version: 66.06
glider: 139
mission: 8
dive: 391
start: 9 8 110 5 57 41
data:
$ID,139
$MISSION,8
$DIVE,391
$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,-2159168.5
$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
$GPS1,054710,2059.968,-15748.269,10,3.0,29,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-70.4
$GPS2,055724,2059.942,-15748.354,40,1.2,44,9.8
$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,31.0,14369,-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,-58.4,0.0,0.0,0,82,0.00,0.00,-64.00,0.000,2,0.000,0.000,426,1697,2740,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.4,-3.5,12,111,12.45,2.40,-2.45,0.000,4,0.133,0.037,2754,3109,2872,0,0,0,0,0,0
$GC,132,-0.90,-58.4,17.6,-29.8,20,139,0.65,2.42,0.00,0.000,6,0.078,0.035,2902,1704,2873,0,0,0,0,0,0
$GC,340,-1.18,-58.4,40.7,-9.5,52,345,0.25,2.42,0.00,0.000,4,0.040,0.048,2819,296,2874,0,0,0,0,0,0
$GC,387,-1.21,-58.4,47.4,-15.2,55,394,0.00,2.33,0.00,0.000,6,0.000,0.018,2819,1735,2874,0,0,0,0,0,0
$GC,647,-1.35,-58.4,82.3,-11.1,76,651,0.00,2.50,0.00,0.000,4,0.000,0.044,2819,289,2875,0,0,0,0,0,0
$GC,688,-1.44,-58.4,87.1,-11.6,79,693,0.15,2.22,0.00,0.000,6,0.055,0.018,2771,1713,2875,0,0,0,0,0,0
$GC,950,-1.53,-58.4,117.0,-9.4,99,954,0.00,2.20,0.00,0.000,4,0.000,0.022,2772,3073,2876,0,0,0,0,0,0
$GC,1069,-1.65,-58.4,129.4,-10.9,107,1075,0.15,2.30,0.00,0.000,6,0.055,0.031,2723,1689,2876,0,0,0,0,0,0
$GC,1331,-1.61,-58.4,160.6,-12.5,128,1336,0.12,2.30,0.00,0.000,4,0.105,0.023,2747,3074,2876,0,0,0,0,0,0
$GC,1384,-1.70,-58.4,167.2,-11.0,132,1388,0.00,2.33,0.00,0.000,6,0.000,0.031,2747,1690,2876,0,0,0,0,0,0
$GC,1651,-1.74,-58.4,197.4,-11.5,153,1653,0.12,0.00,0.00,0.000,6,0.064,0.000,2706,1690,2876,0,0,0,0,0,0
$GC,1899,-1.69,-58.4,232.8,-13.9,166,1904,0.12,2.30,0.00,0.000,4,0.106,0.024,2730,3071,2876,0,0,0,0,0,0
$GC,1921,-1.72,-58.4,235.5,-12.5,167,1925,0.00,2.30,0.00,0.000,6,0.000,0.034,2730,1697,2876,0,0,0,0,0,0
$GC,2256,-1.76,-58.4,275.0,-12.5,183,2260,0.00,2.25,0.00,0.000,4,0.000,0.025,2730,3068,2876,0,0,0,0,0,0
$GC,2322,-1.85,-58.4,283.1,-10.7,186,2327,0.15,2.30,0.00,0.000,6,0.057,0.035,2685,1696,2876,0,0,0,0,0,0
$GC,2674,-1.80,-58.4,324.9,-12.3,198,2679,0.12,2.30,0.00,0.000,4,0.107,0.027,2708,3065,2875,0,0,0,0,0,0
$GC,2749,-1.86,-58.4,333.0,-9.7,199,2753,0.00,2.30,0.00,0.000,6,0.000,0.037,2708,1701,2875,0,0,0,0,0,0
$GC,3085,-1.86,-58.4,369.7,-11.6,208,3089,0.00,2.30,0.00,0.000,4,0.000,0.029,2708,3072,2873,0,0,0,0,0,0
$GC,3150,-1.93,-58.4,377.7,-12.0,209,3155,0.12,2.35,0.00,0.000,6,0.068,0.038,2671,1699,2873,0,0,0,0,0,0
$GC,3505,-1.86,-58.4,422.6,-12.7,218,3510,0.12,2.33,0.00,0.000,4,0.107,0.031,2696,3069,2870,0,0,0,0,0,0
$STATE,3659,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3659,begin apogee
$GC,3668,-0.31,0.0,440.1,11.2,221,3721,1.58,0.00,49.00,0.811,6,0.081,0.000,3028,1698,2630,0,0,0,0,0,0
$STATE,3722,end apogee,CONTROL_FINISHED_OK
$STATE,3722,begin climb
$GC,3725,1.56,58.4,441.5,0.0,222,3783,1.77,2.53,50.22,0.798,4,0.029,0.053,3451,289,2390,0,0,0,0,0,0
$GC,3945,1.19,102.0,437.8,4.0,226,3992,0.47,2.30,38.15,0.795,6,0.103,0.025,3359,1694,2212,0,0,0,0,0,0
$GC,4317,1.09,102.0,407.4,8.4,236,4321,0.00,2.35,0.00,0.000,4,0.000,0.033,3359,3082,2205,0,0,0,0,0,0
$GC,4389,1.05,118.4,402.3,6.4,237,4410,0.15,2.40,14.30,0.743,6,0.120,0.039,3332,1698,2147,0,0,0,0,0,0
$GC,4740,1.03,127.7,378.0,7.1,246,4756,0.00,2.38,9.12,0.693,4,0.000,0.031,3332,3081,2108,0,0,0,0,0,0
$GC,4761,1.03,130.7,376.1,7.6,246,4771,0.00,2.40,4.40,0.526,6,0.000,0.039,3332,1695,2097,0,0,0,0,0,0
$GC,5107,1.04,142.9,350.1,6.8,255,5124,0.00,2.38,11.93,0.720,4,0.000,0.031,3332,3075,2046,0,0,0,0,0,0
$GC,5186,1.04,142.9,343.3,10.0,256,5190,0.00,2.40,0.00,0.000,6,0.000,0.038,3332,1693,2046,0,0,0,0,0,0
$GC,5517,1.04,142.9,310.3,9.3,264,5521,0.00,2.47,0.00,0.000,4,0.000,0.054,3331,290,2043,0,0,0,0,0,0
$GC,5531,0.99,142.9,309.1,7.9,264,5535,0.00,2.33,0.00,0.000,6,0.000,0.025,3332,1698,2040,0,0,0,0,0,0
$GC,5865,0.99,142.9,278.8,9.1,278,5869,0.00,2.50,0.00,0.000,4,0.000,0.054,3332,290,2040,0,0,0,0,0,0
$GC,5888,0.93,142.9,276.4,9.6,279,5893,0.15,2.33,0.00,0.000,6,0.112,0.026,3304,1705,2038,0,0,0,0,0,0
$GC,6218,1.00,142.9,250.6,8.2,295,6222,0.00,2.50,0.00,0.000,4,0.000,0.054,3304,294,2037,0,0,0,0,0,0
$GC,6487,1.00,142.9,229.7,8.3,306,6493,0.00,2.33,0.00,0.000,6,0.000,0.025,3304,1706,2034,0,0,0,0,0,0
$GC,6803,1.11,156.4,208.5,6.7,322,6820,0.17,2.50,11.30,0.630,4,0.056,0.050,3353,290,1992,0,0,0,0,0,0
$GC,6935,0.99,156.4,197.0,9.2,327,6941,0.17,2.28,0.00,0.000,6,0.103,0.023,3319,1706,1989,0,0,0,0,0,0
$GC,7196,1.06,164.7,180.0,7.2,348,7206,0.00,0.00,8.75,0.576,6,0.000,0.000,3319,1711,1958,0,0,0,0,0,0
$GC,7460,1.13,164.7,157.1,8.3,369,7465,0.12,2.50,0.00,0.000,4,0.067,0.047,3356,283,1955,0,0,0,0,0,0
$GC,7475,1.13,164.7,155.3,9.3,370,7479,0.00,2.28,0.00,0.000,6,0.000,0.021,3356,1708,1954,0,0,0,0,0,0
$GC,7734,1.13,164.7,128.8,9.7,390,7735,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,1714,1954,0,0,0,0,0,0
$GC,7987,1.13,171.6,108.7,7.3,410,7999,0.00,0.00,7.38,0.502,6,0.000,0.000,3357,1714,1930,0,0,0,0,0,0
$GC,8253,1.18,179.9,89.3,7.1,431,8267,0.00,2.47,9.10,0.506,4,0.000,0.045,3356,287,1895,0,0,0,0,0,0
$GC,8422,1.13,179.9,75.5,9.4,443,8426,0.00,2.25,0.00,0.000,6,0.000,0.020,3356,1711,1892,0,0,0,0,0,0
$GC,8689,1.26,216.7,60.1,4.6,464,8732,0.00,2.30,32.70,0.535,4,0.000,0.023,3357,3066,1745,0,0,0,0,0,0
$GC,8807,1.42,238.1,54.0,6.0,472,8833,0.22,2.30,19.40,0.512,6,0.045,0.031,3419,1693,1658,0,0,0,0,0,0
$GC,9084,1.36,238.1,24.9,10.7,500,9091,0.12,0.00,0.00,0.000,6,0.104,0.000,3394,1693,1655,0,0,0,0,0,0
$STATE,9253,end climb,SURFACE_DEPTH_REACHED
$STATE,9253,begin surface coast
$FINISH,1.2,1.023371
$STATE,9277,end surface coast,CONTROL_FINISHED_OK
$STATE,9277,begin surface
$SM_CCo,9301,93.95,0.486,0,0,957,410.14
$SM_GC,1.53,0.00,0.00,93.95,0.000,0.000,0.486,430,1690,957,-12.29,-0.28,410.14
$IRIDIUM_FIX,2050.21,-15749.62,031299,030306
$TT8_MAMPS,0.029146
$HUMID,55.27
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,21.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,440.1,7.7
$24V_AH,23.5,33.719
$10V_AH,10.3,28.213
$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,32.200,99.000,265.750,93.950,0.000,104.595,89.816,145.179,4.750,0.000,44.539,1085.318,6140.920,409.255,1772.799,599.483,0.000,1181.400,0.000,1719.526,0.000,33.830,0.000
$DEVICE_MAMPS,132.691,54.457,810.719,485.511,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,366.073,355.813,810.250,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,31823,544
$CAP_FILE_SIZE,109513,0
$CFSIZE,260165632,193110016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080910,083536,2100.755,-15747.763,42,1.2,42,9.8