version: 66.06
glider: 139
mission: 8
dive: 482
start: 9 19 110 1 57 40
data:
$ID,139
$MISSION,8
$DIVE,482
$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,120
$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,-2161170.5
$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,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
$GPS1,015137,2108.755,-15759.469,30,1.5,30,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-73.1
$GPS2,015720,2108.765,-15759.543,15,1.4,15,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_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,91.0,29241,-16.6,-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,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.68,0.000,2,0.000,0.000,423,1702,2779,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.8,-4.4,12,110,12.62,2.35,-5.95,0.000,4,0.133,0.033,2783,3114,3108,0,0,0,0,0,0
$GC,149,-1.01,-116.8,20.1,-17.8,24,156,0.17,2.42,0.00,0.000,6,0.073,0.033,2826,1705,3110,0,0,0,0,0,0
$GC,359,-0.89,-116.8,50.6,-14.2,50,364,0.15,2.45,0.00,0.000,4,0.094,0.047,2857,295,3111,0,0,0,0,0,0
$GC,400,-0.77,-116.8,56.6,-14.7,53,405,0.12,2.30,0.00,0.000,6,0.099,0.018,2882,1736,3111,0,0,0,0,0,0
$GC,667,-0.83,-116.8,86.5,-10.6,74,671,0.00,2.50,0.00,0.000,4,0.000,0.045,2883,293,3112,0,0,0,0,0,0
$GC,762,-0.89,-116.8,95.8,-10.5,81,767,0.12,2.22,0.00,0.000,6,0.061,0.018,2837,1717,3112,0,0,0,0,0,0
$GC,1025,-0.89,-116.8,126.6,-9.4,102,1030,0.00,2.45,0.00,0.000,4,0.000,0.044,2837,294,3113,0,0,0,0,0,0
$GC,1045,-0.86,-116.8,128.3,-9.0,103,1052,0.12,2.20,0.00,0.000,6,0.093,0.018,2864,1708,3113,0,0,0,0,0,0
$GC,1306,-0.94,-116.8,149.6,-8.3,124,1310,0.00,2.42,0.00,0.000,4,0.000,0.045,2864,292,3113,0,0,0,0,0,0
$GC,1362,-1.00,-116.8,155.0,-9.4,128,1367,0.15,2.20,0.00,0.000,6,0.054,0.018,2812,1702,3114,0,0,0,0,0,0
$GC,1623,-0.97,-116.8,186.4,-12.4,148,1628,0.12,2.45,0.00,0.000,4,0.093,0.047,2840,293,3114,0,0,0,0,0,0
$GC,1656,-0.97,-116.8,191.1,-12.9,150,1662,0.00,2.22,0.00,0.000,6,0.000,0.019,2840,1689,3114,0,0,0,0,0,0
$GC,1924,-1.02,-116.8,218.3,-8.8,166,1928,0.00,2.38,0.00,0.000,4,0.000,0.046,2840,295,3113,0,0,0,0,0,0
$GC,1979,-1.02,-116.8,223.3,-9.3,168,1984,0.00,2.22,0.00,0.000,6,0.000,0.019,2840,1703,3114,0,0,0,0,0,0
$GC,2300,-1.07,-116.8,246.0,-7.0,183,2304,0.10,2.45,0.00,0.000,4,0.073,0.048,2801,295,3113,0,0,0,0,0,0
$GC,2334,-0.98,-116.8,249.5,-9.7,184,2339,0.15,2.20,0.00,0.000,6,0.088,0.020,2834,1697,3113,0,0,0,0,0,0
$GC,2654,-1.04,-116.8,271.8,-6.9,199,2658,0.00,2.42,0.00,0.000,4,0.000,0.048,2834,294,3113,0,0,0,0,0,0
$GC,2710,-1.08,-116.8,276.7,-7.7,201,2714,0.00,2.22,0.00,0.000,6,0.000,0.020,2834,1700,3112,0,0,0,0,0,0
$GC,3032,-1.15,-116.8,296.3,-5.9,217,3037,0.15,2.45,0.00,0.000,4,0.056,0.049,2783,286,3112,0,0,0,0,0,0
$GC,3080,-1.05,-116.8,300.2,-9.4,219,3085,0.17,2.25,0.00,0.000,6,0.085,0.021,2821,1691,3112,0,0,0,0,0,0
$GC,3411,-1.09,-116.8,329.9,-9.8,227,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1697,3112,0,0,0,0,0,0
$GC,3734,-1.15,-116.8,352.9,-6.5,235,3738,0.00,2.45,0.00,0.000,4,0.000,0.052,2821,290,3110,0,0,0,0,0,0
$GC,3869,-1.15,-116.8,363.2,-8.3,238,3874,0.00,2.28,0.00,0.000,6,0.000,0.023,2820,1707,3109,0,0,0,0,0,0
$GC,4197,-1.21,-116.8,385.7,-6.8,246,4202,0.15,2.47,0.00,0.000,4,0.058,0.054,2774,293,3107,0,0,0,0,0,0
$STATE,4306,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4306,begin apogee
$GC,4315,-0.31,0.0,399.2,12.6,248,4414,0.93,0.00,95.43,0.774,6,0.071,0.000,2976,1698,2630,0,0,0,0,0,0
$STATE,4414,end apogee,CONTROL_FINISHED_OK
$STATE,4414,begin climb
$GC,4417,1.18,116.8,402.3,0.0,250,4527,1.42,2.38,98.93,0.762,4,0.039,0.028,3307,3086,2152,0,0,0,0,0,0
$GC,4667,1.04,134.4,394.9,7.1,255,4688,0.15,2.40,15.40,0.701,6,0.104,0.038,3279,1690,2082,0,0,0,0,0,0
$GC,5011,0.92,134.4,368.9,8.5,264,5016,0.15,2.50,0.00,0.000,4,0.105,0.054,3249,290,2075,0,0,0,0,0,0
$GC,5152,0.81,144.2,356.6,7.4,267,5168,0.12,2.33,8.40,0.638,6,0.112,0.025,3226,1708,2040,0,0,0,0,0,0
$GC,5480,0.90,221.3,339.6,4.4,275,5550,0.00,0.00,68.97,0.748,6,0.000,0.000,3226,1712,1726,0,0,0,0,0,0
$GC,5843,0.95,221.3,311.4,8.5,284,5848,0.15,2.53,0.00,0.000,4,0.061,0.056,3268,295,1718,0,0,0,0,0,0
$GC,6050,0.84,221.3,292.1,10.2,290,6055,0.17,2.30,0.00,0.000,6,0.099,0.025,3234,1703,1713,0,0,0,0,0,0
$GC,6384,0.97,281.7,273.7,5.2,306,6442,0.12,2.53,50.75,0.708,4,0.068,0.053,3273,298,1480,0,0,0,0,0,0
$GC,6509,0.87,281.7,261.4,10.7,311,6514,0.17,2.30,0.00,0.000,6,0.097,0.025,3239,1701,1474,0,0,0,0,0,0
$GC,6825,0.92,281.7,232.5,8.4,326,6829,0.00,2.47,0.00,0.000,4,0.000,0.053,3238,296,1472,0,0,0,0,0,0
$GC,6941,0.89,281.7,221.4,10.9,331,6946,0.00,2.30,0.00,0.000,6,0.000,0.023,3238,1709,1469,0,0,0,0,0,0
$GC,7260,0.94,281.7,194.0,9.1,348,7264,0.00,2.50,0.00,0.000,4,0.000,0.051,3239,291,1468,0,0,0,0,0,0
$GC,7391,0.94,281.7,180.9,10.7,357,7397,0.00,2.30,0.00,0.000,6,0.000,0.021,3238,1708,1467,0,0,0,0,0,0
$GC,7650,1.01,281.7,156.0,10.3,378,7655,0.15,2.47,0.00,0.000,4,0.058,0.050,3285,291,1466,0,0,0,0,0,0
$GC,7793,0.90,281.7,137.5,12.0,388,7800,0.17,2.30,0.00,0.000,6,0.073,0.021,3245,1706,1466,0,0,0,0,0,0
$GC,8055,1.00,298.1,117.5,7.2,409,8076,0.10,2.47,13.32,0.537,4,0.074,0.047,3281,294,1413,0,0,0,0,0,0
$GC,8249,0.96,298.1,99.1,9.1,423,8253,0.10,2.25,0.00,0.000,6,0.106,0.020,3260,1714,1409,0,0,0,0,0,0
$GC,8517,1.10,313.3,79.3,7.2,444,8537,0.12,2.47,13.77,0.507,4,0.064,0.046,3301,294,1351,0,0,0,0,0,0
$GC,8666,1.04,313.3,62.6,12.3,455,8670,0.12,2.22,0.00,0.000,6,0.094,0.020,3276,1702,1348,0,0,0,0,0,0
$GC,8935,1.12,313.3,38.6,9.0,476,8939,0.00,2.45,0.00,0.000,4,0.000,0.048,3276,294,1348,0,0,0,0,0,0
$GC,9020,1.12,313.3,28.6,11.7,483,9027,0.00,2.25,0.00,0.000,6,0.000,0.019,3276,1700,1348,0,0,0,0,0,0
$GC,9223,1.21,332.5,12.4,7.0,529,9247,0.17,2.47,17.30,0.462,4,0.050,0.044,3332,290,1272,0,0,0,0,0,0
$STATE,9302,end climb,SURFACE_DEPTH_REACHED
$STATE,9302,begin surface coast
$FINISH,1.0,1.023302
$STATE,9324,end surface coast,CONTROL_FINISHED_OK
$STATE,9325,begin surface
$SM_CCo,9349,45.00,0.471,0,0,958,410.14
$SM_GC,1.56,0.00,0.00,45.00,0.000,0.000,0.471,425,1706,958,-12.07,0.17,410.14
$IRIDIUM_FIX,2101.76,-15800.33,131299,222252
$TT8_MAMPS,0.028379
$HUMID,56.45
$INTERNAL_PRESSURE,9.3133
$TCM_TEMP,22.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,360.1,69.1
$24V_AH,23.5,42.098
$10V_AH,10.2,35.064
$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,31.050,108.800,382.275,45.000,0.000,23.372,28.052,159.439,3.750,0.000,15.650,1125.809,5803.002,469.324,1848.590,488.158,0.000,1291.580,0.000,1822.294,0.000,26.020,0.000
$DEVICE_MAMPS,132.691,55.991,773.903,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,369.347,365.303,822.825,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,31861,550
$CAP_FILE_SIZE,113882,0
$CFSIZE,260165632,188112896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190910,043556,2108.911,-15758.535,43,2.1,62,9.8