version: 66.06
glider: 139
mission: 8
dive: 34
start: 7 29 110 20 48 50
data:
$ID,139
$MISSION,8
$DIVE,34
$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,500
$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,-2150904
$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,3300
$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,2770
$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
$GPS1,204337,2107.615,-15758.112,39,0.9,39,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-71.5
$GPS2,204832,2107.546,-15758.108,15,1.0,15,9.8
$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,87.2,26442,-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,12,begin dive
$GC,15,-1.53,-77.9,0.0,0.0,0,93,0.00,0.00,-74.97,0.000,2,0.000,0.000,426,1912,2858,0,0,0,0,0,0
$GC,96,-1.53,-77.9,3.8,-6.0,14,120,13.73,2.53,-3.85,0.000,4,0.138,0.058,2958,466,3089,0,0,0,0,0,0
$GC,158,-1.73,-77.9,21.7,-15.1,26,165,0.12,2.35,0.00,0.000,6,0.029,0.019,2910,1913,3090,0,0,0,0,0,0
$GC,358,-2.03,-77.9,41.3,-9.7,54,363,0.22,2.47,0.00,0.000,4,0.044,0.044,2841,473,3091,0,0,0,0,0,0
$GC,453,-2.11,-77.9,55.4,-15.4,61,457,0.00,2.25,0.00,0.000,6,0.000,0.019,2840,1879,3091,0,0,0,0,0,0
$GC,717,-2.25,-77.9,88.9,-11.0,82,722,0.15,2.45,0.00,0.000,4,0.057,0.044,2791,467,3092,0,0,0,0,0,0
$GC,844,-2.25,-77.9,108.1,-16.6,91,849,0.00,2.22,0.00,0.000,6,0.000,0.019,2791,1878,3092,0,0,0,0,0,0
$GC,1104,-2.35,-77.9,145.8,-14.4,112,1108,0.00,2.40,0.00,0.000,4,0.000,0.044,2791,469,3093,0,0,0,0,0,0
$GC,1223,-2.42,-77.9,163.9,-14.6,120,1230,0.00,2.28,0.00,0.000,6,0.000,0.020,2791,1887,3093,0,0,0,0,0,0
$GC,1485,-2.57,-77.9,191.0,-9.5,141,1491,0.22,2.42,0.00,0.000,4,0.045,0.044,2726,471,3094,0,0,0,0,0,0
$GC,1571,-2.53,-77.9,204.7,-15.3,146,1578,0.08,2.28,0.00,0.000,6,0.085,0.021,2745,1876,3094,0,0,0,0,0,0
$GC,1890,-2.60,-77.9,240.7,-10.7,162,1894,0.00,2.45,0.00,0.000,4,0.000,0.048,2745,465,3094,0,0,0,0,0,0
$GC,1987,-2.60,-77.9,253.4,-12.1,166,1991,0.00,2.28,0.00,0.000,6,0.000,0.021,2745,1887,3095,0,0,0,0,0,0
$GC,2310,-2.69,-77.9,289.2,-11.1,182,2315,0.15,2.45,0.00,0.000,4,0.062,0.051,2700,476,3094,0,0,0,0,0,0
$GC,2371,-2.62,-77.9,298.7,-14.5,184,2377,0.10,2.30,0.00,0.000,6,0.084,0.024,2726,1877,3094,0,0,0,0,0,0
$GC,2682,-2.66,-77.9,334.4,-11.0,193,2686,0.00,2.45,0.00,0.000,4,0.000,0.052,2725,473,3093,0,0,0,0,0,0
$GC,2730,-2.66,-77.9,340.2,-12.1,194,2734,0.00,2.28,0.00,0.000,6,0.000,0.025,2726,1877,3092,0,0,0,0,0,0
$GC,3057,-2.72,-77.9,378.0,-11.6,202,3061,0.00,2.45,0.00,0.000,4,0.000,0.054,2726,469,3091,0,0,0,0,0,0
$GC,3164,-2.72,-77.9,393.1,-14.4,204,3168,0.00,2.33,0.00,0.000,6,0.000,0.026,2726,1882,3090,0,0,0,0,0,0
$STATE,3227,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3227,begin apogee
$GC,3234,-0.31,0.0,402.1,13.8,206,3303,2.38,0.00,64.88,0.797,6,0.075,0.000,3233,2031,2770,0,0,0,0,0,0
$STATE,3304,end apogee,CONTROL_FINISHED_OK
$STATE,3304,begin climb
$GC,3307,1.53,77.9,403.3,0.0,207,3383,1.73,2.40,65.95,0.786,4,0.029,0.041,3641,3387,2451,0,0,0,0,0,0
$GC,3495,1.14,267.4,424.4,-5.6,211,3665,0.50,2.38,161.45,0.802,6,0.123,0.035,3549,2000,1680,0,0,0,0,0,0
$GC,3982,0.70,267.4,321.0,26.8,223,3984,0.50,0.00,0.00,0.000,6,0.124,0.000,3457,2000,1670,0,0,0,0,0,0
$GC,4290,0.43,267.4,255.2,21.4,235,4295,0.30,2.45,0.00,0.000,4,0.109,0.052,3396,604,1667,0,0,0,0,0,0
$GC,4328,0.17,267.4,246.4,20.3,236,4336,0.28,2.35,0.00,0.000,6,0.095,0.028,3339,1995,1666,0,0,0,0,0,0
$GC,4644,0.17,267.4,203.2,12.8,252,4648,0.00,2.45,0.00,0.000,4,0.000,0.054,3339,604,1664,0,0,0,0,0,0
$GC,4870,0.12,267.4,170.4,14.8,267,4876,0.00,2.30,0.00,0.000,6,0.000,0.025,3339,2018,1660,0,0,0,0,0,0
$GC,5129,0.16,267.4,143.6,9.2,288,5133,0.00,2.45,0.00,0.000,4,0.000,0.048,3339,603,1659,0,0,0,0,0,0
$GC,5362,0.16,267.4,113.8,10.9,305,5366,0.00,2.30,0.00,0.000,6,0.000,0.023,3339,2017,1657,0,0,0,0,0,0
$GC,5624,0.23,267.4,88.4,9.3,325,5628,0.00,2.45,0.00,0.000,4,0.000,0.044,3339,600,1657,0,0,0,0,0,0
$GC,5820,0.23,267.4,68.0,13.3,339,5827,0.00,2.30,0.00,0.000,6,0.000,0.021,3338,2009,1657,0,0,0,0,0,0
$GC,6081,0.34,267.4,42.9,9.3,360,6086,0.15,2.40,0.00,0.000,4,0.060,0.043,3383,600,1656,0,0,0,0,0,0
$GC,6228,0.26,267.4,26.9,12.2,375,6235,0.10,2.30,0.00,0.000,6,0.087,0.021,3360,2008,1656,0,0,0,0,0,0
$GC,6430,0.32,267.4,6.7,10.6,421,6436,0.00,2.45,0.00,0.000,4,0.000,0.045,3359,601,1657,0,0,0,0,0,0
$GC,6449,0.35,267.4,4.5,11.4,424,6455,0.00,2.30,0.00,0.000,6,0.000,0.020,3360,2025,1656,0,0,0,0,0,0
$STATE,6461,end climb,SURFACE_DEPTH_REACHED
$STATE,6461,begin surface coast
$FINISH,0.4,1.010456
$STATE,6489,end surface coast,CONTROL_FINISHED_OK
$STATE,6489,begin surface
$SM_CCo,6511,129.93,0.504,0,0,731,500.17
$SM_GC,1.23,0.00,0.00,129.93,0.000,0.000,0.504,425,1867,731,-13.23,-0.37,500.17
$IRIDIUM_FIX,2057.14,-15801.19,231099,181849
$TT8_MAMPS,0.029146
$HUMID,52.79
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.4,3.653
$10V_AH,10.5,1.879
$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,33.150,76.325,292.275,129.925,0.000,31.095,27.142,117.553,4.000,0.000,16.104,863.809,3754.315,460.199,1489.470,372.586,0.000,1126.110,0.000,1465.862,0.000,26.123,0.000
$DEVICE_MAMPS,138.060,58.292,802.282,503.919,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,289.219,288.097,709.597,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,25469,432
$CAP_FILE_SIZE,85661,0
$CFSIZE,260165632,211648512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290710,224025,2107.469,-15757.097,10,1.5,15,9.8