version: 66.06
glider: 139
mission: 8
dive: 323
start: 8 31 110 11 0 54
data:
$ID,139
$MISSION,8
$DIVE,323
$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,-2157619.5
$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,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
$GPS1,105526,2103.884,-15800.615,14,1.4,14,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-73.2
$GPS2,110037,2103.836,-15800.620,13,1.8,18,9.8
$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,333.5,8696,-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,-64.55,0.000,2,0.000,0.000,426,1683,2766,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.6,-3.9,12,110,12.50,2.45,-1.90,0.000,4,0.134,0.035,2752,3122,2872,0,0,0,0,0,0
$GC,273,-1.56,-58.4,45.2,-17.0,41,280,0.00,2.45,0.00,0.000,6,0.000,0.035,2752,1696,2874,0,0,0,0,0,0
$GC,532,-1.50,-58.4,96.8,-17.1,62,537,0.10,2.35,0.00,0.000,4,0.120,0.021,2770,3119,2874,0,0,0,0,0,0
$GC,593,-1.55,-58.4,106.0,-13.1,66,600,0.00,2.40,0.00,0.000,6,0.000,0.031,2770,1703,2874,0,0,0,0,0,0
$GC,854,-1.59,-58.4,137.1,-11.4,87,858,0.00,2.42,0.00,0.000,4,0.000,0.044,2770,291,2876,0,0,0,0,0,0
$GC,908,-1.59,-58.4,143.0,-11.2,91,912,0.00,2.30,0.00,0.000,6,0.000,0.018,2770,1743,2876,0,0,0,0,0,0
$GC,1173,-1.67,-58.4,171.5,-11.2,112,1178,0.15,2.50,0.00,0.000,4,0.058,0.044,2723,297,2877,0,0,0,0,0,0
$GC,1189,-1.67,-58.4,173.7,-11.7,113,1193,0.00,2.22,0.00,0.000,6,0.000,0.018,2724,1719,2877,0,0,0,0,0,0
$GC,1460,-1.67,-58.4,209.8,-14.7,132,1465,0.00,2.42,0.00,0.000,4,0.000,0.045,2724,297,2877,0,0,0,0,0,0
$GC,1482,-1.61,-58.4,213.0,-14.6,133,1486,0.12,2.20,0.00,0.000,6,0.107,0.019,2748,1704,2877,0,0,0,0,0,0
$GC,1818,-1.67,-58.4,241.6,-8.9,149,1822,0.00,2.22,0.00,0.000,4,0.000,0.024,2748,3066,2878,0,0,0,0,0,0
$GC,2010,-1.80,-58.4,260.4,-10.4,157,2015,0.17,2.30,0.00,0.000,6,0.053,0.032,2696,1699,2877,0,0,0,0,0,0
$GC,2352,-1.80,-58.4,305.5,-13.2,173,2356,0.00,2.25,0.00,0.000,4,0.000,0.025,2695,3068,2878,0,0,0,0,0,0
$GC,2473,-1.83,-58.4,320.3,-12.8,175,2477,0.00,2.33,0.00,0.000,6,0.000,0.035,2695,1695,2877,0,0,0,0,0,0
$GC,2813,-1.83,-58.4,358.3,-10.4,184,2817,0.00,2.28,0.00,0.000,4,0.000,0.028,2695,3071,2875,0,0,0,0,0,0
$GC,3054,-1.87,-58.4,385.7,-11.9,189,3058,0.00,2.35,0.00,0.000,6,0.000,0.038,2695,1695,2875,0,0,0,0,0,0
$GC,3368,-1.87,-58.4,419.9,-10.7,197,3373,0.00,2.28,0.00,0.000,4,0.000,0.030,2695,3062,2872,0,0,0,0,0,0
$GC,3393,-1.91,-58.4,422.7,-11.0,197,3397,0.00,2.33,0.00,0.000,6,0.000,0.040,2695,1701,2872,0,0,0,0,0,0
$STATE,3694,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3694,begin apogee
$GC,3700,-0.31,0.0,451.6,9.4,205,3753,1.60,0.00,49.15,0.831,6,0.082,0.000,3029,1701,2630,0,0,0,0,0,0
$STATE,3754,end apogee,CONTROL_FINISHED_OK
$STATE,3754,begin climb
$GC,3758,1.56,58.4,452.1,0.0,206,3816,1.77,0.00,50.78,0.814,6,0.028,0.000,3451,1700,2390,0,0,0,0,0,0
$GC,4142,1.32,121.3,442.2,2.2,216,4203,0.30,2.47,54.45,0.825,4,0.107,0.032,3390,3096,2135,0,0,0,0,0,0
$GC,4249,1.20,131.6,438.3,7.0,218,4266,0.15,2.35,10.77,0.724,6,0.115,0.041,3364,1744,2092,0,0,0,0,0,0
$GC,4604,1.10,131.6,407.0,9.0,227,4609,0.12,2.50,0.00,0.000,4,0.116,0.055,3341,324,2085,0,0,0,0,0,0
$GC,4620,0.97,131.6,405.3,9.5,227,4625,0.15,2.30,0.00,0.000,6,0.114,0.028,3313,1717,2083,0,0,0,0,0,0
$GC,4970,0.97,131.6,376.6,8.0,236,4975,0.00,2.45,0.00,0.000,4,0.000,0.055,3313,327,2080,0,0,0,0,0,0
$GC,4994,0.90,131.6,374.4,8.7,236,4999,0.00,2.35,0.00,0.000,6,0.000,0.028,3313,1734,2078,0,0,0,0,0,0
$GC,5336,0.91,144.9,350.7,6.7,245,5352,0.00,2.55,10.25,0.722,4,0.000,0.054,3313,336,2038,0,0,0,0,0,0
$GC,5371,0.84,144.9,347.8,8.1,245,5377,0.15,2.35,0.00,0.000,6,0.113,0.028,3285,1738,2037,0,0,0,0,0,0
$GC,5703,0.95,161.5,324.9,6.4,253,5724,0.00,2.40,16.17,0.749,4,0.000,0.031,3285,3131,1971,0,0,0,0,0,0
$GC,5775,1.10,185.7,321.0,5.7,254,5804,0.25,2.42,22.88,0.756,6,0.049,0.039,3350,1728,1872,0,0,0,0,0,0
$GC,6124,1.07,185.7,280.4,12.5,266,6129,0.00,2.45,0.00,0.000,4,0.000,0.054,3349,328,1867,0,0,0,0,0,0
$GC,6139,1.00,185.7,278.4,12.3,266,6146,0.12,2.40,0.00,0.000,6,0.089,0.028,3321,1742,1865,0,0,0,0,0,0
$GC,6455,1.05,185.7,244.7,10.6,282,6456,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,1742,1865,0,0,0,0,0,0
$GC,6766,1.12,185.7,216.6,9.5,297,6771,0.10,2.47,0.00,0.000,4,0.078,0.051,3352,333,1863,0,0,0,0,0,0
$GC,6859,1.02,185.7,207.1,11.0,301,6864,0.15,2.35,0.00,0.000,6,0.104,0.025,3323,1751,1860,0,0,0,0,0,0
$GC,7182,1.08,185.7,176.3,10.2,324,7186,0.00,2.45,0.00,0.000,4,0.000,0.050,3323,334,1860,0,0,0,0,0,0
$GC,7347,1.08,185.7,159.5,10.0,336,7351,0.00,2.33,0.00,0.000,6,0.000,0.022,3323,1752,1858,0,0,0,0,0,0
$GC,7613,1.18,197.7,139.6,6.8,357,7631,0.15,2.55,9.70,0.565,4,0.058,0.047,3368,331,1823,0,0,0,0,0,0
$GC,7891,1.11,197.7,110.1,10.5,377,7896,0.12,2.30,0.00,0.000,6,0.105,0.021,3344,1750,1820,0,0,0,0,0,0
$GC,8158,1.24,221.5,90.9,5.8,398,8185,0.12,2.30,21.85,0.559,4,0.064,0.024,3385,3123,1726,0,0,0,0,0,0
$GC,8200,1.30,227.5,87.9,7.3,401,8213,0.00,2.35,7.20,0.472,6,0.000,0.032,3385,1739,1701,0,0,0,0,0,0
$GC,8478,1.34,227.5,64.0,9.8,423,8482,0.00,2.45,0.00,0.000,4,0.000,0.046,3384,330,1699,0,0,0,0,0,0
$GC,8491,1.34,227.5,61.9,9.4,424,8495,0.00,2.28,0.00,0.000,6,0.000,0.019,3385,1754,1698,0,0,0,0,0,0
$GC,8757,1.39,227.5,38.8,8.6,445,8758,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,1759,1697,0,0,0,0,0,0
$GC,9012,1.43,227.5,12.0,11.3,489,9019,0.12,2.47,0.00,0.000,4,0.062,0.044,3426,337,1697,0,0,0,0,0,0
$GC,9045,1.36,227.5,7.7,13.2,495,9052,0.12,2.25,0.00,0.000,6,0.084,0.018,3397,1741,1697,0,0,0,0,0,0
$STATE,9078,end climb,SURFACE_DEPTH_REACHED
$STATE,9078,begin surface coast
$FINISH,0.9,1.023082
$STATE,9101,end surface coast,CONTROL_FINISHED_OK
$STATE,9101,begin surface
$SM_CCo,9124,102.68,0.488,0,0,957,410.14
$SM_GC,1.54,0.00,0.00,102.68,0.000,0.000,0.488,430,1652,957,-12.28,-1.36,410.14
$IRIDIUM_FIX,2054.83,-15802.06,251199,080822
$TT8_MAMPS,0.028379
$HUMID,54.21
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.5,28.070
$10V_AH,10.3,23.206
$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,31.275,99.675,253.200,102.675,0.000,28.110,27.697,131.464,4.500,0.000,18.763,1026.885,6049.333,429.333,1587.948,443.508,0.000,1134.658,0.000,1568.097,0.000,29.262,0.000
$DEVICE_MAMPS,134.225,98.943,830.661,487.812,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,341.276,322.818,714.592,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,28613,507
$CAP_FILE_SIZE,102621,0
$CFSIZE,260165632,196669440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310810,133606,2104.746,-15801.112,46,1.4,46,9.8