version: 66.06
glider: 139
mission: 8
dive: 322
start: 8 31 110 8 19 18
data:
$ID,139
$MISSION,8
$DIVE,322
$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,-2157600
$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
$GPS1,081336,2103.388,-15759.761,41,1.0,46,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-71.2
$GPS2,081901,2103.344,-15759.775,10,1.2,15,9.8
$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,327.0,10052,-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,-64.43,0.000,2,0.000,0.000,425,1677,2781,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.8,-4.1,12,110,12.73,2.47,-1.58,0.000,4,0.142,0.038,2752,3119,2871,0,0,0,0,0,0
$GC,265,-1.56,-58.4,46.6,-16.2,38,270,0.00,2.40,0.00,0.000,6,0.000,0.035,2751,1696,2873,0,0,0,0,0,0
$GC,531,-1.50,-58.4,94.8,-16.3,59,536,0.10,2.35,0.00,0.000,4,0.121,0.022,2770,3119,2874,0,0,0,0,0,0
$GC,592,-1.59,-58.4,103.1,-12.2,63,597,0.00,2.40,0.00,0.000,6,0.000,0.031,2770,1686,2874,0,0,0,0,0,0
$GC,850,-1.59,-58.4,134.9,-11.6,84,854,0.00,2.38,0.00,0.000,4,0.000,0.045,2769,289,2875,0,0,0,0,0,0
$GC,893,-1.59,-58.4,140.7,-13.7,87,897,0.00,2.30,0.00,0.000,6,0.000,0.018,2770,1735,2875,0,0,0,0,0,0
$GC,1155,-1.63,-58.4,171.2,-12.4,107,1160,0.12,2.50,0.00,0.000,4,0.066,0.045,2731,296,2876,0,0,0,0,0,0
$GC,1222,-1.54,-58.4,181.3,-15.0,112,1227,0.15,2.25,0.00,0.000,6,0.100,0.018,2761,1715,2876,0,0,0,0,0,0
$GC,1497,-1.60,-58.4,208.7,-9.4,131,1498,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1720,2877,0,0,0,0,0,0
$GC,1803,-1.68,-58.4,236.8,-9.3,146,1808,0.12,2.47,0.00,0.000,4,0.064,0.047,2719,293,2876,0,0,0,0,0,0
$GC,1825,-1.68,-58.4,239.5,-12.0,147,1830,0.00,2.22,0.00,0.000,6,0.000,0.020,2719,1705,2877,0,0,0,0,0,0
$GC,2160,-1.68,-58.4,279.7,-10.8,163,2167,0.00,2.22,0.00,0.000,4,0.000,0.027,2719,3069,2876,0,0,0,0,0,0
$GC,2371,-1.75,-58.4,302.2,-9.1,171,2375,0.00,2.33,0.00,0.000,6,0.000,0.035,2719,1692,2876,0,0,0,0,0,0
$GC,2718,-1.75,-58.4,341.1,-11.9,180,2722,0.00,2.30,0.00,0.000,4,0.000,0.027,2719,3075,2875,0,0,0,0,0,0
$GC,2750,-1.82,-58.4,344.8,-10.2,180,2755,0.00,2.33,0.00,0.000,6,0.000,0.035,2719,1702,2875,0,0,0,0,0,0
$GC,3083,-1.85,-58.4,372.5,-7.7,188,3088,0.10,2.28,0.00,0.000,4,0.077,0.028,2689,3068,2874,0,0,0,0,0,0
$GC,3232,-1.85,-58.4,385.4,-9.5,191,3236,0.00,2.33,0.00,0.000,6,0.000,0.038,2688,1695,2873,0,0,0,0,0,0
$GC,3546,-1.82,-58.4,416.0,-10.0,199,3550,0.00,2.28,0.00,0.000,4,0.000,0.030,2688,3067,2870,0,0,0,0,0,0
$GC,3625,-1.86,-58.4,423.6,-9.9,200,3629,0.00,2.35,0.00,0.000,6,0.000,0.040,2688,1699,2870,0,0,0,0,0,0
$STATE,3912,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3912,begin apogee
$GC,3919,-0.31,0.0,453.3,10.4,207,3972,1.65,0.00,48.70,0.835,6,0.085,0.000,3030,1699,2630,0,0,0,0,0,0
$STATE,3973,end apogee,CONTROL_FINISHED_OK
$STATE,3973,begin climb
$GC,3975,1.56,58.4,454.8,0.0,208,4033,1.75,2.42,50.35,0.816,4,0.031,0.032,3445,3104,2390,0,0,0,0,0,0
$GC,4181,1.34,100.8,452.3,4.1,212,4226,0.28,2.38,37.53,0.811,6,0.109,0.038,3394,1734,2217,0,0,0,0,0,0
$GC,4567,1.17,100.8,415.7,10.0,222,4572,0.20,2.47,0.00,0.000,4,0.110,0.053,3356,329,2208,0,0,0,0,0,0
$GC,4579,0.99,100.8,414.4,10.3,222,4584,0.20,2.33,0.00,0.000,6,0.109,0.027,3319,1727,2206,0,0,0,0,0,0
$GC,4893,0.99,100.8,386.4,8.6,230,4897,0.00,2.45,0.00,0.000,4,0.000,0.054,3318,335,2204,0,0,0,0,0,0
$GC,4912,0.91,100.8,384.6,9.1,230,4916,0.00,2.33,0.00,0.000,6,0.000,0.027,3319,1739,2202,0,0,0,0,0,0
$GC,5258,0.95,133.7,363.0,4.9,239,5291,0.00,2.42,27.27,0.788,4,0.000,0.033,3319,3133,2085,0,0,0,0,0,0
$GC,5315,1.03,172.0,360.3,4.4,240,5356,0.00,2.42,35.67,0.782,6,0.000,0.038,3319,1741,1928,0,0,0,0,0,0
$GC,5670,1.03,172.0,325.6,11.5,249,5674,0.00,2.38,0.00,0.000,4,0.000,0.031,3319,3139,1921,0,0,0,0,0,0
$GC,5739,1.10,172.0,317.9,10.7,250,5744,0.00,2.42,0.00,0.000,6,0.000,0.040,3319,1741,1920,0,0,0,0,0,0
$GC,6067,1.14,172.0,286.0,9.5,262,6072,0.12,2.47,0.00,0.000,4,0.071,0.054,3353,327,1917,0,0,0,0,0,0
$GC,6129,1.00,172.0,278.0,13.6,264,6135,0.15,2.38,0.00,0.000,6,0.090,0.027,3320,1736,1915,0,0,0,0,0,0
$GC,6445,1.06,172.0,245.2,8.0,280,6446,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,1737,1914,0,0,0,0,0,0
$GC,6755,1.12,172.0,221.7,8.4,295,6760,0.10,2.45,0.00,0.000,4,0.080,0.051,3350,332,1912,0,0,0,0,0,0
$GC,6770,1.12,172.0,220.0,8.9,295,6775,0.00,2.33,0.00,0.000,6,0.000,0.025,3350,1743,1911,0,0,0,0,0,0
$GC,7098,1.12,172.0,185.5,11.1,315,7102,0.00,2.47,0.00,0.000,4,0.000,0.049,3350,323,1911,0,0,0,0,0,0
$GC,7252,1.04,172.0,167.6,10.2,326,7257,0.10,2.33,0.00,0.000,6,0.118,0.022,3330,1752,1909,0,0,0,0,0,0
$GC,7513,1.12,172.0,142.8,8.3,346,7517,0.00,2.47,0.00,0.000,4,0.000,0.047,3330,323,1909,0,0,0,0,0,0
$GC,7683,1.12,173.4,128.6,7.8,358,7689,0.00,2.33,0.00,0.000,6,0.000,0.021,3330,1751,1908,0,0,0,0,0,0
$GC,7945,1.28,209.4,115.7,4.7,379,7985,0.20,2.53,30.52,0.586,4,0.050,0.044,3386,324,1774,0,0,0,0,0,0
$GC,8145,1.21,209.4,97.8,10.4,393,8151,0.12,2.30,0.00,0.000,6,0.108,0.020,3363,1746,1770,0,0,0,0,0,0
$GC,8408,1.30,218.3,75.9,7.1,414,8423,0.00,2.47,8.60,0.482,4,0.000,0.044,3362,324,1738,0,0,0,0,0,0
$GC,8511,1.30,218.3,66.4,10.8,421,8516,0.00,2.28,0.00,0.000,6,0.000,0.019,3363,1747,1735,0,0,0,0,0,0
$GC,8774,1.39,226.6,45.4,7.1,441,8790,0.17,2.25,8.48,0.454,4,0.052,0.020,3414,3116,1705,0,0,0,0,0,0
$GC,8821,1.39,226.6,41.0,9.7,444,8825,0.00,2.33,0.00,0.000,6,0.000,0.029,3414,1721,1705,0,0,0,0,0,0
$GC,9084,1.36,226.6,12.7,10.6,488,9091,0.00,2.38,0.00,0.000,4,0.000,0.043,3414,342,1704,0,0,0,0,0,0
$GC,9103,1.29,226.6,10.5,10.8,491,9110,0.12,2.25,0.00,0.000,6,0.084,0.018,3385,1746,1704,0,0,0,0,0,0
$STATE,9161,end climb,SURFACE_DEPTH_REACHED
$STATE,9161,begin surface coast
$FINISH,0.9,1.002755
$STATE,9187,end surface coast,CONTROL_FINISHED_OK
$STATE,9187,begin surface
$SM_CCo,9210,105.18,0.483,0,0,957,410.14
$SM_GC,1.48,0.00,0.00,105.18,0.000,0.000,0.483,427,1682,957,-12.30,-0.51,410.14
$IRIDIUM_FIX,2052.52,-15756.91,251199,050534
$TT8_MAMPS,0.029146
$HUMID,53.30
$INTERNAL_PRESSURE,9.30354
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.5,27.990
$10V_AH,10.3,23.138
$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,31.175,104.250,247.125,105.175,0.000,27.600,35.049,141.371,4.500,0.000,15.954,1035.097,6085.302,416.017,1660.153,443.013,0.000,1162.739,0.000,1635.225,0.000,29.269,0.000
$DEVICE_MAMPS,141.895,102.778,835.263,483.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,342.250,319.880,720.002,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355724
$DATA_FILE_SIZE,28582,509
$CAP_FILE_SIZE,105374,0
$CFSIZE,260165632,196718592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310810,105526,2103.884,-15800.615,14,1.4,14,9.8