version: 66.06
glider: 139
mission: 8
dive: 255
start: 8 23 110 16 49 37
data:
$ID,139
$MISSION,8
$DIVE,255
$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,-2155898
$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
$GPS1,163408,2106.460,-15755.756,39,1.5,39,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-72.8
$GPS2,164920,2106.458,-15755.827,10,1.6,10,9.8
$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,83.3,22337,-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,16,-1.56,-58.4,0.0,0.0,0,82,0.00,0.00,-64.07,0.000,2,0.000,0.000,428,1672,2751,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.6,-4.2,12,110,12.40,2.45,-2.20,0.000,4,0.131,0.057,2752,285,2873,0,0,0,0,0,0
$GC,140,-1.10,-58.4,22.0,-33.1,22,147,0.45,2.35,0.00,0.000,6,0.088,0.018,2855,1734,2874,0,0,0,0,0,0
$GC,342,-1.24,-58.4,47.4,-11.2,44,347,0.12,2.53,0.00,0.000,4,0.061,0.047,2810,291,2875,0,0,0,0,0,0
$GC,368,-1.24,-58.4,51.2,-13.7,46,372,0.00,2.22,0.00,0.000,6,0.000,0.018,2810,1706,2875,0,0,0,0,0,0
$GC,635,-1.33,-58.4,86.6,-13.6,67,639,0.00,2.45,0.00,0.000,4,0.000,0.045,2811,289,2875,0,0,0,0,0,0
$GC,744,-1.41,-58.4,100.8,-12.8,75,748,0.00,2.20,0.00,0.000,6,0.000,0.018,2810,1696,2875,0,0,0,0,0,0
$GC,1015,-1.54,-58.4,128.3,-9.4,96,1019,0.20,2.22,0.00,0.000,4,0.047,0.020,2749,3062,2876,0,0,0,0,0,0
$GC,1104,-1.61,-58.4,138.8,-11.4,102,1110,0.00,2.33,0.00,0.000,6,0.000,0.032,2748,1689,2876,0,0,0,0,0,0
$GC,1366,-1.64,-58.4,175.1,-14.4,123,1371,0.00,2.38,0.00,0.000,4,0.000,0.044,2748,288,2877,0,0,0,0,0,0
$GC,1385,-1.64,-58.4,178.7,-14.9,124,1392,0.00,2.25,0.00,0.000,6,0.000,0.019,2748,1699,2877,0,0,0,0,0,0
$GC,1664,-1.67,-58.4,214.8,-12.6,143,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1704,2877,0,0,0,0,0,0
$GC,1968,-1.72,-58.4,250.8,-11.1,158,1973,0.10,2.42,0.00,0.000,4,0.077,0.046,2712,289,2876,0,0,0,0,0,0
$GC,1993,-1.66,-58.4,254.1,-13.0,159,1998,0.12,2.20,0.00,0.000,6,0.107,0.020,2736,1686,2876,0,0,0,0,0,0
$GC,2322,-1.71,-58.4,284.2,-7.9,175,2326,0.00,2.30,0.00,0.000,4,0.000,0.025,2737,3070,2876,0,0,0,0,0,0
$GC,2406,-1.83,-58.4,291.4,-8.8,178,2413,0.12,2.35,0.00,0.000,6,0.033,0.035,2690,1689,2876,0,0,0,0,0,0
$GC,2740,-1.80,-58.4,330.6,-12.3,189,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1689,2875,0,0,0,0,0,0
$GC,3064,-1.80,-58.4,370.6,-12.2,197,3069,0.00,2.33,0.00,0.000,4,0.000,0.028,2690,3067,2874,0,0,0,0,0,0
$GC,3098,-1.80,-58.4,374.5,-10.6,197,3102,0.00,2.33,0.00,0.000,6,0.000,0.036,2690,1689,2873,0,0,0,0,0,0
$GC,3433,-1.80,-58.4,410.0,-10.2,206,3437,0.00,2.30,0.00,0.000,4,0.000,0.029,2690,3065,2871,0,0,0,0,0,0
$GC,3623,-1.84,-58.4,431.1,-11.4,210,3627,0.00,2.35,0.00,0.000,6,0.000,0.040,2690,1695,2870,0,0,0,0,0,0
$STATE,3816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3817,begin apogee
$GC,3823,-0.31,0.0,453.7,11.6,215,3876,1.62,0.00,49.12,0.829,6,0.082,0.000,3030,1753,2630,0,0,0,0,0,0
$STATE,3877,end apogee,CONTROL_FINISHED_OK
$STATE,3877,begin climb
$GC,3881,1.56,58.4,455.4,0.0,216,3940,1.75,2.53,50.33,0.812,4,0.031,0.051,3448,365,2390,0,0,0,0,0,0
$GC,3948,1.36,169.1,456.6,-2.1,217,4054,0.28,2.35,96.93,0.815,6,0.110,0.025,3397,1771,1940,0,0,0,0,0,0
$GC,4376,1.20,169.1,408.1,13.8,228,4381,0.17,2.40,0.00,0.000,4,0.111,0.034,3364,3176,1931,0,0,0,0,0,0
$GC,4410,1.15,169.1,403.3,13.8,228,4414,0.00,2.45,0.00,0.000,6,0.000,0.041,3364,1768,1930,0,0,0,0,0,0
$GC,4742,1.07,169.1,359.7,13.2,236,4744,0.17,0.00,0.00,0.000,6,0.111,0.000,3332,1768,1926,0,0,0,0,0,0
$GC,5065,1.07,169.1,328.1,9.4,244,5070,0.00,2.47,0.00,0.000,4,0.000,0.056,3332,352,1923,0,0,0,0,0,0
$GC,5109,0.97,169.1,323.2,11.6,245,5114,0.12,2.38,0.00,0.000,6,0.123,0.027,3310,1768,1921,0,0,0,0,0,0
$GC,5442,1.02,169.1,291.5,9.8,255,5447,0.00,2.50,0.00,0.000,4,0.000,0.054,3310,350,1920,0,0,0,0,0,0
$GC,5462,1.02,169.1,289.0,10.7,256,5466,0.00,2.35,0.00,0.000,6,0.000,0.027,3310,1771,1918,0,0,0,0,0,0
$GC,5792,1.09,169.1,257.4,9.2,272,5797,0.12,2.47,0.00,0.000,4,0.069,0.052,3346,350,1918,0,0,0,0,0,0
$GC,5862,1.00,169.1,249.3,11.6,275,5867,0.15,2.35,0.00,0.000,6,0.107,0.025,3318,1779,1916,0,0,0,0,0,0
$GC,6196,1.08,175.0,221.9,7.4,291,6201,0.00,2.50,0.00,0.000,4,0.000,0.050,3317,348,1916,0,0,0,0,0,0
$GC,6318,1.08,175.0,211.3,9.1,296,6322,0.00,2.35,0.00,0.000,6,0.000,0.024,3317,1775,1913,0,0,0,0,0,0
$GC,6641,1.16,175.0,185.1,8.6,317,6646,0.15,2.47,0.00,0.000,4,0.061,0.049,3360,348,1912,0,0,0,0,0,0
$GC,6661,1.11,175.0,182.5,10.3,318,6667,0.00,2.35,0.00,0.000,6,0.000,0.022,3360,1776,1913,0,0,0,0,0,0
$GC,6921,1.11,175.0,159.8,8.3,339,6923,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,1780,1913,0,0,0,0,0,0
$GC,7173,1.11,175.0,134.9,11.0,359,7177,0.00,2.45,0.00,0.000,4,0.000,0.046,3360,352,1913,0,0,0,0,0,0
$GC,7228,1.02,175.0,128.4,11.8,363,7233,0.20,2.30,0.00,0.000,6,0.098,0.021,3321,1778,1912,0,0,0,0,0,0
$GC,7491,1.17,211.4,111.8,4.6,383,7530,0.15,0.00,32.75,0.581,6,0.058,0.000,3367,1784,1768,0,0,0,0,0,0
$GC,7784,1.23,211.4,88.3,10.3,406,7788,0.00,2.45,0.00,0.000,4,0.000,0.044,3366,348,1764,0,0,0,0,0,0
$GC,7857,1.19,211.4,80.3,10.6,411,7863,0.00,2.30,0.00,0.000,6,0.000,0.020,3367,1783,1762,0,0,0,0,0,0
$GC,8120,1.27,219.2,58.6,7.2,432,8135,0.00,2.53,7.53,0.456,4,0.000,0.046,3367,351,1735,0,0,0,0,0,0
$GC,8308,1.27,219.2,44.3,10.4,445,8314,0.00,2.30,0.00,0.000,6,0.000,0.018,3367,1774,1733,0,0,0,0,0,0
$GC,8572,1.35,219.2,23.4,9.7,476,8579,0.12,2.47,0.00,0.000,4,0.064,0.044,3407,354,1733,0,0,0,0,0,0
$GC,8638,1.23,219.2,15.5,11.9,490,8645,0.17,2.30,0.00,0.000,6,0.079,0.018,3368,1781,1733,0,0,0,0,0,0
$STATE,8749,end climb,SURFACE_DEPTH_REACHED
$STATE,8750,begin surface coast
$FINISH,1.0,1.023123
$STATE,8776,end surface coast,CONTROL_FINISHED_OK
$STATE,8777,begin surface
$SM_CCo,8800,105.75,0.482,0,0,958,410.14
$SM_GC,1.50,0.00,0.00,105.75,0.000,0.000,0.482,424,1657,958,-12.31,-1.07,410.14
$IRIDIUM_FIX,2059.45,-15756.04,171199,161610
$TT8_MAMPS,0.029146
$HUMID,52.95
$INTERNAL_PRESSURE,9.30354
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.5,22.535
$10V_AH,10.3,18.212
$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,31.325,95.200,236.650,105.750,0.000,57.242,69.988,585.534,4.500,0.000,10.482,1011.598,5873.701,404.216,1548.516,976.832,0.000,1094.812,0.000,1535.681,0.000,29.251,0.000
$DEVICE_MAMPS,131.157,121.953,829.127,482.443,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,350.049,342.165,782.483,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355884
$DATA_FILE_SIZE,28612,521
$CAP_FILE_SIZE,106459,0
$CFSIZE,260165632,200220672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230810,191910,2106.439,-15754.986,9,2.7,28,9.8