version: 66.06
glider: 139
mission: 8
dive: 26
start: 7 29 110 6 55 26
data:
$ID,139
$MISSION,8
$DIVE,26
$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,-2150747.2
$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,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
$GPS1,065022,2108.630,-15800.517,8,2.3,27,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-71.7
$GPS2,065508,2108.606,-15800.547,15,1.7,15,9.8
$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,249.3,2670,-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,-77.9,0.0,0.0,0,98,0.00,0.00,-80.35,0.000,2,0.000,0.000,426,1888,2811,0,0,0,0,0,0
$GC,101,-1.53,-77.9,3.4,-4.6,15,131,14.85,2.53,-5.28,0.000,4,0.140,0.064,3164,481,3120,0,0,0,0,0,0
$GC,213,-2.44,-77.9,18.4,-8.8,38,220,0.82,2.33,0.00,0.000,6,0.052,0.019,2968,1923,3122,0,0,0,0,0,0
$GC,420,-2.94,-77.9,30.9,-5.8,83,427,0.45,2.47,0.00,0.000,4,0.035,0.040,2849,470,3122,0,0,0,0,0,0
$GC,575,-3.04,-77.9,53.0,-15.4,94,582,0.00,2.25,0.00,0.000,6,0.000,0.020,2850,1868,3122,0,0,0,0,0,0
$GC,836,-3.17,-77.9,89.1,-14.1,115,841,0.17,2.40,0.00,0.000,4,0.049,0.047,2792,473,3122,0,0,0,0,0,0
$GC,882,-3.17,-77.9,96.9,-15.9,118,889,0.00,2.28,0.00,0.000,6,0.000,0.019,2791,1877,3123,0,0,0,0,0,0
$GC,1145,-3.25,-77.9,132.1,-13.7,139,1149,0.00,2.42,0.00,0.000,4,0.000,0.047,2791,469,3123,0,0,0,0,0,0
$GC,1226,-3.25,-77.9,144.9,-16.0,145,1230,0.00,2.22,0.00,0.000,6,0.000,0.019,2792,1880,3124,0,0,0,0,0,0
$GC,1491,-3.38,-77.9,176.3,-11.0,166,1496,0.12,2.42,0.00,0.000,4,0.063,0.047,2746,473,3124,0,0,0,0,0,0
$GC,1614,-3.38,-77.9,196.7,-15.9,175,1618,0.00,2.22,0.00,0.000,6,0.000,0.021,2747,1875,3125,0,0,0,0,0,0
$GC,1888,-3.45,-77.9,232.1,-13.3,189,1892,0.00,2.42,0.00,0.000,4,0.000,0.049,2746,473,3125,0,0,0,0,0,0
$GC,1953,-3.45,-77.9,241.7,-13.7,192,1957,0.00,2.25,0.00,0.000,6,0.000,0.021,2747,1874,3126,0,0,0,0,0,0
$GC,2285,-3.53,-77.9,280.0,-12.2,208,2290,0.00,2.42,0.00,0.000,4,0.000,0.049,2746,473,3126,0,0,0,0,0,0
$GC,2327,-3.53,-77.9,286.2,-14.0,209,2332,0.00,2.28,0.00,0.000,6,0.000,0.022,2746,1879,3126,0,0,0,0,0,0
$GC,2664,-3.62,-77.9,323.2,-11.1,221,2669,0.15,2.45,0.00,0.000,4,0.057,0.052,2699,469,3124,0,0,0,0,0,0
$GC,2803,-3.57,-77.9,344.2,-13.1,224,2808,0.10,2.28,0.00,0.000,6,0.120,0.024,2719,1878,3124,0,0,0,0,0,0
$GC,3130,-3.62,-77.9,381.4,-11.1,232,3135,0.00,2.45,0.00,0.000,4,0.000,0.054,2719,476,3122,0,0,0,0,0,0
$STATE,3255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3256,begin apogee
$GC,3264,-0.31,0.0,400.5,16.3,234,3335,3.28,0.00,64.93,0.785,6,0.076,0.000,3431,2008,2801,0,0,0,0,0,0
$STATE,3336,end apogee,CONTROL_FINISHED_OK
$STATE,3336,begin climb
$GC,3339,1.53,77.9,402.6,0.0,236,3414,1.25,2.47,65.82,0.776,4,0.029,0.042,3731,3403,2481,0,0,0,0,0,0
$GC,3474,1.12,327.7,421.9,-10.3,239,3695,0.00,2.42,210.32,0.788,6,0.000,0.037,3731,2002,1463,0,0,0,0,0,0
$GC,4011,0.44,327.7,258.3,38.3,254,4018,0.68,2.42,0.00,0.000,4,0.120,0.031,3600,3411,1456,0,0,0,0,0,0
$GC,4060,0.02,327.7,242.7,28.6,256,4068,0.50,2.42,0.00,0.000,6,0.123,0.040,3508,2007,1455,0,0,0,0,0,0
$GC,4385,-0.27,327.7,161.7,23.7,276,4390,0.32,2.45,0.00,0.000,4,0.113,0.051,3442,603,1451,0,0,0,0,0,0
$GC,4400,-0.59,327.7,157.0,24.5,277,4406,0.35,2.35,0.00,0.000,6,0.108,0.026,3376,2030,1450,0,0,0,0,0,0
$GC,4662,-0.59,327.7,119.0,16.0,297,4666,0.00,2.50,0.00,0.000,4,0.000,0.050,3375,596,1449,0,0,0,0,0,0
$GC,4829,-0.59,327.7,91.5,16.4,309,4833,0.00,2.30,0.00,0.000,6,0.000,0.023,3375,2003,1446,0,0,0,0,0,0
$GC,5093,-0.59,327.7,56.5,12.1,330,5097,0.00,2.42,0.00,0.000,4,0.000,0.045,3375,591,1445,0,0,0,0,0,0
$GC,5147,-0.64,327.7,48.2,16.3,334,5151,0.00,2.33,0.00,0.000,6,0.000,0.021,3375,2027,1446,0,0,0,0,0,0
$GC,5409,-0.64,327.7,16.1,12.8,370,5415,0.00,2.50,0.00,0.000,4,0.000,0.046,3375,597,1446,0,0,0,0,0,0
$STATE,5510,end climb,SURFACE_DEPTH_REACHED
$STATE,5510,begin surface coast
$FINISH,0.5,1.015602
$STATE,5535,end surface coast,CONTROL_FINISHED_OK
$STATE,5535,begin surface
$SM_CCo,5559,126.00,0.502,0,0,556,550.21
$SM_GC,1.05,0.00,0.00,126.00,0.000,0.000,0.502,427,1881,556,-14.14,0.03,550.21
$IRIDIUM_FIX,2101.76,-15726.01,231099,050537
$TT8_MAMPS,0.029146
$HUMID,53.85
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.4,2.834
$10V_AH,10.5,1.395
$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,35.675,71.375,341.075,126.000,0.000,27.912,31.799,121.557,4.000,0.000,16.029,774.543,3023.461,483.140,1340.887,355.166,0.000,1097.155,0.000,1319.898,0.000,27.763,0.000
$DEVICE_MAMPS,139.594,63.661,788.476,502.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,265.956,269.131,694.849,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,22380,398
$CAP_FILE_SIZE,76810,0
$CFSIZE,260165632,211988480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290710,083136,2108.298,-15801.120,41,1.2,46,9.8