version: 66.06
glider: 139
mission: 8
dive: 23
start: 7 29 110 2 4 26
data:
$ID,139
$MISSION,8
$DIVE,23
$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,-2150695.8
$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,1880
$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,2800
$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
$GPS1,015910,2109.674,-15758.037,15,3.3,34,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-72.8
$GPS2,020406,2109.641,-15758.089,16,1.6,26,9.8
$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,240.8,7281,-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,-75.55,0.000,2,0.000,0.000,427,1876,2720,0,0,0,0,0,0
$GC,96,-1.53,-77.9,3.3,-4.9,14,126,14.88,2.50,-7.07,0.000,4,0.141,0.062,3161,476,3121,0,0,0,0,0,0
$GC,241,-2.32,-77.9,19.9,-7.7,45,248,0.70,2.35,0.00,0.000,6,0.052,0.019,2992,1924,3122,0,0,0,0,0,0
$GC,447,-3.07,-77.9,37.0,-9.2,80,453,0.68,2.20,0.00,0.000,4,0.044,0.027,2828,3253,3123,0,0,0,0,0,0
$GC,514,-3.27,-77.9,44.4,-11.8,85,519,0.17,2.33,0.00,0.000,6,0.051,0.031,2772,1879,3123,0,0,0,0,0,0
$GC,779,-3.27,-77.9,89.1,-16.4,106,783,0.00,2.42,0.00,0.000,4,0.000,0.046,2772,466,3123,0,0,0,0,0,0
$GC,846,-3.27,-77.9,99.9,-15.3,111,851,0.00,2.25,0.00,0.000,6,0.000,0.019,2772,1878,3124,0,0,0,0,0,0
$GC,1116,-3.36,-77.9,142.8,-14.2,132,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1883,3125,0,0,0,0,0,0
$GC,1368,-3.46,-77.9,177.7,-14.3,152,1373,0.12,2.45,0.00,0.000,4,0.067,0.048,2731,471,3125,0,0,0,0,0,0
$GC,1438,-3.42,-77.9,189.9,-17.1,157,1443,0.12,2.28,0.00,0.000,6,0.107,0.021,2755,1888,3125,0,0,0,0,0,0
$GC,1709,-3.51,-77.9,223.7,-11.5,172,1713,0.00,2.42,0.00,0.000,4,0.000,0.048,2755,473,3126,0,0,0,0,0,0
$GC,1798,-3.57,-77.9,236.6,-13.9,176,1803,0.15,2.28,0.00,0.000,6,0.060,0.021,2710,1883,3126,0,0,0,0,0,0
$GC,2129,-3.57,-77.9,283.8,-13.0,192,2133,0.00,2.45,0.00,0.000,4,0.000,0.050,2709,473,3126,0,0,0,0,0,0
$GC,2244,-3.53,-77.9,301.2,-16.0,197,2249,0.10,2.25,0.00,0.000,6,0.119,0.024,2729,1874,3126,0,0,0,0,0,0
$GC,2592,-3.60,-77.9,340.4,-10.2,206,2597,0.00,2.45,0.00,0.000,4,0.000,0.054,2729,477,3126,0,0,0,0,0,0
$GC,2676,-3.60,-77.9,351.5,-12.7,207,2681,0.00,2.30,0.00,0.000,6,0.000,0.025,2729,1884,3125,0,0,0,0,0,0
$GC,3009,-3.69,-77.9,388.3,-10.5,216,3014,0.15,2.47,0.00,0.000,4,0.064,0.056,2686,477,3123,0,0,0,0,0,0
$GC,3075,-3.62,-77.9,398.6,-15.0,217,3080,0.12,2.33,0.00,0.000,6,0.114,0.027,2710,1885,3123,0,0,0,0,0,0
$STATE,3085,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3085,begin apogee
$GC,3092,-0.31,0.0,400.2,14.8,217,3164,3.35,0.00,65.43,0.795,6,0.080,0.000,3430,2038,2799,0,0,0,0,0,0
$STATE,3165,end apogee,CONTROL_FINISHED_OK
$STATE,3165,begin climb
$GC,3167,1.53,77.9,402.0,0.0,219,3243,1.30,2.38,65.97,0.785,4,0.039,0.043,3727,3377,2481,0,0,0,0,0,0
$GC,3389,1.08,308.6,426.5,-8.8,223,3595,0.00,2.38,195.75,0.808,6,0.000,0.038,3727,2007,1540,0,0,0,0,0,0
$GC,3908,0.38,308.6,274.9,36.3,238,3915,0.73,2.38,0.00,0.000,4,0.127,0.034,3589,3381,1531,0,0,0,0,0,0
$GC,4177,-0.03,308.6,199.5,27.6,249,4184,0.50,2.40,0.00,0.000,6,0.125,0.041,3497,2007,1530,0,0,0,0,0,0
$GC,4500,-0.31,308.6,129.4,18.8,275,4505,0.30,2.35,0.00,0.000,4,0.118,0.031,3437,3383,1526,0,0,0,0,0,0
$GC,4547,-0.42,308.6,121.3,15.6,278,4555,0.10,2.38,0.00,0.000,6,0.098,0.036,3415,2009,1526,0,0,0,0,0,0
$GC,4810,-0.52,308.6,83.8,15.9,299,4815,0.12,2.47,0.00,0.000,4,0.120,0.048,3391,594,1525,0,0,0,0,0,0
$GC,5041,-0.59,308.6,45.4,15.7,316,5045,0.00,2.30,0.00,0.000,6,0.000,0.022,3391,2006,1522,0,0,0,0,0,0
$GC,5303,-0.59,308.6,12.0,10.6,358,5309,0.00,2.45,0.00,0.000,4,0.000,0.045,3391,603,1522,0,0,0,0,0,0
$STATE,5369,end climb,SURFACE_DEPTH_REACHED
$STATE,5369,begin surface coast
$FINISH,0.7,1.022992
$STATE,5393,end surface coast,CONTROL_FINISHED_OK
$STATE,5394,begin surface
$SM_CCo,5418,136.65,0.511,0,0,556,550.21
$SM_GC,1.11,0.00,0.00,136.65,0.000,0.000,0.511,433,1878,556,-14.11,-0.06,550.21
$IRIDIUM_FIX,2104.07,-15758.18,231099,000049
$TT8_MAMPS,0.029146
$HUMID,54.05
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,20.60
$XPDR_PINGS,0
$24V_AH,23.4,2.523
$10V_AH,10.5,1.219
$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,36.425,61.475,327.150,136.650,0.000,30.796,31.447,113.934,4.000,0.000,29.416,753.896,2959.983,475.787,1319.566,349.969,0.000,1070.433,0.000,1290.622,0.000,26.122,0.000
$DEVICE_MAMPS,141.128,62.127,807.651,510.822,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,252.860,251.373,650.237,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,19183,378
$CAP_FILE_SIZE,74553,0
$CFSIZE,260165632,212107264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290710,033750,2109.180,-15758.768,10,1.8,10,9.8