version: 66.06
glider: 139
mission: 8
dive: 27
start: 7 29 110 8 36 38
data:
$ID,139
$MISSION,8
$DIVE,27
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$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,148
$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,550
$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,-2150760.8
$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,3500
$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,1880
$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,2800
$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
$GPS1,083136,2108.298,-15801.120,41,1.2,46,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-70.6
$GPS2,083620,2108.256,-15801.140,12,2.0,12,9.8
$SPEED_LIMITS,0.156,0.190
$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,88.4,31808,-22.9,-9.009
$D_GRID,400
$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,-1.53,-77.9,0.0,0.0,0,98,0.00,0.00,-80.15,0.000,2,0.000,0.000,426,1880,2825,0,0,0,0,0,0
$GC,101,-1.53,-77.9,3.7,-5.2,15,131,14.82,2.42,-4.97,0.000,4,0.140,0.037,3163,3303,3120,0,0,0,0,0,0
$GC,180,-2.55,-77.9,17.9,-6.0,30,187,0.95,2.40,0.00,0.000,6,0.064,0.025,2945,1874,3121,0,0,0,0,0,0
$GC,383,-2.94,-77.9,32.6,-6.5,70,388,0.35,2.40,0.00,0.000,4,0.035,0.042,2842,478,3122,0,0,0,0,0,0
$GC,507,-3.02,-77.9,51.2,-17.6,79,511,0.00,2.28,0.00,0.000,6,0.000,0.019,2842,1912,3122,0,0,0,0,0,0
$GC,768,-3.19,-77.9,86.3,-12.9,99,773,0.17,2.47,0.00,0.000,4,0.051,0.048,2785,483,3123,0,0,0,0,0,0
$GC,909,-3.19,-77.9,110.7,-17.1,109,915,0.00,2.22,0.00,0.000,6,0.000,0.020,2785,1881,3124,0,0,0,0,0,0
$GC,1170,-3.29,-77.9,146.3,-12.6,130,1175,0.00,2.40,0.00,0.000,4,0.000,0.045,2785,473,3124,0,0,0,0,0,0
$GC,1253,-3.36,-77.9,158.3,-13.9,136,1257,0.00,2.22,0.00,0.000,6,0.000,0.020,2785,1877,3124,0,0,0,0,0,0
$GC,1514,-3.50,-77.9,186.6,-10.3,156,1519,0.20,2.40,0.00,0.000,4,0.048,0.044,2725,483,3124,0,0,0,0,0,0
$GC,1640,-3.43,-77.9,206.3,-16.8,164,1645,0.12,2.22,0.00,0.000,6,0.107,0.021,2749,1883,3125,0,0,0,0,0,0
$GC,1960,-3.50,-77.9,248.3,-13.0,179,1965,0.00,2.42,0.00,0.000,4,0.000,0.049,2748,482,3125,0,0,0,0,0,0
$GC,2004,-3.50,-77.9,255.3,-14.1,181,2009,0.00,2.22,0.00,0.000,6,0.000,0.021,2749,1876,3125,0,0,0,0,0,0
$GC,2339,-3.60,-77.9,294.0,-11.2,197,2344,0.15,2.45,0.00,0.000,4,0.061,0.050,2704,475,3125,0,0,0,0,0,0
$GC,2396,-3.54,-77.9,302.8,-14.9,199,2401,0.12,2.25,0.00,0.000,6,0.109,0.023,2729,1876,3125,0,0,0,0,0,0
$GC,2714,-3.61,-77.9,344.1,-14.0,207,2718,0.00,2.45,0.00,0.000,4,0.000,0.052,2729,486,3124,0,0,0,0,0,0
$GC,2803,-3.61,-77.9,357.5,-14.5,209,2807,0.00,2.25,0.00,0.000,6,0.000,0.025,2729,1877,3123,0,0,0,0,0,0
$GC,3132,-3.69,-77.9,399.6,-12.6,217,3137,0.15,2.45,0.00,0.000,4,0.064,0.056,2687,488,3122,0,0,0,0,0,0
$STATE,3140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3140,begin apogee
$GC,3149,-0.31,0.0,401.6,13.0,217,3223,3.47,0.00,64.75,0.786,6,0.081,0.000,3432,2021,2799,0,0,0,0,0,0
$STATE,3223,end apogee,CONTROL_FINISHED_OK
$STATE,3224,begin climb
$GC,3227,1.53,77.9,405.6,0.0,219,3303,1.25,2.42,65.25,0.780,4,0.030,0.038,3733,3396,2481,0,0,0,0,0,0
$GC,3341,1.10,314.2,420.2,-9.2,221,3550,0.00,2.40,199.12,0.790,6,0.000,0.036,3733,2009,1517,0,0,0,0,0,0
$GC,3874,0.40,314.2,256.7,39.4,237,3882,0.73,2.40,0.00,0.000,4,0.118,0.034,3592,3397,1508,0,0,0,0,0,0
$GC,4139,0.02,314.2,180.2,28.5,250,4149,0.45,2.40,0.00,0.000,6,0.122,0.041,3509,2013,1507,0,0,0,0,0,0
$GC,4404,-0.27,314.2,117.4,19.8,271,4409,0.30,2.47,0.00,0.000,4,0.112,0.051,3447,594,1504,0,0,0,0,0,0
$GC,4448,-0.54,314.2,108.6,19.2,274,4453,0.32,2.33,0.00,0.000,6,0.109,0.025,3386,2013,1502,0,0,0,0,0,0
$GC,4709,-0.54,314.2,76.6,12.8,294,4713,0.00,2.45,0.00,0.000,4,0.000,0.047,3385,596,1502,0,0,0,0,0,0
$GC,4865,-0.61,314.2,55.7,14.1,305,4872,0.00,2.35,0.00,0.000,6,0.000,0.021,3386,2024,1499,0,0,0,0,0,0
$GC,5126,-0.61,314.2,22.3,14.4,334,5133,0.00,2.47,0.00,0.000,4,0.000,0.044,3386,603,1500,0,0,0,0,0,0
$STATE,5258,end climb,SURFACE_DEPTH_REACHED
$STATE,5258,begin surface coast
$FINISH,1.5,1.023023
$STATE,5265,end surface coast,CONTROL_FINISHED_OK
$STATE,5265,begin surface
$SM_CCo,5290,130.35,0.505,0,0,556,550.21
$SM_GC,1.20,0.00,0.00,130.35,0.000,0.000,0.505,430,1911,556,-14.12,0.88,550.21
$IRIDIUM_FIX,2059.45,-15801.19,231099,070747
$TT8_MAMPS,0.029146
$HUMID,54.17
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.10
$XPDR_PINGS,0
$24V_AH,23.4,2.936
$10V_AH,10.5,1.451
$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,36.325,66.300,329.125,130.350,0.000,25.210,27.865,127.767,4.000,0.000,12.808,726.516,2892.945,471.751,1268.646,350.923,0.000,1068.309,0.000,1248.424,0.000,26.125,0.000
$DEVICE_MAMPS,139.594,55.991,790.010,504.686,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,243.672,244.823,627.443,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355760
$DATA_FILE_SIZE,19219,365
$CAP_FILE_SIZE,74036,0
$CFSIZE,260165632,211959808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290710,100750,2108.310,-15800.404,13,1.5,13,9.8