version: 66.06
glider: 139
mission: 8
dive: 369
start: 9 5 110 18 2 52
data:
$ID,139
$MISSION,8
$DIVE,369
$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,-2158679.5
$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
$GPS1,175252,2056.478,-15752.337,14,3.0,33,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-73.0
$GPS2,180236,2056.351,-15752.396,37,1.3,37,9.8
$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,33.3,23986,-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,-64.55,0.000,2,0.000,0.000,431,1715,2743,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.1,-3.0,12,110,12.40,2.35,-2.47,0.000,4,0.132,0.036,2753,3106,2872,0,0,0,0,0,0
$GC,148,-1.52,-58.4,19.6,-20.6,24,155,0.00,2.42,0.00,0.000,6,0.000,0.035,2753,1699,2873,0,0,0,0,0,0
$GC,348,-1.44,-58.4,53.7,-16.6,48,353,0.17,2.35,0.00,0.000,4,0.101,0.022,2787,3113,2874,0,0,0,0,0,0
$GC,390,-1.51,-58.4,60.0,-12.6,51,395,0.00,2.40,0.00,0.000,6,0.000,0.031,2786,1689,2874,0,0,0,0,0,0
$GC,650,-1.51,-58.4,92.2,-13.2,71,654,0.00,2.38,0.00,0.000,4,0.000,0.044,2786,293,2875,0,0,0,0,0,0
$GC,669,-1.51,-58.4,95.2,-13.9,72,676,0.00,2.33,0.00,0.000,6,0.000,0.018,2786,1736,2875,0,0,0,0,0,0
$GC,933,-1.57,-58.4,131.3,-13.7,93,938,0.12,0.00,0.00,0.000,6,0.064,0.000,2745,1738,2876,0,0,0,0,0,0
$GC,1192,-1.57,-58.4,162.9,-9.2,114,1196,0.00,2.45,0.00,0.000,4,0.000,0.044,2745,297,2876,0,0,0,0,0,0
$GC,1217,-1.53,-58.4,165.3,-10.6,116,1222,0.10,2.22,0.00,0.000,6,0.115,0.018,2764,1716,2876,0,0,0,0,0,0
$GC,1484,-1.61,-58.4,192.3,-11.3,137,1485,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1721,2877,0,0,0,0,0,0
$GC,1744,-1.70,-58.4,220.8,-11.2,152,1749,0.15,2.22,0.00,0.000,4,0.056,0.025,2717,3072,2876,0,0,0,0,0,0
$GC,1777,-1.74,-58.4,225.4,-12.8,153,1781,0.00,2.33,0.00,0.000,6,0.000,0.031,2717,1689,2876,0,0,0,0,0,0
$GC,2092,-1.74,-58.4,262.3,-11.0,168,2097,0.00,2.38,0.00,0.000,4,0.000,0.046,2716,292,2877,0,0,0,0,0,0
$GC,2126,-1.67,-58.4,266.4,-13.0,169,2130,0.00,2.25,0.00,0.000,6,0.000,0.020,2717,1702,2877,0,0,0,0,0,0
$GC,2441,-1.67,-58.4,298.6,-11.2,184,2445,0.00,2.28,0.00,0.000,4,0.000,0.027,2716,3076,2876,0,0,0,0,0,0
$GC,2555,-1.72,-58.4,310.9,-10.6,187,2559,0.00,2.33,0.00,0.000,6,0.000,0.035,2717,1703,2876,0,0,0,0,0,0
$GC,2904,-1.72,-58.4,349.7,-11.1,196,2905,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1702,2874,0,0,0,0,0,0
$GC,3230,-1.72,-58.4,383.7,-10.2,204,3234,0.00,2.28,0.00,0.000,4,0.000,0.029,2717,3070,2872,0,0,0,0,0,0
$GC,3358,-1.80,-58.4,397.3,-10.5,206,3362,0.00,2.33,0.00,0.000,6,0.000,0.038,2717,1700,2872,0,0,0,0,0,0
$GC,3695,-1.84,-58.4,435.0,-10.8,215,3699,0.00,2.35,0.00,0.000,4,0.000,0.031,2717,3075,2869,0,0,0,0,0,0
$GC,3710,-1.90,-58.4,436.7,-10.4,215,3715,0.15,2.35,0.00,0.000,6,0.061,0.039,2675,1702,2869,0,0,0,0,0,0
$STATE,3777,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3777,begin apogee
$GC,3783,-0.31,0.0,444.3,11.7,217,3836,1.70,0.00,48.97,0.819,6,0.083,0.000,3029,1702,2630,0,0,0,0,0,0
$STATE,3836,end apogee,CONTROL_FINISHED_OK
$STATE,3836,begin climb
$GC,3839,1.56,58.4,445.9,0.0,218,3899,1.80,2.40,50.22,0.805,4,0.028,0.031,3458,3075,2390,0,0,0,0,0,0
$GC,3917,1.38,153.7,446.2,-0.7,220,4010,0.28,2.38,83.40,0.807,6,0.103,0.036,3404,1695,2003,0,0,0,0,0,0
$GC,4355,1.20,153.7,391.9,13.2,231,4360,0.22,2.38,0.00,0.000,4,0.103,0.031,3361,3077,1992,0,0,0,0,0,0
$GC,4384,1.15,153.7,388.3,11.2,231,4389,0.00,2.38,0.00,0.000,6,0.000,0.041,3361,1703,1992,0,0,0,0,0,0
$GC,4721,1.08,153.7,349.3,11.9,240,4723,0.12,0.00,0.00,0.000,6,0.114,0.000,3338,1703,1988,0,0,0,0,0,0
$GC,5045,1.08,153.7,319.5,8.7,248,5049,0.00,2.50,0.00,0.000,4,0.000,0.055,3338,293,1986,0,0,0,0,0,0
$GC,5060,1.01,153.7,318.1,8.9,248,5064,0.00,2.30,0.00,0.000,6,0.000,0.027,3338,1692,1983,0,0,0,0,0,0
$GC,5393,1.01,153.7,289.9,8.9,259,5394,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,1697,1983,0,0,0,0,0,0
$GC,5700,1.01,153.7,261.4,8.4,274,5704,0.00,2.33,0.00,0.000,4,0.000,0.031,3338,3089,1981,0,0,0,0,0,0
$GC,5802,1.06,153.7,252.3,8.2,278,5806,0.00,2.38,0.00,0.000,6,0.000,0.038,3338,1699,1980,0,0,0,0,0,0
$GC,6122,1.06,153.7,224.3,8.6,294,6126,0.00,2.45,0.00,0.000,4,0.000,0.053,3338,295,1980,0,0,0,0,0,0
$GC,6339,1.00,153.7,206.7,9.7,303,6343,0.00,2.28,0.00,0.000,6,0.000,0.024,3338,1707,1976,0,0,0,0,0,0
$GC,6661,1.02,169.6,182.1,6.5,326,6677,0.00,2.30,10.40,0.600,4,0.000,0.025,3337,3082,1937,0,0,0,0,0,0
$GC,6916,1.10,170.4,161.6,7.8,344,6920,0.00,2.33,0.00,0.000,6,0.000,0.033,3338,1695,1937,0,0,0,0,0,0
$GC,7178,1.17,180.8,141.0,7.0,364,7195,0.00,2.47,11.20,0.557,4,0.000,0.048,3338,304,1891,0,0,0,0,0,0
$GC,7305,1.17,180.8,130.3,8.3,373,7309,0.00,2.25,0.00,0.000,6,0.000,0.021,3338,1719,1888,0,0,0,0,0,0
$GC,7568,1.30,218.5,117.6,4.5,393,7609,0.20,2.50,33.67,0.581,4,0.050,0.044,3394,300,1737,0,0,0,0,0,0
$GC,7668,1.18,218.5,107.4,13.2,400,7673,0.17,2.25,0.00,0.000,6,0.098,0.020,3358,1709,1733,0,0,0,0,0,0
$GC,7930,1.25,218.5,83.9,8.2,420,7934,0.00,2.42,0.00,0.000,4,0.000,0.045,3359,300,1732,0,0,0,0,0,0
$GC,8071,1.25,218.5,70.4,9.9,430,8078,0.00,2.25,0.00,0.000,6,0.000,0.019,3359,1705,1731,0,0,0,0,0,0
$GC,8331,1.33,218.5,49.3,8.1,451,8336,0.12,2.45,0.00,0.000,4,0.064,0.045,3399,298,1731,0,0,0,0,0,0
$GC,8372,1.22,218.5,45.0,12.0,454,8377,0.17,2.20,0.00,0.000,6,0.095,0.018,3365,1706,1731,0,0,0,0,0,0
$GC,8636,1.29,218.5,20.6,9.9,488,8642,0.00,2.45,0.00,0.000,4,0.000,0.045,3364,304,1731,0,0,0,0,0,0
$GC,8654,1.34,218.5,18.9,9.0,491,8662,0.08,2.22,0.00,0.000,6,0.039,0.018,3400,1706,1730,0,0,0,0,0,0
$STATE,8799,end climb,SURFACE_DEPTH_REACHED
$STATE,8799,begin surface coast
$FINISH,0.9,1.002037
$STATE,8826,end surface coast,CONTROL_FINISHED_OK
$STATE,8826,begin surface
$SM_CCo,8849,101.85,0.478,0,0,957,410.14
$SM_GC,1.51,0.00,0.00,101.85,0.000,0.000,0.478,429,1709,957,-12.29,0.23,410.14
$IRIDIUM_FIX,2050.21,-15750.49,301199,181838
$TT8_MAMPS,0.029146
$HUMID,54.64
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,444.3,7.7
$24V_AH,23.5,31.927
$10V_AH,10.3,26.597
$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,30.700,93.825,237.875,101.850,0.000,58.645,67.929,229.418,5.000,0.000,37.477,1034.146,5846.837,398.965,1634.707,618.702,0.000,1103.774,0.000,1589.325,0.000,32.129,0.000
$DEVICE_MAMPS,131.924,55.224,819.156,477.841,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,356.552,347.351,790.163,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,28662,530
$CAP_FILE_SIZE,103098,0
$CFSIZE,260165632,194260992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050910,203324,2056.467,-15752.220,42,1.7,42,9.8