version: 66.06
glider: 139
mission: 8
dive: 396
start: 9 8 110 19 29 55
data:
$ID,139
$MISSION,8
$DIVE,396
$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,-2159264
$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
$GPS1,192406,2101.410,-15748.901,47,1.0,47,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-68.4
$GPS2,192938,2101.366,-15748.914,16,1.4,16,9.8
$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,41.7,13235,-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,-64.45,0.000,2,0.000,0.000,430,1704,2737,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.0,-2.8,12,110,12.48,2.40,-2.60,0.000,4,0.134,0.038,2752,3114,2872,0,0,0,0,0,0
$GC,183,-1.56,-58.4,24.5,-16.8,32,189,0.00,2.42,0.00,0.000,6,0.000,0.034,2751,1703,2873,0,0,0,0,0,0
$GC,391,-1.47,-58.4,65.2,-20.4,52,393,0.15,0.00,0.00,0.000,6,0.111,0.000,2779,1703,2874,0,0,0,0,0,0
$GC,643,-1.53,-58.4,104.0,-12.7,72,647,0.00,2.33,0.00,0.000,4,0.000,0.022,2779,3121,2875,0,0,0,0,0,0
$GC,660,-1.63,-58.4,106.3,-13.1,73,665,0.15,2.40,0.00,0.000,6,0.056,0.031,2733,1696,2875,0,0,0,0,0,0
$GC,929,-1.63,-58.4,141.1,-14.5,94,933,0.00,2.38,0.00,0.000,4,0.000,0.044,2733,299,2876,0,0,0,0,0,0
$GC,968,-1.56,-58.4,148.0,-17.5,97,973,0.12,2.28,0.00,0.000,6,0.106,0.019,2758,1727,2877,0,0,0,0,0,0
$GC,1232,-1.60,-58.4,182.0,-11.2,118,1234,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1729,2877,0,0,0,0,0,0
$GC,1486,-1.67,-58.4,206.3,-8.8,136,1490,0.00,2.25,0.00,0.000,4,0.000,0.025,2758,3091,2877,0,0,0,0,0,0
$GC,1529,-1.78,-58.4,210.6,-9.0,138,1534,0.20,2.33,0.00,0.000,6,0.049,0.031,2700,1695,2877,0,0,0,0,0,0
$GC,1862,-1.73,-58.4,252.5,-12.5,154,1864,0.10,0.00,0.00,0.000,6,0.117,0.000,2720,1695,2877,0,0,0,0,0,0
$GC,2170,-1.73,-58.4,295.5,-15.1,169,2174,0.00,2.30,0.00,0.000,4,0.000,0.025,2720,3092,2877,0,0,0,0,0,0
$GC,2236,-1.79,-58.4,303.9,-12.1,171,2241,0.00,2.35,0.00,0.000,6,0.000,0.035,2720,1702,2877,0,0,0,0,0,0
$GC,2581,-1.79,-58.4,346.3,-12.1,180,2585,0.00,2.42,0.00,0.000,4,0.000,0.049,2719,297,2876,0,0,0,0,0,0
$GC,2628,-1.74,-58.4,352.2,-12.8,181,2632,0.00,2.25,0.00,0.000,6,0.000,0.022,2720,1707,2876,0,0,0,0,0,0
$GC,2952,-1.77,-58.4,385.5,-9.9,189,2956,0.00,2.28,0.00,0.000,4,0.000,0.028,2719,3077,2874,0,0,0,0,0,0
$GC,2977,-1.84,-58.4,387.8,-9.2,189,2981,0.00,2.33,0.00,0.000,6,0.000,0.038,2720,1701,2874,0,0,0,0,0,0
$GC,3319,-1.88,-58.4,422.3,-10.3,198,3324,0.12,2.33,0.00,0.000,4,0.068,0.030,2683,3082,2873,0,0,0,0,0,0
$GC,3385,-1.88,-58.4,430.1,-11.5,199,3389,0.00,2.35,0.00,0.000,6,0.000,0.039,2682,1700,2872,0,0,0,0,0,0
$STATE,3565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3565,begin apogee
$GC,3572,-0.31,0.0,451.4,11.7,204,3625,1.67,0.00,49.58,0.819,6,0.082,0.000,3032,1700,2630,0,0,0,0,0,0
$STATE,3626,end apogee,CONTROL_FINISHED_OK
$STATE,3626,begin climb
$GC,3629,1.56,58.4,452.7,0.0,205,3687,1.77,0.00,50.35,0.805,6,0.029,0.000,3448,1699,2391,0,0,0,0,0,0
$GC,4015,1.36,135.6,449.4,0.9,215,4091,0.25,2.58,67.30,0.822,4,0.108,0.056,3397,288,2076,0,0,0,0,0,0
$GC,4139,1.09,135.6,441.4,11.8,217,4145,0.30,2.35,0.00,0.000,6,0.106,0.026,3341,1697,2071,0,0,0,0,0,0
$GC,4471,1.04,135.6,411.6,8.9,226,4475,0.00,2.50,0.00,0.000,4,0.000,0.056,3341,291,2066,0,0,0,0,0,0
$GC,4509,0.90,135.6,407.5,11.2,226,4515,0.22,2.33,0.00,0.000,6,0.107,0.027,3298,1701,2064,0,0,0,0,0,0
$GC,4840,0.95,135.6,375.6,9.7,235,4844,0.00,2.50,0.00,0.000,4,0.000,0.056,3297,289,2062,0,0,0,0,0,0
$GC,4943,0.91,135.6,364.6,10.7,237,4948,0.00,2.35,0.00,0.000,6,0.000,0.027,3298,1704,2059,0,0,0,0,0,0
$GC,5257,0.99,149.8,340.4,6.6,245,5274,0.00,2.58,10.62,0.704,4,0.000,0.056,3298,300,2019,0,0,0,0,0,0
$GC,5289,1.00,156.5,338.2,7.3,245,5304,0.00,2.30,7.57,0.650,6,0.000,0.027,3298,1711,1992,0,0,0,0,0,0
$GC,5629,1.08,166.0,314.3,7.0,254,5646,0.17,2.58,9.85,0.683,4,0.058,0.054,3346,298,1952,0,0,0,0,0,0
$GC,5758,0.97,166.0,298.0,13.9,256,5763,0.17,2.30,0.00,0.000,6,0.106,0.026,3313,1700,1949,0,0,0,0,0,0
$GC,6075,1.02,166.0,259.1,11.3,271,6076,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1705,1948,0,0,0,0,0,0
$GC,6385,1.08,170.2,229.4,7.5,286,6394,0.00,2.33,4.43,0.486,4,0.000,0.028,3313,3082,1936,0,0,0,0,0,0
$GC,6546,1.21,192.8,220.0,5.9,293,6575,0.22,2.35,21.77,0.677,6,0.051,0.037,3372,1699,1843,0,0,0,0,0,0
$GC,6901,1.17,192.8,179.1,12.1,315,6905,0.00,2.30,0.00,0.000,4,0.000,0.026,3372,3085,1839,0,0,0,0,0,0
$GC,7079,1.17,192.8,156.9,13.9,328,7083,0.00,2.38,0.00,0.000,6,0.000,0.038,3372,1698,1839,0,0,0,0,0,0
$GC,7345,1.14,192.8,126.7,9.8,349,7350,0.12,2.47,0.00,0.000,4,0.110,0.051,3348,290,1838,0,0,0,0,0,0
$GC,7373,1.08,192.8,123.8,10.4,351,7378,0.00,2.28,0.00,0.000,6,0.000,0.021,3349,1717,1836,0,0,0,0,0,0
$GC,7638,1.13,192.8,105.8,8.0,372,7643,0.00,2.47,0.00,0.000,4,0.000,0.047,3349,293,1836,0,0,0,0,0,0
$GC,7653,1.14,199.9,104.5,7.3,373,7665,0.00,2.25,6.72,0.487,6,0.000,0.021,3349,1713,1814,0,0,0,0,0,0
$GC,7930,1.24,206.9,86.1,7.3,395,7944,0.00,2.50,7.80,0.487,4,0.000,0.047,3349,293,1786,0,0,0,0,0,0
$GC,8127,1.24,206.9,71.7,8.0,409,8131,0.00,2.22,0.00,0.000,6,0.000,0.020,3349,1701,1783,0,0,0,0,0,0
$GC,8390,1.35,216.9,53.6,7.0,429,8406,0.20,2.45,10.18,0.480,4,0.049,0.043,3406,293,1744,0,0,0,0,0,0
$GC,8414,1.35,216.9,51.2,8.4,430,8418,0.00,2.22,0.00,0.000,6,0.000,0.019,3406,1708,1743,0,0,0,0,0,0
$GC,8676,1.35,216.9,25.5,10.1,456,8682,0.00,2.47,0.00,0.000,4,0.000,0.044,3406,293,1743,0,0,0,0,0,0
$GC,8692,1.31,216.9,23.9,9.9,458,8699,0.08,2.25,0.00,0.000,6,0.089,0.018,3388,1713,1743,0,0,0,0,0,0
$STATE,8892,end climb,SURFACE_DEPTH_REACHED
$STATE,8892,begin surface coast
$FINISH,1.0,1.023316
$STATE,8923,end surface coast,CONTROL_FINISHED_OK
$STATE,8923,begin surface
$SM_CCo,8946,108.43,0.484,0,0,958,410.14
$SM_GC,1.56,0.00,0.00,108.43,0.000,0.000,0.484,424,1715,958,-12.31,0.40,410.14
$IRIDIUM_FIX,2054.83,-15749.62,031299,171733
$TT8_MAMPS,0.029146
$HUMID,54.41
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,34.144
$10V_AH,10.3,28.568
$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,31.225,94.675,246.175,108.425,0.000,31.107,34.958,141.960,4.750,0.000,16.748,1012.278,5959.513,415.684,1543.125,457.455,0.000,1097.554,0.000,1521.522,0.000,32.073,0.000
$DEVICE_MAMPS,134.225,55.991,822.224,483.977,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,344.017,322.868,742.631,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,28589,511
$CAP_FILE_SIZE,99683,0
$CFSIZE,260165632,192868352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080910,220207,2101.550,-15748.915,38,0.9,38,9.8