version: 66.06
glider: 139
mission: 8
dive: 15
start: 7 28 110 13 32 20
data:
$ID,139
$MISSION,8
$DIVE,15
$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,-2150539
$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
$GPS1,132654,2113.170,-15755.447,27,1.4,45,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-73.8
$GPS2,133202,2113.170,-15755.414,16,1.5,16,9.8
$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,222.3,14567,-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,-75.95,0.000,2,0.000,0.000,428,1921,2942,0,0,0,0,0,0
$GC,96,-1.53,-77.9,4.1,-9.0,14,126,14.93,2.45,-6.68,0.000,4,0.143,0.063,3160,545,3371,0,0,0,0,0,0
$GC,241,-2.38,-77.9,26.9,-10.3,45,248,0.75,2.35,0.00,0.000,6,0.044,0.020,2976,1992,3373,0,0,0,0,0,0
$GC,445,-3.17,-77.9,49.4,-10.6,66,455,0.70,2.22,0.00,0.000,4,0.044,0.028,2805,3325,3373,0,0,0,0,0,0
$GC,503,-3.33,-77.9,56.1,-11.7,72,508,0.12,2.33,0.00,0.000,6,0.064,0.031,2763,1948,3373,0,0,0,0,0,0
$GC,766,-3.36,-77.9,103.1,-17.1,96,770,0.00,2.42,0.00,0.000,4,0.000,0.048,2763,541,3374,0,0,0,0,0,0
$GC,847,-3.36,-77.9,118.0,-17.5,104,854,0.00,2.28,0.00,0.000,6,0.000,0.021,2763,1941,3374,0,0,0,0,0,0
$GC,1112,-3.48,-77.9,157.0,-14.7,129,1116,0.00,2.42,0.00,0.000,4,0.000,0.048,2763,544,3375,0,0,0,0,0,0
$GC,1256,-3.56,-77.9,181.2,-16.0,144,1263,0.12,2.28,0.00,0.000,6,0.032,0.021,2716,1940,3376,0,0,0,0,0,0
$GC,1516,-3.56,-77.9,226.5,-17.9,162,1520,0.00,2.42,0.00,0.000,4,0.000,0.050,2715,545,3376,0,0,0,0,0,0
$GC,1589,-3.56,-77.9,241.6,-19.1,165,1593,0.00,2.28,0.00,0.000,6,0.000,0.022,2715,1958,3376,0,0,0,0,0,0
$GC,1913,-3.64,-77.9,289.1,-15.2,181,1917,0.00,2.47,0.00,0.000,4,0.000,0.051,2715,544,3377,0,0,0,0,0,0
$GC,2060,-3.64,-77.9,315.3,-16.6,186,2065,0.00,2.30,0.00,0.000,6,0.000,0.025,2715,1947,3377,0,0,0,0,0,0
$GC,2376,-3.73,-77.9,361.6,-14.2,194,2381,0.12,2.50,0.00,0.000,4,0.069,0.055,2678,540,3376,0,0,0,0,0,0
$GC,2468,-3.67,-77.9,378.4,-18.5,196,2472,0.10,2.30,0.00,0.000,6,0.122,0.026,2697,1944,3376,0,0,0,0,0,0
$STATE,2636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2636,begin apogee
$GC,2643,-0.31,0.0,405.8,15.7,200,2717,3.45,0.00,65.40,0.800,6,0.077,0.000,3431,2028,3050,0,0,0,0,0,0
$STATE,2718,end apogee,CONTROL_FINISHED_OK
$STATE,2718,begin climb
$GC,2721,1.53,77.9,411.2,0.0,202,2797,1.27,2.42,64.12,0.792,4,0.036,0.041,3731,3397,2731,0,0,0,0,0,0
$GC,3062,1.17,402.7,466.8,-16.1,209,3345,0.00,2.38,273.58,0.846,6,0.000,0.037,3731,2011,1408,0,0,0,0,0,0
$GC,3654,0.47,402.7,305.2,40.5,224,3662,0.65,2.40,0.00,0.000,4,0.120,0.032,3605,3400,1399,0,0,0,0,0,0
$GC,3906,0.08,402.7,228.2,27.6,234,3914,0.45,2.45,0.00,0.000,6,0.119,0.044,3522,2008,1398,0,0,0,0,0,0
$GC,4236,-0.25,402.7,146.0,24.4,259,4241,0.38,2.47,0.00,0.000,4,0.118,0.053,3447,599,1396,0,0,0,0,0,0
$GC,4353,-0.56,402.7,118.3,25.0,271,4358,0.35,2.35,0.00,0.000,6,0.111,0.026,3381,2010,1393,0,0,0,0,0,0
$GC,4615,-0.56,402.7,72.7,15.2,295,4619,0.00,2.47,0.00,0.000,4,0.000,0.049,3381,600,1392,0,0,0,0,0,0
$GC,4685,-0.56,402.7,61.8,15.1,302,4689,0.00,2.33,0.00,0.000,6,0.000,0.024,3381,2017,1391,0,0,0,0,0,0
$GC,4950,-0.56,402.7,25.4,12.7,329,4956,0.00,2.50,0.00,0.000,4,0.000,0.049,3381,601,1391,0,0,0,0,0,0
$GC,5071,-0.56,402.7,6.7,15.7,356,5078,0.00,2.33,0.00,0.000,6,0.000,0.022,3381,2010,1391,0,0,0,0,0,0
$STATE,5094,end climb,SURFACE_DEPTH_REACHED
$STATE,5094,begin surface coast
$FINISH,0.4,1.023120
$STATE,5111,end surface coast,CONTROL_FINISHED_OK
$STATE,5112,begin surface
$SM_CCo,5135,81.38,0.522,0,0,807,550.21
$SM_GC,1.10,0.00,0.00,81.38,0.000,0.000,0.522,428,1921,807,-14.13,-0.90,550.21
$IRIDIUM_FIX,2106.38,-15755.17,221099,121245
$TT8_MAMPS,0.029146
$HUMID,57.04
$INTERNAL_PRESSURE,9.22541
$TCM_TEMP,20.40
$XPDR_PINGS,0
$24V_AH,23.4,1.642
$10V_AH,10.5,0.779
$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,36.225,57.325,403.100,81.375,0.000,31.453,34.773,135.250,4.000,0.000,17.081,714.903,2668.691,471.970,1305.461,368.181,0.000,1094.029,0.000,1278.013,0.000,26.112,0.000
$DEVICE_MAMPS,142.662,95.875,846.001,522.327,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,242.618,236.149,597.365,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355792
$DATA_FILE_SIZE,19133,363
$CAP_FILE_SIZE,73192,0
$CFSIZE,260165632,212406272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280710,150002,2112.609,-15755.913,8,2.0,8,9.8