version: 66.06
glider: 139
mission: 8
dive: 334
start: 9 1 110 17 10 42
data:
$ID,139
$MISSION,8
$DIVE,334
$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,-2157884.5
$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,1700
$C_ROLL_CLIMB,1700
$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
$GPS1,170507,2105.736,-15755.780,9,1.8,14,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-71.7
$GPS2,171025,2105.660,-15755.732,11,1.8,16,9.8
$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,79.5,22144,-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,-64.43,0.000,2,0.000,0.000,424,1713,2758,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.3,-3.0,12,110,12.50,2.35,-2.08,0.000,4,0.134,0.036,2751,3105,2872,0,0,0,0,0,0
$GC,220,-1.56,-58.4,35.4,-16.8,36,227,0.00,2.40,0.00,0.000,6,0.000,0.034,2750,1704,2873,0,0,0,0,0,0
$GC,480,-1.50,-58.4,83.7,-18.0,57,485,0.10,2.45,0.00,0.000,4,0.119,0.045,2769,290,2874,0,0,0,0,0,0
$GC,537,-1.43,-58.4,92.8,-15.0,61,541,0.00,2.30,0.00,0.000,6,0.000,0.018,2769,1738,2875,0,0,0,0,0,0
$GC,798,-1.49,-58.4,122.5,-11.4,81,802,0.00,2.50,0.00,0.000,4,0.000,0.044,2769,290,2876,0,0,0,0,0,0
$GC,818,-1.49,-58.4,125.3,-12.1,82,825,0.00,2.28,0.00,0.000,6,0.000,0.018,2769,1719,2876,0,0,0,0,0,0
$GC,1078,-1.54,-58.4,159.7,-13.8,103,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1724,2877,0,0,0,0,0,0
$GC,1331,-1.61,-58.4,192.3,-12.1,123,1335,0.00,2.20,0.00,0.000,4,0.000,0.023,2770,3066,2877,0,0,0,0,0,0
$GC,1421,-1.75,-58.4,202.6,-10.6,129,1426,0.22,2.28,0.00,0.000,6,0.045,0.031,2705,1696,2877,0,0,0,0,0,0
$GC,1757,-1.72,-58.4,249.5,-14.2,145,1759,0.10,0.00,0.00,0.000,6,0.117,0.000,2725,1695,2877,0,0,0,0,0,0
$GC,2060,-1.72,-58.4,286.7,-11.1,160,2061,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1695,2877,0,0,0,0,0,0
$GC,2388,-1.72,-58.4,323.0,-11.0,171,2392,0.00,2.25,0.00,0.000,4,0.000,0.025,2725,3065,2877,0,0,0,0,0,0
$GC,2426,-1.82,-58.4,327.3,-11.7,171,2430,0.00,2.30,0.00,0.000,6,0.000,0.035,2725,1698,2876,0,0,0,0,0,0
$GC,2758,-1.86,-58.4,361.8,-10.1,179,2763,0.12,2.30,0.00,0.000,4,0.066,0.027,2686,3068,2875,0,0,0,0,0,0
$GC,2930,-1.86,-58.4,382.6,-12.4,182,2934,0.00,2.33,0.00,0.000,6,0.000,0.038,2686,1697,2874,0,0,0,0,0,0
$GC,3261,-1.86,-58.4,426.2,-13.1,190,3265,0.00,2.33,0.00,0.000,4,0.000,0.030,2686,3065,2873,0,0,0,0,0,0
$GC,3390,-1.86,-58.4,441.7,-11.6,192,3396,0.00,2.35,0.00,0.000,6,0.000,0.040,2686,1697,2872,0,0,0,0,0,0
$STATE,3475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3475,begin apogee
$GC,3481,-0.31,0.0,451.8,11.8,195,3535,1.65,0.00,49.50,0.817,6,0.081,0.000,3031,1697,2630,0,0,0,0,0,0
$STATE,3535,end apogee,CONTROL_FINISHED_OK
$STATE,3535,begin climb
$GC,3538,1.56,58.4,453.0,0.0,196,3593,1.77,0.00,50.40,0.802,6,0.028,0.000,3453,1697,2391,0,0,0,0,0,0
$GC,3885,1.31,103.9,443.4,3.8,205,3931,0.32,2.53,39.40,0.806,4,0.104,0.054,3387,294,2205,0,0,0,0,0,0
$GC,4048,1.03,103.9,429.7,10.8,208,4054,0.32,2.28,0.00,0.000,6,0.100,0.026,3325,1673,2198,0,0,0,0,0,0
$GC,4385,1.05,118.8,405.5,6.6,217,4405,0.00,2.42,12.98,0.746,4,0.000,0.031,3325,3089,2144,0,0,0,0,0,0
$GC,4503,1.06,126.0,397.7,7.3,219,4516,0.00,2.42,7.72,0.673,6,0.000,0.040,3325,1696,2116,0,0,0,0,0,0
$GC,4842,1.06,126.0,370.1,8.2,227,4846,0.00,2.45,0.00,0.000,4,0.000,0.055,3324,294,2111,0,0,0,0,0,0
$GC,4870,0.95,126.0,367.3,9.5,227,4875,0.00,2.35,0.00,0.000,6,0.000,0.028,3324,1711,2109,0,0,0,0,0,0
$GC,5207,0.96,133.5,341.6,7.2,236,5219,0.00,2.38,6.95,0.646,4,0.000,0.031,3325,3082,2085,0,0,0,0,0,0
$GC,5267,1.01,147.7,337.2,6.6,237,5287,0.00,2.40,14.48,0.732,6,0.000,0.038,3324,1693,2026,0,0,0,0,0,0
$GC,5624,1.01,147.7,306.5,8.8,246,5625,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1693,2022,0,0,0,0,0,0
$GC,5933,1.01,152.7,283.3,7.4,259,5940,0.00,0.00,4.82,0.535,6,0.000,0.000,3325,1693,2007,0,0,0,0,0,0
$GC,6241,1.04,152.7,257.2,9.4,274,6245,0.00,2.45,0.00,0.000,4,0.000,0.052,3324,289,2005,0,0,0,0,0,0
$GC,6311,0.98,152.7,249.8,10.9,277,6315,0.00,2.33,0.00,0.000,6,0.000,0.025,3325,1708,2003,0,0,0,0,0,0
$GC,6642,1.05,166.3,221.2,6.7,293,6664,0.00,2.53,13.32,0.651,4,0.000,0.049,3324,297,1949,0,0,0,0,0,0
$GC,6732,1.01,166.3,214.5,8.6,296,6739,0.00,2.33,0.00,0.000,6,0.000,0.024,3325,1704,1947,0,0,0,0,0,0
$GC,7055,1.07,173.8,192.3,7.2,315,7065,0.00,0.00,7.35,0.557,6,0.000,0.000,3325,1707,1921,0,0,0,0,0,0
$GC,7319,1.15,173.8,169.3,8.3,336,7324,0.10,2.45,0.00,0.000,4,0.076,0.048,3357,296,1920,0,0,0,0,0,0
$GC,7338,1.15,173.8,167.5,8.2,337,7344,0.00,2.25,0.00,0.000,6,0.000,0.021,3358,1714,1918,0,0,0,0,0,0
$GC,7597,1.15,173.8,145.7,9.2,358,7602,0.00,2.47,0.00,0.000,4,0.000,0.048,3357,292,1918,0,0,0,0,0,0
$GC,7622,1.07,173.8,143.1,11.1,360,7626,0.12,2.25,0.00,0.000,6,0.106,0.021,3334,1703,1918,0,0,0,0,0,0
$GC,7894,1.13,173.8,121.9,8.0,381,7898,0.00,2.45,0.00,0.000,4,0.000,0.046,3334,293,1918,0,0,0,0,0,0
$GC,7975,1.13,176.4,114.9,7.7,387,7979,0.00,2.25,0.00,0.000,6,0.000,0.020,3334,1707,1917,0,0,0,0,0,0
$GC,8240,1.28,208.9,98.1,5.0,408,8281,0.20,2.30,31.83,0.563,4,0.048,0.022,3391,3068,1777,0,0,0,0,0,0
$GC,8361,1.34,221.0,89.6,6.8,416,8381,0.00,2.35,12.00,0.511,6,0.000,0.031,3391,1698,1727,0,0,0,0,0,0
$GC,8634,1.34,221.0,65.5,9.1,438,8635,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,1698,1724,0,0,0,0,0,0
$GC,8887,1.34,221.0,44.2,8.9,458,8891,0.00,2.40,0.00,0.000,4,0.000,0.044,3392,297,1724,0,0,0,0,0,0
$GC,9010,1.25,221.0,32.0,9.9,467,9015,0.00,2.22,0.00,0.000,6,0.000,0.018,3391,1711,1721,0,0,0,0,0,0
$GC,9274,1.25,221.0,6.3,9.1,525,9281,0.00,2.45,0.00,0.000,4,0.000,0.044,3391,301,1721,0,0,0,0,0,0
$STATE,9303,end climb,SURFACE_DEPTH_REACHED
$STATE,9303,begin surface coast
$FINISH,0.9,1.023077
$STATE,9321,end surface coast,CONTROL_FINISHED_OK
$STATE,9321,begin surface
$SM_CCo,9346,102.25,0.480,0,0,957,410.14
$SM_GC,1.70,0.00,0.00,102.25,0.000,0.000,0.480,427,1699,957,-12.30,-0.06,410.14
$IRIDIUM_FIX,2059.45,-15756.04,261199,141444
$TT8_MAMPS,0.029146
$HUMID,53.89
$INTERNAL_PRESSURE,9.30354
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.5,28.941
$10V_AH,10.3,24.013
$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,30.225,89.525,250.750,102.250,0.000,29.479,27.579,137.316,4.500,0.000,16.340,1038.531,6280.652,428.257,1582.775,433.840,0.000,1115.926,0.000,1566.841,0.000,29.254,0.000
$DEVICE_MAMPS,134.225,55.224,816.855,480.142,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,359.793,344.125,772.779,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,28742,535
$CAP_FILE_SIZE,98231,0
$CFSIZE,260165632,196083712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010910,194931,2105.244,-15755.244,42,1.4,42,9.8