version: 66.06
glider: 139
mission: 8
dive: 22
start: 7 29 110 0 30 50
data:
$ID,139
$MISSION,8
$DIVE,22
$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,-2150665.5
$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
$GPS1,002238,2110.136,-15757.287,11,1.5,23,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,2
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-71.0
$GPS2,003032,2110.111,-15757.326,15,1.3,15,9.8
$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,238.3,8822,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.53,-77.9,0.0,0.0,0,99,0.00,0.00,-80.10,0.000,2,0.000,0.000,431,1852,2876,0,0,0,0,0,0
$GC,103,-1.53,-77.9,3.9,-6.0,15,133,14.88,2.53,-4.78,0.000,4,0.142,0.038,3160,3321,3172,0,0,0,0,0,0
$GC,219,-2.43,-77.9,22.0,-8.5,39,226,0.85,2.42,0.00,0.000,6,0.089,0.027,2974,1889,3172,0,0,0,0,0,0
$GC,423,-3.19,-77.9,38.3,-7.9,70,431,0.73,2.38,0.00,0.000,4,0.043,0.041,2798,492,3173,0,0,0,0,0,0
$GC,549,-3.19,-77.9,59.3,-21.0,79,554,0.00,2.30,0.00,0.000,6,0.000,0.021,2798,1925,3174,0,0,0,0,0,0
$GC,810,-3.28,-77.9,96.9,-13.7,99,814,0.00,2.47,0.00,0.000,4,0.000,0.046,2798,493,3174,0,0,0,0,0,0
$GC,893,-3.34,-77.9,109.1,-14.3,105,898,0.12,2.28,0.00,0.000,6,0.067,0.020,2757,1910,3175,0,0,0,0,0,0
$GC,1156,-3.41,-77.9,145.3,-13.7,125,1160,0.00,2.45,0.00,0.000,4,0.000,0.047,2757,495,3175,0,0,0,0,0,0
$GC,1182,-3.41,-77.9,149.7,-16.3,127,1186,0.00,2.28,0.00,0.000,6,0.000,0.021,2757,1912,3175,0,0,0,0,0,0
$GC,1448,-3.50,-77.9,187.8,-13.3,148,1452,0.00,2.42,0.00,0.000,4,0.000,0.047,2757,498,3176,0,0,0,0,0,0
$GC,1543,-3.55,-77.9,201.3,-13.4,155,1548,0.12,2.25,0.00,0.000,6,0.064,0.021,2717,1898,3176,0,0,0,0,0,0
$GC,1872,-3.55,-77.9,248.4,-13.2,171,1876,0.00,2.40,0.00,0.000,4,0.000,0.048,2716,499,3177,0,0,0,0,0,0
$GC,1932,-3.51,-77.9,258.7,-17.1,173,1937,0.00,2.28,0.00,0.000,6,0.000,0.022,2717,1904,3177,0,0,0,0,0,0
$GC,2269,-3.55,-77.9,308.5,-14.4,189,2273,0.00,2.42,0.00,0.000,4,0.000,0.051,2716,501,3176,0,0,0,0,0,0
$GC,2324,-3.55,-77.9,317.8,-15.6,190,2328,0.00,2.28,0.00,0.000,6,0.000,0.024,2717,1899,3175,0,0,0,0,0,0
$GC,2637,-3.61,-77.9,357.6,-12.4,198,2641,0.00,2.42,0.00,0.000,4,0.000,0.053,2716,501,3174,0,0,0,0,0,0
$GC,2712,-3.61,-77.9,367.6,-12.9,199,2716,0.00,2.30,0.00,0.000,6,0.000,0.026,2716,1902,3174,0,0,0,0,0,0
$STATE,3005,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3005,begin apogee
$GC,3012,-0.31,0.0,405.2,12.8,207,3086,3.35,0.00,65.28,0.798,6,0.076,0.000,3432,2027,2850,0,0,0,0,0,0
$STATE,3087,end apogee,CONTROL_FINISHED_OK
$STATE,3087,begin climb
$GC,3090,1.53,77.9,411.4,0.0,209,3166,1.27,2.45,65.05,0.794,4,0.041,0.041,3726,3391,2531,0,0,0,0,0,0
$GC,3219,1.17,356.4,431.4,-12.5,211,3464,0.00,2.40,235.90,0.802,6,0.000,0.038,3726,2011,1395,0,0,0,0,0,0
$GC,3779,0.50,356.4,261.2,42.3,227,3786,0.57,2.40,0.00,0.000,4,0.123,0.031,3614,3401,1388,0,0,0,0,0,0
$GC,3906,0.10,356.4,217.8,29.0,232,3917,0.47,2.42,0.00,0.000,6,0.121,0.043,3526,2012,1387,0,0,0,0,0,0
$GC,4230,-0.22,356.4,129.6,25.4,256,4235,0.35,2.50,0.00,0.000,4,0.117,0.054,3457,595,1384,0,0,0,0,0,0
$GC,4258,-0.58,356.4,123.1,26.4,258,4263,0.43,2.35,0.00,0.000,6,0.110,0.026,3375,2003,1381,0,0,0,0,0,0
$GC,4525,-0.58,356.4,80.2,15.5,279,4529,0.00,2.47,0.00,0.000,4,0.000,0.050,3375,597,1380,0,0,0,0,0,0
$GC,4626,-0.58,356.4,62.9,18.3,286,4632,0.00,2.35,0.00,0.000,6,0.000,0.023,3375,2015,1378,0,0,0,0,0,0
$GC,4887,-0.54,356.4,26.7,13.3,311,4894,0.00,2.50,0.00,0.000,4,0.000,0.047,3375,596,1378,0,0,0,0,0,0
$GC,4992,-0.63,356.4,11.9,14.9,334,4998,0.00,2.33,0.00,0.000,6,0.000,0.021,3376,2024,1378,0,0,0,0,0,0
$STATE,5066,end climb,SURFACE_DEPTH_REACHED
$STATE,5066,begin surface coast
$FINISH,0.5,0.997884
$STATE,5095,end surface coast,CONTROL_FINISHED_OK
$STATE,5095,begin surface
$SM_CCo,5118,107.82,0.515,0,0,606,550.21
$SM_GC,1.09,0.00,0.00,107.82,0.000,0.000,0.515,428,1876,606,-14.14,-0.76,550.21
$IRIDIUM_FIX,2104.07,-15757.32,231099,000001
$TT8_MAMPS,0.029146
$HUMID,56.61
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,20.50
$XPDR_PINGS,0
$24V_AH,23.4,2.420
$10V_AH,10.5,1.161
$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,35.925,62.425,366.225,107.825,0.000,56.208,108.055,144.678,4.000,0.000,15.548,688.675,2900.888,480.546,1160.381,474.951,0.000,1037.992,0.000,1142.937,0.000,26.120,0.000
$DEVICE_MAMPS,141.895,58.292,802.282,514.657,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,238.444,236.858,610.148,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,19142,357
$CAP_FILE_SIZE,70737,0
$CFSIZE,260165632,212148224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290710,015910,2109.674,-15758.037,15,3.3,34,9.8