version: 66.06
glider: 139
mission: 8
dive: 39
start: 7 30 110 7 41 28
data:
$ID,139
$MISSION,8
$DIVE,39
$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,-2150980.8
$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,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
$GPS1,073619,2106.669,-15756.365,10,1.8,15,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-73.0
$GPS2,074115,2106.673,-15756.418,13,1.7,13,9.8
$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,84.1,23379,-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,13,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,-69.50,0.000,2,0.000,0.000,429,1735,2893,0,0,0,0,0,0
$GC,91,-1.39,-77.9,3.7,-5.1,13,115,12.82,2.42,-2.45,0.000,4,0.140,0.038,2789,3168,3041,0,0,0,0,0,0
$GC,174,-1.39,-77.9,26.7,-15.9,30,181,0.00,2.42,0.00,0.000,6,0.000,0.033,2789,1761,3042,0,0,0,0,0,0
$GC,374,-1.34,-77.9,61.6,-17.6,48,378,0.00,2.47,0.00,0.000,4,0.000,0.048,2789,330,3043,0,0,0,0,0,0
$GC,427,-1.25,-77.9,71.4,-18.6,52,432,0.17,2.33,0.00,0.000,6,0.097,0.018,2824,1775,3043,0,0,0,0,0,0
$GC,695,-1.32,-77.9,107.3,-12.1,73,699,0.00,2.47,0.00,0.000,4,0.000,0.046,2824,331,3044,0,0,0,0,0,0
$GC,769,-1.37,-77.9,117.1,-12.2,78,776,0.08,2.30,0.00,0.000,6,0.040,0.019,2789,1748,3044,0,0,0,0,0,0
$GC,1030,-1.37,-77.9,148.6,-11.3,99,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1751,3044,0,0,0,0,0,0
$GC,1282,-1.42,-77.9,177.6,-11.1,119,1286,0.00,2.42,0.00,0.000,4,0.000,0.046,2789,338,3045,0,0,0,0,0,0
$GC,1347,-1.42,-77.9,186.2,-13.7,124,1351,0.00,2.25,0.00,0.000,6,0.000,0.020,2789,1745,3045,0,0,0,0,0,0
$GC,1618,-1.49,-77.9,215.9,-10.6,141,1622,0.00,2.42,0.00,0.000,4,0.000,0.048,2789,338,3045,0,0,0,0,0,0
$GC,1662,-1.49,-77.9,221.2,-11.9,143,1666,0.00,2.30,0.00,0.000,6,0.000,0.021,2789,1752,3045,0,0,0,0,0,0
$GC,1996,-1.57,-77.9,246.1,-6.6,159,2001,0.15,2.47,0.00,0.000,4,0.060,0.049,2744,336,3045,0,0,0,0,0,0
$GC,2053,-1.50,-77.9,252.2,-11.4,161,2058,0.15,2.30,0.00,0.000,6,0.098,0.021,2774,1752,3045,0,0,0,0,0,0
$GC,2371,-1.55,-77.9,281.6,-10.3,176,2376,0.00,2.45,0.00,0.000,4,0.000,0.051,2774,340,3045,0,0,0,0,0,0
$GC,2419,-1.55,-77.9,287.5,-12.4,178,2423,0.00,2.33,0.00,0.000,6,0.000,0.022,2774,1759,3044,0,0,0,0,0,0
$GC,2742,-1.62,-77.9,322.5,-10.6,189,2747,0.12,2.47,0.00,0.000,4,0.067,0.053,2737,339,3043,0,0,0,0,0,0
$GC,2799,-1.55,-77.9,329.9,-14.3,190,2804,0.12,2.30,0.00,0.000,6,0.167,0.024,2761,1755,3043,0,0,0,0,0,0
$GC,3114,-1.61,-77.9,364.5,-9.8,198,3118,0.00,2.45,0.00,0.000,4,0.000,0.054,2761,340,3042,0,0,0,0,0,0
$GC,3127,-1.61,-77.9,366.0,-9.5,198,3132,0.00,2.33,0.00,0.000,6,0.000,0.025,2761,1755,3042,0,0,0,0,0,0
$GC,3479,-1.67,-77.9,397.6,-8.4,207,3484,0.12,2.53,0.00,0.000,4,0.071,0.056,2724,333,3040,0,0,0,0,0,0
$GC,3523,-1.61,-77.9,402.6,-12.0,208,3528,0.12,2.33,0.00,0.000,6,0.107,0.026,2748,1747,3040,0,0,0,0,0,0
$STATE,3727,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3727,begin apogee
$GC,3734,-0.31,0.0,422.0,9.0,213,3803,1.33,0.00,65.18,0.821,6,0.075,0.000,3030,2049,2720,0,0,0,0,0,0
$STATE,3804,end apogee,CONTROL_FINISHED_OK
$STATE,3804,begin climb
$GC,3807,1.39,77.9,423.0,0.0,214,3883,1.60,2.35,66.50,0.806,4,0.028,0.040,3416,3384,2402,0,0,0,0,0,0
$GC,3903,1.28,254.5,427.8,-4.1,216,4064,0.20,2.40,151.57,0.808,6,0.117,0.036,3379,2002,1682,0,0,0,0,0,0
$GC,4387,1.09,254.5,357.4,18.3,228,4392,0.22,2.53,0.00,0.000,4,0.109,0.058,3336,597,1672,0,0,0,0,0,0
$GC,4560,0.92,254.5,329.0,16.1,231,4565,0.17,2.35,0.00,0.000,6,0.110,0.029,3304,1991,1668,0,0,0,0,0,0
$GC,4871,0.92,254.5,286.6,13.9,240,4875,0.00,2.47,0.00,0.000,4,0.000,0.056,3304,601,1666,0,0,0,0,0,0
$GC,5129,0.83,254.5,245.6,15.3,251,5134,0.10,2.35,0.00,0.000,6,0.128,0.028,3285,2013,1663,0,0,0,0,0,0
$GC,5454,0.89,254.5,210.0,9.3,267,5458,0.00,2.50,0.00,0.000,4,0.000,0.051,3285,595,1662,0,0,0,0,0,0
$GC,5606,0.89,254.5,194.0,10.2,275,5610,0.00,2.35,0.00,0.000,6,0.000,0.026,3285,2016,1660,0,0,0,0,0,0
$GC,5869,0.96,255.3,174.3,8.0,295,5874,0.10,2.47,0.00,0.000,4,0.079,0.049,3315,599,1660,0,0,0,0,0,0
$GC,6024,0.89,255.3,153.5,14.1,306,6032,0.08,2.35,0.00,0.000,6,0.091,0.024,3298,2014,1659,0,0,0,0,0,0
$GC,6287,0.97,255.3,125.1,8.9,327,6291,0.00,2.45,0.00,0.000,4,0.000,0.047,3297,602,1659,0,0,0,0,0,0
$GC,6444,0.97,255.3,109.0,9.7,338,6451,0.00,2.33,0.00,0.000,6,0.000,0.022,3297,2021,1658,0,0,0,0,0,0
$GC,6707,1.10,282.5,93.0,6.1,359,6735,0.17,2.50,21.27,0.569,4,0.055,0.044,3349,599,1567,0,0,0,0,0,0
$GC,6945,1.04,282.5,64.0,12.8,376,6950,0.10,2.25,0.00,0.000,6,0.112,0.021,3329,2014,1562,0,0,0,0,0,0
$GC,7208,1.11,282.5,39.5,8.0,396,7212,0.00,2.45,0.00,0.000,4,0.000,0.044,3329,594,1562,0,0,0,0,0,0
$GC,7462,1.11,282.5,13.5,9.2,441,7469,0.00,2.30,0.00,0.000,6,0.000,0.020,3329,2008,1561,0,0,0,0,0,0
$STATE,7587,end climb,SURFACE_DEPTH_REACHED
$STATE,7587,begin surface coast
$FINISH,0.4,1.023128
$STATE,7627,end surface coast,CONTROL_FINISHED_OK
$STATE,7627,begin surface
$SM_CCo,7649,88.55,0.498,0,0,925,440.07
$SM_GC,1.15,0.00,0.00,88.55,0.000,0.000,0.498,425,1741,925,-12.31,-0.20,440.07
$IRIDIUM_FIX,2057.14,-15801.19,241099,050534
$TT8_MAMPS,0.029146
$HUMID,52.63
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,1
$24V_AH,23.4,4.133
$10V_AH,10.4,2.226
$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,30.350,87.050,304.525,88.550,0.000,24.056,27.035,133.039,4.500,0.000,13.769,961.803,4646.698,423.550,1608.494,390.593,0.000,1139.679,0.000,1584.609,0.000,27.682,0.000
$DEVICE_MAMPS,167.206,57.525,821.457,497.783,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,321.271,314.766,737.742,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,25477,478
$CAP_FILE_SIZE,94749,0
$CFSIZE,260165632,211402752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300710,095201,2106.598,-15755.785,55,1.3,55,9.8