version: 66.06
glider: 139
mission: 8
dive: 24
start: 7 29 110 3 43 8
data:
$ID,139
$MISSION,8
$DIVE,24
$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,-2150712.8
$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
$GPS1,033750,2109.180,-15758.768,10,1.8,10,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-70.9
$GPS2,034250,2109.166,-15758.815,16,1.8,16,9.8
$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,244.9,5820,-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,15,-1.53,-77.9,0.0,0.0,0,98,0.00,0.00,-80.35,0.000,2,0.000,0.000,433,1879,2815,0,0,0,0,0,0
$GC,102,-1.53,-77.9,3.4,-5.1,15,132,14.88,2.50,-5.20,0.000,4,0.142,0.060,3160,471,3121,0,0,0,0,0,0
$GC,213,-2.44,-77.9,19.0,-8.6,38,220,0.82,2.35,0.00,0.000,6,0.055,0.019,2965,1925,3122,0,0,0,0,0,0
$GC,420,-3.01,-77.9,32.4,-5.8,79,427,0.50,2.50,0.00,0.000,4,0.035,0.041,2831,472,3123,0,0,0,0,0,0
$GC,585,-3.07,-77.9,56.2,-16.6,91,589,0.00,2.22,0.00,0.000,6,0.000,0.020,2831,1867,3123,0,0,0,0,0,0
$GC,845,-3.25,-77.9,88.8,-12.1,111,850,0.17,2.42,0.00,0.000,4,0.051,0.047,2777,474,3124,0,0,0,0,0,0
$GC,900,-3.25,-77.9,97.6,-14.5,115,904,0.00,2.25,0.00,0.000,6,0.000,0.020,2778,1876,3124,0,0,0,0,0,0
$GC,1163,-3.33,-77.9,135.4,-15.2,135,1167,0.00,2.42,0.00,0.000,4,0.000,0.048,2777,473,3125,0,0,0,0,0,0
$GC,1314,-3.37,-77.9,159.2,-13.9,146,1319,0.00,2.25,0.00,0.000,6,0.000,0.020,2777,1881,3126,0,0,0,0,0,0
$GC,1582,-3.48,-77.9,194.0,-12.9,167,1587,0.15,2.42,0.00,0.000,4,0.058,0.047,2730,470,3126,0,0,0,0,0,0
$GC,1682,-3.43,-77.9,210.6,-17.1,173,1687,0.12,2.28,0.00,0.000,6,0.107,0.021,2754,1884,3126,0,0,0,0,0,0
$GC,2006,-3.53,-77.9,254.7,-13.5,189,2010,0.00,2.45,0.00,0.000,4,0.000,0.048,2754,468,3126,0,0,0,0,0,0
$GC,2134,-3.58,-77.9,271.3,-12.2,194,2139,0.15,2.25,0.00,0.000,6,0.060,0.021,2708,1876,3127,0,0,0,0,0,0
$GC,2475,-3.58,-77.9,320.0,-14.1,208,2480,0.00,2.45,0.00,0.000,4,0.000,0.052,2707,470,3126,0,0,0,0,0,0
$GC,2585,-3.55,-77.9,337.1,-15.1,210,2589,0.00,2.30,0.00,0.000,6,0.000,0.024,2708,1880,3126,0,0,0,0,0,0
$GC,2898,-3.55,-77.9,378.9,-12.8,218,2902,0.00,2.47,0.00,0.000,4,0.000,0.054,2707,469,3124,0,0,0,0,0,0
$STATE,3008,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3008,begin apogee
$GC,3017,-0.31,0.0,394.9,14.1,220,3088,3.35,0.00,65.50,0.779,6,0.077,0.000,3431,2013,2800,0,0,0,0,0,0
$STATE,3089,end apogee,CONTROL_FINISHED_OK
$STATE,3089,begin climb
$GC,3092,1.53,77.9,397.2,0.0,222,3167,1.27,2.53,65.40,0.772,4,0.035,0.044,3733,604,2481,0,0,0,0,0,0
$GC,3174,1.08,336.4,409.3,-10.9,223,3398,0.00,2.38,217.10,0.775,6,0.000,0.026,3733,2015,1428,0,0,0,0,0,0
$GC,3711,0.40,336.4,241.8,38.9,240,3718,0.73,2.38,0.00,0.000,4,0.117,0.031,3591,3406,1421,0,0,0,0,0,0
$GC,3760,0.05,336.4,227.0,26.4,242,3767,0.43,2.45,0.00,0.000,6,0.121,0.042,3513,2010,1420,0,0,0,0,0,0
$GC,4090,-0.28,336.4,139.4,26.6,265,4096,0.35,2.45,0.00,0.000,4,0.114,0.048,3442,597,1417,0,0,0,0,0,0
$GC,4110,-0.58,336.4,133.7,23.7,266,4118,0.32,2.38,0.00,0.000,6,0.103,0.025,3377,2018,1416,0,0,0,0,0,0
$GC,4372,-0.58,336.4,93.8,15.0,287,4376,0.00,2.47,0.00,0.000,4,0.000,0.048,3377,593,1415,0,0,0,0,0,0
$GC,4618,-0.63,336.4,56.6,15.2,305,4623,0.00,2.33,0.00,0.000,6,0.000,0.022,3377,2021,1411,0,0,0,0,0,0
$GC,4882,-0.60,336.4,23.9,12.7,331,4888,0.00,2.50,0.00,0.000,4,0.000,0.045,3377,593,1411,0,0,0,0,0,0
$GC,4984,-0.60,336.4,9.6,15.2,354,4991,0.00,2.33,0.00,0.000,6,0.000,0.021,3377,2013,1411,0,0,0,0,0,0
$STATE,5029,end climb,SURFACE_DEPTH_REACHED
$STATE,5030,begin surface coast
$FINISH,0.7,1.023068
$STATE,5052,end surface coast,CONTROL_FINISHED_OK
$STATE,5052,begin surface
$SM_CCo,5076,120.15,0.504,0,0,556,550.21
$SM_GC,1.09,0.00,0.00,120.15,0.000,0.000,0.504,432,1862,556,-14.11,-0.51,550.21
$IRIDIUM_FIX,2059.45,-15758.18,231099,020239
$TT8_MAMPS,0.028379
$HUMID,54.72
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,363.4,60.9
$24V_AH,23.4,2.628
$10V_AH,10.5,1.275
$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,35.975,62.550,348.000,120.150,0.000,30.539,27.513,136.232,3.750,0.000,16.341,719.918,2672.595,467.587,1279.103,362.098,0.000,1061.246,0.000,1257.367,0.000,26.007,0.000
$DEVICE_MAMPS,141.895,59.826,778.505,503.919,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,246.376,250.439,652.466,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355752
$DATA_FILE_SIZE,19164,369
$CAP_FILE_SIZE,73027,0
$CFSIZE,260165632,212074496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290710,051106,2108.846,-15759.657,43,1.2,43,9.8