version: 66.06
glider: 139
mission: 8
dive: 82
start: 8 4 110 1 6 1
data:
$ID,139
$MISSION,8
$DIVE,82
$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,-2152007
$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
$GPS1,010035,2059.316,-15749.975,14,1.3,29,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-71.7
$GPS2,010544,2059.282,-15749.975,14,1.5,14,9.8
$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,165.7,2534,-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,-64.70,0.000,2,0.000,0.000,427,1673,2881,0,0,0,0,0,0
$GC,85,-1.56,-58.4,4.0,-5.6,12,104,12.65,2.38,-0.80,0.000,4,0.139,0.050,2754,280,2930,0,0,0,0,0,0
$GC,167,-1.40,-58.4,31.4,-22.2,28,174,0.15,2.35,0.00,0.000,6,0.087,0.019,2788,1717,2932,0,0,0,0,0,0
$GC,429,-1.47,-58.4,71.4,-14.7,49,433,0.00,2.22,0.00,0.000,4,0.000,0.021,2788,3082,2933,0,0,0,0,0,0
$GC,500,-1.63,-58.4,81.1,-12.4,54,505,0.20,2.35,0.00,0.000,6,0.048,0.031,2730,1688,2933,0,0,0,0,0,0
$GC,768,-1.63,-58.4,120.9,-14.7,75,772,0.00,2.42,0.00,0.000,4,0.000,0.046,2730,280,2935,0,0,0,0,0,0
$GC,789,-1.56,-58.4,124.8,-16.2,76,796,0.10,2.30,0.00,0.000,6,0.087,0.018,2754,1710,2934,0,0,0,0,0,0
$GC,1052,-1.61,-58.4,160.2,-12.7,97,1056,0.00,2.20,0.00,0.000,4,0.000,0.023,2755,3068,2935,0,0,0,0,0,0
$GC,1133,-1.74,-58.4,169.9,-10.7,103,1138,0.15,2.30,0.00,0.000,6,0.058,0.032,2708,1690,2935,0,0,0,0,0,0
$GC,1410,-1.74,-58.4,208.3,-13.5,123,1414,0.00,2.28,0.00,0.000,4,0.000,0.024,2708,3066,2935,0,0,0,0,0,0
$GC,1476,-1.77,-58.4,216.1,-10.8,126,1480,0.00,2.30,0.00,0.000,6,0.000,0.032,2708,1690,2935,0,0,0,0,0,0
$GC,1810,-1.77,-58.4,258.7,-12.9,142,1814,0.00,2.28,0.00,0.000,4,0.000,0.025,2708,3062,2935,0,0,0,0,0,0
$GC,2030,-1.86,-58.4,283.3,-10.7,151,2035,0.00,2.30,0.00,0.000,6,0.000,0.035,2708,1689,2936,0,0,0,0,0,0
$GC,2365,-1.86,-58.4,321.8,-12.1,164,2370,0.00,2.42,0.00,0.000,4,0.000,0.051,2708,289,2935,0,0,0,0,0,0
$GC,2390,-1.82,-58.4,325.5,-14.3,164,2394,0.00,2.22,0.00,0.000,6,0.000,0.023,2708,1685,2935,0,0,0,0,0,0
$GC,2731,-1.82,-58.4,366.5,-11.7,173,2735,0.00,2.47,0.00,0.000,4,0.000,0.054,2708,290,2933,0,0,0,0,0,0
$GC,2770,-1.82,-58.4,371.5,-13.1,173,2775,0.00,2.25,0.00,0.000,6,0.000,0.024,2708,1690,2933,0,0,0,0,0,0
$GC,3102,-1.86,-58.4,410.8,-11.7,182,3106,0.00,2.30,0.00,0.000,4,0.000,0.034,2708,3069,2931,0,0,0,0,0,0
$GC,3158,-1.96,-58.4,417.3,-10.7,183,3163,0.15,2.38,0.00,0.000,6,0.062,0.042,2666,1695,2930,0,0,0,0,0,0
$STATE,3429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3429,begin apogee
$GC,3436,-0.31,0.0,452.6,13.2,190,3489,1.75,0.00,49.35,0.845,6,0.087,0.000,3028,1862,2690,0,0,0,0,0,0
$STATE,3490,end apogee,CONTROL_FINISHED_OK
$STATE,3490,begin climb
$GC,3493,1.56,58.4,454.2,0.0,191,3552,1.80,2.40,50.42,0.828,4,0.029,0.040,3455,3230,2451,0,0,0,0,0,0
$GC,3565,1.41,184.9,455.2,-3.5,193,3683,0.25,2.42,110.65,0.834,6,0.110,0.038,3409,1847,1936,0,0,0,0,0,0
$GC,4014,1.23,184.9,394.6,16.6,204,4019,0.20,2.53,0.00,0.000,4,0.110,0.056,3371,437,1926,0,0,0,0,0,0
$GC,4071,1.02,184.9,384.4,17.1,205,4076,0.25,2.33,0.00,0.000,6,0.105,0.029,3323,1843,1923,0,0,0,0,0,0
$GC,4386,1.02,184.9,345.7,11.4,213,4390,0.00,2.50,0.00,0.000,4,0.000,0.055,3323,442,1921,0,0,0,0,0,0
$GC,4509,0.93,184.9,331.1,12.7,215,4513,0.00,2.33,0.00,0.000,6,0.000,0.029,3324,1852,1918,0,0,0,0,0,0
$GC,4844,0.93,184.9,297.5,9.7,224,4848,0.00,2.50,0.00,0.000,4,0.000,0.054,3324,442,1917,0,0,0,0,0,0
$GC,4988,0.87,184.9,278.3,13.3,230,4993,0.17,2.33,0.00,0.000,6,0.114,0.028,3291,1863,1914,0,0,0,0,0,0
$GC,5312,0.98,185.1,249.8,7.9,246,5314,0.10,0.00,0.00,0.000,6,0.081,0.000,3319,1867,1914,0,0,0,0,0,0
$GC,5620,1.04,192.8,227.4,7.2,261,5628,0.00,2.53,3.65,0.443,4,0.000,0.051,3319,432,1904,0,0,0,0,0,0
$GC,5675,1.04,192.8,221.8,10.7,263,5679,0.00,2.33,0.00,0.000,6,0.000,0.026,3319,1859,1902,0,0,0,0,0,0
$GC,5998,1.11,192.8,191.9,10.0,281,6003,0.00,2.30,0.00,0.000,4,0.000,0.031,3319,3233,1902,0,0,0,0,0,0
$GC,6013,1.19,192.8,190.0,10.9,282,6018,0.17,2.35,0.00,0.000,6,0.058,0.035,3367,1842,1902,0,0,0,0,0,0
$GC,6273,1.19,192.8,163.4,8.8,302,6278,0.00,2.40,0.00,0.000,4,0.000,0.048,3367,438,1902,0,0,0,0,0,0
$GC,6329,1.07,192.8,157.6,9.8,306,6334,0.17,2.30,0.00,0.000,6,0.102,0.024,3333,1858,1901,0,0,0,0,0,0
$GC,6590,1.14,197.0,139.0,7.5,326,6605,0.00,2.45,5.00,0.476,4,0.000,0.045,3333,442,1887,0,0,0,0,0,0
$GC,6679,1.14,197.0,129.6,9.9,332,6683,0.00,2.28,0.00,0.000,6,0.000,0.022,3333,1869,1885,0,0,0,0,0,0
$GC,6940,1.22,197.0,107.1,8.0,352,6945,0.15,2.47,0.00,0.000,4,0.060,0.044,3377,441,1886,0,0,0,0,0,0
$GC,7188,1.13,197.0,82.1,9.8,370,7193,0.15,2.25,0.00,0.000,6,0.104,0.021,3348,1859,1885,0,0,0,0,0,0
$GC,7455,1.20,197.0,60.0,8.0,391,7459,0.00,2.45,0.00,0.000,4,0.000,0.044,3347,434,1885,0,0,0,0,0,0
$GC,7542,1.20,197.0,52.6,8.6,397,7548,0.00,2.28,0.00,0.000,6,0.000,0.020,3348,1860,1885,0,0,0,0,0,0
$GC,7803,1.35,239.6,40.4,4.1,418,7849,0.20,2.33,38.20,0.537,4,0.050,0.025,3405,3215,1712,0,0,0,0,0,0
$GC,7903,1.35,239.6,33.9,8.9,425,7907,0.00,2.30,0.00,0.000,6,0.000,0.028,3405,1841,1711,0,0,0,0,0,0
$GC,8165,1.35,239.6,8.8,10.8,479,8172,0.00,2.40,0.00,0.000,4,0.000,0.038,3405,437,1709,0,0,0,0,0,0
$STATE,8241,end climb,SURFACE_DEPTH_REACHED
$STATE,8241,begin surface coast
$FINISH,0.5,1.009410
$STATE,8278,end surface coast,CONTROL_FINISHED_OK
$STATE,8278,begin surface
$SM_CCo,8303,98.70,0.501,0,0,1017,410.14
$SM_GC,1.15,0.00,0.00,98.70,0.000,0.000,0.501,427,1692,1017,-12.30,0.06,410.14
$IRIDIUM_FIX,2052.52,-15749.62,281099,222258
$TT8_MAMPS,0.029146
$HUMID,51.10
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.4,8.052
$10V_AH,10.4,5.410
$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,31.525,98.675,257.275,98.700,0.000,24.264,29.927,141.426,4.500,0.000,14.681,1006.806,5259.980,406.784,1614.749,422.935,0.000,1115.129,0.000,1594.241,0.000,30.871,0.000
$DEVICE_MAMPS,138.827,55.991,845.234,500.851,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,339.434,329.444,782.438,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,28564,504
$CAP_FILE_SIZE,98762,0
$CFSIZE,260165632,209199104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040810,032724,2058.378,-15750.185,36,1.8,43,9.8