version: 66.06
glider: 139
mission: 8
dive: 36
start: 7 30 110 0 51 20
data:
$ID,139
$MISSION,8
$DIVE,36
$D_SURF,3
$D_FLARE,3
$D_TGT,420
$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,175
$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,480
$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,-2150935.8
$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,3200
$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,1800
$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,2740
$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
$GPS1,004601,2107.074,-15756.518,44,1.9,44,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-72.7
$GPS2,005107,2107.058,-15756.562,11,0.9,16,9.8
$SPEED_LIMITS,0.139,0.184
$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,85.8,23686,-20.8,-8.000
$D_GRID,420
$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,13,begin dive
$GC,15,-1.39,-77.9,0.0,0.0,0,87,0.00,0.00,-69.57,0.000,2,0.000,0.000,430,1799,2727,0,0,0,0,0,0
$GC,91,-1.39,-77.9,3.2,-4.1,13,116,13.40,2.40,-6.05,0.000,4,0.141,0.035,2887,3218,3061,0,0,0,0,0,0
$GC,193,-1.65,-77.9,20.5,-8.6,34,200,0.17,2.42,0.00,0.000,6,0.031,0.031,2833,1803,3063,0,0,0,0,0,0
$GC,394,-1.65,-77.9,48.0,-14.5,60,398,0.00,2.42,0.00,0.000,4,0.000,0.048,2832,387,3064,0,0,0,0,0,0
$GC,488,-1.69,-77.9,62.1,-13.0,67,492,0.00,2.33,0.00,0.000,6,0.000,0.019,2833,1840,3064,0,0,0,0,0,0
$GC,752,-1.78,-77.9,94.9,-13.6,88,756,0.00,2.50,0.00,0.000,4,0.000,0.046,2832,393,3065,0,0,0,0,0,0
$GC,903,-1.82,-77.9,117.4,-14.8,99,908,0.12,2.22,0.00,0.000,6,0.067,0.018,2791,1797,3065,0,0,0,0,0,0
$GC,1168,-1.86,-77.9,150.1,-11.6,120,1172,0.00,2.40,0.00,0.000,4,0.000,0.046,2791,393,3066,0,0,0,0,0,0
$GC,1219,-1.86,-77.9,156.7,-12.6,124,1223,0.00,2.22,0.00,0.000,6,0.000,0.019,2791,1795,3066,0,0,0,0,0,0
$GC,1486,-1.93,-77.9,183.9,-9.2,145,1490,0.00,2.42,0.00,0.000,4,0.000,0.048,2791,391,3067,0,0,0,0,0,0
$GC,1540,-1.96,-77.9,189.9,-11.3,149,1544,0.00,2.28,0.00,0.000,6,0.000,0.021,2791,1818,3067,0,0,0,0,0,0
$GC,1809,-2.05,-77.9,215.9,-9.3,165,1811,0.17,0.00,0.00,0.000,6,0.053,0.000,2739,1823,3067,0,0,0,0,0,0
$GC,2118,-2.05,-77.9,254.9,-13.3,180,2122,0.00,2.45,0.00,0.000,4,0.000,0.049,2738,393,3067,0,0,0,0,0,0
$GC,2226,-2.00,-77.9,269.3,-13.2,184,2233,0.08,2.28,0.00,0.000,6,0.082,0.022,2759,1772,3067,0,0,0,0,0,0
$GC,2564,-2.05,-77.9,305.2,-10.7,200,2568,0.00,2.38,0.00,0.000,4,0.000,0.031,2759,3209,3067,0,0,0,0,0,0
$GC,2578,-2.11,-77.9,307.1,-10.4,200,2583,0.00,2.38,0.00,0.000,6,0.000,0.036,2759,1803,3067,0,0,0,0,0,0
$GC,2930,-2.17,-77.9,342.8,-10.1,209,2935,0.15,2.47,0.00,0.000,4,0.064,0.055,2716,383,3065,0,0,0,0,0,0
$GC,3022,-2.09,-77.9,354.8,-13.1,211,3027,0.15,2.35,0.00,0.000,6,0.104,0.025,2745,1825,3065,0,0,0,0,0,0
$GC,3353,-2.13,-77.9,391.3,-11.1,219,3357,0.00,2.50,0.00,0.000,4,0.000,0.057,2745,392,3062,0,0,0,0,0,0
$GC,3371,-2.13,-77.9,393.8,-11.3,219,3375,0.00,2.30,0.00,0.000,6,0.000,0.027,2745,1802,3062,0,0,0,0,0,0
$STATE,3639,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3639,begin apogee
$GC,3645,-0.31,0.0,422.4,10.8,226,3718,1.80,0.00,65.50,0.828,6,0.077,0.000,3129,2018,2740,0,0,0,0,0,0
$STATE,3719,end apogee,CONTROL_FINISHED_OK
$STATE,3719,begin climb
$GC,3723,1.39,77.9,425.0,0.0,228,3801,1.60,2.42,66.82,0.815,4,0.028,0.041,3509,3394,2421,0,0,0,0,0,0
$GC,4065,1.07,218.4,439.0,-1.6,235,4196,0.40,2.40,121.28,0.834,6,0.118,0.037,3435,2002,1849,0,0,0,0,0,0
$GC,4534,0.75,218.4,369.2,18.1,247,4539,0.32,2.40,0.00,0.000,4,0.110,0.036,3369,3392,1839,0,0,0,0,0,0
$GC,4601,0.63,218.4,357.4,16.0,248,4606,0.17,2.42,0.00,0.000,6,0.114,0.041,3336,2009,1838,0,0,0,0,0,0
$GC,4947,0.53,218.4,309.4,13.8,257,4951,0.00,2.47,0.00,0.000,4,0.000,0.055,3336,600,1834,0,0,0,0,0,0
$GC,5171,0.35,218.4,278.9,11.8,264,5178,0.28,2.38,0.00,0.000,6,0.098,0.029,3279,2000,1830,0,0,0,0,0,0
$GC,5487,0.42,234.1,253.9,6.9,280,5503,0.00,2.53,11.50,0.686,4,0.000,0.054,3278,591,1785,0,0,0,0,0,0
$GC,5714,0.42,234.1,231.3,12.0,289,5719,0.00,2.38,0.00,0.000,6,0.000,0.028,3279,2020,1781,0,0,0,0,0,0
$GC,6041,0.49,234.1,199.1,9.0,305,6046,0.12,2.53,0.00,0.000,4,0.071,0.051,3314,596,1781,0,0,0,0,0,0
$GC,6232,0.42,234.1,180.1,10.1,319,6237,0.12,2.35,0.00,0.000,6,0.117,0.025,3291,2016,1778,0,0,0,0,0,0
$GC,6499,0.49,240.5,159.2,7.6,340,6514,0.00,2.53,5.88,0.523,4,0.000,0.048,3291,600,1759,0,0,0,0,0,0
$GC,6649,0.49,240.5,144.4,9.8,350,6655,0.00,2.33,0.00,0.000,6,0.000,0.024,3291,2009,1757,0,0,0,0,0,0
$GC,6909,0.56,240.5,117.7,10.3,371,6914,0.12,2.47,0.00,0.000,4,0.069,0.047,3328,595,1757,0,0,0,0,0,0
$GC,7173,0.53,253.5,86.6,7.1,390,7193,0.00,2.33,12.90,0.549,6,0.000,0.022,3329,2017,1706,0,0,0,0,0,0
$GC,7446,0.53,253.5,69.5,8.4,412,7450,0.00,2.42,0.00,0.000,4,0.000,0.044,3328,596,1705,0,0,0,0,0,0
$GC,7691,0.53,253.5,41.4,12.7,430,7695,0.00,2.28,0.00,0.000,6,0.000,0.021,3329,2013,1702,0,0,0,0,0,0
$GC,7953,0.62,269.2,19.0,6.9,472,7977,0.00,2.50,14.52,0.493,4,0.000,0.043,3328,599,1641,0,0,0,0,0,0
$GC,8084,0.62,269.2,8.1,10.5,500,8091,0.00,2.30,0.00,0.000,6,0.000,0.020,3329,2011,1639,0,0,0,0,0,0
$STATE,8155,end climb,SURFACE_DEPTH_REACHED
$STATE,8155,begin surface coast
$FINISH,0.4,1.011155
$STATE,8204,end surface coast,CONTROL_FINISHED_OK
$STATE,8204,begin surface
$SM_CCo,8228,118.78,0.502,0,0,782,480.05
$SM_GC,1.01,0.00,0.00,118.78,0.000,0.000,0.502,429,1791,782,-12.75,-0.25,480.05
$IRIDIUM_FIX,2059.45,-15759.05,231099,222213
$TT8_MAMPS,0.029146
$HUMID,52.75
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.4,3.857
$10V_AH,10.4,2.022
$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,31.725,86.825,298.400,118.775,0.000,27.051,29.027,134.544,4.250,0.000,16.991,1045.485,4896.831,455.852,1841.398,412.350,0.000,1253.302,0.000,1813.452,0.000,27.683,0.000
$DEVICE_MAMPS,141.128,56.758,834.496,502.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,354.429,349.388,842.746,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355744
$DATA_FILE_SIZE,28722,527
$CAP_FILE_SIZE,100603,0
$CFSIZE,260165632,211537920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300710,031114,2106.915,-15756.360,8,1.4,8,9.8