version: 66.06
glider: 139
mission: 8
dive: 349
start: 9 3 110 10 38 48
data:
$ID,139
$MISSION,8
$DIVE,349
$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,-2158204.2
$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,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
$GPS1,103306,2100.608,-15753.120,43,0.8,43,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-71.1
$GPS2,103831,2100.567,-15753.113,14,1.5,14,9.8
$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,51.3,20118,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.56,-58.4,0.0,0.0,0,83,0.00,0.00,-64.50,0.000,2,0.000,0.000,426,1714,2739,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.2,-2.9,12,111,12.50,2.35,-2.50,0.000,4,0.134,0.036,2754,3104,2872,0,0,0,0,0,0
$GC,197,-1.59,-58.4,29.0,-16.6,35,204,0.00,2.40,0.00,0.000,6,0.000,0.034,2754,1700,2873,0,0,0,0,0,0
$GC,394,-1.51,-58.4,61.6,-18.3,51,398,0.00,2.42,0.00,0.000,4,0.000,0.047,2754,292,2874,0,0,0,0,0,0
$GC,447,-1.37,-58.4,72.7,-20.9,55,452,0.22,2.33,0.00,0.000,6,0.100,0.018,2799,1737,2874,0,0,0,0,0,0
$GC,714,-1.43,-58.4,108.0,-11.3,76,719,0.00,2.47,0.00,0.000,4,0.000,0.044,2799,289,2875,0,0,0,0,0,0
$GC,755,-1.48,-58.4,112.8,-11.3,79,759,0.00,2.25,0.00,0.000,6,0.000,0.018,2799,1721,2875,0,0,0,0,0,0
$GC,1026,-1.59,-58.4,142.4,-11.0,100,1028,0.20,0.00,0.00,0.000,6,0.048,0.000,2739,1724,2876,0,0,0,0,0,0
$GC,1276,-1.59,-58.4,177.9,-14.0,120,1280,0.00,2.20,0.00,0.000,4,0.000,0.021,2740,3077,2876,0,0,0,0,0,0
$GC,1295,-1.64,-58.4,180.9,-14.2,121,1299,0.00,2.33,0.00,0.000,6,0.000,0.032,2740,1693,2876,0,0,0,0,0,0
$GC,1570,-1.64,-58.4,214.9,-11.7,139,1574,0.00,2.25,0.00,0.000,4,0.000,0.023,2740,3074,2877,0,0,0,0,0,0
$GC,1616,-1.73,-58.4,220.0,-11.2,141,1621,0.00,2.33,0.00,0.000,6,0.000,0.031,2740,1690,2877,0,0,0,0,0,0
$GC,1949,-1.77,-58.4,256.1,-11.7,157,1951,0.12,0.00,0.00,0.000,6,0.066,0.000,2698,1690,2877,0,0,0,0,0,0
$GC,2256,-1.73,-58.4,297.7,-13.7,172,2261,0.12,2.30,0.00,0.000,4,0.105,0.025,2724,3079,2877,0,0,0,0,0,0
$GC,2372,-1.80,-58.4,313.0,-10.7,175,2376,0.00,2.30,0.00,0.000,6,0.000,0.032,2723,1700,2877,0,0,0,0,0,0
$GC,2713,-1.83,-58.4,346.9,-9.4,184,2717,0.00,2.42,0.00,0.000,4,0.000,0.050,2723,299,2876,0,0,0,0,0,0
$GC,2736,-1.83,-58.4,349.4,-9.7,184,2741,0.00,2.25,0.00,0.000,6,0.000,0.022,2724,1693,2876,0,0,0,0,0,0
$GC,3077,-1.87,-58.4,378.6,-8.9,193,3082,0.15,2.33,0.00,0.000,4,0.061,0.029,2680,3078,2875,0,0,0,0,0,0
$GC,3271,-1.87,-58.4,403.7,-13.5,197,3276,0.00,2.35,0.00,0.000,6,0.000,0.039,2680,1704,2873,0,0,0,0,0,0
$STATE,3546,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3546,begin apogee
$GC,3553,-0.31,0.0,440.1,13.2,204,3607,1.67,0.00,49.33,0.808,6,0.082,0.000,3030,1704,2630,0,0,0,0,0,0
$STATE,3607,end apogee,CONTROL_FINISHED_OK
$STATE,3608,begin climb
$GC,3610,1.56,58.4,442.6,0.0,205,3668,1.75,2.55,50.00,0.795,4,0.029,0.052,3449,293,2390,0,0,0,0,0,0
$GC,3751,1.21,114.1,442.2,2.9,208,3808,0.43,2.30,48.58,0.794,6,0.105,0.025,3366,1702,2164,0,0,0,0,0,0
$GC,4156,1.09,114.1,401.1,11.3,218,4161,0.15,2.30,0.00,0.000,4,0.114,0.031,3339,3076,2155,0,0,0,0,0,0
$GC,4180,1.05,114.1,398.3,10.8,218,4184,0.00,2.38,0.00,0.000,6,0.000,0.040,3339,1696,2155,0,0,0,0,0,0
$GC,4525,1.02,124.6,370.2,6.9,227,4541,0.00,2.38,8.50,0.676,4,0.000,0.031,3339,3082,2120,0,0,0,0,0,0
$GC,4619,1.04,146.0,365.0,6.0,229,4645,0.00,2.40,20.20,0.755,6,0.000,0.039,3339,1699,2035,0,0,0,0,0,0
$GC,4985,1.04,146.0,337.7,8.0,238,4989,0.00,2.33,0.00,0.000,4,0.000,0.031,3339,3077,2029,0,0,0,0,0,0
$GC,5052,1.05,153.1,332.3,7.3,239,5064,0.00,2.40,7.03,0.636,6,0.000,0.040,3339,1693,2005,0,0,0,0,0,0
$GC,5400,1.05,153.1,295.2,12.1,248,5404,0.00,2.45,0.00,0.000,4,0.000,0.053,3339,296,2001,0,0,0,0,0,0
$GC,5421,0.98,153.1,292.7,12.3,249,5426,0.12,2.30,0.00,0.000,6,0.120,0.026,3317,1702,1999,0,0,0,0,0,0
$GC,5756,1.03,153.1,260.2,9.4,265,5757,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,1708,1998,0,0,0,0,0,0
$GC,6061,1.10,167.1,236.3,6.6,280,6084,0.10,2.50,12.60,0.664,4,0.078,0.051,3346,295,1946,0,0,0,0,0,0
$GC,6283,1.02,167.1,213.1,11.1,289,6288,0.12,2.30,0.00,0.000,6,0.110,0.024,3323,1715,1942,0,0,0,0,0,0
$GC,6613,1.09,171.1,186.3,7.5,310,6622,0.00,2.50,3.95,0.431,4,0.000,0.049,3323,288,1932,0,0,0,0,0,0
$GC,6641,1.09,171.4,183.9,7.9,311,6645,0.00,2.28,0.00,0.000,6,0.000,0.022,3323,1706,1930,0,0,0,0,0,0
$GC,6905,1.19,184.4,164.7,6.7,331,6926,0.15,2.53,13.50,0.604,4,0.060,0.047,3366,298,1877,0,0,0,0,0,0
$GC,7043,1.08,184.4,149.8,11.7,341,7048,0.15,2.28,0.00,0.000,6,0.104,0.021,3337,1705,1874,0,0,0,0,0,0
$GC,7310,1.15,193.2,130.4,7.1,362,7325,0.00,2.50,8.82,0.532,4,0.000,0.046,3337,289,1841,0,0,0,0,0,0
$GC,7349,1.11,193.2,127.0,7.9,365,7353,0.00,2.28,0.00,0.000,6,0.000,0.021,3337,1720,1840,0,0,0,0,0,0
$GC,7612,1.19,193.2,106.1,8.5,385,7616,0.00,2.20,0.00,0.000,4,0.000,0.023,3338,3074,1839,0,0,0,0,0,0
$GC,7631,1.29,193.2,104.1,8.2,386,7638,0.15,2.35,0.00,0.000,6,0.032,0.031,3388,1696,1840,0,0,0,0,0,0
$GC,7894,1.31,214.7,83.1,6.0,407,7921,0.00,2.47,20.17,0.542,4,0.000,0.044,3388,300,1753,0,0,0,0,0,0
$GC,7952,1.21,214.7,78.8,8.3,411,7957,0.12,2.22,0.00,0.000,6,0.107,0.019,3364,1705,1751,0,0,0,0,0,0
$GC,8225,1.31,232.3,60.1,6.3,432,8245,0.00,0.00,16.17,0.509,6,0.000,0.000,3364,1712,1682,0,0,0,0,0,0
$GC,8500,1.40,239.3,41.0,7.3,454,8516,0.17,2.50,7.12,0.429,4,0.051,0.044,3415,297,1653,0,0,0,0,0,0
$GC,8614,1.27,239.3,26.6,14.4,463,8621,0.15,2.25,0.00,0.000,6,0.082,0.018,3381,1705,1651,0,0,0,0,0,0
$GC,8818,1.31,239.3,3.6,9.9,509,8824,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,1705,1651,0,0,0,0,0,0
$STATE,8829,end climb,SURFACE_DEPTH_REACHED
$STATE,8829,begin surface coast
$FINISH,0.9,1.006649
$STATE,8860,end surface coast,CONTROL_FINISHED_OK
$STATE,8860,begin surface
$SM_CCo,8882,95.90,0.482,0,0,958,410.14
$SM_GC,1.61,0.00,0.00,95.90,0.000,0.000,0.482,431,1705,958,-12.28,0.14,410.14
$IRIDIUM_FIX,2052.52,-15754.77,281199,070713
$TT8_MAMPS,0.029146
$HUMID,54.60
$INTERNAL_PRESSURE,9.30354
$TCM_TEMP,22.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,440.1,10.8
$24V_AH,23.5,30.137
$10V_AH,10.3,25.115
$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,31.350,94.200,265.975,95.900,0.000,28.631,30.100,139.225,4.750,0.000,14.268,1029.652,5797.139,412.037,1597.306,466.302,0.000,1130.267,0.000,1579.995,0.000,32.148,0.000
$DEVICE_MAMPS,134.225,52.923,808.418,482.443,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,348.486,332.768,762.468,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,28606,518
$CAP_FILE_SIZE,102169,0
$CFSIZE,260165632,195289088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030910,130920,2100.519,-15753.203,15,1.3,15,9.8