version: 66.06
glider: 139
mission: 8
dive: 355
start: 9 4 110 2 38 40
data:
$ID,139
$MISSION,8
$DIVE,355
$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,534.75397
$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,-2158317.2
$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,1700
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,43
$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
$GPS1,022306,2059.647,-15752.289,36,1.1,36,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-69.8
$GPS2,023820,2059.464,-15752.315,17,1.3,17,9.8
$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,44.3,20048,-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,-64.85,0.000,2,0.000,0.000,430,1710,2775,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.5,-3.6,12,105,12.40,2.47,-1.77,0.000,4,0.133,0.050,2751,291,2872,0,0,0,0,0,0
$GC,143,-1.28,-58.4,20.4,-24.3,23,150,0.30,2.30,0.00,0.000,6,0.089,0.018,2816,1718,2874,0,0,0,0,0,0
$GC,355,-1.35,-58.4,50.5,-13.7,47,359,0.00,2.45,0.00,0.000,4,0.000,0.045,2815,293,2874,0,0,0,0,0,0
$GC,407,-1.35,-58.4,59.3,-16.9,51,411,0.00,2.25,0.00,0.000,6,0.000,0.018,2815,1714,2874,0,0,0,0,0,0
$GC,672,-1.46,-58.4,97.1,-13.3,72,677,0.15,2.22,0.00,0.000,4,0.056,0.021,2768,3071,2875,0,0,0,0,0,0
$GC,705,-1.55,-58.4,102.1,-15.6,74,709,0.00,2.28,0.00,0.000,6,0.000,0.031,2767,1700,2875,0,0,0,0,0,0
$GC,964,-1.55,-58.4,137.8,-15.8,94,968,0.00,2.40,0.00,0.000,4,0.000,0.044,2767,295,2875,0,0,0,0,0,0
$GC,996,-1.55,-58.4,143.3,-16.0,96,1003,0.00,2.22,0.00,0.000,6,0.000,0.018,2768,1699,2876,0,0,0,0,0,0
$GC,1259,-1.62,-58.4,173.4,-10.4,117,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1704,2875,0,0,0,0,0,0
$GC,1509,-1.71,-58.4,200.5,-11.5,137,1514,0.17,2.22,0.00,0.000,4,0.053,0.023,2713,3066,2876,0,0,0,0,0,0
$GC,1594,-1.71,-58.4,211.1,-12.1,140,1600,0.00,2.30,0.00,0.000,6,0.000,0.031,2713,1699,2876,0,0,0,0,0,0
$GC,1909,-1.71,-58.4,249.5,-14.0,156,1913,0.00,2.25,0.00,0.000,4,0.000,0.023,2712,3065,2876,0,0,0,0,0,0
$GC,1932,-1.74,-58.4,252.8,-14.0,157,1936,0.00,2.28,0.00,0.000,6,0.000,0.032,2712,1697,2876,0,0,0,0,0,0
$GC,2260,-1.74,-58.4,294.2,-12.3,173,2261,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1696,2876,0,0,0,0,0,0
$GC,2562,-1.74,-58.4,328.5,-10.7,182,2566,0.00,2.25,0.00,0.000,4,0.000,0.026,2712,3064,2875,0,0,0,0,0,0
$GC,2692,-1.82,-58.4,342.4,-10.9,184,2697,0.00,2.30,0.00,0.000,6,0.000,0.036,2712,1702,2874,0,0,0,0,0,0
$GC,3024,-1.82,-58.4,372.7,-8.9,193,3028,0.00,2.25,0.00,0.000,4,0.000,0.028,2712,3062,2871,0,0,0,0,0,0
$GC,3118,-1.88,-58.4,381.5,-9.0,195,3122,0.00,2.30,0.00,0.000,6,0.000,0.037,2712,1698,2871,0,0,0,0,0,0
$GC,3440,-1.88,-58.4,413.1,-9.8,203,3445,0.00,2.45,0.00,0.000,4,0.000,0.054,2712,297,2869,0,0,0,0,0,0
$GC,3469,-1.83,-58.4,416.3,-11.4,203,3473,0.00,2.25,0.00,0.000,6,0.000,0.025,2712,1678,2868,0,0,0,0,0,0
$STATE,3802,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3802,begin apogee
$GC,3809,-0.31,0.0,450.4,9.9,212,3861,1.50,0.00,48.47,0.833,6,0.078,0.000,3028,1684,2630,0,0,0,0,0,0
$STATE,3862,end apogee,CONTROL_FINISHED_OK
$STATE,3862,begin climb
$GC,3864,1.56,58.4,451.3,0.0,213,3923,1.77,2.50,50.25,0.816,4,0.031,0.053,3447,288,2390,0,0,0,0,0,0
$GC,3932,1.35,157.5,451.0,-1.0,214,4027,0.28,2.35,86.85,0.818,6,0.110,0.026,3397,1708,1987,0,0,0,0,0,0
$GC,4360,1.18,157.5,402.0,13.4,225,4365,0.20,2.53,0.00,0.000,4,0.107,0.055,3359,297,1977,0,0,0,0,0,0
$GC,4385,0.98,157.5,398.0,14.5,225,4390,0.22,2.33,0.00,0.000,6,0.107,0.027,3317,1691,1974,0,0,0,0,0,0
$GC,4726,0.98,157.5,361.6,10.6,234,4730,0.00,2.50,0.00,0.000,4,0.000,0.056,3317,294,1972,0,0,0,0,0,0
$GC,4741,0.98,157.5,359.9,10.7,234,4745,0.00,2.33,0.00,0.000,6,0.000,0.028,3316,1707,1970,0,0,0,0,0,0
$GC,5090,0.98,157.5,321.7,10.8,243,5091,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,1711,1968,0,0,0,0,0,0
$GC,5396,0.98,157.5,292.1,8.9,252,5400,0.00,2.33,0.00,0.000,4,0.000,0.031,3317,3085,1967,0,0,0,0,0,0
$GC,5424,1.05,157.5,289.7,8.4,253,5428,0.00,2.40,0.00,0.000,6,0.000,0.040,3317,1695,1967,0,0,0,0,0,0
$GC,5746,1.10,157.5,261.7,9.4,269,5751,0.10,2.47,0.00,0.000,4,0.081,0.055,3345,289,1965,0,0,0,0,0,0
$GC,5918,1.00,157.5,245.6,10.1,276,5923,0.15,2.30,0.00,0.000,6,0.110,0.025,3317,1699,1962,0,0,0,0,0,0
$GC,6237,1.08,170.3,222.6,6.7,291,6250,0.00,2.35,7.70,0.601,4,0.000,0.029,3317,3082,1935,0,0,0,0,0,0
$GC,6304,1.19,177.0,217.9,7.3,294,6317,0.20,2.38,7.78,0.597,6,0.053,0.037,3370,1699,1908,0,0,0,0,0,0
$GC,6636,1.16,177.0,188.7,9.5,314,6640,0.00,2.30,0.00,0.000,4,0.000,0.026,3371,3084,1906,0,0,0,0,0,0
$GC,6683,1.16,177.0,184.6,9.0,317,6689,0.00,2.35,0.00,0.000,6,0.000,0.034,3371,1693,1905,0,0,0,0,0,0
$GC,6942,1.16,177.0,158.8,10.1,338,6946,0.00,2.40,0.00,0.000,4,0.000,0.048,3371,296,1904,0,0,0,0,0,0
$GC,7001,1.05,177.0,151.8,12.1,342,7009,0.17,2.30,0.00,0.000,6,0.087,0.021,3332,1708,1902,0,0,0,0,0,0
$GC,7265,1.16,198.3,130.3,6.0,363,7292,0.00,2.33,19.33,0.588,4,0.000,0.024,3332,3073,1821,0,0,0,0,0,0
$GC,7339,1.32,223.4,125.6,5.6,368,7369,0.25,2.35,23.33,0.584,6,0.044,0.032,3399,1692,1718,0,0,0,0,0,0
$GC,7634,1.32,223.4,94.1,10.7,391,7638,0.00,2.40,0.00,0.000,4,0.000,0.045,3399,293,1715,0,0,0,0,0,0
$GC,7690,1.22,223.4,86.1,15.1,395,7695,0.17,2.28,0.00,0.000,6,0.102,0.019,3366,1716,1712,0,0,0,0,0,0
$GC,7951,1.29,223.4,57.4,10.4,415,7955,0.00,2.45,0.00,0.000,4,0.000,0.044,3366,299,1712,0,0,0,0,0,0
$GC,8012,1.29,223.4,50.0,12.3,419,8018,0.00,2.25,0.00,0.000,6,0.000,0.019,3366,1712,1712,0,0,0,0,0,0
$GC,8274,1.36,223.4,24.7,9.2,448,8281,0.12,2.47,0.00,0.000,4,0.064,0.044,3406,301,1712,0,0,0,0,0,0
$GC,8384,1.22,223.4,9.6,14.3,472,8391,0.17,2.22,0.00,0.000,6,0.081,0.018,3367,1689,1712,0,0,0,0,0,0
$STATE,8459,end climb,SURFACE_DEPTH_REACHED
$STATE,8459,begin surface coast
$FINISH,1.1,1.023381
$STATE,8492,end surface coast,CONTROL_FINISHED_OK
$STATE,8492,begin surface
$SM_CCo,8515,174.30,0.483,0,0,449,534.75
$SM_GC,1.60,0.00,0.00,174.30,0.000,0.000,0.483,430,1695,449,-12.29,-0.14,534.75
$IRIDIUM_FIX,2052.52,-15749.62,291199,020216
$TT8_MAMPS,0.029146
$HUMID,53.11
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,30.630
$10V_AH,10.3,25.540
$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,30.900,98.300,243.700,174.300,0.000,143.733,400.413,0.000,4.500,0.000,17.768,972.060,5905.977,475.206,1464.133,787.682,0.000,1134.268,0.000,1444.442,0.000,29.266,0.000
$DEVICE_MAMPS,132.691,55.991,832.962,483.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,333.521,319.902,727.353,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,28628,496
$CAP_FILE_SIZE,95570,0
$CFSIZE,260165632,194965504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040910,050437,2059.324,-15752.065,11,1.8,28,9.8