version: 66.06
glider: 139
mission: 8
dive: 81
start: 8 3 110 22 28 57
data:
$ID,139
$MISSION,8
$DIVE,81
$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,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,-2151991.5
$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
$GPS1,222224,2100.180,-15750.024,46,1.3,46,9.8
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,1
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-73.8
$GPS2,222840,2100.187,-15750.021,12,2.4,31,9.8
$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,166.4,4211,-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,-64.25,0.000,2,0.000,0.000,428,1663,2846,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.4,-4.4,12,106,12.60,2.40,-1.42,0.000,4,0.138,0.055,2754,276,2930,0,0,0,0,0,0
$GC,199,-1.56,-58.4,36.6,-17.2,32,203,0.00,2.33,0.00,0.000,6,0.000,0.019,2754,1716,2932,0,0,0,0,0,0
$GC,464,-1.56,-58.4,79.6,-15.4,53,465,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1721,2934,0,0,0,0,0,0
$GC,716,-1.56,-58.4,117.0,-13.6,73,720,0.00,2.25,0.00,0.000,4,0.000,0.022,2754,3090,2934,0,0,0,0,0,0
$GC,755,-1.66,-58.4,122.2,-12.3,76,759,0.00,2.35,0.00,0.000,6,0.000,0.032,2754,1688,2934,0,0,0,0,0,0
$GC,1022,-1.70,-58.4,157.6,-13.0,97,1027,0.12,2.33,0.00,0.000,4,0.067,0.025,2715,3084,2934,0,0,0,0,0,0
$GC,1111,-1.75,-58.4,169.6,-12.7,103,1117,0.00,2.33,0.00,0.000,6,0.000,0.032,2716,1689,2935,0,0,0,0,0,0
$GC,1388,-1.75,-58.4,206.5,-13.1,124,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1688,2935,0,0,0,0,0,0
$GC,1698,-1.75,-58.4,248.4,-12.3,139,1702,0.00,2.33,0.00,0.000,4,0.000,0.025,2716,3088,2935,0,0,0,0,0,0
$GC,1946,-1.81,-58.4,275.2,-9.7,150,1950,0.00,2.35,0.00,0.000,6,0.000,0.035,2715,1690,2935,0,0,0,0,0,0
$GC,2275,-1.85,-58.4,309.8,-10.9,164,2279,0.00,2.42,0.00,0.000,4,0.000,0.051,2715,278,2934,0,0,0,0,0,0
$GC,2354,-1.85,-58.4,319.7,-12.6,165,2359,0.00,2.30,0.00,0.000,6,0.000,0.022,2716,1702,2934,0,0,0,0,0,0
$GC,2691,-1.90,-58.4,356.2,-10.9,174,2696,0.12,2.53,0.00,0.000,4,0.070,0.054,2679,278,2932,0,0,0,0,0,0
$GC,2729,-1.80,-58.4,361.2,-13.2,174,2735,0.15,2.28,0.00,0.000,6,0.107,0.025,2707,1689,2932,0,0,0,0,0,0
$GC,3061,-1.84,-58.4,400.9,-12.2,183,3065,0.00,2.33,0.00,0.000,4,0.000,0.034,2708,3072,2930,0,0,0,0,0,0
$GC,3092,-1.93,-58.4,404.9,-13.6,183,3097,0.12,2.35,0.00,0.000,6,0.071,0.041,2673,1694,2930,0,0,0,0,0,0
$GC,3428,-1.93,-58.4,448.2,-12.2,192,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,1693,2927,0,0,0,0,0,0
$STATE,3466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3466,begin apogee
$GC,3473,-0.31,0.0,453.1,12.0,193,3527,1.73,0.00,49.25,0.849,6,0.087,0.000,3030,1857,2690,0,0,0,0,0,0
$STATE,3527,end apogee,CONTROL_FINISHED_OK
$STATE,3527,begin climb
$GC,3530,1.56,58.4,454.8,0.0,194,3589,1.80,0.00,50.97,0.832,6,0.030,0.000,3457,1857,2451,0,0,0,0,0,0
$GC,3914,1.39,176.0,464.6,-2.7,204,4027,0.25,2.42,103.15,0.858,4,0.114,0.041,3406,3228,1972,0,0,0,0,0,0
$GC,4056,1.24,176.0,455.1,14.6,207,4061,0.20,2.45,0.00,0.000,6,0.114,0.044,3369,1844,1970,0,0,0,0,0,0
$GC,4371,1.12,176.0,408.7,14.2,215,4376,0.12,2.47,0.00,0.000,4,0.121,0.059,3347,442,1963,0,0,0,0,0,0
$GC,4415,0.96,176.0,402.3,14.7,216,4420,0.20,2.38,0.00,0.000,6,0.112,0.030,3311,1852,1960,0,0,0,0,0,0
$GC,4743,0.96,176.0,364.1,11.7,224,4748,0.00,2.53,0.00,0.000,4,0.000,0.057,3310,439,1957,0,0,0,0,0,0
$GC,4823,0.89,176.0,353.6,14.3,225,4828,0.00,2.35,0.00,0.000,6,0.000,0.030,3311,1855,1955,0,0,0,0,0,0
$GC,5159,0.89,176.0,317.1,9.9,234,5163,0.00,2.53,0.00,0.000,4,0.000,0.056,3310,437,1954,0,0,0,0,0,0
$GC,5273,0.84,176.0,304.5,11.9,236,5278,0.15,2.33,0.00,0.000,6,0.122,0.029,3283,1854,1952,0,0,0,0,0,0
$GC,5606,0.95,184.5,277.8,7.1,251,5618,0.10,2.53,4.90,0.565,4,0.084,0.053,3311,435,1937,0,0,0,0,0,0
$GC,5775,0.92,184.5,260.8,10.5,258,5779,0.00,2.33,0.00,0.000,6,0.000,0.028,3311,1853,1935,0,0,0,0,0,0
$GC,6095,0.98,184.5,232.1,9.1,274,6100,0.00,2.47,0.00,0.000,4,0.000,0.051,3311,438,1934,0,0,0,0,0,0
$GC,6202,0.98,184.5,222.7,8.3,278,6209,0.00,2.35,0.00,0.000,6,0.000,0.027,3311,1854,1932,0,0,0,0,0,0
$GC,6523,1.06,184.5,197.0,8.5,295,6527,0.00,2.33,0.00,0.000,4,0.000,0.032,3311,3234,1932,0,0,0,0,0,0
$GC,6589,1.18,190.9,191.6,7.3,300,6605,0.20,2.38,6.78,0.581,6,0.055,0.035,3364,1836,1910,0,0,0,0,0,0
$GC,6858,1.18,190.9,168.1,9.1,321,6863,0.00,2.40,0.00,0.000,4,0.000,0.048,3364,435,1909,0,0,0,0,0,0
$GC,6898,1.07,190.9,164.0,10.9,324,6903,0.15,2.30,0.00,0.000,6,0.108,0.024,3336,1860,1908,0,0,0,0,0,0
$GC,7165,1.12,190.9,139.9,8.7,345,7169,0.00,2.28,0.00,0.000,4,0.000,0.028,3336,3229,1908,0,0,0,0,0,0
$GC,7194,1.21,190.9,137.2,7.9,347,7199,0.12,2.35,0.00,0.000,6,0.067,0.032,3372,1842,1908,0,0,0,0,0,0
$GC,7455,1.21,190.9,113.0,9.5,367,7459,0.00,2.40,0.00,0.000,4,0.000,0.046,3372,442,1908,0,0,0,0,0,0
$GC,7612,1.12,190.9,95.0,10.1,378,7620,0.10,2.30,0.00,0.000,6,0.087,0.021,3349,1866,1907,0,0,0,0,0,0
$GC,7874,1.18,190.9,73.5,8.1,399,7878,0.00,2.42,0.00,0.000,4,0.000,0.044,3348,440,1907,0,0,0,0,0,0
$GC,7987,1.18,190.9,63.3,8.7,407,7994,0.00,2.25,0.00,0.000,6,0.000,0.021,3348,1848,1907,0,0,0,0,0,0
$GC,8251,1.27,205.7,46.9,6.6,428,8273,0.12,2.42,14.27,0.521,4,0.066,0.041,3387,441,1850,0,0,0,0,0,0
$GC,8374,1.19,205.7,35.4,9.7,437,8379,0.15,2.22,0.00,0.000,6,0.104,0.020,3358,1852,1847,0,0,0,0,0,0
$GC,8640,1.32,234.0,21.6,5.3,485,8675,0.12,2.30,25.45,0.514,4,0.066,0.023,3398,3211,1735,0,0,0,0,0,0
$GC,8786,1.37,234.0,10.5,8.7,516,8793,0.00,2.33,0.00,0.000,6,0.000,0.031,3398,1851,1735,0,0,0,0,0,0
$STATE,8869,end climb,SURFACE_DEPTH_REACHED
$STATE,8869,begin surface coast
$FINISH,0.5,1.011891
$STATE,8903,end surface coast,CONTROL_FINISHED_OK
$STATE,8904,begin surface
$SM_CCo,8927,103.82,0.502,0,0,1017,410.14
$SM_GC,1.06,0.00,0.00,103.82,0.000,0.000,0.502,427,1672,1017,-12.30,-0.51,410.14
$IRIDIUM_FIX,2052.52,-15747.49,281099,191931
$TT8_MAMPS,0.029146
$HUMID,51.69
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.4,7.970
$10V_AH,10.4,5.340
$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,31.350,95.150,254.775,103.825,0.000,28.244,28.668,185.273,4.500,0.000,32.536,1066.565,5726.016,425.883,1712.711,475.680,0.000,1156.893,0.000,1674.718,0.000,29.262,0.000
$DEVICE_MAMPS,138.060,59.059,857.506,502.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,365.064,349.337,837.750,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31736,542
$CAP_FILE_SIZE,103574,0
$CFSIZE,260165632,209240064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040810,010035,2059.316,-15749.975,14,1.3,29,9.8