version: 66.06
glider: 139
mission: 8
dive: 870
start: 11 10 110 8 31 56
data:
$ID,139
$MISSION,8
$DIVE,870
$D_SURF,3
$D_FLARE,3
$D_TGT,240
$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,80
$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,120
$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,410
$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,-2169791.5
$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,3050
$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,1450
$C_ROLL_CLIMB,1420
$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,2630
$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
$GPS1,082506,2114.095,-15752.984,34,1.0,34,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-75.2
$GPS2,083137,2114.065,-15752.933,11,1.3,16,9.8
$SPEED_LIMITS,0.173,0.237
$TGT_NAME,HOME
$TGT_LATLONG,2114.600,-15752.080
$TGT_RADIUS,1000.000
$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,46.3,1775,-20.3,-10.000
$D_GRID,240
$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,-1.41,-116.8,0.0,0.0,0,77,0.00,0.00,-58.75,0.000,2,0.000,0.000,429,1421,2584,0,0,0,0,0,0
$GC,81,-1.41,-116.8,3.1,-4.3,11,111,12.35,2.42,-11.02,0.000,4,0.131,0.031,2734,2882,3108,0,0,0,0,0,0
$GC,150,-1.34,-116.8,15.3,-14.6,24,157,0.08,2.47,0.00,0.000,6,0.085,0.033,2752,1451,3109,0,0,0,0,0,0
$GC,354,-1.17,-116.8,44.5,-13.9,55,359,0.20,2.10,0.00,0.000,4,0.097,0.044,2792,230,3110,0,0,0,0,0,0
$GC,416,-1.10,-116.8,53.1,-13.5,59,420,0.00,2.00,0.00,0.000,6,0.000,0.018,2792,1514,3110,0,0,0,0,0,0
$GC,676,-1.05,-116.8,81.0,-10.3,79,681,0.12,2.25,0.00,0.000,4,0.100,0.045,2818,228,3111,0,0,0,0,0,0
$GC,732,-1.05,-116.8,86.3,-9.3,83,735,0.00,2.00,0.00,0.000,6,0.000,0.018,2818,1504,3111,0,0,0,0,0,0
$GC,1000,-1.09,-116.8,112.6,-11.4,104,1004,0.00,2.20,0.00,0.000,4,0.000,0.021,2818,2883,3111,0,0,0,0,0,0
$GC,1041,-1.24,-116.8,116.5,-9.8,107,1046,0.17,2.40,0.00,0.000,6,0.048,0.030,2761,1447,3111,0,0,0,0,0,0
$GC,1306,-1.17,-116.8,146.2,-11.6,128,1311,0.15,2.35,0.00,0.000,4,0.091,0.021,2792,2885,3112,0,0,0,0,0,0
$GC,1327,-1.17,-116.8,148.6,-11.4,129,1332,0.00,2.42,0.00,0.000,6,0.000,0.031,2792,1447,3112,0,0,0,0,0,0
$GC,1588,-1.17,-116.8,171.2,-7.6,150,1592,0.00,2.08,0.00,0.000,4,0.000,0.044,2792,230,3112,0,0,0,0,0,0
$GC,1640,-1.17,-116.8,175.6,-8.3,154,1643,0.00,2.00,0.00,0.000,6,0.000,0.018,2792,1510,3112,0,0,0,0,0,0
$GC,1913,-1.22,-116.8,199.1,-9.2,175,1918,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1525,3112,0,0,0,0,0,0
$GC,2169,-1.28,-116.8,222.3,-9.9,188,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1525,3113,0,0,0,0,0,0
$STATE,2372,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2372,begin apogee
$GC,2381,-0.31,0.0,241.8,9.1,198,2478,0.88,0.00,94.05,0.612,6,0.064,0.000,2982,1408,2630,0,0,0,0,0,0
$STATE,2479,end apogee,CONTROL_FINISHED_OK
$STATE,2479,begin climb
$GC,2482,1.41,116.8,246.7,0.0,203,2592,1.62,2.45,96.00,0.607,4,0.031,0.021,3364,2848,2152,0,0,0,0,0,0
$GC,2682,1.32,161.7,241.6,7.4,211,2730,0.12,2.42,38.28,0.592,6,0.113,0.031,3340,1429,1969,0,0,0,0,0,0
$GC,3042,1.32,252.5,218.3,4.8,229,3129,0.00,2.42,76.20,0.595,4,0.000,0.021,3341,2847,1599,0,0,0,0,0,0
$GC,3137,1.29,281.7,211.5,8.3,233,3169,0.00,2.45,25.30,0.566,6,0.000,0.034,3340,1417,1480,0,0,0,0,0,0
$GC,3488,1.25,292.8,174.5,9.4,257,3502,0.00,2.45,9.70,0.502,4,0.000,0.021,3340,2840,1435,0,0,0,0,0,0
$GC,3564,1.33,318.1,167.6,8.6,262,3593,0.00,2.45,22.35,0.548,6,0.000,0.034,3340,1420,1332,0,0,0,0,0,0
$GC,3854,1.33,318.1,136.9,11.1,285,3858,0.00,2.05,0.00,0.000,4,0.000,0.048,3340,231,1329,0,0,0,0,0,0
$GC,3940,1.29,318.1,126.5,11.9,291,3944,0.00,1.95,0.00,0.000,6,0.000,0.020,3340,1474,1326,0,0,0,0,0,0
$GC,4209,1.33,348.1,100.9,8.3,312,4239,0.00,2.25,25.42,0.515,4,0.000,0.021,3340,2848,1209,0,0,0,0,0,0
$GC,4274,1.47,367.1,95.2,8.9,316,4299,0.08,2.50,17.20,0.496,6,0.039,0.034,3377,1418,1132,0,0,0,0,0,0
$GC,4565,1.47,367.1,64.5,10.9,339,4569,0.00,2.35,0.00,0.000,4,0.000,0.021,3377,2855,1128,0,0,0,0,0,0
$GC,4579,1.47,367.1,62.7,10.6,340,4583,0.00,2.45,0.00,0.000,6,0.000,0.033,3377,1415,1128,0,0,0,0,0,0
$GC,4839,1.48,380.3,36.6,9.2,360,4857,0.00,2.10,11.52,0.444,4,0.000,0.046,3377,232,1078,0,0,0,0,0,0
$GC,4916,1.40,380.3,28.5,11.2,366,4923,0.08,1.98,0.00,0.000,6,0.080,0.019,3357,1486,1075,0,0,0,0,0,0
$GC,5121,1.45,390.5,8.2,9.4,412,5134,0.00,0.00,9.27,0.410,6,0.000,0.000,3357,1486,1037,0,0,0,0,0,0
$STATE,5176,end climb,SURFACE_DEPTH_REACHED
$STATE,5177,begin surface coast
$FINISH,0.9,0.997474
$STATE,5216,end surface coast,CONTROL_FINISHED_OK
$STATE,5216,begin surface
$SM_CCo,5240,15.85,0.436,0,0,957,410.14
$SM_GC,1.96,0.00,0.00,15.85,0.000,0.000,0.436,430,1433,957,-12.05,-0.51,410.14
$IRIDIUM_FIX,2104.07,-15755.17,040200,050504
$TT8_MAMPS,0.029146
$HUMID,60.82
$INTERNAL_PRESSURE,9.3133
$TCM_TEMP,21.00
$XPDR_PINGS,2
$24V_AH,23.5,85.611
$10V_AH,10.1,68.120
$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,28.450,59.200,425.300,15.850,0.000,30.940,31.740,180.700,2.500,0.000,16.310,770.923,2719.247,409.110,1261.658,481.271,0.000,995.501,0.000,1252.459,0.000,13.564,0.000
$DEVICE_MAMPS,131.157,148.031,612.066,436.423,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,287.127,318.971,767.801,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,356016
$DATA_FILE_SIZE,25561,432
$CAP_FILE_SIZE,73877,0
$CFSIZE,260165632,164495360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101110,100025,2114.234,-15752.499,10,1.9,10,9.8