version: 66.06
glider: 139
mission: 8
dive: 33
start: 7 29 110 18 53 36
data:
$ID,139
$MISSION,8
$DIVE,33
$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,500
$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,-2150887.2
$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,3300
$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,2770
$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
$GPS1,184821,2107.925,-15759.016,15,1.9,16,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-71.8
$GPS2,185319,2107.873,-15759.026,17,1.8,34,9.8
$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,88.0,28094,-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,-80.32,0.000,2,0.000,0.000,427,1902,2818,0,0,0,0,0,0
$GC,101,-1.53,-77.9,3.2,-3.9,15,125,13.75,0.00,-4.78,0.000,6,0.139,0.000,2958,1903,3090,0,0,0,0,0,0
$GC,320,-1.94,-77.9,27.9,-6.0,64,327,0.32,2.50,0.00,0.000,4,0.035,0.044,2859,455,3092,0,0,0,0,0,0
$GC,407,-2.07,-77.9,38.8,-13.6,73,411,0.00,2.33,0.00,0.000,6,0.000,0.020,2859,1906,3091,0,0,0,0,0,0
$GC,672,-2.25,-77.9,69.8,-11.0,94,677,0.22,2.47,0.00,0.000,4,0.043,0.042,2789,466,3092,0,0,0,0,0,0
$GC,798,-2.21,-77.9,91.7,-18.4,103,803,0.12,2.25,0.00,0.000,6,0.106,0.019,2815,1888,3092,0,0,0,0,0,0
$GC,1061,-2.34,-77.9,126.3,-11.8,123,1066,0.12,2.47,0.00,0.000,4,0.064,0.046,2772,465,3093,0,0,0,0,0,0
$GC,1186,-2.30,-77.9,149.4,-19.8,132,1191,0.12,2.25,0.00,0.000,6,0.104,0.019,2797,1886,3094,0,0,0,0,0,0
$GC,1452,-2.44,-77.9,181.8,-10.9,153,1457,0.12,2.42,0.00,0.000,4,0.065,0.045,2755,473,3094,0,0,0,0,0,0
$GC,1526,-2.44,-77.9,191.6,-12.8,158,1533,0.00,2.28,0.00,0.000,6,0.000,0.020,2755,1875,3094,0,0,0,0,0,0
$GC,1794,-2.50,-77.9,222.3,-11.2,174,1798,0.00,2.42,0.00,0.000,4,0.000,0.046,2755,473,3095,0,0,0,0,0,0
$GC,1817,-2.50,-77.9,224.8,-10.8,175,1822,0.00,2.25,0.00,0.000,6,0.000,0.021,2755,1889,3095,0,0,0,0,0,0
$GC,2146,-2.60,-77.9,260.9,-10.9,191,2150,0.00,2.42,0.00,0.000,4,0.000,0.048,2755,475,3095,0,0,0,0,0,0
$GC,2255,-2.66,-77.9,274.4,-12.5,195,2261,0.15,2.25,0.00,0.000,6,0.056,0.022,2708,1880,3095,0,0,0,0,0,0
$GC,2568,-2.66,-77.9,315.8,-13.0,208,2572,0.00,2.45,0.00,0.000,4,0.000,0.050,2707,469,3094,0,0,0,0,0,0
$GC,2626,-2.63,-77.9,323.4,-14.2,209,2630,0.00,2.30,0.00,0.000,6,0.000,0.023,2707,1885,3094,0,0,0,0,0,0
$GC,2940,-2.63,-77.9,365.3,-14.1,217,2944,0.00,2.45,0.00,0.000,4,0.000,0.053,2707,473,3093,0,0,0,0,0,0
$GC,3045,-2.59,-77.9,381.1,-14.2,219,3050,0.12,2.28,0.00,0.000,6,0.108,0.025,2732,1876,3092,0,0,0,0,0,0
$STATE,3235,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3235,begin apogee
$GC,3242,-0.31,0.0,403.4,11.1,224,3312,2.33,0.00,64.97,0.790,6,0.073,0.000,3232,2037,2769,0,0,0,0,0,0
$STATE,3312,end apogee,CONTROL_FINISHED_OK
$STATE,3312,begin climb
$GC,3315,1.53,77.9,403.5,0.0,225,3391,1.73,2.38,65.68,0.777,4,0.028,0.040,3644,3381,2452,0,0,0,0,0,0
$GC,3485,1.15,279.0,418.0,-6.5,228,3666,0.47,2.38,170.70,0.792,6,0.114,0.037,3555,2008,1631,0,0,0,0,0,0
$GC,3990,0.71,279.0,310.3,26.7,241,3997,0.50,2.47,0.00,0.000,4,0.120,0.052,3458,604,1622,0,0,0,0,0,0
$GC,4077,0.34,279.0,287.1,25.1,243,4083,0.43,2.30,0.00,0.000,6,0.110,0.028,3377,1996,1619,0,0,0,0,0,0
$GC,4394,0.26,279.0,233.3,15.5,259,4399,0.00,2.47,0.00,0.000,4,0.000,0.051,3377,599,1617,0,0,0,0,0,0
$GC,4496,0.09,279.0,213.8,20.0,263,4501,0.28,2.33,0.00,0.000,6,0.101,0.027,3323,2012,1614,0,0,0,0,0,0
$GC,4818,0.15,279.0,174.9,11.2,284,4822,0.00,2.47,0.00,0.000,4,0.000,0.050,3323,595,1613,0,0,0,0,0,0
$GC,5048,0.15,279.0,145.5,13.1,301,5052,0.00,2.33,0.00,0.000,6,0.000,0.024,3322,2021,1610,0,0,0,0,0,0
$GC,5313,0.26,279.0,119.8,9.1,322,5318,0.15,2.45,0.00,0.000,4,0.059,0.047,3368,596,1610,0,0,0,0,0,0
$GC,5498,0.19,279.0,94.4,14.2,335,5505,0.15,2.28,0.00,0.000,6,0.105,0.021,3339,2020,1609,0,0,0,0,0,0
$GC,5760,0.29,279.6,69.2,9.0,356,5765,0.10,2.42,0.00,0.000,4,0.076,0.044,3374,601,1609,0,0,0,0,0,0
$GC,6022,0.25,279.6,38.2,11.4,375,6030,0.00,2.30,0.00,0.000,6,0.000,0.020,3374,2013,1609,0,0,0,0,0,0
$GC,6284,0.29,279.6,11.4,10.8,424,6291,0.00,2.45,0.00,0.000,4,0.000,0.042,3374,597,1609,0,0,0,0,0,0
$STATE,6351,end climb,SURFACE_DEPTH_REACHED
$STATE,6351,begin surface coast
$FINISH,0.6,1.023077
$STATE,6381,end surface coast,CONTROL_FINISHED_OK
$STATE,6381,begin surface
$SM_CCo,6405,117.55,0.499,0,0,730,500.17
$SM_GC,1.20,0.00,0.00,117.55,0.000,0.000,0.499,426,1912,730,-13.22,0.90,500.17
$IRIDIUM_FIX,2057.14,-15912.85,231099,171743
$TT8_MAMPS,0.029146
$HUMID,52.40
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.4,3.559
$10V_AH,10.5,1.815
$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,33.825,71.125,301.350,117.550,0.000,27.476,26.694,110.680,4.000,0.000,34.632,876.697,3580.949,450.450,1558.163,358.644,0.000,1123.444,0.000,1516.973,0.000,26.117,0.000
$DEVICE_MAMPS,138.827,52.923,792.311,499.317,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,297.995,300.234,757.712,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,25490,445
$CAP_FILE_SIZE,84489,0
$CFSIZE,260165632,211693568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290710,204337,2107.615,-15758.112,39,0.9,39,9.8