version: 66.06
glider: 139
mission: 8
dive: 19
start: 7 28 110 19 43 23
data:
$ID,139
$MISSION,8
$DIVE,19
$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,-2150623.2
$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,1900
$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,2950
$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
$GPS1,193810,2111.304,-15756.583,15,2.2,34,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-71.4
$GPS2,194306,2111.258,-15756.560,13,0.9,29,9.8
$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,230.5,10943,-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,-74.95,0.000,2,0.000,0.000,431,1916,2913,0,0,0,0,0,0
$GC,96,-1.53,-77.9,3.9,-5.8,14,126,14.90,2.53,-5.75,0.000,4,0.142,0.062,3162,501,3272,0,0,0,0,0,0
$GC,224,-2.41,-77.9,21.9,-8.0,41,232,0.80,2.33,0.00,0.000,6,0.054,0.019,2973,1944,3273,0,0,0,0,0,0
$GC,434,-3.15,-77.9,38.5,-8.4,73,441,0.68,2.20,0.00,0.000,4,0.042,0.028,2807,3264,3273,0,0,0,0,0,0
$GC,509,-3.39,-77.9,47.3,-12.3,78,516,0.15,2.33,0.00,0.000,6,0.028,0.032,2751,1904,3273,0,0,0,0,0,0
$GC,772,-3.35,-77.9,100.8,-18.2,99,776,0.00,2.42,0.00,0.000,4,0.000,0.047,2751,488,3274,0,0,0,0,0,0
$GC,845,-3.26,-77.9,117.7,-21.3,104,852,0.15,2.25,0.00,0.000,6,0.079,0.020,2786,1873,3275,0,0,0,0,0,0
$GC,1108,-3.38,-77.9,156.4,-13.5,125,1112,0.00,2.38,0.00,0.000,4,0.000,0.046,2786,494,3276,0,0,0,0,0,0
$GC,1136,-3.44,-77.9,160.9,-13.3,127,1141,0.15,2.28,0.00,0.000,6,0.060,0.020,2739,1916,3276,0,0,0,0,0,0
$GC,1398,-3.49,-77.9,199.7,-14.9,147,1405,0.00,2.45,0.00,0.000,4,0.000,0.047,2738,487,3277,0,0,0,0,0,0
$GC,1512,-3.49,-77.9,218.5,-16.1,152,1518,0.00,2.28,0.00,0.000,6,0.000,0.021,2739,1887,3277,0,0,0,0,0,0
$GC,1829,-3.56,-77.9,264.4,-15.2,168,1833,0.00,2.42,0.00,0.000,4,0.000,0.050,2738,493,3277,0,0,0,0,0,0
$GC,1903,-3.56,-77.9,277.9,-17.9,171,1907,0.00,2.28,0.00,0.000,6,0.000,0.022,2738,1899,3277,0,0,0,0,0,0
$GC,2221,-3.66,-77.9,321.5,-13.1,183,2226,0.15,2.47,0.00,0.000,4,0.058,0.052,2692,490,3277,0,0,0,0,0,0
$GC,2302,-3.61,-77.9,335.6,-16.9,184,2307,0.10,2.30,0.00,0.000,6,0.121,0.024,2712,1900,3277,0,0,0,0,0,0
$GC,2635,-3.66,-77.9,382.5,-13.1,192,2639,0.00,2.45,0.00,0.000,4,0.000,0.054,2711,494,3275,0,0,0,0,0,0
$GC,2682,-3.66,-77.9,389.7,-15.6,193,2686,0.00,2.33,0.00,0.000,6,0.000,0.026,2711,1905,3275,0,0,0,0,0,0
$STATE,2759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2759,begin apogee
$GC,2766,-0.31,0.0,402.1,15.5,195,2840,3.40,0.00,65.25,0.783,6,0.079,0.000,3434,2037,2950,0,0,0,0,0,0
$STATE,2841,end apogee,CONTROL_FINISHED_OK
$STATE,2841,begin climb
$GC,2844,1.53,77.9,408.5,0.0,197,2920,1.25,2.60,64.28,0.779,4,0.037,0.048,3727,603,2631,0,0,0,0,0,0
$GC,3185,1.04,370.8,461.2,-13.6,204,3441,0.00,2.33,247.45,0.828,6,0.000,0.027,3728,1996,1437,0,0,0,0,0,0
$GC,3761,0.35,370.8,287.7,42.6,219,3769,0.75,2.47,0.00,0.000,4,0.123,0.051,3583,604,1429,0,0,0,0,0,0
$GC,3826,-0.26,370.8,259.9,38.0,221,3832,0.75,2.38,0.00,0.000,6,0.133,0.028,3446,2021,1427,0,0,0,0,0,0
$GC,4154,-0.47,370.8,186.5,21.3,239,4159,0.25,2.50,0.00,0.000,4,0.108,0.051,3394,603,1424,0,0,0,0,0,0
$GC,4289,-0.47,370.8,157.6,19.9,249,4294,0.00,2.35,0.00,0.000,6,0.000,0.026,3395,2015,1422,0,0,0,0,0,0
$GC,4554,-0.54,370.8,111.4,15.8,270,4555,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,2020,1421,0,0,0,0,0,0
$GC,4807,-0.57,370.8,73.2,13.5,290,4811,0.00,2.47,0.00,0.000,4,0.000,0.046,3394,593,1421,0,0,0,0,0,0
$GC,4880,-0.57,370.8,61.6,15.8,295,4887,0.00,2.35,0.00,0.000,6,0.000,0.022,3395,2013,1420,0,0,0,0,0,0
$GC,5142,-0.57,370.8,26.3,13.1,320,5151,0.00,2.47,0.00,0.000,4,0.000,0.046,3394,602,1420,0,0,0,0,0,0
$GC,5238,-0.57,370.8,11.0,15.7,341,5245,0.00,2.30,0.00,0.000,6,0.000,0.021,3395,2009,1419,0,0,0,0,0,0
$STATE,5296,end climb,SURFACE_DEPTH_REACHED
$STATE,5296,begin surface coast
$FINISH,0.4,1.015817
$STATE,5319,end surface coast,CONTROL_FINISHED_OK
$STATE,5321,begin surface
$SM_CCo,5344,99.90,0.510,0,0,706,550.21
$SM_GC,1.15,0.00,0.00,99.90,0.000,0.000,0.510,428,1871,706,-14.13,-0.82,550.21
$IRIDIUM_FIX,2104.07,-15755.17,221099,181814
$TT8_MAMPS,0.028379
$HUMID,54.41
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.10
$XPDR_PINGS,0
$24V_AH,23.4,2.086
$10V_AH,10.5,0.998
$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,36.225,62.250,376.975,99.900,0.000,29.369,28.945,119.281,4.000,0.000,31.441,706.926,2971.778,478.766,1240.740,346.239,0.000,1068.852,0.000,1206.428,0.000,26.128,0.000
$DEVICE_MAMPS,141.895,62.127,827.593,510.055,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,239.350,236.197,604.465,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,19171,359
$CAP_FILE_SIZE,73065,0
$CFSIZE,260165632,212258816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280710,211502,2110.913,-15756.755,16,1.5,16,9.8