version: 66.06
glider: 139
mission: 8
dive: 319
start: 8 31 110 0 13 19
data:
$ID,139
$MISSION,8
$DIVE,319
$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,-2157517
$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
$GPS1,000754,2101.978,-15755.952,41,1.5,41,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-71.4
$GPS2,001302,2101.883,-15755.999,14,1.5,14,9.8
$SPEED_LIMITS,0.137,0.159
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$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,308.9,15890,-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,-64.47,0.000,2,0.000,0.000,425,1727,2766,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.6,-3.9,12,110,12.50,2.38,-1.90,0.000,4,0.134,0.037,2754,3122,2872,0,0,0,0,0,0
$GC,280,-1.56,-58.4,43.3,-15.4,42,285,0.00,2.40,0.00,0.000,6,0.000,0.031,2754,1696,2874,0,0,0,0,0,0
$GC,545,-1.48,-58.4,90.7,-18.6,63,550,0.12,2.35,0.00,0.000,4,0.111,0.021,2777,3114,2875,0,0,0,0,0,0
$GC,580,-1.55,-58.4,96.3,-13.8,65,585,0.00,2.38,0.00,0.000,6,0.000,0.031,2777,1698,2875,0,0,0,0,0,0
$GC,840,-1.59,-58.4,129.5,-15.2,86,845,0.12,2.42,0.00,0.000,4,0.065,0.044,2738,293,2876,0,0,0,0,0,0
$GC,898,-1.49,-58.4,140.1,-20.7,90,903,0.17,2.30,0.00,0.000,6,0.097,0.018,2773,1737,2877,0,0,0,0,0,0
$GC,1160,-1.56,-58.4,166.8,-8.3,110,1164,0.00,2.45,0.00,0.000,4,0.000,0.044,2773,297,2877,0,0,0,0,0,0
$GC,1190,-1.56,-58.4,169.8,-9.9,112,1194,0.00,2.22,0.00,0.000,6,0.000,0.018,2773,1711,2877,0,0,0,0,0,0
$GC,1450,-1.64,-58.4,196.9,-10.2,132,1455,0.12,2.22,0.00,0.000,4,0.064,0.024,2733,3071,2878,0,0,0,0,0,0
$GC,1617,-1.71,-58.4,212.4,-8.6,140,1622,0.00,2.30,0.00,0.000,6,0.000,0.031,2733,1699,2878,0,0,0,0,0,0
$GC,1945,-1.74,-58.4,243.5,-10.3,156,1949,0.00,2.22,0.00,0.000,4,0.000,0.023,2733,3070,2878,0,0,0,0,0,0
$GC,2025,-1.85,-58.4,251.4,-9.6,159,2030,0.17,2.33,0.00,0.000,6,0.053,0.034,2683,1695,2878,0,0,0,0,0,0
$GC,2343,-1.81,-58.4,290.7,-14.2,174,2348,0.12,2.42,0.00,0.000,4,0.107,0.047,2707,293,2879,0,0,0,0,0,0
$GC,2369,-1.75,-58.4,295.0,-15.0,175,2373,0.00,2.22,0.00,0.000,6,0.000,0.021,2707,1691,2879,0,0,0,0,0,0
$GC,2689,-1.75,-58.4,335.4,-12.1,184,2693,0.00,2.42,0.00,0.000,4,0.000,0.049,2706,299,2878,0,0,0,0,0,0
$GC,2703,-1.71,-58.4,337.3,-11.8,184,2707,0.00,2.28,0.00,0.000,6,0.000,0.023,2707,1710,2878,0,0,0,0,0,0
$GC,3054,-1.71,-58.4,377.2,-11.2,193,3058,0.10,2.28,0.00,0.000,4,0.119,0.030,2726,3076,2876,0,0,0,0,0,0
$GC,3158,-1.82,-58.4,388.1,-10.1,195,3162,0.00,2.35,0.00,0.000,6,0.000,0.039,2726,1699,2876,0,0,0,0,0,0
$GC,3480,-1.87,-58.4,413.4,-7.7,203,3481,0.15,0.00,0.00,0.000,6,0.061,0.000,2684,1699,2873,0,0,0,0,0,0
$STATE,3636,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3636,begin apogee
$GC,3642,-0.31,0.0,433.9,12.7,207,3696,1.67,0.00,49.33,0.818,6,0.086,0.000,3032,1699,2630,0,0,0,0,0,0
$STATE,3696,end apogee,CONTROL_FINISHED_OK
$STATE,3696,begin climb
$GC,3700,1.56,58.4,435.3,0.0,208,3758,1.75,2.45,49.78,0.799,4,0.029,0.052,3449,326,2390,0,0,0,0,0,0
$GC,3914,1.23,134.1,434.2,1.1,212,3990,0.43,2.33,66.22,0.807,6,0.107,0.025,3368,1725,2082,0,0,0,0,0,0
$GC,4335,1.12,134.1,394.5,10.7,223,4340,0.12,2.38,0.00,0.000,4,0.118,0.033,3346,3132,2072,0,0,0,0,0,0
$GC,4356,1.04,134.1,392.3,10.3,223,4361,0.00,2.45,0.00,0.000,6,0.000,0.041,3346,1734,2072,0,0,0,0,0,0
$GC,4702,0.98,134.1,359.9,9.0,232,4707,0.15,2.38,0.00,0.000,4,0.114,0.032,3317,3125,2069,0,0,0,0,0,0
$GC,4769,1.02,134.1,353.8,9.3,233,4773,0.00,2.40,0.00,0.000,6,0.000,0.040,3317,1739,2068,0,0,0,0,0,0
$GC,5114,1.02,134.1,319.7,10.2,242,5118,0.00,2.47,0.00,0.000,4,0.000,0.055,3317,324,2065,0,0,0,0,0,0
$GC,5216,0.93,134.1,308.3,9.8,244,5220,0.00,2.35,0.00,0.000,6,0.000,0.028,3317,1737,2062,0,0,0,0,0,0
$GC,5535,0.97,163.7,286.5,5.2,257,5564,0.00,2.40,23.73,0.744,4,0.000,0.034,3316,3129,1962,0,0,0,0,0,0
$GC,5577,1.02,173.9,283.7,7.0,259,5594,0.00,2.45,10.77,0.673,6,0.000,0.039,3317,1730,1920,0,0,0,0,0,0
$GC,5914,1.06,173.9,250.8,9.3,275,5918,0.00,2.45,0.00,0.000,4,0.000,0.054,3317,330,1915,0,0,0,0,0,0
$GC,6036,1.02,173.9,237.5,12.1,280,6040,0.00,2.35,0.00,0.000,6,0.000,0.026,3317,1739,1912,0,0,0,0,0,0
$GC,6357,1.08,173.9,211.4,8.2,296,6361,0.00,2.45,0.00,0.000,4,0.000,0.051,3317,334,1911,0,0,0,0,0,0
$GC,6366,1.12,173.9,210.3,8.6,296,6371,0.12,2.35,0.00,0.000,6,0.071,0.025,3352,1749,1910,0,0,0,0,0,0
$GC,6699,1.12,173.9,181.6,8.4,319,6703,0.00,2.33,0.00,0.000,4,0.000,0.028,3353,3142,1910,0,0,0,0,0,0
$GC,6731,1.16,173.9,178.2,9.4,321,6738,0.00,2.38,0.00,0.000,6,0.000,0.035,3352,1742,1910,0,0,0,0,0,0
$GC,6991,1.16,173.9,156.1,8.0,342,6995,0.00,2.42,0.00,0.000,4,0.000,0.048,3352,330,1910,0,0,0,0,0,0
$GC,7069,1.07,173.9,149.4,8.0,348,7074,0.00,2.33,0.00,0.000,6,0.000,0.022,3353,1752,1908,0,0,0,0,0,0
$GC,7333,1.07,173.9,128.5,8.7,369,7338,0.00,2.45,0.00,0.000,4,0.000,0.046,3352,324,1908,0,0,0,0,0,0
$GC,7400,1.01,173.9,122.6,8.3,374,7405,0.17,2.28,0.00,0.000,6,0.101,0.021,3318,1746,1907,0,0,0,0,0,0
$GC,7668,1.18,215.1,106.9,4.2,395,7710,0.17,2.58,34.88,0.584,4,0.054,0.045,3369,326,1752,0,0,0,0,0,0
$GC,7945,1.18,215.1,74.8,10.4,415,7949,0.00,2.30,0.00,0.000,6,0.000,0.020,3369,1748,1746,0,0,0,0,0,0
$GC,8210,1.24,215.1,49.4,9.6,436,8214,0.00,2.22,0.00,0.000,4,0.000,0.022,3369,3115,1745,0,0,0,0,0,0
$GC,8277,1.35,217.8,44.1,7.6,441,8282,0.12,2.33,0.00,0.000,6,0.064,0.029,3409,1732,1745,0,0,0,0,0,0
$GC,8541,1.35,217.8,22.4,8.3,475,8547,0.00,2.30,0.00,0.000,4,0.000,0.024,3409,3109,1745,0,0,0,0,0,0
$GC,8556,1.35,217.8,21.2,8.3,477,8563,0.00,2.30,0.00,0.000,6,0.000,0.026,3408,1744,1745,0,0,0,0,0,0
$STATE,8739,end climb,SURFACE_DEPTH_REACHED
$STATE,8739,begin surface coast
$FINISH,0.8,1.010836
$STATE,8770,end surface coast,CONTROL_FINISHED_OK
$STATE,8770,begin surface
$SM_CCo,8793,115.78,0.487,0,0,958,410.14
$SM_GC,1.56,0.00,0.00,115.78,0.000,0.000,0.487,426,1679,958,-12.31,-0.59,410.14
$IRIDIUM_FIX,2052.52,-15756.91,241199,212119
$TT8_MAMPS,0.028379
$HUMID,54.25
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,400.8,59.5
$24V_AH,23.5,27.744
$10V_AH,10.3,22.923
$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,31.150,103.850,234.700,115.775,0.000,30.504,29.309,126.758,4.250,0.000,15.078,1057.149,5647.514,406.761,1674.202,431.354,0.000,1137.737,0.000,1648.008,0.000,29.129,0.000
$DEVICE_MAMPS,134.225,145.730,817.622,487.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,354.488,341.849,785.272,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,28643,526
$CAP_FILE_SIZE,103444,0
$CFSIZE,260165632,196866048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310810,024306,2102.222,-15757.228,39,1.1,39,9.8