version: 66.06
glider: 139
mission: 8
dive: 417
start: 9 11 110 5 23 25
data:
$ID,139
$MISSION,8
$DIVE,417
$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,80
$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,-2159698
$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,3050
$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
$GPS1,051604,2056.606,-15755.081,9,2.9,28,9.8
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,4
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-73.6
$GPS2,052307,2056.501,-15755.274,13,1.4,18,9.8
$SPEED_LIMITS,0.137,0.183
$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,41.3,27446,-20.5,-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,-1.38,-77.9,0.0,0.0,0,81,0.00,0.00,-64.18,0.000,2,0.000,0.000,426,1702,2719,0,0,0,0,0,0
$GC,86,-1.38,-77.9,3.0,-2.6,12,110,12.38,2.38,-4.50,0.000,4,0.131,0.037,2743,3105,2950,0,0,0,0,0,0
$GC,245,-1.31,-77.9,35.0,-16.4,43,251,0.00,2.40,0.00,0.000,6,0.000,0.033,2743,1700,2952,0,0,0,0,0,0
$GC,506,-1.13,-77.9,81.2,-18.1,64,511,0.28,2.35,0.00,0.000,4,0.091,0.020,2802,3116,2953,0,0,0,0,0,0
$GC,546,-1.17,-77.9,87.5,-13.8,67,550,0.00,2.38,0.00,0.000,6,0.000,0.031,2802,1695,2952,0,0,0,0,0,0
$GC,811,-1.17,-77.9,125.5,-13.1,88,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1695,2953,0,0,0,0,0,0
$GC,1063,-1.22,-77.9,154.2,-10.1,108,1067,0.00,2.38,0.00,0.000,4,0.000,0.045,2802,297,2954,0,0,0,0,0,0
$GC,1143,-1.22,-77.9,162.0,-9.4,114,1147,0.00,2.28,0.00,0.000,6,0.000,0.018,2802,1734,2955,0,0,0,0,0,0
$GC,1409,-1.29,-77.9,181.2,-8.3,135,1414,0.15,2.47,0.00,0.000,4,0.056,0.046,2754,297,2955,0,0,0,0,0,0
$GC,1430,-1.25,-77.9,183.9,-11.0,136,1438,0.08,2.28,0.00,0.000,6,0.081,0.019,2773,1713,2956,0,0,0,0,0,0
$GC,1699,-1.25,-77.9,213.4,-10.4,154,1700,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1717,2956,0,0,0,0,0,0
$GC,2010,-1.25,-77.9,245.1,-9.5,169,2014,0.00,2.45,0.00,0.000,4,0.000,0.048,2773,297,2956,0,0,0,0,0,0
$GC,2057,-1.22,-77.9,249.5,-9.5,171,2061,0.00,2.22,0.00,0.000,6,0.000,0.021,2773,1705,2956,0,0,0,0,0,0
$GC,2388,-1.22,-77.9,280.1,-9.9,187,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1711,2955,0,0,0,0,0,0
$GC,2715,-1.26,-77.9,314.9,-10.9,200,2719,0.00,2.25,0.00,0.000,4,0.000,0.026,2773,3077,2954,0,0,0,0,0,0
$GC,2734,-1.33,-77.9,317.0,-10.4,200,2738,0.00,2.33,0.00,0.000,6,0.000,0.035,2773,1693,2954,0,0,0,0,0,0
$GC,3084,-1.38,-77.9,347.9,-8.6,209,3088,0.12,2.30,0.00,0.000,4,0.066,0.028,2735,3070,2952,0,0,0,0,0,0
$GC,3127,-1.38,-77.9,351.9,-9.1,209,3132,0.00,2.33,0.00,0.000,6,0.000,0.036,2735,1701,2952,0,0,0,0,0,0
$GC,3460,-1.38,-77.9,382.3,-9.0,218,3464,0.00,2.42,0.00,0.000,4,0.000,0.053,2735,296,2951,0,0,0,0,0,0
$GC,3479,-1.32,-77.9,384.8,-11.5,218,3484,0.12,2.25,0.00,0.000,6,0.103,0.024,2760,1690,2950,0,0,0,0,0,0
$GC,3827,-1.36,-77.9,415.5,-9.0,227,3832,0.00,2.30,0.00,0.000,4,0.000,0.031,2760,3077,2949,0,0,0,0,0,0
$GC,3842,-1.42,-77.9,417.2,-8.5,227,3846,0.00,2.35,0.00,0.000,6,0.000,0.038,2760,1700,2949,0,0,0,0,0,0
$STATE,4112,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4112,begin apogee
$GC,4119,-0.31,0.0,443.9,10.3,234,4190,1.02,0.00,64.70,0.825,6,0.071,0.000,2979,1699,2629,0,0,0,0,0,0
$STATE,4191,end apogee,CONTROL_FINISHED_OK
$STATE,4191,begin climb
$GC,4193,1.38,77.9,447.1,0.0,236,4270,1.62,2.38,66.62,0.810,4,0.040,0.030,3352,3078,2311,0,0,0,0,0,0
$GC,4392,1.28,136.6,443.5,3.9,240,4449,0.00,2.38,51.80,0.803,6,0.000,0.038,3351,1699,2073,0,0,0,0,0,0
$GC,4777,1.11,136.6,409.3,9.3,249,4779,0.30,0.00,0.00,0.000,6,0.100,0.000,3293,1699,2064,0,0,0,0,0,0
$GC,5101,1.09,149.6,385.1,7.0,257,5117,0.00,2.42,10.80,0.716,4,0.000,0.033,3293,3077,2019,0,0,0,0,0,0
$GC,5208,1.09,149.6,375.6,9.5,259,5212,0.00,2.38,0.00,0.000,6,0.000,0.041,3293,1700,2018,0,0,0,0,0,0
$GC,5522,1.06,149.6,348.5,8.7,267,5527,0.00,2.50,0.00,0.000,4,0.000,0.058,3293,296,2015,0,0,0,0,0,0
$GC,5574,0.95,149.6,343.0,10.5,268,5579,0.17,2.30,0.00,0.000,6,0.106,0.027,3259,1697,2011,0,0,0,0,0,0
$GC,5894,1.00,149.6,316.0,8.5,276,5899,0.00,2.50,0.00,0.000,4,0.000,0.056,3259,292,2011,0,0,0,0,0,0
$GC,5987,1.00,149.6,306.5,10.3,278,5991,0.00,2.33,0.00,0.000,6,0.000,0.026,3259,1704,2009,0,0,0,0,0,0
$GC,6317,1.12,186.4,287.3,5.4,291,6361,0.15,2.55,32.30,0.745,4,0.062,0.053,3302,290,1867,0,0,0,0,0,0
$GC,6403,1.03,186.4,280.0,9.8,294,6410,0.10,2.38,0.00,0.000,6,0.082,0.026,3278,1702,1864,0,0,0,0,0,0
$GC,6720,1.07,191.4,256.8,7.6,310,6731,0.00,2.33,5.03,0.527,4,0.000,0.028,3278,3088,1848,0,0,0,0,0,0
$GC,6751,1.15,191.9,254.2,7.9,311,6755,0.00,2.42,0.00,0.000,6,0.000,0.038,3278,1693,1848,0,0,0,0,0,0
$GC,7074,1.21,200.4,229.2,7.3,327,7091,0.15,2.53,9.38,0.621,4,0.060,0.052,3321,294,1812,0,0,0,0,0,0
$GC,7176,1.07,200.4,216.5,14.3,331,7181,0.17,2.33,0.00,0.000,6,0.097,0.024,3287,1708,1809,0,0,0,0,0,0
$GC,7499,1.13,200.4,178.7,12.8,352,7500,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,1713,1809,0,0,0,0,0,0
$GC,7749,1.19,200.4,152.3,8.2,372,7754,0.10,2.50,0.00,0.000,4,0.076,0.051,3319,294,1808,0,0,0,0,0,0
$GC,7911,1.13,217.0,139.0,6.8,384,7934,0.12,2.28,15.25,0.594,6,0.104,0.022,3295,1718,1744,0,0,0,0,0,0
$GC,8194,1.22,217.0,119.2,9.0,406,8199,0.10,2.47,0.00,0.000,4,0.075,0.048,3329,294,1742,0,0,0,0,0,0
$GC,8315,1.13,217.0,105.8,11.0,415,8320,0.17,2.25,0.00,0.000,6,0.094,0.021,3294,1713,1740,0,0,0,0,0,0
$GC,8583,1.25,226.2,86.0,7.3,436,8594,0.12,0.00,9.12,0.501,6,0.064,0.000,3335,1718,1707,0,0,0,0,0,0
$GC,8847,1.28,226.2,63.4,8.6,457,8851,0.00,2.22,0.00,0.000,4,0.000,0.022,3336,3074,1706,0,0,0,0,0,0
$GC,9012,1.39,250.0,50.7,6.3,469,9039,0.00,2.33,21.83,0.516,6,0.000,0.031,3336,1691,1609,0,0,0,0,0,0
$GC,9296,1.42,250.0,26.3,9.9,496,9303,0.10,2.45,0.00,0.000,4,0.071,0.046,3372,297,1607,0,0,0,0,0,0
$GC,9328,1.35,250.0,22.3,12.3,502,9335,0.12,2.25,0.00,0.000,6,0.074,0.018,3342,1711,1606,0,0,0,0,0,0
$STATE,9508,end climb,SURFACE_DEPTH_REACHED
$STATE,9508,begin surface coast
$FINISH,1.0,1.023117
$STATE,9539,end surface coast,CONTROL_FINISHED_OK
$STATE,9539,begin surface
$SM_CCo,9562,89.28,0.484,0,0,958,410.14
$SM_GC,1.52,0.00,0.00,89.28,0.000,0.000,0.484,426,1713,958,-12.07,0.40,410.14
$IRIDIUM_FIX,2047.91,-15752.63,061299,020219
$TT8_MAMPS,0.029146
$HUMID,54.88
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,443.9,7.9
$24V_AH,23.5,35.976
$10V_AH,10.3,30.087
$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,30.150,94.550,286.825,89.275,0.000,30.058,37.920,225.996,5.250,0.000,18.440,1076.017,6369.695,422.337,1663.758,539.982,0.000,1156.779,0.000,1631.920,0.000,34.867,0.000
$DEVICE_MAMPS,131.157,58.292,825.292,483.977,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,370.454,355.343,797.510,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355832
$DATA_FILE_SIZE,31680,550
$CAP_FILE_SIZE,106077,0
$CFSIZE,260165632,191766528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110910,080537,2056.041,-15755.556,42,1.0,42,9.8