,begin apogee
$GC,3907,-0.31,0.0,453.6,9.6,217,3960,1.60,0.00,49.10,0.844,6,0.084,0.000,3028,1695,2630,0,0,0,0,0,0
$STATE,3961,end apogee,CONTROL_FINISHED_OK
$STATE,3961,begin climb
$GC,3963,1.56,58.4,454.4,0.0,218,4019,1.80,0.00,51.12,0.827,6,0.037,0.000,3452,1695,2391,0,0,0,0,0,0
$GC,4311,1.32,119.9,448.4,2.4,227,4372,0.30,2.58,53.55,0.835,4,0.109,0.035,3391,3132,2140,0,0,0,0,0,0
$GC,4638,1.18,119.9,416.8,10.6,234,4643,0.17,2.38,0.00,0.000,6,0.113,0.040,3359,1765,2135,0,0,0,0,0,0
$GC,4957,1.09,119.9,384.6,10.0,242,4962,0.12,2.38,0.00,0.000,4,0.119,0.034,3336,3146,2130,0,0,0,0,0,0
$GC,4996,1.09,119.9,380.7,9.9,242,5002,0.00,2.40,0.00,0.000,6,0.000,0.040,3336,1767,2130,0,0,0,0,0,0
$GC,5328,1.05,119.9,352.7,8.3,251,5329,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,1767,2127,0,0,0,0,0,0
$GC,5652,1.07,137.9,330.6,6.3,259,5673,0.00,2.58,14.65,0.750,4,0.000,0.055,3336,354,2067,0,0,0,0,0,0
$GC,5707,0.94,137.9,326.2,9.1,260,5712,0.15,2.33,0.00,0.000,6,0.114,0.027,3309,1741,2064,0,0,0,0,0,0
$GC,6026,0.98,137.9,300.6,8.0,268,6030,0.00,2.45,0.00,0.000,4,0.000,0.053,3309,352,2062,0,0,0,0,0,0
$GC,6060,0.92,137.9,297.5,9.3,268,6064,0.00,2.35,0.00,0.000,6,0.000,0.027,3309,1774,2060,0,0,0,0,0,0
$GC,6377,0.96,137.9,269.6,8.5,283,6381,0.00,2.35,0.00,0.000,4,0.000,0.031,3308,3173,2060,0,0,0,0,0,0
$GC,6437,1.03,137.9,264.2,8.7,285,6442,0.00,2.40,0.00,0.000,6,0.000,0.038,3309,1768,2060,0,0,0,0,0,0
$GC,6755,1.13,168.6,243.5,5.1,301,6789,0.15,2.55,27.30,0.724,4,0.064,0.054,3350,355,1942,0,0,0,0,0,0
$GC,6959,1.02,168.6,223.2,11.8,310,6964,0.15,2.35,0.00,0.000,6,0.108,0.025,3322,1783,1936,0,0,0,0,0,0
$GC,7288,1.07,168.6,194.4,8.2,328,7289,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,1788,1935,0,0,0,0,0,0
$GC,7540,1.16,194.0,175.0,5.6,348,7569,0.12,2.55,22.58,0.656,4,0.069,0.049,3357,359,1837,0,0,0,0,0,0
$GC,7609,1.05,194.0,169.3,10.3,352,7616,0.12,2.38,0.00,0.000,6,0.085,0.024,3330,1765,1835,0,0,0,0,0,0
$GC,7872,1.11,194.0,146.5,10.4,373,7876,0.00,2.47,0.00,0.000,4,0.000,0.048,3329,348,1834,0,0,0,0,0,0
$GC,7972,1.11,194.0,133.1,14.8,380,7979,0.00,2.38,0.00,0.000,6,0.000,0.022,3329,1776,1831,0,0,0,0,0,0
$GC,8233,1.20,194.0,104.2,9.4,401,8235,0.12,0.00,0.00,0.000,6,0.065,0.000,3368,1782,1831,0,0,0,0,0,0
$GC,8484,1.21,205.9,82.0,6.8,421,8501,0.00,2.53,11.10,0.531,4,0.000,0.046,3368,357,1790,0,0,0,0,0,0
$GC,8568,1.14,205.9,74.4,9.7,427,8572,0.00,2.33,0.00,0.000,6,0.000,0.020,3368,1786,1787,0,0,0,0,0,0
$GC,8835,1.20,211.1,52.8,7.4,448,8850,0.00,2.53,5.78,0.436,4,0.000,0.044,3368,355,1768,0,0,0,0,0,0
$GC,8945,1.20,211.1,43.0,9.1,455,8951,0.00,2.30,0.00,0.000,6,0.000,0.019,3368,1763,1767,0,0,0,0,0,0
$GC,9207,1.26,211.1,22.0,8.0,492,9214,0.00,2.45,0.00,0.000,4,0.000,0.044,3368,352,1767,0,0,0,0,0,0
$GC,9251,1.26,211.1,18.1,9.2,501,9258,0.00,2.30,0.00,0.000,6,0.000,0.018,3368,1765,1766,0,0,0,0,0,0
$STATE,9432,end climb,SURFACE_DEPTH_REACHED
$STATE,9432,begin surface coast
$FINISH,0.8,1.023022
$STATE,9469,end surface coast,CONTROL_FINISHED_OK
$STATE,9469,begin surface
$SM_CCo,9493,112.38,0.499,0,0,957,410.14
$SM_GC,1.34,0.00,0.00,112.38,0.000,0.000,0.499,428,1655,957,-12.29,-1.13,410.14
$IRIDIUM_FIX,2059.45,-15753.90,081199,080820
$TT8_MAMPS,0.029146
$HUMID,52.40
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,22.10
$XPDR_PINGS,1
$24V_AH,23.5,15.645
$10V_AH,10.3,12.222
$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,30.400,85.775,235.175,112.375,0.000,30.211,36.057,151.392,4.750,0.000,12.186,1073.349,6332.230,422.433,1664.820,449.511,0.000,1131.073,0.000,1650.177,0.000,29.251,0.000
$DEVICE_MAMPS,134.992,71.331,844.467,498.550,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,371.421,353.170,817.457,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,31820,551
$CAP_FILE_SIZE,100890,0
$CFSIZE,260165632,204414976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140810,141445,2105.941,-15753.741,40,2.2,59,9.8