version: 66.06
glider: 139
mission: 8
dive: 41
start: 7 30 110 12 18 22
data:
$ID,139
$MISSION,8
$DIVE,41
$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,-2151022
$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
$GPS1,120924,2106.551,-15755.236,29,0.9,47,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-71.1
$GPS2,121807,2106.557,-15755.346,16,1.4,21,9.8
$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,83.9,21517,-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,-77.9,0.0,0.0,0,88,0.00,0.00,-69.62,0.000,2,0.000,0.000,429,1749,2901,0,0,0,0,0,0
$GC,91,-1.39,-77.9,3.9,-5.5,13,109,12.85,0.00,-2.28,0.000,6,0.140,0.000,2788,1750,3040,0,0,0,0,0,0
$GC,310,-1.32,-77.9,51.6,-17.6,43,315,0.12,2.35,0.00,0.000,4,0.114,0.024,2812,3172,3043,0,0,0,0,0,0
$GC,336,-1.32,-77.9,56.1,-16.6,45,341,0.00,2.40,0.00,0.000,6,0.000,0.033,2812,1750,3043,0,0,0,0,0,0
$GC,600,-1.35,-77.9,93.5,-12.7,66,604,0.00,2.40,0.00,0.000,4,0.000,0.047,2812,342,3043,0,0,0,0,0,0
$GC,705,-1.35,-77.9,107.2,-13.0,73,711,0.00,2.28,0.00,0.000,6,0.000,0.018,2812,1768,3043,0,0,0,0,0,0
$GC,965,-1.40,-77.9,133.4,-10.2,94,969,0.00,2.45,0.00,0.000,4,0.000,0.046,2812,338,3044,0,0,0,0,0,0
$GC,988,-1.40,-77.9,135.9,-10.4,96,992,0.00,2.28,0.00,0.000,6,0.000,0.019,2812,1755,3044,0,0,0,0,0,0
$GC,1259,-1.49,-77.9,161.5,-10.3,117,1264,0.15,2.42,0.00,0.000,4,0.058,0.046,2765,341,3044,0,0,0,0,0,0
$GC,1279,-1.49,-77.9,164.2,-11.7,118,1286,0.00,2.30,0.00,0.000,6,0.000,0.020,2766,1749,3044,0,0,0,0,0,0
$GC,1539,-1.49,-77.9,197.8,-12.2,139,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1750,3044,0,0,0,0,0,0
$GC,1790,-1.49,-77.9,227.9,-11.8,152,1795,0.00,2.42,0.00,0.000,4,0.000,0.048,2765,334,3044,0,0,0,0,0,0
$GC,1859,-1.49,-77.9,236.3,-12.0,155,1863,0.00,2.28,0.00,0.000,6,0.000,0.021,2765,1745,3045,0,0,0,0,0,0
$GC,2187,-1.54,-77.9,266.1,-8.0,171,2191,0.00,2.45,0.00,0.000,4,0.000,0.049,2765,334,3044,0,0,0,0,0,0
$GC,2211,-1.54,-77.9,268.5,-9.3,172,2215,0.00,2.30,0.00,0.000,6,0.000,0.022,2765,1755,3044,0,0,0,0,0,0
$GC,2541,-1.60,-77.9,301.3,-10.6,188,2545,0.00,2.45,0.00,0.000,4,0.000,0.051,2765,342,3043,0,0,0,0,0,0
$GC,2584,-1.60,-77.9,306.2,-11.4,189,2588,0.00,2.30,0.00,0.000,6,0.000,0.023,2765,1748,3043,0,0,0,0,0,0
$GC,2913,-1.66,-77.9,340.8,-10.1,197,2918,0.12,2.47,0.00,0.000,4,0.070,0.054,2727,335,3042,0,0,0,0,0,0
$GC,3032,-1.59,-77.9,357.3,-13.9,199,3037,0.12,2.33,0.00,0.000,6,0.106,0.025,2753,1747,3041,0,0,0,0,0,0
$GC,3375,-1.64,-77.9,398.9,-11.8,208,3379,0.00,2.47,0.00,0.000,4,0.000,0.058,2752,344,3038,0,0,0,0,0,0
$GC,3412,-1.64,-77.9,404.1,-13.0,208,3417,0.00,2.33,0.00,0.000,6,0.000,0.026,2752,1756,3038,0,0,0,0,0,0
$STATE,3578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3579,begin apogee
$GC,3586,-0.31,0.0,422.5,10.8,213,3654,1.30,0.00,64.97,0.819,6,0.075,0.000,3029,2045,2720,0,0,0,0,0,0
$STATE,3655,end apogee,CONTROL_FINISHED_OK
$STATE,3655,begin climb
$GC,3658,1.39,77.9,423.9,0.0,214,3735,1.60,2.35,66.78,0.803,4,0.028,0.040,3415,3380,2401,0,0,0,0,0,0
$GC,3764,1.26,232.6,429.1,-2.6,216,3908,0.22,2.40,133.27,0.806,6,0.114,0.035,3374,2000,1770,0,0,0,0,0,0
$GC,4235,1.08,232.6,368.7,15.2,228,4240,0.20,2.50,0.00,0.000,4,0.110,0.055,3336,604,1762,0,0,0,0,0,0
$GC,4380,0.87,232.6,344.7,16.2,231,4385,0.22,2.33,0.00,0.000,6,0.108,0.028,3294,1998,1758,0,0,0,0,0,0
$GC,4699,0.87,232.6,307.2,11.1,239,4703,0.00,2.47,0.00,0.000,4,0.000,0.054,3294,607,1756,0,0,0,0,0,0
$GC,4918,0.81,232.6,278.9,13.7,246,4922,0.00,2.35,0.00,0.000,6,0.000,0.028,3293,2011,1753,0,0,0,0,0,0
$GC,5235,0.81,232.6,241.0,10.9,261,5239,0.00,2.50,0.00,0.000,4,0.000,0.052,3294,597,1752,0,0,0,0,0,0
$GC,5441,0.77,232.6,219.0,8.9,270,5446,0.12,2.38,0.00,0.000,6,0.118,0.027,3271,2022,1750,0,0,0,0,0,0
$GC,5764,0.86,232.6,194.7,9.1,287,5768,0.00,2.50,0.00,0.000,4,0.000,0.050,3271,596,1749,0,0,0,0,0,0
$GC,5939,0.86,232.6,176.2,10.1,300,5944,0.00,2.33,0.00,0.000,6,0.000,0.025,3271,2023,1747,0,0,0,0,0,0
$GC,6207,0.98,246.7,155.9,7.0,321,6222,0.17,2.55,9.30,0.579,4,0.057,0.047,3319,603,1713,0,0,0,0,0,0
$GC,6393,0.90,246.7,134.0,15.1,334,6398,0.12,2.30,0.00,0.000,6,0.115,0.022,3297,2019,1710,0,0,0,0,0,0
$GC,6653,0.98,246.7,107.2,9.5,354,6657,0.00,2.45,0.00,0.000,4,0.000,0.047,3297,602,1710,0,0,0,0,0,0
$GC,6910,0.98,246.7,84.8,8.7,373,6914,0.00,2.25,0.00,0.000,6,0.000,0.021,3297,2010,1710,0,0,0,0,0,0
$GC,7178,1.08,255.0,64.7,7.4,394,7193,0.17,2.45,8.48,0.489,4,0.054,0.044,3348,598,1679,0,0,0,0,0,0
$GC,7348,1.03,255.0,45.2,10.3,406,7352,0.12,2.28,0.00,0.000,6,0.104,0.021,3324,2021,1678,0,0,0,0,0,0
$GC,7612,1.11,255.0,21.7,9.1,440,7619,0.00,2.47,0.00,0.000,4,0.000,0.044,3324,598,1677,0,0,0,0,0,0
$STATE,7824,end climb,SURFACE_DEPTH_REACHED
$STATE,7824,begin surface coast
$FINISH,0.4,0.999313
$STATE,7855,end surface coast,CONTROL_FINISHED_OK
$STATE,7855,begin surface
$SM_CCo,7879,107.12,0.502,0,0,925,440.07
$SM_GC,0.96,0.00,0.00,107.12,0.000,0.000,0.502,432,1757,925,-12.28,0.20,440.07
$IRIDIUM_FIX,2057.14,-15756.04,241099,121252
$TT8_MAMPS,0.028379
$HUMID,52.40
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.4,4.322
$10V_AH,10.5,2.369
$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,30.075,85.800,282.800,107.125,0.000,48.224,58.260,226.023,4.250,0.000,21.195,986.305,4854.490,426.297,1684.928,556.573,0.000,1154.438,0.000,1652.189,0.000,27.689,0.000
$DEVICE_MAMPS,139.594,57.525,819.156,501.618,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,334.015,330.646,772.733,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,28593,496
$CAP_FILE_SIZE,98098,0
$CFSIZE,260165632,211304448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300710,143240,2106.249,-15755.215,13,2.1,32,9.8