version: 66.06
glider: 139
mission: 8
dive: 324
start: 8 31 110 13 41 19
data:
$ID,139
$MISSION,8
$DIVE,324
$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,-2157635.8
$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
$GPS1,133606,2104.746,-15801.112,46,1.4,46,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-72.3
$GPS2,134102,2104.715,-15801.118,15,1.5,15,9.8
$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,336.5,6899,-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,-64.43,0.000,2,0.000,0.000,429,1653,2760,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.6,-4.0,12,110,12.45,2.47,-2.03,0.000,4,0.133,0.035,2754,3113,2872,0,0,0,0,0,0
$GC,285,-1.56,-58.4,47.9,-17.8,40,291,0.00,2.42,0.00,0.000,6,0.000,0.033,2754,1697,2874,0,0,0,0,0,0
$GC,545,-1.51,-58.4,91.7,-16.6,61,549,0.00,2.33,0.00,0.000,4,0.000,0.021,2754,3118,2876,0,0,0,0,0,0
$GC,560,-1.51,-58.4,94.2,-14.8,62,564,0.00,2.38,0.00,0.000,6,0.000,0.029,2754,1696,2875,0,0,0,0,0,0
$GC,820,-1.51,-58.4,131.0,-12.9,82,824,0.00,2.40,0.00,0.000,4,0.000,0.044,2754,296,2877,0,0,0,0,0,0
$GC,860,-1.46,-58.4,136.1,-14.2,85,865,0.12,2.28,0.00,0.000,6,0.113,0.018,2777,1739,2877,0,0,0,0,0,0
$GC,1124,-1.55,-58.4,167.0,-10.2,106,1128,0.00,2.47,0.00,0.000,4,0.000,0.045,2777,292,2878,0,0,0,0,0,0
$GC,1152,-1.55,-58.4,170.3,-12.1,108,1156,0.00,2.22,0.00,0.000,6,0.000,0.018,2777,1714,2878,0,0,0,0,0,0
$GC,1413,-1.65,-58.4,196.6,-9.3,128,1415,0.17,0.00,0.00,0.000,6,0.052,0.000,2725,1718,2878,0,0,0,0,0,0
$GC,1676,-1.65,-58.4,224.4,-9.9,142,1680,0.00,2.20,0.00,0.000,4,0.000,0.024,2725,3071,2878,0,0,0,0,0,0
$GC,1750,-1.74,-58.4,231.9,-9.7,145,1754,0.00,2.33,0.00,0.000,6,0.000,0.034,2725,1692,2878,0,0,0,0,0,0
$GC,2071,-1.74,-58.4,269.0,-11.7,161,2075,0.00,2.25,0.00,0.000,4,0.000,0.025,2725,3067,2879,0,0,0,0,0,0
$GC,2259,-1.82,-58.4,290.7,-11.1,169,2263,0.00,2.30,0.00,0.000,6,0.000,0.035,2725,1695,2879,0,0,0,0,0,0
$GC,2597,-1.86,-58.4,328.9,-11.5,180,2602,0.12,2.30,0.00,0.000,4,0.065,0.027,2686,3066,2877,0,0,0,0,0,0
$GC,2754,-1.86,-58.4,347.8,-11.8,183,2758,0.00,2.33,0.00,0.000,6,0.000,0.036,2686,1694,2877,0,0,0,0,0,0
$GC,3105,-1.83,-58.4,389.0,-12.3,192,3109,0.00,2.28,0.00,0.000,4,0.000,0.028,2686,3069,2875,0,0,0,0,0,0
$GC,3170,-1.86,-58.4,396.1,-10.0,193,3174,0.00,2.35,0.00,0.000,6,0.000,0.040,2685,1693,2875,0,0,0,0,0,0
$GC,3517,-1.83,-58.4,426.2,-8.7,202,3521,0.00,2.30,0.00,0.000,4,0.000,0.031,2685,3062,2872,0,0,0,0,0,0
$GC,3615,-1.83,-58.4,434.8,-8.2,204,3619,0.00,2.33,0.00,0.000,6,0.000,0.040,2685,1698,2872,0,0,0,0,0,0
$STATE,3810,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3810,begin apogee
$GC,3816,-0.31,0.0,453.5,9.7,209,3869,1.65,0.00,49.22,0.837,6,0.083,0.000,3029,1697,2630,0,0,0,0,0,0
$STATE,3870,end apogee,CONTROL_FINISHED_OK
$STATE,3870,begin climb
$GC,3873,1.56,58.4,454.6,0.0,210,3932,1.77,2.45,50.58,0.819,4,0.029,0.031,3454,3099,2389,0,0,0,0,0,0
$GC,4048,1.36,129.1,453.4,1.5,213,4120,0.30,2.35,62.25,0.822,6,0.105,0.038,3397,1736,2102,0,0,0,0,0,0
$GC,4465,1.19,129.1,420.0,9.0,224,4470,0.20,2.47,0.00,0.000,4,0.109,0.054,3359,335,2092,0,0,0,0,0,0
$GC,4486,0.99,129.1,417.8,10.2,224,4491,0.22,2.30,0.00,0.000,6,0.104,0.027,3317,1714,2089,0,0,0,0,0,0
$GC,4832,0.99,129.1,387.8,9.3,233,4833,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,1716,2087,0,0,0,0,0,0
$GC,5157,0.99,129.1,358.9,8.9,241,5161,0.00,2.45,0.00,0.000,4,0.000,0.055,3317,328,2085,0,0,0,0,0,0
$GC,5186,0.90,129.1,355.9,10.8,241,5191,0.00,2.33,0.00,0.000,6,0.000,0.028,3316,1736,2083,0,0,0,0,0,0
$GC,5522,0.90,129.1,325.0,8.9,250,5526,0.00,2.35,0.00,0.000,4,0.000,0.032,3317,3129,2082,0,0,0,0,0,0
$GC,5601,0.95,129.1,318.0,8.7,251,5605,0.00,2.40,0.00,0.000,6,0.000,0.038,3317,1738,2082,0,0,0,0,0,0
$GC,5914,0.98,152.2,297.5,5.8,259,5939,0.00,2.58,17.52,0.739,4,0.000,0.054,3317,334,2008,0,0,0,0,0,0
$GC,5954,0.95,161.3,294.6,7.1,260,5969,0.00,2.40,9.62,0.673,6,0.000,0.027,3317,1744,1972,0,0,0,0,0,0
$GC,6294,0.99,164.3,268.7,7.6,277,6298,0.00,2.35,0.00,0.000,4,0.000,0.031,3316,3133,1968,0,0,0,0,0,0
$GC,6368,1.08,164.3,262.5,8.9,280,6372,0.00,2.40,0.00,0.000,6,0.000,0.038,3317,1731,1968,0,0,0,0,0,0
$GC,6689,1.14,171.3,235.6,7.3,296,6706,0.15,2.53,9.38,0.643,4,0.063,0.051,3357,331,1930,0,0,0,0,0,0
$GC,6714,1.10,171.3,233.5,9.4,297,6718,0.00,2.38,0.00,0.000,6,0.000,0.025,3358,1748,1928,0,0,0,0,0,0
$GC,7046,1.10,171.3,201.5,9.5,313,7050,0.00,2.45,0.00,0.000,4,0.000,0.049,3358,334,1927,0,0,0,0,0,0
$GC,7099,0.98,171.3,195.3,11.9,317,7105,0.22,2.33,0.00,0.000,6,0.098,0.024,3315,1749,1926,0,0,0,0,0,0
$GC,7367,1.08,174.2,172.9,7.6,338,7371,0.00,2.47,0.00,0.000,4,0.000,0.048,3314,327,1925,0,0,0,0,0,0
$GC,7406,1.08,174.2,169.5,8.9,341,7410,0.00,2.30,0.00,0.000,6,0.000,0.022,3314,1749,1925,0,0,0,0,0,0
$GC,7671,1.19,184.4,148.1,7.0,362,7690,0.20,2.53,12.10,0.588,4,0.051,0.046,3370,334,1877,0,0,0,0,0,0
$GC,7804,1.08,184.4,134.7,10.1,371,7810,0.17,2.28,0.00,0.000,6,0.100,0.021,3336,1746,1875,0,0,0,0,0,0
$GC,8066,1.16,186.5,114.6,7.7,392,8070,0.00,2.45,0.00,0.000,4,0.000,0.045,3336,332,1875,0,0,0,0,0,0
$GC,8230,1.16,191.8,101.3,7.4,404,8244,0.00,2.25,7.60,0.497,6,0.000,0.020,3336,1745,1847,0,0,0,0,0,0
$GC,8509,1.32,216.0,85.9,5.7,426,8538,0.22,2.50,22.83,0.550,4,0.045,0.043,3400,326,1748,0,0,0,0,0,0
$GC,8738,1.24,216.0,65.1,10.1,442,8745,0.12,2.30,0.00,0.000,6,0.081,0.019,3371,1744,1743,0,0,0,0,0,0
$GC,8999,1.30,216.0,44.8,8.1,463,9001,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1744,1743,0,0,0,0,0,0
$GC,9253,1.36,216.0,23.4,9.4,495,9260,0.12,2.47,0.00,0.000,4,0.063,0.044,3412,333,1743,0,0,0,0,0,0
$GC,9289,1.31,216.0,19.2,11.1,502,9296,0.10,2.28,0.00,0.000,6,0.084,0.018,3388,1751,1743,0,0,0,0,0,0
$STATE,9469,end climb,SURFACE_DEPTH_REACHED
$STATE,9469,begin surface coast
$FINISH,1.0,1.013934
$STATE,9500,end surface coast,CONTROL_FINISHED_OK
$STATE,9500,begin surface
$SM_CCo,9524,110.10,0.482,0,0,958,410.14
$SM_GC,1.72,0.00,0.00,110.10,0.000,0.000,0.482,429,1666,958,-12.29,-0.96,410.14
$IRIDIUM_FIX,2054.83,-15802.06,251199,111105
$TT8_MAMPS,0.029146
$HUMID,53.11
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.5,28.147
$10V_AH,10.3,23.280
$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,30.925,104.350,241.100,110.100,0.000,25.741,28.132,119.471,4.500,0.000,15.475,1100.518,6245.944,408.563,1746.661,428.048,0.000,1177.145,0.000,1723.101,0.000,29.250,0.000
$DEVICE_MAMPS,133.458,79.001,836.797,482.443,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,370.310,352.805,800.278,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,31758,550
$CAP_FILE_SIZE,107401,0
$CFSIZE,260165632,196612096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310810,162306,2105.785,-15801.701,33,1.5,33,9.8