version: 66.06
glider: 139
mission: 8
dive: 184
start: 8 15 110 12 12 54
data:
$ID,139
$MISSION,8
$DIVE,184
$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,-2154321.8
$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
$GPS1,120400,2106.073,-15751.724,42,1.0,48,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-74.3
$GPS2,121237,2106.037,-15751.763,12,1.1,17,9.8
$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,81.7,15288,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.56,-58.4,0.0,0.0,0,84,0.00,0.00,-64.12,0.000,2,0.000,0.000,429,1677,2784,0,0,0,0,0,0
$GC,87,-1.56,-58.4,3.7,-4.4,12,106,12.50,0.00,-1.58,0.000,6,0.135,0.000,2752,1678,2872,0,0,0,0,0,0
$GC,308,-1.51,-58.4,51.3,-17.3,44,312,0.00,2.38,0.00,0.000,4,0.000,0.022,2752,3111,2874,0,0,0,0,0,0
$GC,388,-1.61,-58.4,63.1,-12.8,50,392,0.00,2.40,0.00,0.000,6,0.000,0.034,2752,1684,2874,0,0,0,0,0,0
$GC,652,-1.61,-58.4,102.9,-16.5,71,657,0.00,2.35,0.00,0.000,4,0.000,0.021,2752,3108,2875,0,0,0,0,0,0
$GC,795,-1.70,-58.4,122.7,-11.2,81,801,0.00,2.35,0.00,0.000,6,0.000,0.031,2752,1691,2876,0,0,0,0,0,0
$GC,1055,-1.74,-58.4,154.7,-13.2,102,1060,0.15,2.35,0.00,0.000,4,0.060,0.023,2708,3106,2876,0,0,0,0,0,0
$GC,1103,-1.74,-58.4,162.0,-14.8,105,1109,0.00,2.38,0.00,0.000,6,0.000,0.033,2708,1697,2876,0,0,0,0,0,0
$GC,1365,-1.70,-58.4,199.7,-16.0,126,1370,0.10,2.35,0.00,0.000,4,0.117,0.024,2727,3107,2876,0,0,0,0,0,0
$GC,1462,-1.78,-58.4,215.7,-15.5,131,1466,0.00,2.38,0.00,0.000,6,0.000,0.032,2727,1693,2876,0,0,0,0,0,0
$GC,1793,-1.78,-58.4,256.5,-10.8,147,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1693,2876,0,0,0,0,0,0
$GC,2101,-1.82,-58.4,289.2,-11.8,162,2105,0.10,2.38,0.00,0.000,4,0.076,0.026,2694,3107,2876,0,0,0,0,0,0
$GC,2169,-1.82,-58.4,297.8,-12.6,165,2173,0.00,2.38,0.00,0.000,6,0.000,0.035,2694,1692,2876,0,0,0,0,0,0
$GC,2517,-1.82,-58.4,340.5,-12.5,174,2521,0.00,2.40,0.00,0.000,4,0.000,0.051,2693,293,2875,0,0,0,0,0,0
$GC,2540,-1.74,-58.4,344.2,-13.9,174,2545,0.12,2.33,0.00,0.000,6,0.107,0.022,2717,1723,2875,0,0,0,0,0,0
$GC,2885,-1.78,-58.4,380.8,-10.0,183,2889,0.00,2.47,0.00,0.000,4,0.000,0.051,2717,293,2874,0,0,0,0,0,0
$GC,2931,-1.78,-58.4,386.4,-11.9,184,2935,0.00,2.25,0.00,0.000,6,0.000,0.024,2717,1701,2874,0,0,0,0,0,0
$GC,3254,-1.83,-58.4,416.7,-9.2,192,3258,0.00,2.45,0.00,0.000,4,0.000,0.054,2717,293,2871,0,0,0,0,0,0
$GC,3288,-1.83,-58.4,420.3,-11.2,192,3293,0.00,2.30,0.00,0.000,6,0.000,0.025,2717,1699,2871,0,0,0,0,0,0
$STATE,3576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3576,begin apogee
$GC,3583,-0.31,0.0,450.6,10.2,199,3636,1.48,0.00,49.22,0.834,6,0.077,0.000,3029,1786,2630,0,0,0,0,0,0
$STATE,3637,end apogee,CONTROL_FINISHED_OK
$STATE,3637,begin climb
$GC,3640,1.56,58.4,451.8,0.0,200,3698,1.75,2.55,50.45,0.819,4,0.029,0.051,3448,356,2390,0,0,0,0,0,0
$GC,3841,1.19,99.0,448.2,4.2,204,3883,0.45,2.35,35.50,0.813,6,0.109,0.026,3362,1750,2226,0,0,0,0,0,0
$GC,4228,1.09,99.0,417.2,8.5,214,4233,0.12,2.42,0.00,0.000,4,0.119,0.035,3340,3182,2217,0,0,0,0,0,0
$GC,4354,1.05,99.0,405.6,9.2,216,4359,0.00,2.45,0.00,0.000,6,0.000,0.039,3340,1774,2217,0,0,0,0,0,0
$GC,4686,1.01,119.9,382.7,6.0,224,4705,0.00,0.00,17.67,0.776,6,0.000,0.000,3339,1774,2141,0,0,0,0,0,0
$GC,5012,1.00,140.4,362.8,6.0,232,5037,0.12,2.58,19.33,0.777,4,0.118,0.057,3317,350,2056,0,0,0,0,0,0
$GC,5195,0.92,144.9,350.3,7.5,236,5205,0.00,2.38,4.38,0.538,6,0.000,0.028,3317,1788,2039,0,0,0,0,0,0
$GC,5519,0.92,144.9,325.0,8.6,244,5524,0.00,2.50,0.00,0.000,4,0.000,0.053,3317,357,2037,0,0,0,0,0,0
$GC,5589,0.84,144.9,318.1,9.5,245,5595,0.17,2.35,0.00,0.000,6,0.114,0.027,3284,1764,2035,0,0,0,0,0,0
$GC,5914,0.94,147.2,293.5,7.7,255,5918,0.00,2.47,0.00,0.000,4,0.000,0.053,3284,358,2035,0,0,0,0,0,0
$GC,6053,0.94,147.2,281.2,9.7,261,6057,0.00,2.35,0.00,0.000,6,0.000,0.027,3284,1782,2032,0,0,0,0,0,0
$GC,6385,1.06,153.4,256.3,7.3,277,6396,0.20,0.00,8.32,0.645,6,0.053,0.000,3338,1787,2004,0,0,0,0,0,0
$GC,6691,1.06,153.4,233.6,8.0,292,6694,0.00,2.30,0.00,0.000,4,0.000,0.029,3338,3177,2002,0,0,0,0,0,0
$GC,6751,1.10,153.4,228.6,8.9,294,6756,0.00,2.42,0.00,0.000,6,0.000,0.035,3338,1759,2002,0,0,0,0,0,0
$GC,7071,1.10,153.4,196.4,9.9,310,7075,0.00,2.42,0.00,0.000,4,0.000,0.048,3338,355,2001,0,0,0,0,0,0
$GC,7137,1.02,153.4,190.0,9.8,315,7142,0.00,2.33,0.00,0.000,6,0.000,0.023,3338,1793,1999,0,0,0,0,0,0
$GC,7402,1.04,170.2,170.8,6.4,336,7419,0.00,0.00,15.68,0.635,6,0.000,0.000,3338,1798,1936,0,0,0,0,0,0
$GC,7667,1.04,170.2,148.3,9.1,357,7671,0.00,2.25,0.00,0.000,4,0.000,0.026,3338,3162,1934,0,0,0,0,0,0
$GC,7737,1.11,170.2,141.0,10.2,362,7741,0.00,2.38,0.00,0.000,6,0.000,0.032,3338,1765,1934,0,0,0,0,0,0
$GC,7995,1.15,170.2,112.8,11.6,382,7996,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,1765,1934,0,0,0,0,0,0
$GC,8249,1.25,203.4,94.2,4.9,402,8290,0.15,2.47,30.35,0.583,4,0.060,0.045,3382,361,1798,0,0,0,0,0,0
$GC,8404,1.14,203.4,80.8,9.8,413,8409,0.17,2.28,0.00,0.000,6,0.100,0.020,3348,1769,1793,0,0,0,0,0,0
$GC,8672,1.24,205.0,58.0,7.8,434,8676,0.00,2.42,0.00,0.000,4,0.000,0.044,3348,359,1793,0,0,0,0,0,0
$GC,8698,1.27,205.0,55.4,9.4,436,8703,0.12,2.28,0.00,0.000,6,0.065,0.020,3387,1780,1792,0,0,0,0,0,0
$GC,8966,1.27,205.0,32.4,8.2,457,8971,0.00,2.45,0.00,0.000,4,0.000,0.044,3386,355,1792,0,0,0,0,0,0
$GC,9078,1.20,205.0,21.3,9.7,479,9085,0.10,2.30,0.00,0.000,6,0.084,0.019,3362,1772,1792,0,0,0,0,0,0
$GC,9282,1.31,246.1,7.8,4.2,525,9329,0.10,2.53,36.22,0.502,4,0.075,0.044,3395,358,1624,0,0,0,0,0,0
$STATE,9338,end climb,SURFACE_DEPTH_REACHED
$STATE,9338,begin surface coast
$FINISH,0.8,1.010199
$STATE,9356,end surface coast,CONTROL_FINISHED_OK
$STATE,9357,begin surface
$SM_CCo,9381,92.00,0.495,0,0,957,410.14
$SM_GC,1.32,0.00,0.00,92.00,0.000,0.000,0.495,428,1730,957,-12.29,0.99,410.14
$IRIDIUM_FIX,2057.14,-15729.03,091199,121238
$TT8_MAMPS,0.029146
$HUMID,52.63
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,16.371
$10V_AH,10.4,12.892
$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,30.775,95.375,267.125,92.000,0.000,51.466,78.191,197.651,4.500,0.000,17.875,1067.888,6263.496,411.460,1679.421,567.536,0.000,1142.806,0.000,1652.732,0.000,29.260,0.000
$DEVICE_MAMPS,134.992,94.341,834.496,494.715,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,362.263,338.527,795.216,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,28681,538
$CAP_FILE_SIZE,106057,0
$CFSIZE,260165632,203943936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150810,145138,2106.024,-15751.662,12,1.5,12,9.8