version: 66.06
glider: 139
mission: 8
dive: 76
start: 8 3 110 9 15 13
data:
$ID,139
$MISSION,8
$DIVE,76
$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,60
$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,549.47198
$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,-2151844.5
$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,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,1690
$C_ROLL_CLIMB,1850
$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,2690
$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
$GPS1,090106,2103.629,-15746.604,13,1.4,29,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-71.5
$GPS2,091456,2103.583,-15746.845,12,1.7,12,9.8
$SPEED_LIMITS,0.137,0.159
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$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,196.6,11716,-23.8,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.56,-58.4,0.0,0.0,0,82,0.00,0.00,-64.38,0.000,2,0.000,0.000,425,1718,2835,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.3,-4.5,12,110,12.57,2.53,-1.70,0.000,4,0.138,0.051,2751,280,2932,0,0,0,0,0,0
$GC,321,-1.47,-58.4,61.3,-18.8,41,325,0.12,2.33,0.00,0.000,6,0.115,0.018,2775,1725,2934,0,0,0,0,0,0
$GC,587,-1.47,-58.4,101.6,-14.2,62,588,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1727,2934,0,0,0,0,0,0
$GC,837,-1.53,-58.4,137.3,-14.0,82,841,0.00,2.50,0.00,0.000,4,0.000,0.046,2775,279,2935,0,0,0,0,0,0
$GC,852,-1.57,-58.4,139.4,-13.4,83,857,0.00,2.28,0.00,0.000,6,0.000,0.019,2775,1719,2935,0,0,0,0,0,0
$GC,1118,-1.67,-58.4,169.0,-10.9,104,1123,0.17,2.50,0.00,0.000,4,0.054,0.047,2722,283,2936,0,0,0,0,0,0
$GC,1160,-1.59,-58.4,175.5,-15.0,107,1165,0.15,2.22,0.00,0.000,6,0.102,0.019,2751,1689,2936,0,0,0,0,0,0
$GC,1433,-1.65,-58.4,205.3,-10.7,127,1437,0.00,2.22,0.00,0.000,4,0.000,0.024,2751,3061,2936,0,0,0,0,0,0
$GC,1555,-1.79,-58.4,220.0,-11.0,132,1560,0.17,2.33,0.00,0.000,6,0.054,0.033,2700,1681,2935,0,0,0,0,0,0
$GC,1878,-1.79,-58.4,261.8,-12.1,148,1882,0.00,2.25,0.00,0.000,4,0.000,0.025,2700,3058,2935,0,0,0,0,0,0
$GC,1993,-1.85,-58.4,274.6,-11.8,153,1997,0.00,2.30,0.00,0.000,6,0.000,0.035,2700,1689,2935,0,0,0,0,0,0
$GC,2347,-1.85,-58.4,322.1,-13.4,166,2351,0.00,2.28,0.00,0.000,4,0.000,0.028,2700,3055,2935,0,0,0,0,0,0
$GC,2450,-1.91,-58.4,334.1,-11.4,168,2454,0.00,2.33,0.00,0.000,6,0.000,0.037,2700,1689,2934,0,0,0,0,0,0
$GC,2763,-1.91,-58.4,365.0,-9.9,176,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1688,2932,0,0,0,0,0,0
$GC,3088,-1.91,-58.4,399.7,-10.7,184,3089,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1688,2930,0,0,0,0,0,0
$GC,3414,-1.91,-58.4,437.0,-11.6,192,3415,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1688,2927,0,0,0,0,0,0
$STATE,3534,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3534,begin apogee
$GC,3540,-0.31,0.0,450.1,10.8,195,3593,1.58,0.00,49.12,0.848,6,0.082,0.000,3030,1836,2690,0,0,0,0,0,0
$STATE,3594,end apogee,CONTROL_FINISHED_OK
$STATE,3594,begin climb
$GC,3597,1.56,58.4,451.6,0.0,196,3655,1.77,2.50,50.45,0.829,4,0.031,0.051,3453,439,2450,0,0,0,0,0,0
$GC,3923,1.25,162.0,456.7,-1.4,203,4023,0.43,2.35,90.75,0.851,6,0.110,0.028,3372,1863,2029,0,0,0,0,0,0
$GC,4368,1.13,162.0,409.4,13.1,214,4373,0.15,2.53,0.00,0.000,4,0.117,0.056,3344,438,2018,0,0,0,0,0,0
$GC,4531,0.96,162.0,386.8,14.5,217,4536,0.17,2.35,0.00,0.000,6,0.114,0.030,3312,1841,2014,0,0,0,0,0,0
$GC,4873,0.96,162.0,350.1,10.2,226,4877,0.00,2.50,0.00,0.000,4,0.000,0.055,3312,438,2012,0,0,0,0,0,0
$GC,4938,0.89,162.0,342.6,12.2,227,4942,0.00,2.38,0.00,0.000,6,0.000,0.030,3312,1857,2010,0,0,0,0,0,0
$GC,5283,0.89,162.0,309.7,9.4,236,5287,0.00,2.50,0.00,0.000,4,0.000,0.054,3312,445,2009,0,0,0,0,0,0
$GC,5403,0.85,162.0,297.4,11.0,238,5408,0.15,2.33,0.00,0.000,6,0.117,0.029,3284,1856,2007,0,0,0,0,0,0
$GC,5730,0.97,166.6,273.4,7.5,254,5735,0.12,2.50,0.00,0.000,4,0.071,0.054,3318,445,2006,0,0,0,0,0,0
$GC,5801,0.91,166.6,266.6,9.5,257,5805,0.00,2.33,0.00,0.000,6,0.000,0.028,3318,1856,2004,0,0,0,0,0,0
$GC,6128,0.99,186.4,242.3,6.1,273,6152,0.00,2.40,18.38,0.720,4,0.000,0.034,3317,3225,1930,0,0,0,0,0,0
$GC,6177,1.07,188.0,238.8,7.7,275,6181,0.00,2.38,0.00,0.000,6,0.000,0.036,3319,1842,1929,0,0,0,0,0,0
$GC,6503,1.12,188.0,209.6,8.9,291,6508,0.12,2.47,0.00,0.000,4,0.071,0.051,3354,435,1926,0,0,0,0,0,0
$GC,6574,1.02,188.0,201.2,12.7,294,6579,0.15,2.33,0.00,0.000,6,0.110,0.025,3325,1854,1923,0,0,0,0,0,0
$GC,6906,1.08,188.0,171.5,9.6,320,6910,0.00,2.47,0.00,0.000,4,0.000,0.048,3325,434,1923,0,0,0,0,0,0
$GC,6963,1.08,188.0,165.7,9.6,324,6967,0.00,2.30,0.00,0.000,6,0.000,0.024,3325,1868,1922,0,0,0,0,0,0
$GC,7223,1.18,200.8,145.3,6.7,344,7242,0.15,2.53,13.05,0.607,4,0.061,0.046,3368,435,1871,0,0,0,0,0,0
$GC,7271,1.08,200.8,140.8,9.8,347,7277,0.17,2.33,0.00,0.000,6,0.102,0.022,3335,1859,1868,0,0,0,0,0,0
$GC,7532,1.16,200.8,117.4,8.7,368,7536,0.00,2.47,0.00,0.000,4,0.000,0.045,3334,435,1868,0,0,0,0,0,0
$GC,7670,1.16,200.8,104.8,8.8,378,7674,0.00,2.28,0.00,0.000,6,0.000,0.021,3334,1861,1867,0,0,0,0,0,0
$GC,7936,1.25,200.8,83.7,8.4,399,7941,0.15,2.47,0.00,0.000,4,0.059,0.044,3379,437,1867,0,0,0,0,0,0
$GC,8098,1.15,200.8,66.4,10.7,411,8102,0.12,2.25,0.00,0.000,6,0.110,0.020,3355,1857,1866,0,0,0,0,0,0
$GC,8366,1.24,216.8,47.8,6.5,432,8387,0.00,2.50,15.30,0.523,4,0.000,0.043,3354,444,1805,0,0,0,0,0,0
$GC,8648,1.26,231.2,28.2,6.6,456,8667,0.00,2.28,13.73,0.498,6,0.000,0.019,3355,1865,1746,0,0,0,0,0,0
$GC,8863,1.37,252.7,15.7,6.0,504,8893,0.20,2.53,19.45,0.497,4,0.049,0.042,3411,437,1659,0,0,0,0,0,0
$STATE,8971,end climb,SURFACE_DEPTH_REACHED
$STATE,8971,begin surface coast
$FINISH,1.4,1.023186
$STATE,8981,end surface coast,CONTROL_FINISHED_OK
$STATE,8981,begin surface
$SM_CCo,9006,171.40,0.507,0,0,449,549.47
$SM_GC,1.04,0.00,0.00,171.40,0.000,0.000,0.507,427,1698,449,-12.30,0.20,549.47
$IRIDIUM_FIX,2054.83,-15749.62,281099,090937
$TT8_MAMPS,0.029146
$HUMID,50.15
$INTERNAL_PRESSURE,9.21564
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.4,7.538
$10V_AH,10.4,4.976
$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,31.525,90.500,270.225,171.400,0.000,149.760,262.272,51.424,4.500,0.000,13.121,1066.495,5996.755,474.451,1767.371,702.692,0.000,1248.515,0.000,1742.832,0.000,29.259,0.000
$DEVICE_MAMPS,138.060,55.991,850.603,506.987,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,356.424,336.724,785.236,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,28587,529
$CAP_FILE_SIZE,103882,0
$CFSIZE,260165632,209477632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030810,114927,2102.963,-15747.741,17,2.2,36,9.8