version: 66.06
glider: 139
mission: 8
dive: 289
start: 8 27 110 14 13 30
data:
$ID,139
$MISSION,8
$DIVE,289
$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,-2156821.2
$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
$GPS1,140736,2105.431,-15755.220,41,1.0,41,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-70.9
$GPS2,141313,2105.416,-15755.255,13,1.2,13,9.8
$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,78.2,21329,-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,-64.30,0.000,2,0.000,0.000,425,1702,2759,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.5,-3.9,12,110,12.55,2.47,-2.05,0.000,4,0.136,0.053,2751,288,2872,0,0,0,0,0,0
$GC,156,-1.35,-58.4,26.0,-27.1,26,163,0.22,2.35,0.00,0.000,6,0.091,0.018,2800,1736,2874,0,0,0,0,0,0
$GC,364,-1.35,-58.4,61.8,-15.6,44,366,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1742,2874,0,0,0,0,0,0
$GC,617,-1.44,-58.4,97.3,-11.8,64,621,0.00,2.50,0.00,0.000,4,0.000,0.046,2800,292,2875,0,0,0,0,0,0
$GC,697,-1.49,-58.4,107.9,-12.2,70,702,0.12,2.22,0.00,0.000,6,0.063,0.018,2758,1711,2876,0,0,0,0,0,0
$GC,962,-1.49,-58.4,149.2,-15.6,91,967,0.00,2.42,0.00,0.000,4,0.000,0.046,2758,295,2876,0,0,0,0,0,0
$GC,991,-1.45,-58.4,154.5,-18.8,93,995,0.12,2.20,0.00,0.000,6,0.103,0.018,2783,1700,2877,0,0,0,0,0,0
$GC,1252,-1.57,-58.4,185.2,-8.8,113,1256,0.12,2.45,0.00,0.000,4,0.064,0.046,2742,292,2878,0,0,0,0,0,0
$GC,1271,-1.57,-58.4,187.5,-9.9,114,1278,0.00,2.25,0.00,0.000,6,0.000,0.019,2742,1701,2877,0,0,0,0,0,0
$GC,1528,-1.60,-58.4,213.1,-10.9,131,1532,0.00,2.25,0.00,0.000,4,0.000,0.024,2742,3074,2878,0,0,0,0,0,0
$GC,1595,-1.70,-58.4,221.2,-12.1,134,1599,0.00,2.30,0.00,0.000,6,0.000,0.033,2742,1696,2878,0,0,0,0,0,0
$GC,1926,-1.76,-58.4,264.8,-13.1,150,1931,0.12,2.28,0.00,0.000,4,0.064,0.025,2701,3071,2878,0,0,0,0,0,0
$GC,1953,-1.76,-58.4,268.1,-12.8,151,1957,0.00,2.30,0.00,0.000,6,0.000,0.032,2701,1691,2878,0,0,0,0,0,0
$GC,2305,-1.76,-58.4,315.4,-12.4,165,2309,0.00,2.25,0.00,0.000,4,0.000,0.025,2701,3066,2878,0,0,0,0,0,0
$GC,2343,-1.80,-58.4,319.8,-12.1,165,2349,0.00,2.30,0.00,0.000,6,0.000,0.035,2701,1695,2878,0,0,0,0,0,0
$GC,2675,-1.80,-58.4,353.2,-10.0,174,2679,0.00,2.28,0.00,0.000,4,0.000,0.027,2701,3065,2877,0,0,0,0,0,0
$GC,2718,-1.85,-58.4,357.6,-9.6,175,2722,0.00,2.33,0.00,0.000,6,0.000,0.036,2701,1700,2877,0,0,0,0,0,0
$GC,3046,-1.85,-58.4,392.9,-10.7,183,3050,0.00,2.28,0.00,0.000,4,0.000,0.029,2701,3066,2875,0,0,0,0,0,0
$GC,3203,-1.91,-58.4,409.2,-10.3,186,3207,0.00,2.35,0.00,0.000,6,0.000,0.039,2701,1698,2873,0,0,0,0,0,0
$STATE,3509,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3509,begin apogee
$GC,3516,-0.31,0.0,442.9,11.4,194,3569,1.58,0.00,49.40,0.820,6,0.081,0.000,3031,1698,2630,0,0,0,0,0,0
$STATE,3570,end apogee,CONTROL_FINISHED_OK
$STATE,3570,begin climb
$GC,3572,1.56,58.4,445.1,0.0,195,3630,1.77,2.45,50.33,0.805,4,0.028,0.032,3448,3106,2390,0,0,0,0,0,0
$GC,3644,1.41,158.1,445.7,-1.1,197,3740,0.20,2.35,87.53,0.807,6,0.111,0.036,3410,1741,1985,0,0,0,0,0,0
$GC,4077,1.22,158.1,385.0,16.1,208,4082,0.22,2.35,0.00,0.000,4,0.105,0.031,3368,3100,1974,0,0,0,0,0,0
$GC,4148,1.16,158.1,374.4,13.5,209,4152,0.00,2.35,0.00,0.000,6,0.000,0.040,3368,1737,1974,0,0,0,0,0,0
$GC,4488,1.08,158.1,330.2,12.6,218,4493,0.17,2.33,0.00,0.000,4,0.108,0.030,3335,3103,1969,0,0,0,0,0,0
$GC,4515,1.08,158.1,327.7,9.5,218,4519,0.00,2.35,0.00,0.000,6,0.000,0.040,3335,1740,1969,0,0,0,0,0,0
$GC,4836,1.08,158.1,295.5,10.5,227,4840,0.00,2.30,0.00,0.000,4,0.000,0.031,3335,3101,1967,0,0,0,0,0,0
$GC,4892,1.12,158.1,289.3,11.4,229,4896,0.00,2.35,0.00,0.000,6,0.000,0.041,3335,1740,1966,0,0,0,0,0,0
$GC,5208,1.12,158.1,258.1,10.0,244,5212,0.00,2.30,0.00,0.000,4,0.000,0.029,3335,3112,1964,0,0,0,0,0,0
$GC,5236,1.17,158.1,255.3,9.4,245,5240,0.00,2.35,0.00,0.000,6,0.000,0.038,3335,1739,1964,0,0,0,0,0,0
$GC,5558,1.17,158.1,224.1,10.0,261,5562,0.00,2.45,0.00,0.000,4,0.000,0.051,3335,330,1962,0,0,0,0,0,0
$GC,5586,1.10,158.1,221.0,10.5,262,5590,0.00,2.25,0.00,0.000,6,0.000,0.024,3335,1725,1959,0,0,0,0,0,0
$GC,5907,1.10,158.1,194.0,8.4,280,5911,0.00,2.33,0.00,0.000,4,0.000,0.028,3335,3119,1959,0,0,0,0,0,0
$GC,5975,1.18,168.3,189.2,7.0,285,5989,0.00,2.35,5.32,0.503,6,0.000,0.035,3335,1727,1944,0,0,0,0,0,0
$GC,6243,1.25,186.5,172.1,6.3,306,6267,0.15,2.42,17.80,0.619,4,0.060,0.046,3378,335,1868,0,0,0,0,0,0
$GC,6299,1.12,186.5,167.5,10.1,309,6304,0.17,2.28,0.00,0.000,6,0.102,0.021,3345,1742,1865,0,0,0,0,0,0
$GC,6565,1.17,190.6,144.9,7.5,330,6580,0.00,2.45,4.70,0.439,4,0.000,0.044,3345,328,1851,0,0,0,0,0,0
$GC,6642,1.14,194.6,138.7,7.5,335,6652,0.00,2.28,4.75,0.436,6,0.000,0.020,3345,1744,1836,0,0,0,0,0,0
$GC,6907,1.22,207.3,119.9,6.7,356,6926,0.00,2.47,13.10,0.548,4,0.000,0.045,3345,326,1783,0,0,0,0,0,0
$GC,6945,1.22,207.3,116.9,8.1,358,6951,0.00,2.33,0.00,0.000,6,0.000,0.020,3345,1743,1781,0,0,0,0,0,0
$GC,7207,1.32,216.1,101.8,7.1,379,7222,0.17,2.45,8.75,0.495,4,0.052,0.043,3396,327,1748,0,0,0,0,0,0
$GC,7281,1.20,216.1,93.3,13.0,384,7286,0.17,2.28,0.00,0.000,6,0.100,0.019,3361,1751,1745,0,0,0,0,0,0
$GC,7550,1.30,216.1,67.8,9.1,405,7551,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,1752,1745,0,0,0,0,0,0
$GC,7800,1.38,226.8,51.4,6.9,425,7816,0.17,2.53,10.90,0.473,4,0.051,0.042,3414,327,1704,0,0,0,0,0,0
$GC,7855,1.25,226.8,45.3,11.2,428,7862,0.17,2.30,0.00,0.000,6,0.080,0.018,3375,1749,1701,0,0,0,0,0,0
$GC,8119,1.29,226.8,20.3,9.3,463,8125,0.00,2.45,0.00,0.000,4,0.000,0.043,3375,336,1701,0,0,0,0,0,0
$GC,8149,1.29,226.8,17.0,10.3,469,8156,0.00,2.25,0.00,0.000,6,0.000,0.018,3375,1749,1701,0,0,0,0,0,0
$STATE,8294,end climb,SURFACE_DEPTH_REACHED
$STATE,8294,begin surface coast
$FINISH,0.9,1.023187
$STATE,8334,end surface coast,CONTROL_FINISHED_OK
$STATE,8334,begin surface
$SM_CCo,8357,101.95,0.477,0,0,957,410.14
$SM_GC,1.59,0.00,0.00,101.95,0.000,0.000,0.477,427,1666,957,-12.30,-0.99,410.14
$IRIDIUM_FIX,2057.14,-15753.90,211199,111120
$TT8_MAMPS,0.029146
$HUMID,52.08
$INTERNAL_PRESSURE,9.3133
$TCM_TEMP,22.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,442.9,7.7
$24V_AH,23.5,25.350
$10V_AH,10.3,20.717
$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,30.800,103.200,252.575,101.950,0.000,26.361,31.548,161.364,5.250,0.000,13.290,987.807,5444.448,416.506,1489.838,457.356,0.000,1085.847,0.000,1476.668,0.000,32.139,0.000
$DEVICE_MAMPS,135.759,86.671,819.923,477.074,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,342.905,337.549,772.792,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,28661,511
$CAP_FILE_SIZE,99184,0
$CFSIZE,260165632,198426624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270810,163520,2105.517,-15755.701,11,2.0,11,9.8