version: 66.06
glider: 139
mission: 8
dive: 326
start: 8 31 110 18 59 14
data:
$ID,139
$MISSION,8
$DIVE,326
$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,-2157686.5
$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
$GPS1,185340,2106.778,-15801.883,14,3.2,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-73.1
$GPS2,185858,2106.740,-15801.883,11,2.5,30,9.8
$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,344.1,2968,-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,-64.72,0.000,2,0.000,0.000,426,1683,2761,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.3,-3.0,12,110,12.50,2.42,-2.03,0.000,4,0.134,0.038,2756,3109,2872,0,0,0,0,0,0
$GC,227,-1.56,-58.4,34.7,-16.5,38,231,0.00,2.38,0.00,0.000,6,0.000,0.034,2756,1699,2873,0,0,0,0,0,0
$GC,491,-1.45,-58.4,84.0,-18.5,59,496,0.12,2.33,0.00,0.000,4,0.112,0.021,2780,3115,2874,0,0,0,0,0,0
$GC,562,-1.53,-58.4,95.7,-13.8,64,566,0.00,2.38,0.00,0.000,6,0.000,0.031,2780,1689,2874,0,0,0,0,0,0
$GC,822,-1.59,-58.4,130.7,-12.9,84,827,0.12,2.40,0.00,0.000,4,0.065,0.044,2740,296,2875,0,0,0,0,0,0
$GC,865,-1.50,-58.4,137.3,-14.6,87,870,0.15,2.28,0.00,0.000,6,0.100,0.018,2770,1745,2875,0,0,0,0,0,0
$GC,1126,-1.56,-58.4,169.9,-11.5,107,1131,0.00,2.47,0.00,0.000,4,0.000,0.044,2770,296,2876,0,0,0,0,0,0
$GC,1169,-1.56,-58.4,176.1,-14.1,110,1173,0.00,2.20,0.00,0.000,6,0.000,0.018,2770,1708,2876,0,0,0,0,0,0
$GC,1442,-1.64,-58.4,209.3,-12.6,129,1444,0.12,0.00,0.00,0.000,6,0.065,0.000,2730,1714,2876,0,0,0,0,0,0
$GC,1751,-1.64,-58.4,247.2,-11.5,144,1755,0.00,2.22,0.00,0.000,4,0.000,0.024,2730,3068,2876,0,0,0,0,0,0
$GC,1898,-1.70,-58.4,262.9,-11.1,150,1902,0.00,2.28,0.00,0.000,6,0.000,0.031,2730,1698,2877,0,0,0,0,0,0
$GC,2216,-1.74,-58.4,298.7,-11.9,165,2220,0.00,2.22,0.00,0.000,4,0.000,0.025,2730,3061,2876,0,0,0,0,0,0
$GC,2267,-1.82,-58.4,304.8,-10.2,167,2272,0.12,2.28,0.00,0.000,6,0.066,0.032,2692,1694,2876,0,0,0,0,0,0
$GC,2589,-1.79,-58.4,346.8,-13.3,175,2593,0.00,2.25,0.00,0.000,4,0.000,0.026,2692,3065,2875,0,0,0,0,0,0
$GC,2750,-1.79,-58.4,368.3,-12.1,178,2754,0.00,2.30,0.00,0.000,6,0.000,0.037,2691,1700,2875,0,0,0,0,0,0
$GC,3091,-1.79,-58.4,405.9,-11.0,187,3095,0.00,2.25,0.00,0.000,4,0.000,0.028,2691,3061,2873,0,0,0,0,0,0
$GC,3226,-1.79,-58.4,421.5,-10.6,189,3232,0.00,2.30,0.00,0.000,6,0.000,0.037,2691,1697,2872,0,0,0,0,0,0
$STATE,3514,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3514,begin apogee
$GC,3521,-0.31,0.0,451.9,9.6,197,3574,1.62,0.00,49.10,0.817,6,0.080,0.000,3032,1696,2630,0,0,0,0,0,0
$STATE,3575,end apogee,CONTROL_FINISHED_OK
$STATE,3575,begin climb
$GC,3578,1.56,58.4,452.7,0.0,198,3635,1.75,2.45,49.92,0.801,4,0.028,0.051,3453,327,2390,0,0,0,0,0,0
$GC,3727,1.17,96.0,448.8,4.5,201,3769,0.50,2.28,32.75,0.789,6,0.105,0.025,3356,1716,2238,0,0,0,0,0,0
$GC,4083,1.07,96.0,419.7,8.7,210,4085,0.12,0.00,0.00,0.000,6,0.117,0.000,3334,1717,2230,0,0,0,0,0,0
$GC,4408,1.07,124.2,399.0,5.4,218,4438,0.00,2.45,24.25,0.785,4,0.000,0.031,3334,3124,2123,0,0,0,0,0,0
$GC,4582,1.07,124.2,382.1,9.0,221,4588,0.00,2.40,0.00,0.000,6,0.000,0.040,3334,1734,2121,0,0,0,0,0,0
$GC,4914,1.08,130.9,356.7,7.3,230,4926,0.00,2.42,6.25,0.627,4,0.000,0.031,3334,3119,2096,0,0,0,0,0,0
$GC,4987,1.08,137.6,351.3,7.3,231,5000,0.00,2.38,7.55,0.662,6,0.000,0.038,3334,1729,2069,0,0,0,0,0,0
$GC,5327,1.08,137.6,320.1,9.2,239,5328,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,1728,2064,0,0,0,0,0,0
$GC,5632,1.08,137.6,295.3,8.1,247,5637,0.00,2.38,0.00,0.000,4,0.000,0.031,3334,3121,2063,0,0,0,0,0,0
$GC,5773,1.13,152.7,286.1,6.5,253,5795,0.00,2.38,14.02,0.704,6,0.000,0.037,3334,1741,2006,0,0,0,0,0,0
$GC,6107,1.14,156.0,258.2,7.6,269,6112,0.00,2.45,0.00,0.000,4,0.000,0.051,3333,329,2002,0,0,0,0,0,0
$GC,6145,1.07,156.0,254.4,9.1,270,6152,0.00,2.35,0.00,0.000,6,0.000,0.025,3333,1736,2000,0,0,0,0,0,0
$GC,6462,1.07,161.2,232.6,7.4,286,6475,0.00,2.50,8.07,0.607,4,0.000,0.048,3334,326,1972,0,0,0,0,0,0
$GC,6484,1.07,161.2,230.6,8.1,287,6488,0.00,2.35,0.00,0.000,6,0.000,0.024,3334,1747,1971,0,0,0,0,0,0
$GC,6811,1.07,162.5,205.3,7.8,303,6815,0.00,2.30,0.00,0.000,4,0.000,0.027,3334,3125,1970,0,0,0,0,0,0
$GC,6855,1.15,162.5,201.6,8.8,305,6860,0.00,2.35,0.00,0.000,6,0.000,0.035,3334,1735,1970,0,0,0,0,0,0
$GC,7181,1.22,178.9,177.7,6.4,330,7201,0.12,0.00,16.70,0.622,6,0.067,0.000,3371,1734,1900,0,0,0,0,0,0
$GC,7451,1.22,178.9,156.1,8.1,351,7455,0.00,2.42,0.00,0.000,4,0.000,0.047,3371,332,1897,0,0,0,0,0,0
$GC,7581,1.10,178.9,143.2,11.7,360,7588,0.12,2.30,0.00,0.000,6,0.085,0.021,3342,1739,1896,0,0,0,0,0,0
$GC,7844,1.21,214.1,126.4,4.7,381,7883,0.00,2.53,31.35,0.587,4,0.000,0.046,3342,335,1756,0,0,0,0,0,0
$GC,8079,1.24,214.1,107.1,9.0,398,8084,0.12,2.25,0.00,0.000,6,0.064,0.020,3381,1748,1752,0,0,0,0,0,0
$GC,8347,1.29,214.1,83.0,8.5,419,8351,0.00,2.42,0.00,0.000,4,0.000,0.044,3380,329,1751,0,0,0,0,0,0
$GC,8487,1.25,214.1,70.4,9.0,429,8494,0.00,2.28,0.00,0.000,6,0.000,0.018,3381,1745,1750,0,0,0,0,0,0
$GC,8748,1.29,214.1,50.1,8.0,450,8752,0.00,2.40,0.00,0.000,4,0.000,0.042,3380,333,1750,0,0,0,0,0,0
$GC,8775,1.25,214.1,47.5,8.9,452,8780,0.00,2.22,0.00,0.000,6,0.000,0.018,3381,1748,1750,0,0,0,0,0,0
$GC,9038,1.30,220.4,28.5,7.3,474,9051,0.00,2.45,6.30,0.405,4,0.000,0.042,3380,325,1730,0,0,0,0,0,0
$GC,9076,1.30,220.4,24.7,9.0,481,9082,0.00,2.28,0.00,0.000,6,0.000,0.018,3381,1744,1729,0,0,0,0,0,0
$GC,9278,1.34,220.4,4.2,10.5,527,9284,0.00,2.42,0.00,0.000,4,0.000,0.041,3381,338,1729,0,0,0,0,0,0
$STATE,9291,end climb,SURFACE_DEPTH_REACHED
$STATE,9291,begin surface coast
$FINISH,0.9,1.019697
$STATE,9322,end surface coast,CONTROL_FINISHED_OK
$STATE,9322,begin surface
$SM_CCo,9347,105.03,0.477,0,0,958,410.14
$SM_GC,1.60,0.00,0.00,105.03,0.000,0.000,0.477,424,1709,958,-12.31,0.25,410.14
$IRIDIUM_FIX,2057.14,-15801.19,251199,161644
$TT8_MAMPS,0.029146
$HUMID,52.24
$INTERNAL_PRESSURE,9.30354
$TCM_TEMP,23.00
$XPDR_PINGS,0
$24V_AH,23.5,28.301
$10V_AH,10.4,23.423
$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,30.175,98.525,246.275,105.025,0.000,30.730,28.579,119.753,4.500,0.000,31.688,1066.611,6138.246,412.738,1730.483,420.321,0.000,1166.599,0.000,1689.503,0.000,30.947,0.000
$DEVICE_MAMPS,134.225,51.389,816.855,477.074,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,360.123,346.490,784.949,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,28533,536
$CAP_FILE_SIZE,103706,0
$CFSIZE,260165632,196513792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310810,213807,2107.487,-15801.767,42,1.2,42,9.8