version: 66.06
glider: 139
mission: 8
dive: 42
start: 7 30 110 14 41 47
data:
$ID,139
$MISSION,8
$DIVE,42
$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,-2151038
$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
$GPS1,143240,2106.249,-15755.215,13,2.1,32,9.8
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-73.3
$GPS2,144133,2106.283,-15755.335,12,2.0,13,9.8
$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,82.5,21473,-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,12,begin dive
$GC,15,-1.39,-77.9,0.0,0.0,0,87,0.00,0.00,-69.43,0.000,2,0.000,0.000,431,1757,2916,0,0,0,0,0,0
$GC,90,-1.39,-77.9,3.8,-5.2,13,115,12.85,2.38,-2.05,0.000,4,0.140,0.038,2786,3163,3041,0,0,0,0,0,0
$GC,153,-1.26,-77.9,24.3,-22.4,25,160,0.15,2.42,0.00,0.000,6,0.087,0.033,2821,1756,3042,0,0,0,0,0,0
$GC,353,-1.26,-77.9,53.1,-15.2,45,357,0.00,2.42,0.00,0.000,4,0.000,0.046,2821,337,3043,0,0,0,0,0,0
$GC,393,-1.26,-77.9,60.2,-16.5,48,398,0.00,2.33,0.00,0.000,6,0.000,0.019,2821,1776,3043,0,0,0,0,0,0
$GC,653,-1.32,-77.9,92.9,-12.8,68,657,0.00,2.47,0.00,0.000,4,0.000,0.045,2821,341,3044,0,0,0,0,0,0
$GC,720,-1.32,-77.9,102.5,-14.3,73,724,0.00,2.28,0.00,0.000,6,0.000,0.018,2821,1759,3044,0,0,0,0,0,0
$GC,985,-1.40,-77.9,136.5,-12.0,94,990,0.12,2.45,0.00,0.000,4,0.064,0.046,2778,337,3043,0,0,0,0,0,0
$GC,1025,-1.36,-77.9,142.0,-14.6,97,1030,0.12,2.28,0.00,0.000,6,0.099,0.019,2805,1751,3044,0,0,0,0,0,0
$GC,1289,-1.43,-77.9,169.1,-9.1,118,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1752,3044,0,0,0,0,0,0
$GC,1542,-1.53,-77.9,192.9,-8.9,138,1547,0.17,2.45,0.00,0.000,4,0.054,0.047,2752,341,3044,0,0,0,0,0,0
$GC,1633,-1.47,-77.9,204.6,-14.8,144,1638,0.12,2.30,0.00,0.000,6,0.104,0.020,2777,1755,3044,0,0,0,0,0,0
$GC,1967,-1.53,-77.9,240.8,-12.1,160,1971,0.00,2.45,0.00,0.000,4,0.000,0.048,2777,337,3044,0,0,0,0,0,0
$GC,2005,-1.53,-77.9,246.3,-13.4,161,2010,0.00,2.28,0.00,0.000,6,0.000,0.021,2777,1752,3044,0,0,0,0,0,0
$GC,2323,-1.60,-77.9,280.2,-9.8,177,2324,0.12,0.00,0.00,0.000,6,0.068,0.000,2738,1754,3044,0,0,0,0,0,0
$GC,2628,-1.60,-77.9,315.3,-11.5,189,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1754,3043,0,0,0,0,0,0
$GC,2952,-1.60,-77.9,353.7,-11.9,197,2956,0.00,2.45,0.00,0.000,4,0.000,0.054,2737,340,3042,0,0,0,0,0,0
$GC,3061,-1.57,-77.9,367.5,-12.8,199,3065,0.00,2.30,0.00,0.000,6,0.000,0.025,2737,1746,3041,0,0,0,0,0,0
$GC,3377,-1.57,-77.9,402.1,-10.7,207,3381,0.00,2.47,0.00,0.000,4,0.000,0.057,2737,342,3039,0,0,0,0,0,0
$GC,3415,-1.54,-77.9,406.9,-12.6,207,3421,0.12,2.33,0.00,0.000,6,0.105,0.026,2762,1748,3039,0,0,0,0,0,0
$STATE,3581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3581,begin apogee
$GC,3589,-0.31,0.0,422.1,9.0,212,3657,1.25,0.00,65.00,0.818,6,0.073,0.000,3030,2050,2720,0,0,0,0,0,0
$STATE,3658,end apogee,CONTROL_FINISHED_OK
$STATE,3658,begin climb
$GC,3661,1.39,77.9,423.1,0.0,213,3737,1.60,2.33,66.78,0.803,4,0.028,0.039,3416,3376,2401,0,0,0,0,0,0
$GC,3757,1.28,246.5,427.3,-3.6,215,3912,0.20,2.38,145.77,0.805,6,0.115,0.035,3380,1999,1713,0,0,0,0,0,0
$GC,4236,1.08,246.5,358.4,16.8,227,4241,0.22,2.50,0.00,0.000,4,0.109,0.055,3337,604,1704,0,0,0,0,0,0
$GC,4505,0.90,246.5,313.6,16.1,232,4512,0.20,2.33,0.00,0.000,6,0.108,0.028,3299,1991,1699,0,0,0,0,0,0
$GC,4820,0.90,246.5,273.3,12.9,245,4825,0.00,2.47,0.00,0.000,4,0.000,0.054,3299,600,1698,0,0,0,0,0,0
$GC,5020,0.84,246.5,247.5,12.2,253,5026,0.00,2.33,0.00,0.000,6,0.000,0.028,3299,2011,1694,0,0,0,0,0,0
$GC,5337,0.87,246.5,214.4,9.6,269,5341,0.00,2.47,0.00,0.000,4,0.000,0.051,3299,603,1694,0,0,0,0,0,0
$GC,5600,0.87,246.5,179.4,13.6,284,5604,0.00,2.33,0.00,0.000,6,0.000,0.024,3299,2023,1691,0,0,0,0,0,0
$GC,5866,0.92,246.5,151.9,10.5,305,5871,0.00,2.45,0.00,0.000,4,0.000,0.048,3299,603,1691,0,0,0,0,0,0
$GC,6004,0.92,246.5,135.7,12.1,315,6009,0.00,2.30,0.00,0.000,6,0.000,0.022,3299,2013,1690,0,0,0,0,0,0
$GC,6270,1.00,246.5,109.5,8.6,336,6274,0.00,2.45,0.00,0.000,4,0.000,0.046,3299,594,1690,0,0,0,0,0,0
$GC,6507,1.00,246.5,90.6,9.0,353,6513,0.00,2.30,0.00,0.000,6,0.000,0.021,3299,2015,1690,0,0,0,0,0,0
$GC,6767,1.11,246.5,65.6,8.6,374,6772,0.17,2.42,0.00,0.000,4,0.056,0.044,3350,600,1690,0,0,0,0,0,0
$GC,6863,1.04,246.5,55.3,11.2,381,6868,0.12,2.28,0.00,0.000,6,0.105,0.021,3326,2015,1690,0,0,0,0,0,0
$GC,7132,1.15,256.0,32.8,7.3,402,7140,0.10,0.00,5.20,0.400,6,0.077,0.000,3360,2021,1675,0,0,0,0,0,0
$GC,7396,1.15,256.0,6.8,9.1,457,7403,0.00,2.45,0.00,0.000,4,0.000,0.042,3359,601,1676,0,0,0,0,0,0
$STATE,7433,end climb,SURFACE_DEPTH_REACHED
$STATE,7433,begin surface coast
$FINISH,0.3,1.022726
$STATE,7464,end surface coast,CONTROL_FINISHED_OK
$STATE,7464,begin surface
$SM_CCo,7489,101.93,0.499,0,0,926,440.07
$SM_GC,1.19,0.00,0.00,101.93,0.000,0.000,0.499,428,1782,926,-12.29,0.90,440.07
$IRIDIUM_FIX,2059.45,-15753.90,241099,141414
$TT8_MAMPS,0.028379
$HUMID,51.92
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.4,4.420
$10V_AH,10.5,2.438
$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,30.300,76.125,282.750,101.925,0.000,54.658,57.229,239.086,4.250,0.000,15.147,930.634,4649.688,421.672,1557.422,562.022,0.000,1099.064,0.000,1536.744,0.000,27.685,0.000
$DEVICE_MAMPS,140.361,56.758,817.622,499.317,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,317.222,312.029,740.248,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,25525,472
$CAP_FILE_SIZE,92326,0
$CFSIZE,260165632,211263488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300710,164937,2106.184,-15755.657,40,0.9,40,9.8