version: 66.06
glider: 139
mission: 8
dive: 20
start: 7 28 110 21 20 20
data:
$ID,139
$MISSION,8
$DIVE,20
$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,-2150636
$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
$GPS1,211502,2110.913,-15756.755,16,1.5,16,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-70.5
$GPS2,212002,2110.860,-15756.742,10,1.3,10,9.8
$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,233.2,10315,-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,-74.82,0.000,2,0.000,0.000,428,1871,2800,0,0,0,0,0,0
$GC,96,-1.53,-77.9,3.5,-4.7,14,126,14.93,2.40,-8.02,0.000,4,0.142,0.060,3160,495,3269,0,0,0,0,0,0
$GC,274,-2.37,-77.9,25.9,-9.5,53,281,0.75,2.35,0.00,0.000,6,0.064,0.019,2985,1946,3271,0,0,0,0,0,0
$GC,476,-3.15,-77.9,45.3,-9.8,75,483,0.73,2.17,0.00,0.000,4,0.039,0.026,2805,3267,3271,0,0,0,0,0,0
$GC,520,-3.32,-77.9,50.8,-12.1,78,525,0.12,2.30,0.00,0.000,6,0.064,0.031,2763,1898,3272,0,0,0,0,0,0
$GC,778,-3.32,-77.9,96.9,-16.6,98,783,0.00,2.40,0.00,0.000,4,0.000,0.047,2763,490,3272,0,0,0,0,0,0
$GC,852,-3.32,-77.9,113.1,-21.4,103,857,0.00,2.22,0.00,0.000,6,0.000,0.020,2763,1882,3272,0,0,0,0,0,0
$GC,1112,-3.39,-77.9,155.8,-14.9,124,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1887,3273,0,0,0,0,0,0
$GC,1364,-3.50,-77.9,190.7,-13.2,144,1369,0.12,2.42,0.00,0.000,4,0.066,0.048,2722,487,3274,0,0,0,0,0,0
$GC,1502,-3.46,-77.9,216.1,-18.1,152,1507,0.12,2.28,0.00,0.000,6,0.105,0.021,2747,1903,3274,0,0,0,0,0,0
$GC,1830,-3.55,-77.9,260.8,-12.7,168,1835,0.00,2.45,0.00,0.000,4,0.000,0.048,2746,487,3275,0,0,0,0,0,0
$GC,1891,-3.58,-77.9,269.8,-13.8,170,1899,0.10,2.30,0.00,0.000,6,0.038,0.022,2708,1897,3275,0,0,0,0,0,0
$GC,2229,-3.62,-77.9,320.9,-15.2,184,2234,0.00,2.42,0.00,0.000,4,0.000,0.051,2707,496,3275,0,0,0,0,0,0
$GC,2326,-3.62,-77.9,337.1,-16.1,186,2331,0.00,2.28,0.00,0.000,6,0.000,0.024,2707,1894,3274,0,0,0,0,0,0
$GC,2647,-3.67,-77.9,385.2,-15.1,194,2651,0.00,2.45,0.00,0.000,4,0.000,0.055,2707,499,3273,0,0,0,0,0,0
$GC,2681,-3.67,-77.9,390.8,-15.3,194,2685,0.00,2.30,0.00,0.000,6,0.000,0.025,2707,1907,3273,0,0,0,0,0,0
$STATE,2766,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2766,begin apogee
$GC,2774,-0.31,0.0,402.4,13.3,196,2848,3.38,0.00,64.97,0.785,6,0.074,0.000,3432,2039,2950,0,0,0,0,0,0
$STATE,2849,end apogee,CONTROL_FINISHED_OK
$STATE,2849,begin climb
$GC,2851,1.53,77.9,407.1,0.0,198,2927,1.27,2.60,64.53,0.779,4,0.039,0.048,3729,604,2631,0,0,0,0,0,0
$GC,3192,0.98,378.7,452.4,-14.2,205,3457,0.00,2.33,254.10,0.825,6,0.000,0.026,3729,1998,1405,0,0,0,0,0,0
$GC,3764,0.29,378.7,280.3,42.2,220,3771,0.82,2.50,0.00,0.000,4,0.122,0.054,3570,603,1397,0,0,0,0,0,0
$GC,3883,-0.28,378.7,239.0,33.6,225,3890,0.70,2.35,0.00,0.000,6,0.135,0.028,3443,2008,1394,0,0,0,0,0,0
$GC,4215,-0.47,378.7,163.1,19.6,246,4220,0.22,2.50,0.00,0.000,4,0.107,0.051,3399,603,1392,0,0,0,0,0,0
$GC,4337,-0.47,378.7,135.3,21.3,255,4341,0.00,2.33,0.00,0.000,6,0.000,0.025,3400,2017,1390,0,0,0,0,0,0
$GC,4602,-0.53,378.7,89.8,16.4,276,4606,0.00,2.47,0.00,0.000,4,0.000,0.048,3399,603,1390,0,0,0,0,0,0
$GC,4648,-0.53,378.7,81.4,18.0,279,4654,0.00,2.33,0.00,0.000,6,0.000,0.024,3399,2017,1388,0,0,0,0,0,0
$GC,4908,-0.53,378.7,39.6,16.2,300,4912,0.00,2.47,0.00,0.000,4,0.000,0.047,3399,597,1388,0,0,0,0,0,0
$GC,5062,-0.53,378.7,13.4,16.6,325,5069,0.00,2.33,0.00,0.000,6,0.000,0.021,3400,2008,1388,0,0,0,0,0,0
$STATE,5141,end climb,SURFACE_DEPTH_REACHED
$STATE,5141,begin surface coast
$FINISH,0.5,1.013381
$STATE,5166,end surface coast,CONTROL_FINISHED_OK
$STATE,5166,begin surface
$SM_CCo,5189,95.47,0.515,0,0,706,550.21
$SM_GC,1.16,0.00,0.00,95.47,0.000,0.000,0.515,432,1859,706,-14.11,-1.16,550.21
$IRIDIUM_FIX,2104.07,-15757.32,221099,191934
$TT8_MAMPS,0.028379
$HUMID,55.51
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,20.60
$XPDR_PINGS,0
$24V_AH,23.4,2.199
$10V_AH,10.5,1.051
$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,36.150,57.300,383.600,95.475,0.000,30.467,38.846,129.374,4.000,0.000,12.023,695.139,2850.098,475.035,1207.075,362.757,0.000,1054.705,0.000,1191.434,0.000,26.119,0.000
$DEVICE_MAMPS,141.895,59.826,824.525,514.657,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,232.277,228.466,584.877,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,19210,348
$CAP_FILE_SIZE,70534,0
$CFSIZE,260165632,212221952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280710,224937,2110.593,-15756.867,34,1.0,34,9.8