version: 66.06
glider: 139
mission: 8
dive: 30
start: 7 29 110 13 51 18
data:
$ID,139
$MISSION,8
$DIVE,30
$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,-2150816.5
$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,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
$GPS1,134534,2108.020,-15759.615,12,2.5,31,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-71.7
$GPS2,135101,2107.980,-15759.657,14,1.3,19,9.8
$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,88.1,29201,-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,-80.35,0.000,2,0.000,0.000,430,1901,2825,0,0,0,0,0,0
$GC,101,-1.53,-77.9,3.5,-5.1,15,131,14.88,2.55,-4.97,0.000,4,0.141,0.060,3163,472,3120,0,0,0,0,0,0
$GC,212,-2.49,-77.9,17.9,-7.9,38,220,0.82,2.35,0.00,0.000,6,0.036,0.019,2953,1926,3122,0,0,0,0,0,0
$GC,419,-2.92,-77.9,31.8,-6.3,81,424,0.35,2.53,0.00,0.000,4,0.034,0.046,2845,473,3122,0,0,0,0,0,0
$GC,543,-3.01,-77.9,49.0,-15.2,90,548,0.00,2.22,0.00,0.000,6,0.000,0.019,2846,1877,3122,0,0,0,0,0,0
$GC,804,-3.22,-77.9,80.7,-9.1,110,809,0.20,2.42,0.00,0.000,4,0.047,0.046,2784,473,3123,0,0,0,0,0,0
$GC,938,-3.22,-77.9,99.6,-15.1,120,943,0.00,2.25,0.00,0.000,6,0.000,0.019,2783,1878,3124,0,0,0,0,0,0
$GC,1212,-3.33,-77.9,141.4,-13.0,141,1216,0.00,2.40,0.00,0.000,4,0.000,0.046,2784,472,3124,0,0,0,0,0,0
$GC,1259,-3.40,-77.9,149.0,-14.6,144,1265,0.00,2.28,0.00,0.000,6,0.000,0.020,2784,1877,3125,0,0,0,0,0,0
$GC,1521,-3.53,-77.9,177.0,-9.5,165,1526,0.22,2.42,0.00,0.000,4,0.044,0.046,2717,473,3125,0,0,0,0,0,0
$GC,1575,-3.42,-77.9,184.8,-15.9,169,1580,0.17,2.25,0.00,0.000,6,0.103,0.021,2752,1876,3125,0,0,0,0,0,0
$GC,1836,-3.50,-77.9,218.3,-11.4,185,1840,0.00,2.42,0.00,0.000,4,0.000,0.048,2751,472,3126,0,0,0,0,0,0
$GC,1856,-3.53,-77.9,221.4,-13.3,186,1860,0.00,2.28,0.00,0.000,6,0.000,0.021,2751,1884,3125,0,0,0,0,0,0
$GC,2188,-3.63,-77.9,256.6,-10.8,202,2193,0.17,2.45,0.00,0.000,4,0.056,0.049,2701,469,3126,0,0,0,0,0,0
$GC,2340,-3.56,-77.9,281.2,-15.6,208,2348,0.08,2.30,0.00,0.000,6,0.091,0.023,2720,1869,3125,0,0,0,0,0,0
$GC,2656,-3.60,-77.9,323.3,-12.7,220,2661,0.00,2.45,0.00,0.000,4,0.000,0.052,2720,468,3124,0,0,0,0,0,0
$GC,2690,-3.60,-77.9,328.6,-15.1,220,2694,0.00,2.30,0.00,0.000,6,0.000,0.025,2720,1887,3124,0,0,0,0,0,0
$GC,3022,-3.65,-77.9,370.8,-12.1,228,3027,0.00,2.47,0.00,0.000,4,0.000,0.055,2720,470,3123,0,0,0,0,0,0
$GC,3088,-3.65,-77.9,380.7,-14.3,229,3092,0.00,2.30,0.00,0.000,6,0.000,0.026,2720,1880,3122,0,0,0,0,0,0
$STATE,3270,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3270,begin apogee
$GC,3277,-0.31,0.0,403.0,12.1,234,3350,3.30,0.00,65.18,0.799,6,0.073,0.000,3430,2037,2799,0,0,0,0,0,0
$STATE,3351,end apogee,CONTROL_FINISHED_OK
$STATE,3351,begin climb
$GC,3353,1.53,77.9,406.5,0.0,236,3428,1.25,2.40,65.45,0.790,4,0.029,0.042,3729,3370,2482,0,0,0,0,0,0
$GC,3693,1.09,318.9,440.9,-9.6,243,3909,0.00,2.35,205.20,0.823,6,0.000,0.037,3729,2008,1498,0,0,0,0,0,0
$GC,4226,0.40,318.9,280.6,38.6,257,4234,0.70,2.35,0.00,0.000,4,0.123,0.031,3594,3386,1490,0,0,0,0,0,0
$GC,4496,0.02,318.9,195.9,27.6,268,4503,0.43,2.42,0.00,0.000,6,0.121,0.043,3506,2018,1488,0,0,0,0,0,0
$GC,4818,-0.25,318.9,122.5,18.4,294,4822,0.28,2.30,0.00,0.000,4,0.118,0.030,3450,3376,1484,0,0,0,0,0,0
$GC,4935,-0.35,318.9,104.6,16.2,302,4942,0.10,2.38,0.00,0.000,6,0.096,0.036,3427,2008,1484,0,0,0,0,0,0
$GC,5198,-0.46,318.9,63.2,13.4,323,5203,0.12,2.42,0.00,0.000,4,0.117,0.048,3404,602,1482,0,0,0,0,0,0
$GC,5373,-0.57,318.9,38.0,13.4,336,5378,0.15,2.25,0.00,0.000,6,0.110,0.021,3376,1997,1479,0,0,0,0,0,0
$STATE,5633,end climb,SURFACE_DEPTH_REACHED
$STATE,5634,begin surface coast
$FINISH,0.5,1.023055
$STATE,5659,end surface coast,CONTROL_FINISHED_OK
$STATE,5659,begin surface
$SM_CCo,5682,129.38,0.514,0,0,555,550.21
$SM_GC,1.18,0.00,0.00,129.38,0.000,0.000,0.514,428,1864,555,-14.14,-0.45,550.21
$IRIDIUM_FIX,2059.45,-15758.18,231099,121251
$TT8_MAMPS,0.029146
$HUMID,55.27
$INTERNAL_PRESSURE,9.22541
$TCM_TEMP,20.60
$XPDR_PINGS,0
$24V_AH,23.4,3.258
$10V_AH,10.4,1.634
$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,35.925,61.900,335.825,129.375,0.000,29.229,38.555,143.128,4.000,0.000,19.747,782.678,3090.050,479.519,1398.845,392.459,0.000,1112.451,0.000,1372.157,0.000,28.503,0.000
$DEVICE_MAMPS,141.128,59.826,822.991,513.890,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,263.024,259.173,677.116,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,22387,393
$CAP_FILE_SIZE,77920,0
$CFSIZE,260165632,211828736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290710,152902,2108.095,-15759.665,13,1.3,13,9.8