version: 66.06
glider: 139
mission: 8
dive: 38
start: 7 30 110 5 24 15
data:
$ID,139
$MISSION,8
$DIVE,38
$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,440
$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,-2150966.2
$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,3100
$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,1750
$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,2720
$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
$GPS1,051901,2106.741,-15756.448,43,1.4,43,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-69.1
$GPS2,052402,2106.756,-15756.549,14,1.4,14,9.8
$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,84.4,23616,-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,-77.9,0.0,0.0,0,82,0.00,0.00,-64.15,0.000,2,0.000,0.000,425,1747,2719,0,0,0,0,0,0
$GC,85,-1.39,-77.9,3.1,-4.3,12,110,12.90,2.38,-5.82,0.000,4,0.140,0.036,2789,3177,3040,0,0,0,0,0,0
$GC,123,-0.33,-77.9,15.9,-28.9,18,130,1.08,2.45,0.00,0.000,6,0.075,0.033,3026,1758,3040,0,0,0,0,0,0
$GC,326,-1.03,-77.9,27.6,-7.2,64,333,0.65,2.42,0.00,0.000,4,0.042,0.042,2872,337,3042,0,0,0,0,0,0
$GC,373,-1.13,-77.9,32.1,-8.3,71,377,0.00,2.33,0.00,0.000,6,0.000,0.019,2872,1774,3042,0,0,0,0,0,0
$GC,633,-1.26,-77.9,61.2,-11.3,91,638,0.20,2.47,0.00,0.000,4,0.046,0.045,2808,338,3042,0,0,0,0,0,0
$GC,659,-1.26,-77.9,64.8,-15.2,93,664,0.00,2.28,0.00,0.000,6,0.000,0.018,2808,1759,3043,0,0,0,0,0,0
$GC,926,-1.30,-77.9,101.3,-11.4,114,931,0.00,2.42,0.00,0.000,4,0.000,0.046,2808,338,3043,0,0,0,0,0,0
$GC,1027,-1.30,-77.9,116.1,-13.4,121,1033,0.00,2.28,0.00,0.000,6,0.000,0.018,2808,1748,3044,0,0,0,0,0,0
$GC,1288,-1.37,-77.9,147.9,-10.9,142,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1750,3044,0,0,0,0,0,0
$GC,1539,-1.47,-77.9,174.9,-10.6,162,1544,0.12,2.45,0.00,0.000,4,0.063,0.048,2766,334,3045,0,0,0,0,0,0
$GC,1607,-1.43,-77.9,183.6,-13.8,167,1612,0.10,2.30,0.00,0.000,6,0.114,0.020,2786,1751,3045,0,0,0,0,0,0
$GC,1887,-1.50,-77.9,213.4,-10.7,185,1891,0.00,2.42,0.00,0.000,4,0.000,0.048,2786,336,3045,0,0,0,0,0,0
$GC,1956,-1.53,-77.9,222.5,-12.5,188,1960,0.00,2.28,0.00,0.000,6,0.000,0.021,2785,1749,3045,0,0,0,0,0,0
$GC,2282,-1.61,-77.9,256.5,-10.4,204,2287,0.17,2.45,0.00,0.000,4,0.055,0.049,2731,335,3045,0,0,0,0,0,0
$GC,2311,-1.48,-77.9,260.5,-14.4,205,2316,0.22,2.30,0.00,0.000,6,0.091,0.021,2777,1759,3045,0,0,0,0,0,0
$GC,2636,-1.57,-77.9,287.2,-7.7,221,2640,0.00,2.47,0.00,0.000,4,0.000,0.051,2777,336,3044,0,0,0,0,0,0
$GC,2692,-1.62,-77.9,293.2,-9.7,223,2697,0.12,2.33,0.00,0.000,6,0.067,0.022,2737,1758,3044,0,0,0,0,0,0
$GC,3003,-1.62,-77.9,328.4,-11.8,232,3007,0.00,2.47,0.00,0.000,4,0.000,0.053,2736,339,3044,0,0,0,0,0,0
$GC,3066,-1.57,-77.9,336.7,-13.8,233,3071,0.10,2.33,0.00,0.000,6,0.115,0.023,2756,1755,3044,0,0,0,0,0,0
$GC,3418,-1.62,-77.9,375.8,-10.7,242,3422,0.00,2.50,0.00,0.000,4,0.000,0.055,2756,334,3042,0,0,0,0,0,0
$GC,3442,-1.62,-77.9,378.8,-11.8,242,3446,0.00,2.35,0.00,0.000,6,0.000,0.025,2756,1755,3042,0,0,0,0,0,0
$GC,3783,-1.68,-77.9,416.2,-11.1,251,3788,0.10,2.53,0.00,0.000,4,0.081,0.057,2725,335,3040,0,0,0,0,0,0
$STATE,3810,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3810,begin apogee
$GC,3820,-0.31,0.0,420.5,15.1,251,3889,1.42,0.00,65.20,0.808,6,0.079,0.000,3028,2018,2720,0,0,0,0,0,0
$STATE,3890,end apogee,CONTROL_FINISHED_OK
$STATE,3890,begin climb
$GC,3892,1.39,77.9,424.1,0.0,253,3969,1.62,2.45,66.80,0.795,4,0.026,0.040,3417,3411,2401,0,0,0,0,0,0
$GC,3996,1.27,255.2,430.9,-4.2,255,4156,0.20,2.42,152.32,0.800,6,0.114,0.035,3381,2001,1679,0,0,0,0,0,0
$GC,4487,1.09,255.2,358.3,17.8,268,4492,0.22,2.47,0.00,0.000,4,0.105,0.056,3337,608,1670,0,0,0,0,0,0
$GC,4650,0.91,255.2,328.0,16.6,271,4655,0.20,2.38,0.00,0.000,6,0.105,0.028,3299,2021,1665,0,0,0,0,0,0
$GC,4973,0.91,255.2,288.3,11.1,282,4977,0.00,2.53,0.00,0.000,4,0.000,0.054,3299,604,1664,0,0,0,0,0,0
$GC,5178,0.85,255.2,264.5,10.6,291,5183,0.00,2.35,0.00,0.000,6,0.000,0.028,3300,2012,1662,0,0,0,0,0,0
$GC,5509,0.85,255.2,230.3,11.7,307,5513,0.00,2.45,0.00,0.000,4,0.000,0.051,3299,607,1661,0,0,0,0,0,0
$GC,5673,0.80,255.2,206.9,14.0,314,5678,0.12,2.33,0.00,0.000,6,0.120,0.025,3277,2018,1658,0,0,0,0,0,0
$GC,6003,0.89,255.2,170.0,10.1,338,6007,0.00,2.47,0.00,0.000,4,0.000,0.049,3276,602,1659,0,0,0,0,0,0
$GC,6254,0.92,255.2,146.1,9.8,356,6262,0.08,2.33,0.00,0.000,6,0.044,0.024,3309,2010,1656,0,0,0,0,0,0
$GC,6517,0.97,255.2,118.7,10.6,377,6521,0.00,2.45,0.00,0.000,4,0.000,0.048,3309,601,1656,0,0,0,0,0,0
$GC,6681,0.97,255.2,99.7,10.9,389,6685,0.00,2.28,0.00,0.000,6,0.000,0.022,3309,2015,1655,0,0,0,0,0,0
$GC,6948,1.06,257.3,77.5,7.9,410,6952,0.00,2.42,0.00,0.000,4,0.000,0.045,3309,599,1655,0,0,0,0,0,0
$GC,7138,1.06,257.3,57.0,9.8,424,7142,0.00,2.28,0.00,0.000,6,0.000,0.021,3309,2021,1655,0,0,0,0,0,0
$GC,7404,1.16,257.3,34.2,9.0,445,7409,0.20,2.45,0.00,0.000,4,0.049,0.042,3368,596,1655,0,0,0,0,0,0
$GC,7547,1.06,257.3,17.6,12.4,472,7554,0.15,2.28,0.00,0.000,6,0.075,0.020,3333,1994,1655,0,0,0,0,0,0
$STATE,7708,end climb,SURFACE_DEPTH_REACHED
$STATE,7708,begin surface coast
$FINISH,0.3,1.023002
$STATE,7744,end surface coast,CONTROL_FINISHED_OK
$STATE,7744,begin surface
$SM_CCo,7767,103.15,0.500,0,0,925,440.07
$SM_GC,1.03,0.00,0.00,103.15,0.000,0.000,0.500,430,1735,925,-12.28,-0.48,440.07
$IRIDIUM_FIX,2059.45,-15753.03,241099,030305
$TT8_MAMPS,0.029146
$HUMID,52.63
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.4,4.041
$10V_AH,10.4,2.159
$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,32.350,91.775,284.325,103.150,0.000,26.238,35.409,126.627,4.250,0.000,14.300,1014.403,4632.916,428.716,1689.631,404.184,0.000,1149.122,0.000,1669.133,0.000,27.687,0.000
$DEVICE_MAMPS,140.361,56.758,808.418,500.084,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,347.706,344.958,845.047,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,28599,517
$CAP_FILE_SIZE,97014,0
$CFSIZE,260165632,211451904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300710,073619,2106.669,-15756.365,10,1.8,15,9.8