version: 66.06
glider: 139
mission: 8
dive: 387
start: 9 7 110 18 54 35
data:
$ID,139
$MISSION,8
$DIVE,387
$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,-2159053.5
$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
$GPS1,184524,2057.740,-15748.572,40,0.9,58,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-71.7
$GPS2,185415,2057.687,-15748.611,12,1.6,12,9.8
$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,23.4,17981,-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,-64.72,0.000,2,0.000,0.000,427,1710,2747,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.1,-2.8,12,110,12.50,2.38,-2.40,0.000,4,0.134,0.036,2753,3111,2872,0,0,0,0,0,0
$GC,253,-1.56,-58.4,36.1,-14.2,42,257,0.00,2.38,0.00,0.000,6,0.000,0.032,2752,1696,2874,0,0,0,0,0,0
$GC,517,-1.49,-58.4,81.7,-16.9,63,522,0.10,2.35,0.00,0.000,4,0.119,0.022,2771,3118,2874,0,0,0,0,0,0
$GC,547,-1.54,-58.4,86.6,-15.4,65,551,0.00,2.38,0.00,0.000,6,0.000,0.032,2771,1698,2874,0,0,0,0,0,0
$GC,808,-1.59,-58.4,122.3,-14.4,85,812,0.00,2.33,0.00,0.000,4,0.000,0.021,2771,3112,2876,0,0,0,0,0,0
$GC,854,-1.70,-58.4,129.1,-13.9,88,859,0.17,2.38,0.00,0.000,6,0.052,0.031,2718,1693,2876,0,0,0,0,0,0
$GC,1116,-1.66,-58.4,169.9,-14.9,108,1120,0.00,2.33,0.00,0.000,4,0.000,0.024,2719,3112,2876,0,0,0,0,0,0
$GC,1128,-1.63,-58.4,171.8,-14.6,109,1133,0.12,2.35,0.00,0.000,6,0.107,0.031,2742,1698,2876,0,0,0,0,0,0
$GC,1400,-1.68,-58.4,202.9,-9.9,130,1404,0.00,2.40,0.00,0.000,4,0.000,0.045,2743,299,2877,0,0,0,0,0,0
$GC,1473,-1.68,-58.4,211.3,-11.6,133,1477,0.00,2.30,0.00,0.000,6,0.000,0.018,2743,1730,2877,0,0,0,0,0,0
$GC,1799,-1.73,-58.4,248.8,-13.7,149,1803,0.00,2.45,0.00,0.000,4,0.000,0.047,2742,300,2877,0,0,0,0,0,0
$GC,1836,-1.73,-58.4,255.3,-15.1,150,1843,0.00,2.28,0.00,0.000,6,0.000,0.021,2742,1711,2877,0,0,0,0,0,0
$GC,2153,-1.80,-58.4,292.7,-11.2,166,2155,0.15,0.00,0.00,0.000,6,0.061,0.000,2699,1714,2877,0,0,0,0,0,0
$GC,2479,-1.80,-58.4,329.9,-11.1,176,2483,0.00,2.25,0.00,0.000,4,0.000,0.028,2699,3079,2875,0,0,0,0,0,0
$GC,2507,-1.80,-58.4,333.3,-11.6,176,2511,0.00,2.33,0.00,0.000,6,0.000,0.037,2698,1701,2875,0,0,0,0,0,0
$GC,2843,-1.80,-58.4,367.0,-9.7,185,2847,0.00,2.33,0.00,0.000,4,0.000,0.028,2698,3074,2873,0,0,0,0,0,0
$GC,2908,-1.83,-58.4,373.4,-9.5,186,2913,0.00,2.35,0.00,0.000,6,0.000,0.038,2698,1700,2874,0,0,0,0,0,0
$GC,3259,-1.83,-58.4,411.4,-11.0,195,3263,0.00,2.35,0.00,0.000,4,0.000,0.030,2699,3076,2871,0,0,0,0,0,0
$GC,3394,-1.88,-58.4,425.7,-10.1,198,3398,0.00,2.35,0.00,0.000,6,0.000,0.040,2698,1695,2870,0,0,0,0,0,0
$STATE,3597,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3597,begin apogee
$GC,3604,-0.31,0.0,447.4,10.6,203,3657,1.58,0.00,49.03,0.821,6,0.081,0.000,3028,1695,2630,0,0,0,0,0,0
$STATE,3658,end apogee,CONTROL_FINISHED_OK
$STATE,3658,begin climb
$GC,3660,1.56,58.4,448.6,0.0,204,3718,1.77,2.53,50.20,0.804,4,0.031,0.053,3445,290,2390,0,0,0,0,0,0
$GC,3981,1.21,106.3,440.8,3.6,211,4030,0.43,2.30,41.67,0.807,6,0.107,0.025,3364,1703,2196,0,0,0,0,0,0
$GC,4349,1.10,106.3,411.9,8.9,220,4351,0.12,0.00,0.00,0.000,6,0.117,0.000,3341,1703,2188,0,0,0,0,0,0
$GC,4674,1.05,112.5,387.7,7.3,228,4681,0.00,0.00,4.82,0.566,6,0.000,0.000,3341,1703,2171,0,0,0,0,0,0
$GC,5000,1.01,114.9,363.4,7.7,236,5004,0.00,2.33,0.00,0.000,4,0.000,0.032,3341,3075,2168,0,0,0,0,0,0
$GC,5195,1.02,120.0,349.2,7.4,240,5207,0.00,2.38,7.82,0.671,6,0.000,0.039,3342,1698,2140,0,0,0,0,0,0
$GC,5549,0.98,120.0,321.8,8.2,249,5554,0.15,2.35,0.00,0.000,4,0.113,0.032,3313,3073,2137,0,0,0,0,0,0
$GC,5579,1.04,124.9,319.4,7.5,249,5593,0.00,2.35,5.40,0.588,6,0.000,0.039,3313,1698,2120,0,0,0,0,0,0
$GC,5899,1.09,141.0,297.0,6.4,258,5922,0.10,2.42,15.85,0.726,4,0.083,0.031,3342,3074,2055,0,0,0,0,0,0
$GC,5937,1.10,146.4,293.9,7.4,259,5949,0.00,2.40,6.72,0.604,6,0.000,0.039,3341,1699,2032,0,0,0,0,0,0
$GC,6277,1.10,151.0,267.8,7.5,276,6289,0.00,2.47,5.10,0.545,4,0.000,0.053,3341,296,2013,0,0,0,0,0,0
$GC,6295,1.06,156.4,266.2,7.4,276,6309,0.00,2.35,6.47,0.591,6,0.000,0.026,3341,1697,1992,0,0,0,0,0,0
$GC,6637,1.06,156.4,238.7,8.7,293,6641,0.00,2.45,0.00,0.000,4,0.000,0.052,3341,296,1989,0,0,0,0,0,0
$GC,6708,0.96,156.4,230.7,11.1,296,6713,0.15,2.30,0.00,0.000,6,0.109,0.025,3313,1700,1986,0,0,0,0,0,0
$GC,7036,1.05,173.3,206.8,6.4,312,7058,0.00,0.00,15.80,0.656,6,0.000,0.000,3313,1706,1923,0,0,0,0,0,0
$GC,7380,1.12,173.3,181.1,8.6,336,7385,0.12,2.47,0.00,0.000,4,0.069,0.051,3349,294,1919,0,0,0,0,0,0
$GC,7565,1.03,173.3,158.3,12.1,349,7571,0.12,2.30,0.00,0.000,6,0.111,0.022,3326,1716,1916,0,0,0,0,0,0
$GC,7825,1.13,192.5,139.4,6.2,370,7848,0.00,2.30,17.58,0.598,4,0.000,0.025,3326,3076,1844,0,0,0,0,0,0
$GC,7873,1.28,212.1,136.5,6.1,372,7900,0.20,2.38,18.90,0.591,6,0.032,0.033,3394,1703,1764,0,0,0,0,0,0
$GC,8160,1.28,212.1,108.6,8.8,395,8161,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1703,1760,0,0,0,0,0,0
$GC,8414,1.28,212.1,85.9,10.2,415,8418,0.00,2.42,0.00,0.000,4,0.000,0.046,3394,290,1760,0,0,0,0,0,0
$GC,8496,1.19,212.1,77.2,9.6,421,8501,0.17,2.25,0.00,0.000,6,0.099,0.019,3360,1718,1757,0,0,0,0,0,0
$GC,8765,1.28,221.2,58.3,7.1,442,8780,0.00,2.47,8.43,0.469,4,0.000,0.044,3360,297,1727,0,0,0,0,0,0
$GC,8818,1.28,221.2,53.2,9.6,445,8825,0.00,2.25,0.00,0.000,6,0.000,0.018,3360,1705,1725,0,0,0,0,0,0
$GC,9079,1.35,221.2,30.8,8.8,466,9084,0.15,2.45,0.00,0.000,4,0.058,0.045,3405,296,1725,0,0,0,0,0,0
$GC,9138,1.23,221.2,24.1,11.8,478,9145,0.15,2.22,0.00,0.000,6,0.081,0.018,3371,1701,1725,0,0,0,0,0,0
$GC,9341,1.23,221.2,4.9,9.1,524,9347,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,1704,1725,0,0,0,0,0,0
$STATE,9360,end climb,SURFACE_DEPTH_REACHED
$STATE,9360,begin surface coast
$FINISH,0.8,1.023378
$STATE,9391,end surface coast,CONTROL_FINISHED_OK
$STATE,9391,begin surface
$SM_CCo,9414,104.80,0.482,0,0,957,410.14
$SM_GC,1.60,0.00,0.00,104.80,0.000,0.000,0.482,426,1705,957,-12.31,0.11,410.14
$IRIDIUM_FIX,2047.91,-15750.49,021299,181859
$TT8_MAMPS,0.029146
$HUMID,54.48
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,420.5,54.1
$24V_AH,23.5,33.404
$10V_AH,10.2,27.917
$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,30.875,94.375,253.800,104.800,0.000,49.026,64.094,230.388,4.500,0.000,12.100,1055.444,6307.815,419.189,1655.091,615.624,0.000,1155.463,0.000,1641.200,0.000,30.685,0.000
$DEVICE_MAMPS,134.225,52.923,820.690,482.443,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,360.074,342.813,779.561,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,28665,535
$CAP_FILE_SIZE,107448,0
$CFSIZE,260165632,193318912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070910,213428,2058.399,-15748.354,14,4.1,33,9.8