version: 66.06
glider: 139
mission: 8
dive: 40
start: 7 30 110 9 57 33
data:
$ID,139
$MISSION,8
$DIVE,40
$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,-2151000
$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
$GPS1,095201,2106.598,-15755.785,55,1.3,55,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-71.4
$GPS2,095720,2106.590,-15755.846,18,1.4,18,9.8
$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,83.9,22383,-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,-77.9,0.0,0.0,0,82,0.00,0.00,-64.05,0.000,2,0.000,0.000,425,1743,2722,0,0,0,0,0,0
$GC,85,-1.39,-77.9,3.2,-4.1,12,109,12.85,0.00,-5.78,0.000,6,0.139,0.000,2788,1744,3039,0,0,0,0,0,0
$GC,306,-1.33,-77.9,47.7,-15.6,44,311,0.10,2.35,0.00,0.000,4,0.124,0.023,2807,3172,3041,0,0,0,0,0,0
$GC,332,-1.33,-77.9,51.7,-13.9,46,336,0.00,2.38,0.00,0.000,6,0.000,0.032,2807,1752,3041,0,0,0,0,0,0
$GC,598,-1.33,-77.9,85.0,-12.2,67,602,0.00,2.40,0.00,0.000,4,0.000,0.046,2807,340,3041,0,0,0,0,0,0
$GC,709,-1.33,-77.9,100.6,-12.9,75,713,0.00,2.30,0.00,0.000,6,0.000,0.018,2807,1783,3042,0,0,0,0,0,0
$GC,971,-1.37,-77.9,129.7,-11.4,95,975,0.00,2.45,0.00,0.000,4,0.000,0.044,2807,340,3042,0,0,0,0,0,0
$GC,1011,-1.41,-77.9,134.3,-11.0,98,1015,0.00,2.28,0.00,0.000,6,0.000,0.019,2807,1749,3043,0,0,0,0,0,0
$GC,1278,-1.50,-77.9,159.5,-8.7,119,1283,0.15,2.42,0.00,0.000,4,0.059,0.046,2760,343,3043,0,0,0,0,0,0
$GC,1322,-1.42,-77.9,165.1,-12.9,122,1327,0.15,2.28,0.00,0.000,6,0.099,0.019,2790,1756,3043,0,0,0,0,0,0
$GC,1590,-1.48,-77.9,192.1,-10.4,143,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1758,3044,0,0,0,0,0,0
$GC,1847,-1.56,-77.9,217.9,-9.0,158,1852,0.15,2.45,0.00,0.000,4,0.059,0.048,2743,333,3044,0,0,0,0,0,0
$GC,1961,-1.51,-77.9,231.5,-13.3,163,1966,0.12,2.28,0.00,0.000,6,0.103,0.021,2769,1747,3044,0,0,0,0,0,0
$GC,2294,-1.56,-77.9,266.9,-10.0,179,2299,0.00,2.45,0.00,0.000,4,0.000,0.049,2768,334,3043,0,0,0,0,0,0
$GC,2328,-1.56,-77.9,270.8,-11.1,180,2332,0.00,2.30,0.00,0.000,6,0.000,0.022,2768,1749,3043,0,0,0,0,0,0
$GC,2645,-1.63,-77.9,299.2,-9.5,195,2649,0.00,2.45,0.00,0.000,4,0.000,0.051,2768,342,3042,0,0,0,0,0,0
$GC,2677,-1.63,-77.9,303.0,-10.9,196,2682,0.00,2.30,0.00,0.000,6,0.000,0.023,2768,1751,3043,0,0,0,0,0,0
$GC,3010,-1.70,-77.9,334.8,-9.0,204,3014,0.17,2.47,0.00,0.000,4,0.058,0.053,2719,343,3040,0,0,0,0,0,0
$GC,3119,-1.61,-77.9,348.6,-13.2,206,3124,0.15,2.30,0.00,0.000,6,0.100,0.025,2749,1749,3040,0,0,0,0,0,0
$GC,3472,-1.65,-77.9,383.7,-9.3,215,3473,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1750,3038,0,0,0,0,0,0
$GC,3794,-1.69,-77.9,412.1,-8.4,223,3798,0.00,2.47,0.00,0.000,4,0.000,0.058,2749,337,3036,0,0,0,0,0,0
$STATE,3882,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3882,begin apogee
$GC,3892,-0.31,0.0,420.3,8.8,225,3963,1.33,0.00,64.72,0.822,6,0.077,0.000,3029,2017,2719,0,0,0,0,0,0
$STATE,3964,end apogee,CONTROL_FINISHED_OK
$STATE,3964,begin climb
$GC,3967,1.39,77.9,420.9,0.0,227,4044,1.60,2.45,66.62,0.806,4,0.029,0.040,3413,3411,2401,0,0,0,0,0,0
$GC,4054,1.27,245.7,423.3,-3.5,229,4208,0.20,2.45,144.75,0.805,6,0.115,0.035,3377,2004,1717,0,0,0,0,0,0
$GC,4540,1.08,245.7,352.0,18.7,241,4545,0.20,2.50,0.00,0.000,4,0.109,0.064,3339,604,1708,0,0,0,0,0,0
$GC,4736,0.88,245.7,319.1,16.5,245,4741,0.22,2.38,0.00,0.000,6,0.107,0.028,3296,2028,1704,0,0,0,0,0,0
$GC,5052,0.88,245.7,283.5,11.4,256,5056,0.00,2.53,0.00,0.000,4,0.000,0.054,3296,606,1703,0,0,0,0,0,0
$GC,5292,0.82,245.7,248.9,14.4,266,5297,0.00,2.38,0.00,0.000,6,0.000,0.027,3296,2025,1700,0,0,0,0,0,0
$GC,5609,0.85,245.7,215.2,10.0,281,5614,0.00,2.47,0.00,0.000,4,0.000,0.051,3295,604,1699,0,0,0,0,0,0
$GC,5795,0.82,245.7,195.2,11.3,290,5802,0.00,2.35,0.00,0.000,6,0.000,0.026,3296,2013,1696,0,0,0,0,0,0
$GC,6056,0.87,245.7,168.0,11.0,311,6061,0.00,2.47,0.00,0.000,4,0.000,0.048,3296,599,1696,0,0,0,0,0,0
$GC,6170,0.87,245.7,153.6,12.8,319,6176,0.00,2.30,0.00,0.000,6,0.000,0.024,3296,2020,1695,0,0,0,0,0,0
$GC,6430,0.94,245.7,123.6,10.2,340,6431,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,2025,1695,0,0,0,0,0,0
$GC,6681,1.03,245.7,99.8,9.0,360,6686,0.12,2.42,0.00,0.000,4,0.068,0.045,3334,601,1695,0,0,0,0,0,0
$GC,6927,0.97,245.7,70.3,11.5,378,6932,0.12,2.30,0.00,0.000,6,0.107,0.021,3310,2025,1694,0,0,0,0,0,0
$GC,7195,1.13,294.8,54.4,4.6,399,7240,0.15,2.55,38.33,0.549,4,0.060,0.044,3356,600,1517,0,0,0,0,0,0
$GC,7401,1.04,294.8,32.9,13.5,414,7406,0.15,2.28,0.00,0.000,6,0.097,0.021,3326,2008,1513,0,0,0,0,0,0
$GC,7666,1.12,294.8,5.9,10.1,472,7672,0.00,2.45,0.00,0.000,4,0.000,0.044,3326,603,1512,0,0,0,0,0,0
$STATE,7690,end climb,SURFACE_DEPTH_REACHED
$STATE,7690,begin surface coast
$FINISH,0.5,1.022985
$STATE,7721,end surface coast,CONTROL_FINISHED_OK
$STATE,7721,begin surface
$SM_CCo,7746,78.82,0.499,0,0,925,440.07
$SM_GC,0.95,0.00,0.00,78.82,0.000,0.000,0.499,430,1748,925,-12.29,-0.06,440.07
$IRIDIUM_FIX,2059.45,-15753.90,241099,070747
$TT8_MAMPS,0.029146
$HUMID,52.95
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.10
$XPDR_PINGS,1
$24V_AH,23.4,4.225
$10V_AH,10.4,2.296
$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,30.400,81.300,314.425,78.825,0.000,22.632,35.698,144.874,4.500,0.000,18.551,961.012,4719.852,415.320,1635.049,410.795,0.000,1132.195,0.000,1609.782,0.000,27.688,0.000
$DEVICE_MAMPS,138.827,64.428,822.224,498.550,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,325.816,320.475,757.739,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,25463,484
$CAP_FILE_SIZE,93501,0
$CFSIZE,260165632,211357696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300710,120924,2106.551,-15755.236,29,0.9,47,9.8