version: 66.06
glider: 139
mission: 8
dive: 43
start: 7 30 110 16 58 15
data:
$ID,139
$MISSION,8
$DIVE,43
$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,-2151052.2
$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
$GPS1,164937,2106.184,-15755.657,40,0.9,40,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-69.0
$GPS2,165802,2106.241,-15755.757,13,1.2,13,9.8
$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,82.2,22197,-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,16,-1.39,-77.9,0.0,0.0,0,88,0.00,0.00,-69.43,0.000,2,0.000,0.000,427,1782,2917,0,0,0,0,0,0
$GC,91,-1.39,-77.9,4.1,-6.0,13,116,12.88,2.53,-2.03,0.000,4,0.140,0.053,2789,338,3041,0,0,0,0,0,0
$GC,132,-0.35,-77.9,22.3,-41.3,20,139,1.08,2.35,0.00,0.000,6,0.087,0.019,3020,1769,3042,0,0,0,0,0,0
$GC,339,-0.83,-77.9,32.1,-2.7,55,344,0.43,2.45,0.00,0.000,4,0.035,0.041,2902,337,3044,0,0,0,0,0,0
$GC,396,-1.03,-77.9,36.0,-7.4,59,401,0.12,2.28,0.00,0.000,6,0.061,0.018,2858,1751,3044,0,0,0,0,0,0
$GC,658,-1.15,-77.9,65.1,-11.6,79,662,0.00,2.42,0.00,0.000,4,0.000,0.045,2859,336,3044,0,0,0,0,0,0
$GC,683,-1.21,-77.9,68.8,-13.8,81,687,0.00,2.28,0.00,0.000,6,0.000,0.018,2858,1754,3044,0,0,0,0,0,0
$GC,947,-1.36,-77.9,98.4,-10.9,102,952,0.22,2.42,0.00,0.000,4,0.043,0.044,2788,339,3045,0,0,0,0,0,0
$GC,1003,-1.29,-77.9,107.2,-17.6,106,1008,0.15,2.25,0.00,0.000,6,0.100,0.018,2819,1751,3045,0,0,0,0,0,0
$GC,1264,-1.38,-77.9,138.1,-9.9,126,1269,0.00,2.42,0.00,0.000,4,0.000,0.046,2819,335,3045,0,0,0,0,0,0
$GC,1317,-1.44,-77.9,143.5,-9.8,130,1322,0.15,2.28,0.00,0.000,6,0.058,0.019,2771,1748,3046,0,0,0,0,0,0
$GC,1585,-1.44,-77.9,173.0,-12.9,151,1589,0.00,2.28,0.00,0.000,4,0.000,0.025,2772,3147,3046,0,0,0,0,0,0
$GC,1612,-1.50,-77.9,177.1,-12.5,153,1616,0.00,2.33,0.00,0.000,6,0.000,0.031,2771,1751,3046,0,0,0,0,0,0
$GC,1871,-1.50,-77.9,209.5,-13.1,171,1876,0.00,2.45,0.00,0.000,4,0.000,0.048,2771,336,3046,0,0,0,0,0,0
$GC,1915,-1.50,-77.9,216.4,-16.7,173,1920,0.00,2.28,0.00,0.000,6,0.000,0.020,2771,1755,3046,0,0,0,0,0,0
$GC,2248,-1.54,-77.9,257.0,-9.8,189,2252,0.00,2.45,0.00,0.000,4,0.000,0.047,2771,334,3046,0,0,0,0,0,0
$GC,2281,-1.54,-77.9,260.7,-11.1,190,2285,0.00,2.30,0.00,0.000,6,0.000,0.021,2771,1756,3046,0,0,0,0,0,0
$GC,2598,-1.60,-77.9,284.9,-7.1,205,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,1758,3046,0,0,0,0,0,0
$GC,2925,-1.67,-77.9,312.3,-8.9,218,2927,0.15,0.00,0.00,0.000,6,0.061,0.000,2726,1759,3045,0,0,0,0,0,0
$GC,3249,-1.67,-77.9,348.5,-11.4,226,3253,0.00,2.47,0.00,0.000,4,0.000,0.054,2726,339,3043,0,0,0,0,0,0
$GC,3353,-1.61,-77.9,362.3,-13.3,228,3358,0.12,2.33,0.00,0.000,6,0.104,0.025,2750,1751,3043,0,0,0,0,0,0
$GC,3667,-1.65,-77.9,398.0,-10.7,236,3672,0.00,2.47,0.00,0.000,4,0.000,0.056,2750,344,3040,0,0,0,0,0,0
$GC,3688,-1.65,-77.9,400.3,-11.4,236,3692,0.00,2.33,0.00,0.000,6,0.000,0.026,2750,1750,3040,0,0,0,0,0,0
$STATE,3909,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3909,begin apogee
$GC,3916,-0.31,0.0,423.9,10.2,242,3985,1.30,0.00,65.35,0.821,6,0.073,0.000,3029,2035,2720,0,0,0,0,0,0
$STATE,3986,end apogee,CONTROL_FINISHED_OK
$STATE,3986,begin climb
$GC,3989,1.39,77.9,425.4,0.0,243,4068,1.60,2.38,66.75,0.805,4,0.028,0.040,3415,3386,2401,0,0,0,0,0,0
$GC,4121,1.26,240.5,433.4,-3.1,246,4270,0.20,2.40,140.45,0.811,6,0.112,0.036,3378,2000,1738,0,0,0,0,0,0
$GC,4611,1.07,240.5,367.8,17.3,258,4616,0.22,2.50,0.00,0.000,4,0.107,0.054,3335,601,1729,0,0,0,0,0,0
$GC,4857,0.88,240.5,329.3,15.1,263,4863,0.22,2.35,0.00,0.000,6,0.107,0.028,3293,1997,1724,0,0,0,0,0,0
$GC,5188,0.88,240.5,296.0,10.2,272,5192,0.00,2.47,0.00,0.000,4,0.000,0.054,3292,596,1722,0,0,0,0,0,0
$GC,5409,0.83,240.5,268.4,11.3,281,5415,0.00,2.35,0.00,0.000,6,0.000,0.028,3292,2015,1719,0,0,0,0,0,0
$GC,5727,0.86,240.5,240.7,8.3,297,5731,0.00,2.47,0.00,0.000,4,0.000,0.051,3292,599,1718,0,0,0,0,0,0
$GC,5968,0.86,240.5,214.8,11.4,307,5972,0.00,2.33,0.00,0.000,6,0.000,0.025,3292,2016,1716,0,0,0,0,0,0
$GC,6288,0.92,240.5,181.4,10.2,328,6293,0.00,2.47,0.00,0.000,4,0.000,0.049,3292,593,1715,0,0,0,0,0,0
$GC,6464,0.92,240.5,162.0,10.1,341,6469,0.00,2.30,0.00,0.000,6,0.000,0.024,3292,2012,1714,0,0,0,0,0,0
$GC,6730,0.99,241.8,137.5,7.9,362,6735,0.10,2.42,0.00,0.000,4,0.077,0.046,3326,597,1714,0,0,0,0,0,0
$GC,6995,0.94,241.8,110.8,9.2,381,7001,0.10,2.28,0.00,0.000,6,0.117,0.021,3307,2016,1714,0,0,0,0,0,0
$GC,7256,1.01,241.8,88.4,10.0,402,7261,0.00,2.42,0.00,0.000,4,0.000,0.044,3307,601,1714,0,0,0,0,0,0
$GC,7521,1.07,250.5,63.1,7.4,421,7532,0.08,2.30,5.47,0.431,6,0.041,0.021,3343,2018,1698,0,0,0,0,0,0
$GC,7793,1.10,250.5,44.0,8.2,443,7797,0.00,2.42,0.00,0.000,4,0.000,0.043,3343,600,1698,0,0,0,0,0,0
$GC,7930,1.12,270.1,34.0,6.7,453,7956,0.00,2.25,18.55,0.511,6,0.000,0.020,3343,2017,1617,0,0,0,0,0,0
$GC,8212,1.16,270.1,13.2,9.0,509,8219,0.00,2.45,0.00,0.000,4,0.000,0.044,3343,604,1616,0,0,0,0,0,0
$STATE,8300,end climb,SURFACE_DEPTH_REACHED
$STATE,8300,begin surface coast
$FINISH,0.4,1.019602
$STATE,8328,end surface coast,CONTROL_FINISHED_OK
$STATE,8328,begin surface
$SM_CCo,8353,95.62,0.497,0,0,926,440.07
$SM_GC,1.00,0.00,0.00,95.62,0.000,0.000,0.497,428,1752,926,-12.29,0.06,440.07
$IRIDIUM_FIX,2057.14,-15801.19,241099,171707
$TT8_MAMPS,0.029146
$HUMID,52.04
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.4,4.516
$10V_AH,10.5,2.516
$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,31.600,90.175,296.575,95.625,0.000,50.892,84.266,178.182,4.250,0.000,13.539,1061.537,5088.059,424.967,1820.349,556.955,0.000,1204.161,0.000,1797.566,0.000,27.687,0.000
$DEVICE_MAMPS,140.361,55.991,820.690,497.016,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,359.979,354.732,867.478,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,28633,535
$CAP_FILE_SIZE,103945,0
$CFSIZE,260165632,211202048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300710,191956,2106.226,-15755.613,13,1.9,13,9.8