version: 66.06
glider: 139
mission: 8
dive: 28
start: 7 29 110 10 13 19
data:
$ID,139
$MISSION,8
$DIVE,28
$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,-2150777.8
$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
$GPS1,100750,2108.310,-15800.404,13,1.5,13,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-67.3
$GPS2,101301,2108.275,-15800.441,10,1.6,15,9.8
$SPEED_LIMITS,0.156,0.190
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$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,88.8,30619,-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,-80.28,0.000,2,0.000,0.000,430,1911,2835,0,0,0,0,0,0
$GC,101,-1.53,-77.9,3.7,-5.5,15,131,14.88,2.55,-4.75,0.000,4,0.141,0.056,3163,473,3120,0,0,0,0,0,0
$GC,196,-2.50,-77.9,19.3,-6.9,34,203,0.85,2.35,0.00,0.000,6,0.037,0.019,2947,1933,3121,0,0,0,0,0,0
$GC,398,-2.92,-77.9,33.3,-6.4,72,403,0.32,2.28,0.00,0.000,4,0.036,0.025,2847,3298,3121,0,0,0,0,0,0
$GC,496,-3.20,-77.9,42.5,-10.0,79,501,0.20,2.40,0.00,0.000,6,0.045,0.031,2780,1877,3121,0,0,0,0,0,0
$GC,756,-3.20,-77.9,85.5,-16.2,99,761,0.12,2.42,0.00,0.000,4,0.103,0.047,2805,463,3122,0,0,0,0,0,0
$GC,869,-3.26,-77.9,100.8,-13.6,107,873,0.00,2.30,0.00,0.000,6,0.000,0.019,2805,1913,3123,0,0,0,0,0,0
$GC,1131,-3.40,-77.9,130.1,-11.0,127,1136,0.20,2.47,0.00,0.000,4,0.050,0.043,2743,465,3124,0,0,0,0,0,0
$GC,1215,-3.40,-77.9,143.7,-15.7,133,1219,0.00,2.28,0.00,0.000,6,0.000,0.020,2744,1883,3124,0,0,0,0,0,0
$GC,1478,-3.43,-77.9,180.2,-14.4,153,1482,0.00,2.40,0.00,0.000,4,0.000,0.045,2743,473,3125,0,0,0,0,0,0
$GC,1586,-3.43,-77.9,197.6,-16.3,161,1590,0.00,2.25,0.00,0.000,6,0.000,0.021,2744,1882,3125,0,0,0,0,0,0
$GC,1849,-3.49,-77.9,234.8,-14.1,174,1853,0.00,2.40,0.00,0.000,4,0.000,0.048,2743,475,3125,0,0,0,0,0,0
$GC,1892,-3.49,-77.9,241.9,-16.7,176,1896,0.00,2.25,0.00,0.000,6,0.000,0.021,2744,1884,3125,0,0,0,0,0,0
$GC,2224,-3.59,-77.9,283.6,-12.4,192,2228,0.12,2.45,0.00,0.000,4,0.066,0.051,2702,476,3125,0,0,0,0,0,0
$GC,2323,-3.53,-77.9,300.1,-17.0,196,2328,0.12,2.25,0.00,0.000,6,0.108,0.023,2727,1873,3125,0,0,0,0,0,0
$GC,2663,-3.61,-77.9,342.4,-12.0,205,2667,0.00,2.45,0.00,0.000,4,0.000,0.052,2727,472,3124,0,0,0,0,0,0
$GC,2723,-3.61,-77.9,350.6,-13.4,206,2727,0.00,2.28,0.00,0.000,6,0.000,0.025,2727,1876,3124,0,0,0,0,0,0
$GC,3075,-3.68,-77.9,392.1,-12.3,215,3080,0.12,2.47,0.00,0.000,4,0.071,0.056,2689,469,3122,0,0,0,0,0,0
$STATE,3130,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3130,begin apogee
$GC,3138,-0.31,0.0,400.7,14.6,216,3209,3.47,0.00,64.60,0.792,6,0.081,0.000,3434,2010,2800,0,0,0,0,0,0
$STATE,3210,end apogee,CONTROL_FINISHED_OK
$STATE,3210,begin climb
$GC,3213,1.53,77.9,403.4,0.0,218,3282,1.25,0.00,65.68,0.783,6,0.029,0.000,3737,2011,2483,0,0,0,0,0,0
$GC,3583,1.07,305.1,438.5,-8.5,227,3789,0.00,2.55,192.98,0.818,4,0.000,0.050,3737,594,1554,0,0,0,0,0,0
$GC,3897,0.22,305.1,360.9,45.0,234,3904,1.00,2.40,0.00,0.000,6,0.127,0.028,3553,2014,1546,0,0,0,0,0,0
$GC,4217,-0.20,305.1,262.1,29.3,245,4224,0.47,2.50,0.00,0.000,4,0.120,0.053,3460,604,1543,0,0,0,0,0,0
$GC,4265,-0.58,305.1,249.5,24.7,247,4272,0.45,2.38,0.00,0.000,6,0.116,0.029,3376,2024,1541,0,0,0,0,0,0
$GC,4597,-0.67,305.1,192.3,17.2,264,4601,0.00,2.50,0.00,0.000,4,0.000,0.051,3375,604,1539,0,0,0,0,0,0
$GC,4857,-0.67,305.1,144.0,18.9,283,4861,0.00,2.33,0.00,0.000,6,0.000,0.025,3375,2022,1536,0,0,0,0,0,0
$GC,5117,-0.67,305.1,109.6,12.1,303,5121,0.00,2.47,0.00,0.000,4,0.000,0.048,3375,604,1535,0,0,0,0,0,0
$GC,5136,-0.67,305.1,106.5,15.1,304,5143,0.00,2.35,0.00,0.000,6,0.000,0.024,3376,2021,1535,0,0,0,0,0,0
$GC,5396,-0.67,305.1,70.5,12.1,325,5400,0.00,2.45,0.00,0.000,4,0.000,0.045,3376,596,1534,0,0,0,0,0,0
$GC,5586,-0.67,305.1,47.7,10.3,339,5590,0.00,2.28,0.00,0.000,6,0.000,0.021,3376,2013,1533,0,0,0,0,0,0
$GC,5848,-0.67,305.1,15.8,14.3,375,5854,0.00,2.45,0.00,0.000,4,0.000,0.044,3375,603,1533,0,0,0,0,0,0
$STATE,5936,end climb,SURFACE_DEPTH_REACHED
$STATE,5936,begin surface coast
$FINISH,0.4,0.999944
$STATE,5960,end surface coast,CONTROL_FINISHED_OK
$STATE,5961,begin surface
$SM_CCo,5985,137.02,0.508,0,0,556,550.21
$SM_GC,1.06,0.00,0.00,137.02,0.000,0.000,0.508,430,1911,556,-14.12,0.90,550.21
$IRIDIUM_FIX,2059.45,-15801.19,231099,080855
$TT8_MAMPS,0.029146
$HUMID,54.25
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,20.90
$XPDR_PINGS,0
$24V_AH,23.4,3.041
$10V_AH,10.5,1.510
$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,36.325,71.600,323.250,137.025,0.000,24.908,38.904,139.608,4.000,0.000,16.146,789.770,3435.330,486.462,1351.475,376.339,0.000,1103.184,0.000,1329.925,0.000,26.122,0.000
$DEVICE_MAMPS,141.128,55.991,818.389,507.754,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,267.954,263.733,667.380,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,22344,400
$CAP_FILE_SIZE,78557,0
$CFSIZE,260165632,211910656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290710,115634,2108.176,-15759.830,13,2.4,32,9.8