version: 66.06
glider: 139
mission: 8
dive: 235
start: 8 21 110 8 37 52
data:
$ID,139
$MISSION,8
$DIVE,235
$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,-2155500.8
$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
$GPS1,082707,2107.819,-15801.700,36,1.2,36,9.8
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-72.0
$GPS2,083732,2107.842,-15801.690,13,1.5,13,9.8
$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,86.8,32652,-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,-58.4,0.0,0.0,0,77,0.00,0.00,-59.05,0.000,2,0.000,0.000,426,1675,2618,0,0,0,0,0,0
$GC,80,-1.56,-58.4,3.2,-3.4,11,104,12.52,2.40,-4.88,0.000,4,0.135,0.054,2751,285,2871,0,0,0,0,0,0
$GC,237,-1.42,-58.4,41.7,-20.7,38,242,0.20,2.30,0.00,0.000,6,0.106,0.018,2789,1735,2872,0,0,0,0,0,0
$GC,499,-1.46,-58.4,80.4,-13.9,58,503,0.00,2.47,0.00,0.000,4,0.000,0.044,2789,289,2873,0,0,0,0,0,0
$GC,566,-1.46,-58.4,90.7,-16.0,63,570,0.00,2.25,0.00,0.000,6,0.000,0.018,2789,1704,2874,0,0,0,0,0,0
$GC,832,-1.57,-58.4,121.4,-9.5,84,834,0.15,0.00,0.00,0.000,6,0.057,0.000,2742,1711,2874,0,0,0,0,0,0
$GC,1083,-1.57,-58.4,153.5,-13.1,104,1087,0.00,2.20,0.00,0.000,4,0.000,0.022,2743,3071,2875,0,0,0,0,0,0
$GC,1107,-1.61,-58.4,156.9,-13.1,106,1111,0.00,2.30,0.00,0.000,6,0.000,0.032,2742,1690,2875,0,0,0,0,0,0
$GC,1376,-1.61,-58.4,190.2,-12.8,127,1380,0.00,2.25,0.00,0.000,4,0.000,0.022,2743,3074,2875,0,0,0,0,0,0
$GC,1402,-1.67,-58.4,193.8,-11.7,129,1406,0.00,2.33,0.00,0.000,6,0.000,0.032,2742,1692,2875,0,0,0,0,0,0
$GC,1658,-1.71,-58.4,223.5,-10.7,143,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1691,2875,0,0,0,0,0,0
$GC,1967,-1.74,-58.4,258.7,-11.1,158,1971,0.00,2.28,0.00,0.000,4,0.000,0.024,2743,3070,2875,0,0,0,0,0,0
$GC,2103,-1.85,-58.4,271.6,-9.1,164,2108,0.20,2.30,0.00,0.000,6,0.051,0.033,2686,1694,2875,0,0,0,0,0,0
$GC,2455,-1.80,-58.4,309.4,-10.7,179,2460,0.10,2.30,0.00,0.000,4,0.117,0.025,2705,3071,2874,0,0,0,0,0,0
$GC,2526,-1.85,-58.4,317.0,-10.2,180,2530,0.00,2.33,0.00,0.000,6,0.000,0.035,2705,1695,2874,0,0,0,0,0,0
$GC,2867,-1.85,-58.4,357.4,-12.7,189,2871,0.00,2.30,0.00,0.000,4,0.000,0.028,2705,3065,2872,0,0,0,0,0,0
$GC,2932,-1.90,-58.4,364.3,-10.1,190,2936,0.00,2.33,0.00,0.000,6,0.000,0.037,2705,1696,2873,0,0,0,0,0,0
$GC,3278,-1.90,-58.4,401.0,-10.6,199,3282,0.00,2.33,0.00,0.000,4,0.000,0.030,2705,3068,2870,0,0,0,0,0,0
$GC,3353,-1.98,-58.4,409.5,-11.2,200,3358,0.17,2.33,0.00,0.000,6,0.057,0.038,2656,1697,2870,0,0,0,0,0,0
$STATE,3687,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3687,begin apogee
$GC,3694,-0.31,0.0,453.4,12.8,209,3747,1.80,0.00,48.85,0.828,6,0.087,0.000,3029,1697,2630,0,0,0,0,0,0
$STATE,3747,end apogee,CONTROL_FINISHED_OK
$STATE,3748,begin climb
$GC,3750,1.56,58.4,455.7,0.0,210,3808,1.77,2.40,50.33,0.813,4,0.029,0.053,3453,353,2390,0,0,0,0,0,0
$GC,3929,1.20,119.5,455.4,2.4,214,3990,0.47,2.33,53.45,0.818,6,0.110,0.026,3362,1747,2142,0,0,0,0,0,0
$GC,4303,1.09,119.5,425.6,9.4,223,4305,0.12,0.00,0.00,0.000,6,0.118,0.000,3340,1747,2132,0,0,0,0,0,0
$GC,4627,1.04,124.8,400.6,7.4,231,4628,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,1747,2129,0,0,0,0,0,0
$GC,4952,1.00,124.8,374.3,8.1,239,4956,0.00,2.40,0.00,0.000,4,0.000,0.034,3340,3178,2126,0,0,0,0,0,0
$GC,4970,1.00,124.8,372.6,8.3,239,4975,0.12,2.45,0.00,0.000,6,0.120,0.039,3317,1766,2126,0,0,0,0,0,0
$GC,5317,1.00,125.5,346.6,7.8,248,5321,0.00,2.40,0.00,0.000,4,0.000,0.033,3318,3178,2124,0,0,0,0,0,0
$GC,5355,1.05,135.9,343.8,7.0,248,5372,0.00,2.45,12.40,0.737,6,0.000,0.039,3317,1765,2075,0,0,0,0,0,0
$GC,5687,1.06,143.0,319.0,7.2,257,5697,0.00,0.00,7.62,0.660,6,0.000,0.000,3317,1764,2045,0,0,0,0,0,0
$GC,5992,1.10,151.1,295.3,7.2,266,6003,0.10,0.00,8.15,0.660,6,0.082,0.000,3346,1765,2014,0,0,0,0,0,0
$GC,6304,1.10,151.1,268.7,9.2,281,6305,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,1765,2012,0,0,0,0,0,0
$GC,6611,1.10,151.2,243.4,7.9,296,6615,0.00,2.38,0.00,0.000,4,0.000,0.030,3346,3186,2010,0,0,0,0,0,0
$GC,6747,1.10,151.2,231.3,9.5,302,6751,0.00,2.42,0.00,0.000,6,0.000,0.036,3346,1763,2010,0,0,0,0,0,0
$GC,7077,1.10,151.2,202.0,8.2,318,7081,0.00,2.42,0.00,0.000,4,0.000,0.050,3346,351,2009,0,0,0,0,0,0
$GC,7158,1.02,154.7,195.1,7.6,323,7163,0.12,2.33,0.00,0.000,6,0.114,0.023,3322,1782,2007,0,0,0,0,0,0
$GC,7426,1.09,168.4,176.9,6.7,344,7447,0.00,2.55,15.82,0.629,4,0.000,0.048,3322,360,1943,0,0,0,0,0,0
$GC,7496,1.09,168.4,170.9,10.1,349,7500,0.00,2.30,0.00,0.000,6,0.000,0.022,3322,1770,1940,0,0,0,0,0,0
$GC,7762,1.16,171.4,148.7,7.6,370,7771,0.12,2.47,3.80,0.399,4,0.068,0.047,3360,356,1931,0,0,0,0,0,0
$GC,7838,1.06,171.4,140.8,10.6,374,7845,0.12,2.33,0.00,0.000,6,0.084,0.021,3331,1765,1929,0,0,0,0,0,0
$GC,8101,1.15,181.7,118.5,7.0,395,8117,0.00,2.50,10.75,0.549,4,0.000,0.046,3331,358,1888,0,0,0,0,0,0
$GC,8285,1.15,181.7,102.5,10.0,408,8289,0.00,2.28,0.00,0.000,6,0.000,0.021,3331,1775,1885,0,0,0,0,0,0
$GC,8546,1.27,191.8,84.7,7.0,428,8562,0.20,2.30,10.25,0.512,4,0.050,0.022,3388,3161,1847,0,0,0,0,0,0
$GC,8658,1.27,191.8,74.4,10.2,435,8664,0.00,2.40,0.00,0.000,6,0.000,0.030,3388,1761,1847,0,0,0,0,0,0
$GC,8917,1.28,199.5,52.0,7.2,456,8933,0.00,2.42,8.50,0.467,4,0.000,0.042,3388,349,1815,0,0,0,0,0,0
$GC,8941,1.28,205.4,50.3,7.4,457,8952,0.00,2.33,6.55,0.437,6,0.000,0.018,3389,1793,1792,0,0,0,0,0,0
$GC,9208,1.34,218.8,31.2,6.7,478,9228,0.00,0.00,12.98,0.482,6,0.000,0.000,3389,1793,1737,0,0,0,0,0,0
$GC,9487,1.34,218.8,4.6,9.5,540,9493,0.00,2.47,0.00,0.000,4,0.000,0.042,3387,359,1736,0,0,0,0,0,0
$STATE,9504,end climb,SURFACE_DEPTH_REACHED
$STATE,9504,begin surface coast
$FINISH,0.8,0.999908
$STATE,9535,end surface coast,CONTROL_FINISHED_OK
$STATE,9535,begin surface
$SM_CCo,9561,108.40,0.491,0,0,957,410.14
$SM_GC,1.44,0.00,0.00,108.40,0.000,0.000,0.491,426,1722,957,-12.30,0.76,410.14
$IRIDIUM_FIX,2057.14,-15759.05,151199,050546
$TT8_MAMPS,0.029146
$HUMID,52.28
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,20.520
$10V_AH,10.3,16.665
$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,31.000,89.475,249.450,108.400,0.000,29.626,35.885,437.176,4.500,0.000,13.509,1072.714,6421.552,410.861,1627.397,761.954,0.000,1118.777,0.000,1617.671,0.000,29.260,0.000
$DEVICE_MAMPS,134.992,54.457,827.593,490.880,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,370.788,351.484,800.242,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355752
$DATA_FILE_SIZE,31705,550
$CAP_FILE_SIZE,104915,0
$CFSIZE,260165632,201265152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210810,111950,2108.162,-15801.533,11,1.6,11,9.8