version: 66.06
glider: 139
mission: 8
dive: 47
start: 7 31 110 3 58 37
data:
$ID,139
$MISSION,8
$DIVE,47
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$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,190
$T_MISSION,220
$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,430
$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,-2151132
$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,3070
$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,1700
$C_ROLL_CLIMB,1950
$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,2695
$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
$GPS1,035107,2105.630,-15754.096,35,1.3,35,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-70.5
$GPS2,035820,2105.623,-15754.231,14,1.4,14,9.8
$SPEED_LIMITS,0.137,0.183
$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,79.2,19551,-20.5,-7.895
$D_GRID,450
$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,16,-1.38,-77.9,0.0,0.0,0,82,0.00,0.00,-64.20,0.000,2,0.000,0.000,426,1707,2749,0,0,0,0,0,0
$GC,86,-1.38,-77.9,3.1,-4.1,12,110,12.70,2.35,-4.85,0.000,4,0.139,0.038,2761,3110,3015,0,0,0,0,0,0
$GC,122,-0.21,-77.9,16.2,-30.1,18,129,1.20,2.42,0.00,0.000,6,0.081,0.031,3019,1698,3016,0,0,0,0,0,0
$GC,325,-0.69,-77.9,28.1,-3.8,64,332,0.43,2.42,0.00,0.000,4,0.032,0.043,2900,290,3017,0,0,0,0,0,0
$GC,384,-0.86,-77.9,33.0,-9.5,72,388,0.00,2.30,0.00,0.000,6,0.000,0.018,2901,1733,3017,0,0,0,0,0,0
$GC,650,-1.06,-77.9,60.2,-9.7,93,655,0.25,2.47,0.00,0.000,4,0.041,0.044,2822,296,3017,0,0,0,0,0,0
$GC,709,-1.06,-77.9,68.8,-14.0,97,716,0.00,2.28,0.00,0.000,6,0.000,0.018,2822,1713,3018,0,0,0,0,0,0
$GC,968,-1.12,-77.9,98.0,-10.0,118,972,0.00,2.45,0.00,0.000,4,0.000,0.045,2822,290,3018,0,0,0,0,0,0
$GC,1014,-1.12,-77.9,103.0,-10.8,121,1019,0.00,2.25,0.00,0.000,6,0.000,0.018,2822,1708,3019,0,0,0,0,0,0
$GC,1275,-1.20,-77.9,125.0,-8.7,142,1279,0.00,2.45,0.00,0.000,4,0.000,0.046,2822,290,3019,0,0,0,0,0,0
$GC,1302,-1.20,-77.9,128.3,-10.4,144,1306,0.00,2.22,0.00,0.000,6,0.000,0.019,2822,1703,3019,0,0,0,0,0,0
$GC,1563,-1.31,-77.9,153.7,-9.2,164,1568,0.15,2.45,0.00,0.000,4,0.056,0.047,2774,294,3020,0,0,0,0,0,0
$GC,1597,-1.24,-77.9,157.9,-12.9,166,1603,0.08,2.25,0.00,0.000,6,0.082,0.019,2794,1694,3019,0,0,0,0,0,0
$GC,1856,-1.31,-77.9,191.3,-12.7,187,1861,0.00,2.40,0.00,0.000,4,0.000,0.046,2794,292,3020,0,0,0,0,0,0
$GC,1917,-1.34,-77.9,199.3,-13.3,191,1922,0.00,2.25,0.00,0.000,6,0.000,0.020,2794,1703,3020,0,0,0,0,0,0
$GC,2185,-1.42,-77.9,228.9,-11.4,205,2190,0.15,2.45,0.00,0.000,4,0.058,0.048,2747,296,3020,0,0,0,0,0,0
$GC,2210,-1.36,-77.9,232.4,-13.3,206,2215,0.12,2.22,0.00,0.000,6,0.105,0.021,2771,1704,3020,0,0,0,0,0,0
$GC,2537,-1.40,-77.9,272.6,-11.8,222,2541,0.00,2.25,0.00,0.000,4,0.000,0.026,2772,3073,3020,0,0,0,0,0,0
$GC,2598,-1.51,-77.9,278.5,-9.5,224,2605,0.10,2.35,0.00,0.000,6,0.037,0.036,2732,1702,3020,0,0,0,0,0,0
$GC,2932,-1.51,-77.9,314.3,-10.7,238,2936,0.00,2.25,0.00,0.000,4,0.000,0.028,2732,3073,3018,0,0,0,0,0,0
$GC,2983,-1.56,-77.9,320.0,-10.5,239,2990,0.00,2.30,0.00,0.000,6,0.000,0.037,2732,1698,3018,0,0,0,0,0,0
$GC,3309,-1.56,-77.9,356.2,-11.3,247,3310,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1698,3017,0,0,0,0,0,0
$GC,3635,-1.56,-77.9,386.4,-9.0,255,3636,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1697,3015,0,0,0,0,0,0
$GC,3960,-1.56,-77.9,420.0,-10.8,263,3965,0.00,2.45,0.00,0.000,4,0.000,0.058,2731,294,3013,0,0,0,0,0,0
$GC,4022,-1.51,-77.9,428.1,-13.3,264,4026,0.00,2.28,0.00,0.000,6,0.000,0.026,2732,1691,3012,0,0,0,0,0,0
$STATE,4206,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4206,begin apogee
$GC,4213,-0.31,0.0,453.0,13.3,269,4281,1.27,0.00,65.15,0.850,6,0.080,0.000,3000,1956,2695,0,0,0,0,0,0
$STATE,4282,end apogee,CONTROL_FINISHED_OK
$STATE,4282,begin climb
$GC,4286,1.38,77.9,455.8,0.0,270,4364,1.60,2.45,67.40,0.834,4,0.035,0.040,3374,3334,2376,0,0,0,0,0,0
$GC,4380,1.34,260.7,462.1,-4.5,272,4546,0.00,2.40,158.10,0.838,6,0.000,0.037,3374,1950,1632,0,0,0,0,0,0
$GC,4865,1.16,260.7,388.4,19.2,284,4870,0.25,2.53,0.00,0.000,4,0.105,0.057,3321,538,1622,0,0,0,0,0,0
$GC,5120,1.00,260.7,339.8,17.5,289,5125,0.17,2.35,0.00,0.000,6,0.112,0.029,3289,1942,1617,0,0,0,0,0,0
$GC,5462,1.00,260.7,304.4,9.4,298,5466,0.00,2.47,0.00,0.000,4,0.000,0.054,3289,545,1615,0,0,0,0,0,0
$GC,5699,0.95,260.7,273.5,13.6,307,5704,0.00,2.35,0.00,0.000,6,0.000,0.028,3289,1960,1612,0,0,0,0,0,0
$GC,6021,0.98,260.7,235.3,12.6,323,6025,0.00,2.53,0.00,0.000,4,0.000,0.054,3289,539,1612,0,0,0,0,0,0
$GC,6148,0.95,260.7,217.5,13.5,328,6152,0.00,2.33,0.00,0.000,6,0.000,0.026,3289,1961,1610,0,0,0,0,0,0
$GC,6478,1.00,260.7,178.2,11.3,349,6482,0.00,2.50,0.00,0.000,4,0.000,0.050,3289,537,1610,0,0,0,0,0,0
$GC,6672,1.00,260.7,156.1,10.8,363,6676,0.00,2.33,0.00,0.000,6,0.000,0.023,3289,1954,1609,0,0,0,0,0,0
$GC,6933,1.08,260.7,133.2,8.7,383,6938,0.00,2.47,0.00,0.000,4,0.000,0.048,3289,535,1609,0,0,0,0,0,0
$GC,7196,1.11,260.7,98.8,14.5,402,7201,0.10,2.30,0.00,0.000,6,0.077,0.021,3323,1965,1608,0,0,0,0,0,0
$GC,7459,1.18,260.7,67.7,10.5,422,7463,0.00,2.47,0.00,0.000,4,0.000,0.045,3323,536,1608,0,0,0,0,0,0
$GC,7608,1.18,260.7,51.8,9.9,433,7612,0.00,2.28,0.00,0.000,6,0.000,0.021,3323,1958,1608,0,0,0,0,0,0
$GC,7874,1.26,260.7,29.5,8.6,454,7880,0.00,2.47,0.00,0.000,4,0.000,0.044,3323,539,1608,0,0,0,0,0,0
$GC,8088,1.26,261.5,11.0,7.8,503,8095,0.00,2.28,0.00,0.000,6,0.000,0.020,3323,1955,1608,0,0,0,0,0,0
$STATE,8179,end climb,SURFACE_DEPTH_REACHED
$STATE,8180,begin surface coast
$FINISH,0.7,1.022986
$STATE,8233,end surface coast,CONTROL_FINISHED_OK
$STATE,8233,begin surface
$SM_CCo,8257,90.80,0.504,0,0,941,430.01
$SM_GC,0.99,0.00,0.00,90.80,0.000,0.000,0.504,426,1685,941,-12.16,-0.42,430.01
$IRIDIUM_FIX,2057.14,-15756.91,251099,010105
$TT8_MAMPS,0.029146
$HUMID,52.40
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.4,4.910
$10V_AH,10.5,2.829
$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,31.000,90.850,290.650,90.800,0.000,24.865,29.399,261.617,4.500,0.000,14.594,1048.725,5019.572,421.536,1754.506,534.651,0.000,1175.289,0.000,1733.392,0.000,29.258,0.000
$DEVICE_MAMPS,138.827,58.292,849.836,503.919,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,360.470,353.154,874.802,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355724
$DATA_FILE_SIZE,28640,536
$CAP_FILE_SIZE,100210,0
$CFSIZE,260165632,210997248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310710,061930,2105.521,-15754.409,66,1.0,66,9.8