version: 66.06
glider: 139
mission: 8
dive: 14
start: 7 28 110 11 58 14
data:
$ID,139
$MISSION,8
$DIVE,14
$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,-2150521.2
$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
$GPS1,115322,2113.612,-15755.193,14,2.7,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-72.0
$GPS2,115756,2113.612,-15755.187,13,1.8,13,9.8
$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,220.8,15385,-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,-75.95,0.000,2,0.000,0.000,428,1926,2930,0,0,0,0,0,0
$GC,97,-1.53,-77.9,3.9,-8.7,14,126,14.93,2.47,-6.90,0.000,4,0.143,0.064,3161,543,3371,0,0,0,0,0,0
$GC,275,-2.49,-77.9,28.1,-8.3,53,282,0.85,2.35,0.00,0.000,6,0.035,0.020,2947,1997,3373,0,0,0,0,0,0
$GC,484,-3.26,-77.9,43.5,-8.2,74,494,0.68,2.20,0.00,0.000,4,0.054,0.028,2788,3314,3373,0,0,0,0,0,0
$GC,559,-3.53,-77.9,52.5,-13.3,82,564,0.25,2.33,0.00,0.000,6,0.041,0.033,2715,1942,3373,0,0,0,0,0,0
$GC,820,-3.53,-77.9,108.9,-18.7,106,824,0.00,2.38,0.00,0.000,4,0.000,0.046,2715,543,3374,0,0,0,0,0,0
$GC,899,-3.46,-77.9,125.0,-20.3,114,904,0.15,2.22,0.00,0.000,6,0.104,0.020,2744,1939,3374,0,0,0,0,0,0
$GC,1167,-3.54,-77.9,169.5,-14.7,139,1171,0.00,2.40,0.00,0.000,4,0.000,0.047,2743,541,3376,0,0,0,0,0,0
$GC,1254,-3.57,-77.9,184.7,-17.1,148,1259,0.00,2.28,0.00,0.000,6,0.000,0.021,2744,1949,3376,0,0,0,0,0,0
$GC,1524,-3.68,-77.9,226.6,-15.0,165,1529,0.20,2.42,0.00,0.000,4,0.051,0.048,2686,545,3377,0,0,0,0,0,0
$GC,1605,-3.59,-77.9,242.6,-21.5,168,1610,0.15,2.28,0.00,0.000,6,0.105,0.022,2715,1956,3377,0,0,0,0,0,0
$GC,1926,-3.67,-77.9,293.3,-14.5,183,1930,0.00,2.47,0.00,0.000,4,0.000,0.052,2715,543,3377,0,0,0,0,0,0
$GC,2018,-3.67,-77.9,308.7,-15.3,186,2022,0.00,2.30,0.00,0.000,6,0.000,0.025,2715,1949,3377,0,0,0,0,0,0
$GC,2344,-3.74,-77.9,360.2,-16.0,194,2349,0.15,2.50,0.00,0.000,4,0.065,0.056,2674,540,3376,0,0,0,0,0,0
$GC,2429,-3.70,-77.9,376.8,-18.2,195,2435,0.10,2.33,0.00,0.000,6,0.120,0.027,2693,1946,3375,0,0,0,0,0,0
$STATE,2596,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2596,begin apogee
$GC,2603,-0.31,0.0,402.7,15.3,200,2677,3.47,0.00,65.70,0.798,6,0.079,0.000,3430,2030,3049,0,0,0,0,0,0
$STATE,2678,end apogee,CONTROL_FINISHED_OK
$STATE,2678,begin climb
$GC,2681,1.53,77.9,408.3,0.0,202,2757,1.30,2.38,64.07,0.791,4,0.040,0.037,3731,3391,2731,0,0,0,0,0,0
$GC,3021,1.15,384.3,461.0,-14.6,209,3289,0.00,2.42,258.50,0.843,6,0.000,0.046,3731,2012,1482,0,0,0,0,0,0
$GC,3617,0.46,384.3,300.8,39.7,224,3624,0.65,2.38,0.00,0.000,4,0.121,0.031,3605,3392,1475,0,0,0,0,0,0
$GC,3887,0.06,384.3,219.7,26.6,234,3894,0.40,2.45,0.00,0.000,6,0.110,0.044,3518,2010,1473,0,0,0,0,0,0
$GC,4210,-0.26,384.3,141.4,24.4,261,4215,0.35,2.33,0.00,0.000,4,0.116,0.029,3448,3394,1471,0,0,0,0,0,0
$GC,4248,-0.37,384.3,133.0,19.0,264,4255,0.10,2.42,0.00,0.000,6,0.097,0.040,3425,2010,1471,0,0,0,0,0,0
$GC,4513,-0.48,384.3,85.0,17.7,289,4518,0.15,2.47,0.00,0.000,4,0.114,0.051,3396,591,1469,0,0,0,0,0,0
$GC,4709,-0.58,384.3,51.4,16.0,310,4714,0.12,2.33,0.00,0.000,6,0.116,0.023,3374,2010,1466,0,0,0,0,0,0
$GC,4975,-0.55,384.3,19.8,12.2,342,4981,0.00,2.47,0.00,0.000,4,0.000,0.048,3373,602,1466,0,0,0,0,0,0
$GC,5065,-0.55,384.3,7.6,12.9,362,5072,0.00,2.33,0.00,0.000,6,0.000,0.021,3374,2025,1465,0,0,0,0,0,0
$STATE,5098,end climb,SURFACE_DEPTH_REACHED
$STATE,5098,begin surface coast
$FINISH,0.5,1.023132
$STATE,5121,end surface coast,CONTROL_FINISHED_OK
$STATE,5121,begin surface
$SM_CCo,5145,91.80,0.522,0,0,806,550.21
$SM_GC,1.05,0.00,0.00,91.80,0.000,0.000,0.522,428,1920,806,-14.13,-0.85,550.21
$IRIDIUM_FIX,2106.38,-15752.16,221099,101045
$TT8_MAMPS,0.028379
$HUMID,56.57
$INTERNAL_PRESSURE,9.22541
$TCM_TEMP,20.50
$XPDR_PINGS,0
$24V_AH,23.4,1.525
$10V_AH,10.4,0.723
$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,36.800,57.125,388.275,91.800,0.000,28.883,28.952,112.863,4.000,0.000,13.448,731.861,2660.716,472.760,1307.628,343.808,0.000,1087.008,0.000,1287.276,0.000,28.600,0.000
$DEVICE_MAMPS,142.662,95.108,842.933,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,248.619,246.186,631.921,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355768
$DATA_FILE_SIZE,19132,372
$CAP_FILE_SIZE,74211,0
$CFSIZE,260165632,212439040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280710,132654,2113.170,-15755.447,27,1.4,45,9.8