version: 66.06
glider: 139
mission: 8
dive: 367
start: 9 5 110 12 18 7
data:
$ID,139
$MISSION,8
$DIVE,367
$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,-2158623.8
$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,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
$GPS1,121236,2056.725,-15752.850,31,1.2,31,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-72.1
$GPS2,121750,2056.671,-15752.916,12,1.8,12,9.8
$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,35.8,24189,-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,-64.43,0.000,2,0.000,0.000,426,1686,2720,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.2,-2.9,12,110,12.45,2.42,-2.92,0.000,4,0.133,0.036,2753,3110,2871,0,0,0,0,0,0
$GC,160,-1.56,-58.4,20.6,-15.9,27,167,0.00,2.42,0.00,0.000,6,0.000,0.034,2753,1700,2873,0,0,0,0,0,0
$GC,360,-1.48,-58.4,56.5,-17.9,51,364,0.12,2.35,0.00,0.000,4,0.114,0.022,2776,3119,2874,0,0,0,0,0,0
$GC,386,-1.48,-58.4,61.1,-17.3,53,390,0.00,2.38,0.00,0.000,6,0.000,0.031,2776,1696,2874,0,0,0,0,0,0
$GC,650,-1.48,-58.4,102.2,-13.5,74,654,0.00,2.35,0.00,0.000,4,0.000,0.022,2776,3122,2875,0,0,0,0,0,0
$GC,700,-1.57,-58.4,108.5,-12.5,77,706,0.00,2.38,0.00,0.000,6,0.000,0.029,2776,1699,2875,0,0,0,0,0,0
$GC,964,-1.63,-58.4,140.7,-11.8,98,969,0.15,2.40,0.00,0.000,4,0.058,0.046,2732,299,2876,0,0,0,0,0,0
$GC,1020,-1.51,-58.4,149.3,-14.7,102,1025,0.20,2.28,0.00,0.000,6,0.095,0.018,2771,1737,2876,0,0,0,0,0,0
$GC,1282,-1.59,-58.4,172.1,-9.1,122,1286,0.00,2.45,0.00,0.000,4,0.000,0.045,2771,299,2877,0,0,0,0,0,0
$GC,1333,-1.59,-58.4,178.5,-11.7,126,1337,0.00,2.22,0.00,0.000,6,0.000,0.018,2771,1717,2876,0,0,0,0,0,0
$GC,1612,-1.69,-58.4,207.8,-10.7,146,1614,0.17,0.00,0.00,0.000,6,0.052,0.000,2719,1719,2877,0,0,0,0,0,0
$GC,1918,-1.69,-58.4,246.2,-11.7,161,1922,0.00,2.22,0.00,0.000,4,0.000,0.025,2718,3077,2877,0,0,0,0,0,0
$GC,2038,-1.73,-58.4,259.1,-10.1,166,2042,0.00,2.33,0.00,0.000,6,0.000,0.033,2718,1695,2877,0,0,0,0,0,0
$GC,2372,-1.73,-58.4,291.3,-9.1,182,2376,0.00,2.28,0.00,0.000,4,0.000,0.025,2718,3069,2877,0,0,0,0,0,0
$GC,2400,-1.82,-58.4,293.7,-8.4,183,2404,0.00,2.30,0.00,0.000,6,0.000,0.034,2718,1700,2876,0,0,0,0,0,0
$GC,2737,-1.82,-58.4,325.7,-9.6,194,2741,0.00,2.30,0.00,0.000,4,0.000,0.027,2718,3068,2876,0,0,0,0,0,0
$GC,2807,-1.89,-58.4,333.3,-11.5,195,2811,0.12,2.33,0.00,0.000,6,0.067,0.035,2681,1698,2875,0,0,0,0,0,0
$GC,3153,-1.84,-58.4,379.9,-13.8,204,3158,0.00,2.28,0.00,0.000,4,0.000,0.028,2680,3068,2873,0,0,0,0,0,0
$GC,3363,-1.84,-58.4,406.8,-12.3,208,3367,0.00,2.33,0.00,0.000,6,0.000,0.038,2680,1701,2872,0,0,0,0,0,0
$STATE,3707,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3707,begin apogee
$GC,3713,-0.31,0.0,452.0,12.9,217,3766,1.67,0.00,49.25,0.826,6,0.083,0.000,3030,1700,2630,0,0,0,0,0,0
$STATE,3767,end apogee,CONTROL_FINISHED_OK
$STATE,3767,begin climb
$GC,3769,1.56,58.4,453.8,0.0,218,3828,1.77,2.55,50.25,0.809,4,0.030,0.051,3453,303,2390,0,0,0,0,0,0
$GC,4056,1.19,101.2,446.5,4.0,224,4101,0.47,2.28,37.22,0.806,6,0.107,0.025,3362,1700,2217,0,0,0,0,0,0
$GC,4422,1.08,101.2,414.2,9.9,233,4427,0.12,2.50,0.00,0.000,4,0.117,0.054,3338,290,2209,0,0,0,0,0,0
$GC,4503,0.92,101.2,406.1,9.3,234,4508,0.20,2.30,0.00,0.000,6,0.109,0.027,3301,1697,2206,0,0,0,0,0,0
$GC,4834,0.94,116.9,383.1,6.5,242,4854,0.00,2.40,13.23,0.744,4,0.000,0.031,3301,3086,2153,0,0,0,0,0,0
$GC,4947,1.02,130.6,375.6,6.7,244,4970,0.00,2.40,13.95,0.742,6,0.000,0.039,3301,1693,2096,0,0,0,0,0,0
$GC,5295,1.06,130.7,349.4,7.9,253,5300,0.12,2.50,0.00,0.000,4,0.071,0.056,3335,294,2091,0,0,0,0,0,0
$GC,5376,0.92,130.7,341.4,10.3,254,5381,0.17,2.33,0.00,0.000,6,0.107,0.027,3303,1701,2087,0,0,0,0,0,0
$GC,5708,1.00,153.4,320.1,5.8,262,5733,0.00,2.38,20.30,0.751,4,0.000,0.030,3303,3081,2003,0,0,0,0,0,0
$GC,5759,1.10,163.6,316.7,7.0,263,5776,0.15,2.40,10.80,0.688,6,0.064,0.039,3344,1693,1962,0,0,0,0,0,0
$GC,6106,1.10,163.6,281.5,10.7,275,6110,0.00,2.35,0.00,0.000,4,0.000,0.030,3344,3087,1957,0,0,0,0,0,0
$GC,6129,1.10,163.6,278.8,9.8,276,6133,0.00,2.40,0.00,0.000,6,0.000,0.038,3344,1699,1957,0,0,0,0,0,0
$GC,6459,1.10,163.6,249.0,9.2,292,6460,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,1699,1955,0,0,0,0,0,0
$GC,6769,1.10,163.6,222.7,8.2,307,6773,0.00,2.35,0.00,0.000,4,0.000,0.029,3344,3089,1953,0,0,0,0,0,0
$GC,6830,1.13,163.6,217.3,9.1,309,6836,0.00,2.38,0.00,0.000,6,0.000,0.037,3344,1690,1953,0,0,0,0,0,0
$GC,7149,1.13,163.6,183.3,12.4,329,7153,0.00,2.42,0.00,0.000,4,0.000,0.051,3344,296,1953,0,0,0,0,0,0
$GC,7417,1.07,168.4,157.2,7.5,348,7423,0.00,2.30,0.00,0.000,6,0.000,0.023,3344,1707,1948,0,0,0,0,0,0
$GC,7679,1.15,198.9,145.4,5.2,369,7711,0.00,0.00,29.92,0.622,6,0.000,0.000,3344,1711,1818,0,0,0,0,0,0
$GC,7967,1.22,198.9,118.2,9.9,392,7971,0.00,2.45,0.00,0.000,4,0.000,0.046,3344,290,1816,0,0,0,0,0,0
$GC,8049,1.22,198.9,110.1,9.9,398,8053,0.00,2.25,0.00,0.000,6,0.000,0.020,3344,1709,1813,0,0,0,0,0,0
$GC,8311,1.32,205.5,91.3,7.3,418,8327,0.20,2.50,6.53,0.463,4,0.049,0.045,3400,300,1792,0,0,0,0,0,0
$GC,8351,1.20,205.5,86.9,10.8,420,8358,0.17,2.28,0.00,0.000,6,0.081,0.020,3362,1707,1791,0,0,0,0,0,0
$GC,8614,1.27,205.5,65.6,8.2,441,8615,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,1714,1791,0,0,0,0,0,0
$GC,8864,1.34,205.9,44.9,7.9,461,8868,0.12,2.25,0.00,0.000,4,0.064,0.021,3402,3078,1791,0,0,0,0,0,0
$GC,8888,1.34,205.9,42.7,8.9,462,8895,0.00,2.35,0.00,0.000,6,0.000,0.030,3401,1692,1790,0,0,0,0,0,0
$GC,9149,1.34,205.9,17.2,10.7,503,9155,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,1692,1791,0,0,0,0,0,0
$STATE,9274,end climb,SURFACE_DEPTH_REACHED
$STATE,9274,begin surface coast
$FINISH,0.8,1.002390
$STATE,9303,end surface coast,CONTROL_FINISHED_OK
$STATE,9304,begin surface
$SM_CCo,9326,108.55,0.483,0,0,957,410.14
$SM_GC,1.49,0.00,0.00,108.55,0.000,0.000,0.483,426,1686,957,-12.30,-0.31,410.14
$IRIDIUM_FIX,2050.21,-15754.77,301199,090914
$TT8_MAMPS,0.028379
$HUMID,55.00
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,23.5,31.752
$10V_AH,10.2,26.445
$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,31.075,94.300,231.450,108.550,0.000,31.133,29.563,135.141,4.750,0.000,12.701,1064.773,6132.363,407.699,1699.835,442.484,0.000,1151.129,0.000,1679.551,0.000,29.258,0.000
$DEVICE_MAMPS,132.691,55.991,826.059,483.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,362.196,350.537,790.264,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,28629,538
$CAP_FILE_SIZE,102160,0
$CFSIZE,260165632,194367488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050910,145634,2056.697,-15752.721,14,4.1,33,9.8