version: 66.06
glider: 139
mission: 8
dive: 288
start: 8 27 110 11 35 33
data:
$ID,139
$MISSION,8
$DIVE,288
$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,-2156807.2
$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,1740
$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
$GPS1,112137,2105.540,-15755.029,11,1.8,28,9.8
$_CALLS,3
$_XMS_NAKs,15
$_XMS_TOUTs,1
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-70.8
$GPS2,113514,2105.465,-15755.138,31,2.0,31,9.8
$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,78.4,21124,-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,13,begin dive
$GC,15,-1.56,-58.4,0.0,0.0,0,82,0.00,0.00,-64.20,0.000,2,0.000,0.000,428,1677,2757,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.3,-3.7,12,110,12.55,2.42,-2.10,0.000,4,0.137,0.035,2754,3115,2872,0,0,0,0,0,0
$GC,179,-1.56,-58.4,27.6,-19.5,31,186,0.00,2.42,0.00,0.000,6,0.000,0.031,2754,1692,2873,0,0,0,0,0,0
$GC,383,-1.47,-58.4,67.2,-19.5,48,388,0.12,2.35,0.00,0.000,4,0.117,0.021,2778,3117,2873,0,0,0,0,0,0
$GC,395,-1.41,-58.4,69.4,-17.8,49,400,0.00,2.38,0.00,0.000,6,0.000,0.031,2777,1692,2873,0,0,0,0,0,0
$GC,662,-1.47,-58.4,110.6,-13.9,70,666,0.00,2.38,0.00,0.000,4,0.000,0.045,2778,296,2875,0,0,0,0,0,0
$GC,686,-1.47,-58.4,114.6,-15.7,72,690,0.00,2.30,0.00,0.000,6,0.000,0.018,2777,1741,2874,0,0,0,0,0,0
$GC,955,-1.54,-58.4,146.0,-11.5,93,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1743,2875,0,0,0,0,0,0
$GC,1214,-1.64,-58.4,178.1,-11.6,114,1218,0.15,2.20,0.00,0.000,4,0.058,0.023,2731,3081,2875,0,0,0,0,0,0
$GC,1287,-1.71,-58.4,187.5,-13.8,119,1291,0.00,2.30,0.00,0.000,6,0.000,0.031,2731,1695,2875,0,0,0,0,0,0
$GC,1552,-1.71,-58.4,219.1,-10.6,135,1556,0.00,2.40,0.00,0.000,4,0.000,0.044,2731,292,2875,0,0,0,0,0,0
$GC,1566,-1.71,-58.4,220.7,-9.5,135,1571,0.00,2.22,0.00,0.000,6,0.000,0.019,2731,1713,2876,0,0,0,0,0,0
$GC,1885,-1.74,-58.4,251.0,-9.4,151,1886,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1719,2875,0,0,0,0,0,0
$GC,2191,-1.79,-58.4,282.6,-10.1,166,2195,0.00,2.42,0.00,0.000,4,0.000,0.048,2731,301,2875,0,0,0,0,0,0
$GC,2274,-1.79,-58.4,291.9,-11.2,169,2280,0.00,2.20,0.00,0.000,6,0.000,0.021,2731,1689,2874,0,0,0,0,0,0
$GC,2608,-1.83,-58.4,323.5,-9.1,180,2612,0.12,2.30,0.00,0.000,4,0.068,0.028,2693,3078,2873,0,0,0,0,0,0
$GC,2739,-1.86,-58.4,337.3,-9.9,182,2744,0.00,2.33,0.00,0.000,6,0.000,0.038,2693,1703,2872,0,0,0,0,0,0
$GC,3069,-1.86,-58.4,372.4,-11.2,191,3073,0.00,2.28,0.00,0.000,4,0.000,0.028,2693,3075,2870,0,0,0,0,0,0
$GC,3097,-1.86,-58.4,375.8,-12.6,191,3101,0.00,2.33,0.00,0.000,6,0.000,0.038,2693,1700,2870,0,0,0,0,0,0
$GC,3438,-1.86,-58.4,416.9,-12.0,200,3442,0.00,2.33,0.00,0.000,4,0.000,0.031,2693,3079,2867,0,0,0,0,0,0
$GC,3541,-1.90,-58.4,428.8,-11.0,202,3545,0.00,2.35,0.00,0.000,6,0.000,0.040,2692,1694,2867,0,0,0,0,0,0
$STATE,3653,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3653,begin apogee
$GC,3660,-0.31,0.0,441.5,11.7,205,3713,1.62,0.00,48.55,0.822,6,0.082,0.000,3032,1693,2630,0,0,0,0,0,0
$STATE,3713,end apogee,CONTROL_FINISHED_OK
$STATE,3714,begin climb
$GC,3716,1.56,58.4,443.6,0.0,206,3772,1.77,0.00,50.67,0.812,6,0.029,0.000,3453,1693,2391,0,0,0,0,0,0
$GC,4098,1.31,102.2,433.6,4.0,216,4139,0.35,0.00,38.30,0.810,6,0.106,0.000,3386,1693,2213,0,0,0,0,0,0
$GC,4462,1.15,102.2,403.5,9.0,225,4467,0.17,2.45,0.00,0.000,4,0.110,0.032,3352,3110,2205,0,0,0,0,0,0
$GC,4658,1.10,102.2,386.8,9.1,229,4662,0.00,2.38,0.00,0.000,6,0.000,0.039,3352,1733,2205,0,0,0,0,0,0
$GC,4972,1.03,107.1,362.9,7.5,237,4977,0.15,2.38,0.00,0.000,4,0.114,0.032,3325,3112,2201,0,0,0,0,0,0
$GC,4996,1.04,116.2,361.1,7.1,237,5014,0.00,2.35,11.65,0.730,6,0.000,0.038,3325,1739,2156,0,0,0,0,0,0
$GC,5341,1.05,120.6,335.7,7.5,246,5352,0.00,2.38,5.03,0.574,4,0.000,0.031,3325,3117,2137,0,0,0,0,0,0
$GC,5362,1.06,128.5,333.9,7.2,246,5378,0.00,2.40,8.80,0.683,6,0.000,0.039,3325,1737,2106,0,0,0,0,0,0
$GC,5710,1.11,168.2,314.0,4.3,255,5752,0.00,2.40,36.65,0.769,4,0.000,0.031,3325,3115,1944,0,0,0,0,0,0
$GC,5762,1.14,195.0,311.0,5.5,256,5795,0.10,2.40,25.25,0.739,6,0.080,0.039,3352,1738,1835,0,0,0,0,0,0
$GC,6124,1.10,195.0,271.4,12.8,271,6125,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,1738,1828,0,0,0,0,0,0
$GC,6431,1.10,195.0,231.3,13.5,286,6435,0.00,2.47,0.00,0.000,4,0.000,0.055,3352,334,1825,0,0,0,0,0,0
$GC,6643,0.99,195.0,205.2,11.3,295,6648,0.17,2.30,0.00,0.000,6,0.105,0.025,3319,1734,1822,0,0,0,0,0,0
$GC,6971,1.07,204.0,181.5,7.1,319,6985,0.00,2.53,6.88,0.559,4,0.000,0.051,3319,328,1798,0,0,0,0,0,0
$GC,7058,1.07,204.0,173.6,9.9,325,7062,0.00,2.30,0.00,0.000,6,0.000,0.023,3319,1744,1795,0,0,0,0,0,0
$GC,7323,1.16,204.0,150.5,8.9,346,7328,0.15,2.47,0.00,0.000,4,0.061,0.048,3362,323,1795,0,0,0,0,0,0
$GC,7337,1.21,204.0,149.3,8.9,347,7341,0.00,2.33,0.00,0.000,6,0.000,0.022,3362,1751,1794,0,0,0,0,0,0
$GC,7599,1.21,204.0,124.1,9.2,368,7604,0.00,2.47,0.00,0.000,4,0.000,0.047,3362,324,1794,0,0,0,0,0,0
$GC,7673,1.14,204.0,115.3,13.4,373,7679,0.00,2.28,0.00,0.000,6,0.000,0.021,3362,1746,1794,0,0,0,0,0,0
$GC,7932,1.18,204.0,84.8,9.7,394,7933,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,1747,1794,0,0,0,0,0,0
$GC,8187,1.28,218.1,64.4,6.6,414,8206,0.00,2.47,13.70,0.520,4,0.000,0.043,3362,331,1739,0,0,0,0,0,0
$GC,8298,1.28,218.5,55.5,7.9,422,8302,0.00,2.25,0.00,0.000,6,0.000,0.019,3362,1754,1736,0,0,0,0,0,0
$GC,8559,1.36,218.5,34.4,10.4,442,8564,0.15,2.45,0.00,0.000,4,0.058,0.041,3407,321,1735,0,0,0,0,0,0
$GC,8592,1.21,218.5,30.0,13.0,444,8599,0.17,2.28,0.00,0.000,6,0.080,0.018,3367,1741,1735,0,0,0,0,0,0
$GC,8858,1.28,222.6,6.8,7.5,505,8871,0.00,2.47,4.82,0.365,4,0.000,0.047,3367,332,1722,0,0,0,0,0,0
$STATE,8897,end climb,SURFACE_DEPTH_REACHED
$STATE,8897,begin surface coast
$FINISH,1.9,1.023133
$STATE,8907,end surface coast,CONTROL_FINISHED_OK
$STATE,8907,begin surface
$SM_CCo,8933,110.70,0.490,0,0,957,410.14
$SM_GC,1.58,0.00,0.00,110.70,0.000,0.000,0.490,426,1701,957,-12.31,-0.06,410.14
$IRIDIUM_FIX,2057.14,-15753.90,211199,111151
$TT8_MAMPS,0.028379
$HUMID,53.42
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,441.5,7.8
$24V_AH,23.5,25.271
$10V_AH,10.3,20.648
$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,30.400,94.300,250.300,110.700,0.000,91.879,105.798,342.880,4.750,0.000,34.228,1003.491,6078.697,461.331,1529.573,788.047,0.000,1109.988,0.000,1495.154,0.000,32.131,0.000
$DEVICE_MAMPS,136.526,55.224,822.224,490.113,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,346.298,327.827,750.231,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,28616,515
$CAP_FILE_SIZE,104626,0
$CFSIZE,260165632,198471680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,6
$GPS,270810,140736,2105.431,-15755.220,41,1.0,41,9.8