version: 66.06
glider: 139
mission: 8
dive: 21
start: 7 28 110 22 54 32
data:
$ID,139
$MISSION,8
$DIVE,21
$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,-2150649.2
$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,2850
$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
$GPS1,224937,2110.593,-15756.867,34,1.0,34,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-70.7
$GPS2,225414,2110.565,-15756.872,10,1.6,10,9.8
$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,235.5,9876,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.53,-77.9,0.0,0.0,0,93,0.00,0.00,-74.82,0.000,2,0.000,0.000,432,1864,2802,0,0,0,0,0,0
$GC,96,-1.53,-77.9,3.5,-4.9,14,126,14.85,2.42,-6.35,0.000,4,0.141,0.063,3161,501,3171,0,0,0,0,0,0
$GC,212,-2.46,-77.9,18.7,-7.9,38,219,0.85,2.35,0.00,0.000,6,0.065,0.019,2965,1956,3173,0,0,0,0,0,0
$GC,423,-3.18,-77.9,34.0,-7.3,78,430,0.68,2.25,0.00,0.000,4,0.042,0.028,2801,3312,3173,0,0,0,0,0,0
$GC,466,-3.33,-77.9,38.4,-10.4,81,471,0.12,2.38,0.00,0.000,6,0.064,0.030,2758,1898,3173,0,0,0,0,0,0
$GC,726,-3.33,-77.9,84.0,-17.6,101,730,0.00,2.42,0.00,0.000,4,0.000,0.048,2758,489,3174,0,0,0,0,0,0
$GC,795,-3.27,-77.9,97.5,-18.3,106,800,0.15,2.33,0.00,0.000,6,0.104,0.019,2788,1938,3174,0,0,0,0,0,0
$GC,1054,-3.38,-77.9,138.3,-15.3,126,1059,0.10,2.53,0.00,0.000,4,0.077,0.046,2753,489,3175,0,0,0,0,0,0
$GC,1074,-3.41,-77.9,141.6,-15.8,127,1080,0.00,2.28,0.00,0.000,6,0.000,0.020,2754,1914,3175,0,0,0,0,0,0
$GC,1336,-3.48,-77.9,180.7,-14.0,148,1340,0.00,2.42,0.00,0.000,4,0.000,0.046,2754,496,3176,0,0,0,0,0,0
$GC,1431,-3.52,-77.9,194.6,-13.4,155,1435,0.00,2.25,0.00,0.000,6,0.000,0.021,2754,1897,3177,0,0,0,0,0,0
$GC,1687,-3.61,-77.9,227.7,-12.8,169,1692,0.17,2.45,0.00,0.000,4,0.053,0.049,2702,496,3177,0,0,0,0,0,0
$GC,1721,-3.51,-77.9,233.6,-18.4,170,1726,0.15,2.28,0.00,0.000,6,0.104,0.022,2732,1905,3177,0,0,0,0,0,0
$GC,2040,-3.57,-77.9,278.0,-13.8,185,2044,0.00,2.42,0.00,0.000,4,0.000,0.050,2732,497,3177,0,0,0,0,0,0
$GC,2138,-3.57,-77.9,293.4,-16.6,189,2142,0.00,2.28,0.00,0.000,6,0.000,0.023,2732,1902,3177,0,0,0,0,0,0
$GC,2474,-3.64,-77.9,338.6,-13.3,199,2479,0.12,2.47,0.00,0.000,4,0.070,0.053,2696,497,3176,0,0,0,0,0,0
$GC,2550,-3.59,-77.9,350.9,-17.2,200,2555,0.10,2.30,0.00,0.000,6,0.121,0.025,2715,1898,3176,0,0,0,0,0,0
$GC,2887,-3.66,-77.9,388.1,-10.4,209,2891,0.00,2.47,0.00,0.000,4,0.000,0.055,2715,493,3174,0,0,0,0,0,0
$STATE,2979,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2979,begin apogee
$GC,2989,-0.31,0.0,400.3,12.8,211,3060,3.33,0.00,65.25,0.793,6,0.077,0.000,3433,2008,2850,0,0,0,0,0,0
$STATE,3061,end apogee,CONTROL_FINISHED_OK
$STATE,3061,begin climb
$GC,3063,1.53,77.9,401.0,0.0,212,3139,1.25,2.50,65.32,0.783,4,0.032,0.043,3729,3397,2531,0,0,0,0,0,0
$GC,3205,1.14,347.4,423.7,-11.8,215,3444,0.00,2.40,227.98,0.798,6,0.000,0.038,3729,2013,1432,0,0,0,0,0,0
$GC,3751,0.46,347.4,266.1,39.0,230,3758,0.62,2.40,0.00,0.000,4,0.120,0.032,3608,3407,1424,0,0,0,0,0,0
$GC,3905,0.05,347.4,216.7,30.8,236,3913,0.45,2.45,0.00,0.000,6,0.115,0.042,3513,2018,1423,0,0,0,0,0,0
$GC,4228,-0.27,347.4,130.9,25.0,260,4234,0.35,2.47,0.00,0.000,4,0.113,0.051,3442,600,1420,0,0,0,0,0,0
$GC,4257,-0.60,347.4,122.5,25.4,262,4263,0.35,2.38,0.00,0.000,6,0.110,0.026,3374,2025,1418,0,0,0,0,0,0
$GC,4518,-0.60,347.4,81.7,15.7,282,4522,0.00,2.50,0.00,0.000,4,0.000,0.048,3374,599,1418,0,0,0,0,0,0
$GC,4627,-0.60,347.4,63.1,17.7,290,4631,0.00,2.33,0.00,0.000,6,0.000,0.023,3374,2018,1416,0,0,0,0,0,0
$GC,4890,-0.56,347.4,26.2,13.2,314,4897,0.00,2.50,0.00,0.000,4,0.000,0.047,3374,599,1416,0,0,0,0,0,0
$GC,5030,-0.60,347.4,8.0,10.7,345,5037,0.00,2.33,0.00,0.000,6,0.000,0.021,3374,2018,1415,0,0,0,0,0,0
$STATE,5063,end climb,SURFACE_DEPTH_REACHED
$STATE,5063,begin surface coast
$FINISH,0.5,1.022973
$STATE,5086,end surface coast,CONTROL_FINISHED_OK
$STATE,5086,begin surface
$SM_CCo,5110,114.35,0.515,0,0,606,550.21
$SM_GC,1.17,0.00,0.00,114.35,0.000,0.000,0.515,431,1851,606,-14.12,-1.36,550.21
$IRIDIUM_FIX,2106.38,-15753.03,221099,212137
$TT8_MAMPS,0.028379
$HUMID,55.55
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,20.30
$XPDR_PINGS,0
$24V_AH,23.4,2.306
$10V_AH,10.5,1.106
$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,36.425,67.325,358.550,114.350,0.000,28.036,28.055,118.763,4.000,0.000,12.598,701.202,2813.325,468.052,1183.847,340.996,0.000,1037.632,0.000,1171.076,0.000,26.114,0.000
$DEVICE_MAMPS,141.128,62.894,798.447,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,238.612,237.009,619.866,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355752
$DATA_FILE_SIZE,19191,357
$CAP_FILE_SIZE,73179,0
$CFSIZE,260165632,212185088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290710,002238,2110.136,-15757.287,11,1.5,23,9.8