version: 66.06
glider: 139
mission: 8
dive: 320
start: 8 31 110 2 54 12
data:
$ID,139
$MISSION,8
$DIVE,320
$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,-2157535.2
$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
$GPS1,024306,2102.222,-15757.228,39,1.1,39,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-71.4
$GPS2,025356,2102.089,-15757.280,14,1.3,14,9.8
$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,314.7,14216,-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,-64.70,0.000,2,0.000,0.000,425,1679,2762,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.2,-2.9,12,110,12.45,2.42,-2.05,0.000,4,0.133,0.038,2752,3108,2871,0,0,0,0,0,0
$GC,313,-1.56,-58.4,48.8,-16.9,45,319,0.00,2.40,0.00,0.000,6,0.000,0.033,2751,1702,2873,0,0,0,0,0,0
$GC,571,-1.56,-58.4,93.3,-15.7,66,575,0.00,2.33,0.00,0.000,4,0.000,0.021,2752,3113,2873,0,0,0,0,0,0
$GC,586,-1.56,-58.4,95.3,-13.6,67,590,0.00,2.38,0.00,0.000,6,0.000,0.030,2751,1693,2873,0,0,0,0,0,0
$GC,847,-1.56,-58.4,129.2,-11.4,87,851,0.00,2.40,0.00,0.000,4,0.000,0.046,2751,297,2875,0,0,0,0,0,0
$GC,917,-1.52,-58.4,137.7,-12.6,92,921,0.00,2.28,0.00,0.000,6,0.000,0.018,2752,1740,2875,0,0,0,0,0,0
$GC,1183,-1.56,-58.4,172.0,-12.4,113,1187,0.00,2.47,0.00,0.000,4,0.000,0.044,2751,299,2875,0,0,0,0,0,0
$GC,1202,-1.56,-58.4,175.1,-13.2,114,1208,0.00,2.25,0.00,0.000,6,0.000,0.018,2751,1713,2876,0,0,0,0,0,0
$GC,1463,-1.61,-58.4,208.2,-11.9,133,1467,0.00,2.20,0.00,0.000,4,0.000,0.023,2752,3071,2876,0,0,0,0,0,0
$GC,1653,-1.73,-58.4,232.3,-12.1,141,1658,0.12,2.28,0.00,0.000,6,0.065,0.032,2712,1702,2875,0,0,0,0,0,0
$GC,1976,-1.73,-58.4,272.8,-12.6,157,1980,0.00,2.28,0.00,0.000,4,0.000,0.025,2712,3064,2876,0,0,0,0,0,0
$GC,2081,-1.78,-58.4,285.1,-11.9,161,2085,0.00,2.30,0.00,0.000,6,0.000,0.034,2712,1700,2875,0,0,0,0,0,0
$GC,2414,-1.78,-58.4,329.8,-13.4,172,2415,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1700,2875,0,0,0,0,0,0
$GC,2740,-1.78,-58.4,367.4,-11.0,180,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1699,2874,0,0,0,0,0,0
$GC,3064,-1.78,-58.4,401.5,-9.9,188,3068,0.00,2.25,0.00,0.000,4,0.000,0.029,2712,3059,2871,0,0,0,0,0,0
$GC,3107,-1.86,-58.4,405.8,-10.1,189,3112,0.00,2.30,0.00,0.000,6,0.000,0.038,2712,1702,2871,0,0,0,0,0,0
$GC,3438,-1.89,-58.4,440.8,-10.7,197,3443,0.10,2.28,0.00,0.000,4,0.081,0.031,2682,3056,2868,0,0,0,0,0,0
$STATE,3520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3520,begin apogee
$GC,3528,-0.31,0.0,450.2,10.7,198,3581,1.65,0.00,48.78,0.825,6,0.086,0.000,3037,1741,2630,0,0,0,0,0,0
$STATE,3582,end apogee,CONTROL_FINISHED_OK
$STATE,3582,begin climb
$GC,3586,1.56,58.4,451.4,0.0,200,3641,1.73,0.00,50.40,0.808,6,0.029,0.000,3451,1741,2391,0,0,0,0,0,0
$GC,3955,1.32,112.1,443.6,3.1,209,4009,0.30,2.40,46.47,0.818,4,0.107,0.033,3390,3095,2174,0,0,0,0,0,0
$GC,4024,1.17,116.8,439.7,7.5,210,4036,0.17,2.38,6.12,0.621,6,0.111,0.038,3358,1740,2152,0,0,0,0,0,0
$GC,4368,1.07,116.8,406.0,9.3,219,4370,0.12,0.00,0.00,0.000,6,0.117,0.000,3335,1740,2144,0,0,0,0,0,0
$GC,4695,1.04,121.6,380.5,7.5,227,4699,0.00,2.35,0.00,0.000,4,0.000,0.032,3335,3100,2141,0,0,0,0,0,0
$GC,4822,1.05,125.9,370.2,7.5,229,4834,0.00,2.35,7.25,0.665,6,0.000,0.040,3336,1741,2116,0,0,0,0,0,0
$GC,5163,1.06,132.5,345.9,7.3,238,5175,0.00,2.50,7.00,0.650,4,0.000,0.054,3335,333,2089,0,0,0,0,0,0
$GC,5252,0.94,133.3,339.5,7.8,239,5258,0.15,2.28,0.00,0.000,6,0.117,0.027,3307,1716,2086,0,0,0,0,0,0
$GC,5584,1.01,158.7,322.1,5.6,248,5616,0.00,2.50,24.33,0.762,4,0.000,0.053,3307,329,1982,0,0,0,0,0,0
$GC,5709,0.97,158.7,310.8,10.4,250,5714,0.00,2.35,0.00,0.000,6,0.000,0.026,3307,1735,1977,0,0,0,0,0,0
$GC,6024,1.02,158.7,282.1,8.4,262,6028,0.00,2.47,0.00,0.000,4,0.000,0.052,3307,334,1976,0,0,0,0,0,0
$GC,6075,1.02,158.7,277.0,9.1,264,6079,0.00,2.35,0.00,0.000,6,0.000,0.026,3307,1741,1974,0,0,0,0,0,0
$GC,6396,1.13,184.9,255.8,5.5,280,6426,0.17,2.42,23.20,0.713,4,0.058,0.029,3355,3129,1875,0,0,0,0,0,0
$GC,6442,1.13,184.9,252.2,8.4,282,6446,0.00,2.42,0.00,0.000,6,0.000,0.036,3355,1735,1875,0,0,0,0,0,0
$GC,6771,1.13,184.9,216.1,11.2,298,6775,0.00,2.42,0.00,0.000,4,0.000,0.049,3355,332,1871,0,0,0,0,0,0
$GC,6787,1.07,184.9,214.2,12.2,298,6793,0.08,2.35,0.00,0.000,6,0.095,0.024,3338,1743,1870,0,0,0,0,0,0
$GC,7116,1.10,184.9,182.3,9.8,320,7120,0.00,2.45,0.00,0.000,4,0.000,0.049,3337,329,1869,0,0,0,0,0,0
$GC,7148,1.04,184.9,178.5,11.4,322,7155,0.00,2.33,0.00,0.000,6,0.000,0.023,3337,1739,1868,0,0,0,0,0,0
$GC,7410,1.09,187.2,154.3,7.7,343,7414,0.00,2.42,0.00,0.000,4,0.000,0.048,3336,333,1868,0,0,0,0,0,0
$GC,7512,1.05,187.2,144.5,10.4,350,7518,0.00,2.30,0.00,0.000,6,0.000,0.021,3336,1741,1867,0,0,0,0,0,0
$GC,7772,1.13,195.0,122.4,7.2,371,7786,0.00,2.45,9.15,0.535,4,0.000,0.045,3337,331,1834,0,0,0,0,0,0
$GC,7840,1.14,200.4,117.4,7.4,375,7852,0.00,2.30,6.38,0.484,6,0.000,0.021,3337,1750,1811,0,0,0,0,0,0
$GC,8114,1.22,200.4,96.0,8.7,397,8119,0.12,2.45,0.00,0.000,4,0.066,0.045,3375,332,1811,0,0,0,0,0,0
$GC,8312,1.14,200.4,72.1,12.9,411,8319,0.10,2.30,0.00,0.000,6,0.081,0.020,3351,1743,1809,0,0,0,0,0,0
$GC,8574,1.29,241.0,56.5,4.2,432,8617,0.12,2.33,35.78,0.536,4,0.065,0.021,3390,3126,1646,0,0,0,0,0,0
$GC,8730,1.37,241.0,43.9,9.8,443,8734,0.00,2.35,0.00,0.000,6,0.000,0.027,3390,1726,1646,0,0,0,0,0,0
$GC,8994,1.37,241.0,16.2,10.4,483,9000,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,1725,1644,0,0,0,0,0,0
$STATE,9122,end climb,SURFACE_DEPTH_REACHED
$STATE,9124,begin surface coast
$FINISH,0.9,1.023262
$STATE,9160,end surface coast,CONTROL_FINISHED_OK
$STATE,9160,begin surface
$SM_CCo,9183,94.32,0.488,0,0,957,410.14
$SM_GC,1.44,0.00,0.00,94.32,0.000,0.000,0.488,431,1717,957,-12.28,0.48,410.14
$IRIDIUM_FIX,2052.52,-15802.06,251199,020251
$TT8_MAMPS,0.029146
$HUMID,54.41
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,27.833
$10V_AH,10.3,22.997
$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,30.100,94.325,264.850,94.325,0.000,92.905,96.716,203.002,4.500,0.000,17.508,1026.342,6192.413,410.604,1644.776,650.380,0.000,1143.261,0.000,1622.424,0.000,29.253,0.000
$DEVICE_MAMPS,132.691,54.457,825.292,487.812,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,350.238,328.241,762.518,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,28677,521
$CAP_FILE_SIZE,104806,0
$CFSIZE,260165632,196812800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310810,052958,2102.730,-15758.744,10,6.8,29,9.8