version: 66.06
glider: 139
mission: 8
dive: 12
start: 7 28 110 8 52 32
data:
$ID,139
$MISSION,8
$DIVE,12
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$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,148
$T_MISSION,200
$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,80
$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,550
$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,-2150490.8
$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,3500
$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,1950
$C_ROLL_CLIMB,2010
$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,3050
$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
$GPS1,084754,2114.305,-15754.799,26,1.2,44,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-73.3
$GPS2,085214,2114.294,-15754.771,11,2.0,11,9.8
$SPEED_LIMITS,0.156,0.190
$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,219.0,16750,-22.9,-9.009
$D_GRID,400
$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,-1.53,-77.9,0.0,0.0,0,93,0.00,0.00,-76.03,0.000,2,0.000,0.000,432,1926,2926,0,0,0,0,0,0
$GC,96,-1.53,-77.9,4.1,-9.3,14,126,14.85,2.47,-7.03,0.000,4,0.142,0.064,3163,543,3371,0,0,0,0,0,0
$GC,254,-2.36,-77.9,25.8,-7.5,48,261,0.75,2.35,0.00,0.000,6,0.058,0.020,2985,1988,3373,0,0,0,0,0,0
$GC,458,-3.15,-77.9,44.1,-9.4,71,469,0.73,2.22,0.00,0.000,4,0.044,0.027,2808,3324,3373,0,0,0,0,0,0
$GC,490,-3.52,-77.9,47.3,-9.4,74,495,0.32,2.28,0.00,0.000,6,0.038,0.027,2720,1944,3373,0,0,0,0,0,0
$GC,751,-3.48,-77.9,104.5,-20.2,98,756,0.10,2.40,0.00,0.000,4,0.121,0.048,2738,544,3374,0,0,0,0,0,0
$GC,816,-3.41,-77.9,118.7,-24.0,104,823,0.00,2.28,0.00,0.000,6,0.000,0.021,2739,1944,3375,0,0,0,0,0,0
$GC,1080,-3.45,-77.9,163.9,-16.2,129,1084,0.00,2.42,0.00,0.000,4,0.000,0.049,2738,550,3375,0,0,0,0,0,0
$GC,1190,-3.45,-77.9,185.9,-19.3,140,1194,0.00,2.25,0.00,0.000,6,0.000,0.021,2739,1947,3375,0,0,0,0,0,0
$GC,1460,-3.52,-77.9,224.6,-13.3,156,1465,0.00,2.40,0.00,0.000,4,0.000,0.049,2738,549,3376,0,0,0,0,0,0
$GC,1503,-3.52,-77.9,231.8,-16.2,158,1507,0.00,2.28,0.00,0.000,6,0.000,0.022,2739,1956,3376,0,0,0,0,0,0
$GC,1834,-3.62,-77.9,276.9,-13.6,174,1839,0.12,2.47,0.00,0.000,4,0.067,0.051,2698,545,3377,0,0,0,0,0,0
$GC,1927,-3.59,-77.9,293.3,-18.6,178,1931,0.00,2.28,0.00,0.000,6,0.000,0.024,2698,1951,3377,0,0,0,0,0,0
$GC,2256,-3.63,-77.9,346.8,-15.6,187,2260,0.00,2.45,0.00,0.000,4,0.000,0.055,2698,545,3376,0,0,0,0,0,0
$GC,2354,-3.63,-77.9,364.2,-18.1,189,2358,0.00,2.30,0.00,0.000,6,0.000,0.025,2697,1954,3376,0,0,0,0,0,0
$STATE,2636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2636,begin apogee
$GC,2642,-0.31,0.0,404.8,14.0,196,2716,3.42,0.00,65.47,0.793,6,0.075,0.000,3431,2027,3049,0,0,0,0,0,0
$STATE,2717,end apogee,CONTROL_FINISHED_OK
$STATE,2717,begin climb
$GC,2720,1.53,77.9,410.0,0.0,198,2795,1.27,2.38,63.67,0.784,4,0.034,0.036,3735,3384,2731,0,0,0,0,0,0
$GC,3059,1.12,394.3,464.8,-15.4,205,3335,0.00,2.35,265.58,0.838,6,0.000,0.040,3734,2015,1442,0,0,0,0,0,0
$GC,3653,0.42,394.3,296.2,41.5,220,3661,0.73,2.53,0.00,0.000,4,0.118,0.055,3594,603,1435,0,0,0,0,0,0
$GC,3868,-0.19,394.3,215.3,36.4,229,3876,0.70,2.33,0.00,0.000,6,0.126,0.028,3466,1980,1430,0,0,0,0,0,0
$GC,4200,-0.41,394.3,139.9,21.6,258,4205,0.25,2.42,0.00,0.000,4,0.106,0.052,3414,604,1429,0,0,0,0,0,0
$GC,4327,-0.41,394.3,112.1,20.5,271,4333,0.00,2.38,0.00,0.000,6,0.000,0.025,3414,2043,1427,0,0,0,0,0,0
$GC,4592,-0.48,394.3,67.0,14.7,296,4596,0.00,2.53,0.00,0.000,4,0.000,0.051,3414,596,1427,0,0,0,0,0,0
$GC,4851,-0.48,394.3,21.9,18.8,329,4857,0.00,2.33,0.00,0.000,6,0.000,0.022,3414,2009,1425,0,0,0,0,0,0
$STATE,4970,end climb,SURFACE_DEPTH_REACHED
$STATE,4970,begin surface coast
$FINISH,0.4,1.011513
$STATE,4989,end surface coast,CONTROL_FINISHED_OK
$STATE,4989,begin surface
$SM_CCo,5012,87.62,0.522,0,0,806,550.21
$SM_GC,1.23,0.00,0.00,87.62,0.000,0.000,0.522,428,1931,806,-14.14,-0.54,550.21
$IRIDIUM_FIX,2108.69,-15757.32,221099,070749
$TT8_MAMPS,0.029146
$HUMID,58.19
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,20.20
$XPDR_PINGS,0
$24V_AH,23.4,1.298
$10V_AH,10.5,0.611
$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,36.150,52.225,394.725,87.625,0.000,30.082,30.543,99.427,4.000,0.000,11.815,696.210,2624.536,468.553,1250.513,326.356,0.000,1066.010,0.000,1234.235,0.000,29.306,0.000
$DEVICE_MAMPS,141.895,128.856,837.564,522.327,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,236.478,232.807,582.665,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355776
$DATA_FILE_SIZE,19128,354
$CAP_FILE_SIZE,69580,0
$CFSIZE,260165632,212520960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,280710,101825,2113.975,-15754.963,10,1.6,15,9.8