version: 66.06
glider: 139
mission: 8
dive: 127
start: 8 9 110 1 29 26
data:
$ID,139
$MISSION,8
$DIVE,127
$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,-2153033.8
$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,1830
$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,2650
$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
$GPS1,012329,2105.207,-15744.952,15,2.4,34,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-70.3
$GPS2,012910,2105.227,-15744.982,18,2.5,37,9.8
$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,202.1,15949,-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,14,-1.56,-58.4,0.0,0.0,0,81,0.00,0.00,-64.20,0.000,2,0.000,0.000,425,1659,2792,0,0,0,0,0,0
$GC,84,-1.56,-58.4,3.5,-4.0,12,109,12.52,2.42,-1.80,0.000,4,0.135,0.053,2752,279,2892,0,0,0,0,0,0
$GC,257,-1.43,-58.4,45.3,-18.1,38,264,0.12,2.35,0.00,0.000,6,0.088,0.019,2781,1725,2894,0,0,0,0,0,0
$GC,519,-1.48,-58.4,82.4,-13.8,59,523,0.00,2.22,0.00,0.000,4,0.000,0.022,2781,3085,2896,0,0,0,0,0,0
$GC,567,-1.61,-58.4,89.2,-12.8,62,574,0.10,2.38,0.00,0.000,6,0.035,0.031,2741,1687,2896,0,0,0,0,0,0
$GC,828,-1.61,-58.4,130.7,-14.3,83,829,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1687,2896,0,0,0,0,0,0
$GC,1080,-1.61,-58.4,162.3,-12.7,103,1084,0.00,2.30,0.00,0.000,4,0.000,0.022,2741,3084,2897,0,0,0,0,0,0
$GC,1121,-1.71,-58.4,168.5,-14.0,106,1125,0.00,2.33,0.00,0.000,6,0.000,0.031,2741,1689,2897,0,0,0,0,0,0
$GC,1396,-1.76,-58.4,203.6,-10.9,127,1401,0.12,2.30,0.00,0.000,4,0.066,0.024,2701,3077,2898,0,0,0,0,0,0
$GC,1424,-1.76,-58.4,207.7,-12.1,128,1429,0.00,2.30,0.00,0.000,6,0.000,0.031,2701,1689,2898,0,0,0,0,0,0
$GC,1745,-1.76,-58.4,253.3,-12.2,144,1749,0.00,2.28,0.00,0.000,4,0.000,0.025,2701,3078,2898,0,0,0,0,0,0
$GC,1904,-1.80,-58.4,270.5,-10.8,151,1908,0.00,2.33,0.00,0.000,6,0.000,0.034,2701,1690,2898,0,0,0,0,0,0
$GC,2252,-1.80,-58.4,316.4,-13.4,165,2256,0.00,2.30,0.00,0.000,4,0.000,0.026,2701,3077,2897,0,0,0,0,0,0
$GC,2369,-1.85,-58.4,330.7,-11.6,167,2374,0.00,2.35,0.00,0.000,6,0.000,0.036,2701,1684,2897,0,0,0,0,0,0
$GC,2715,-1.85,-58.4,368.0,-10.2,176,2719,0.00,2.33,0.00,0.000,4,0.000,0.028,2701,3074,2895,0,0,0,0,0,0
$GC,2729,-1.85,-58.4,369.8,-10.7,176,2733,0.00,2.38,0.00,0.000,6,0.000,0.038,2701,1685,2895,0,0,0,0,0,0
$GC,3042,-1.85,-58.4,407.9,-12.4,184,3043,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1685,2894,0,0,0,0,0,0
$GC,3369,-1.85,-58.4,443.9,-10.5,192,3370,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1685,2891,0,0,0,0,0,0
$STATE,3447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3447,begin apogee
$GC,3454,-0.31,0.0,452.2,10.2,194,3507,1.58,0.00,49.65,0.839,6,0.082,0.000,3030,1836,2649,0,0,0,0,0,0
$STATE,3508,end apogee,CONTROL_FINISHED_OK
$STATE,3508,begin climb
$GC,3511,1.56,58.4,453.6,0.0,195,3569,1.77,2.42,50.28,0.823,4,0.030,0.035,3450,3216,2411,0,0,0,0,0,0
$GC,3587,1.39,158.1,453.9,-1.1,196,3683,0.25,2.42,87.82,0.828,6,0.111,0.037,3404,1828,2005,0,0,0,0,0,0
$GC,4007,1.21,158.1,402.0,15.4,207,4012,0.20,2.50,0.00,0.000,4,0.110,0.056,3366,418,1995,0,0,0,0,0,0
$GC,4069,1.02,158.1,391.4,15.7,208,4074,0.22,2.33,0.00,0.000,6,0.108,0.028,3324,1828,1991,0,0,0,0,0,0
$GC,4420,1.02,158.1,353.1,10.0,217,4424,0.00,2.50,0.00,0.000,4,0.000,0.055,3324,415,1989,0,0,0,0,0,0
$GC,4597,0.92,158.1,331.4,13.6,220,4603,0.12,2.33,0.00,0.000,6,0.122,0.028,3302,1832,1986,0,0,0,0,0,0
$GC,4930,0.99,158.1,299.1,9.4,229,4934,0.00,2.50,0.00,0.000,4,0.000,0.053,3302,422,1985,0,0,0,0,0,0
$GC,4999,0.99,158.1,291.9,10.2,232,5003,0.00,2.33,0.00,0.000,6,0.000,0.028,3302,1838,1983,0,0,0,0,0,0
$GC,5324,1.06,158.1,263.9,8.7,248,5326,0.12,0.00,0.00,0.000,6,0.072,0.000,3337,1842,1982,0,0,0,0,0,0
$GC,5634,1.07,159.9,236.7,7.7,263,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,1842,1981,0,0,0,0,0,0
$GC,5942,1.07,159.9,212.6,8.7,278,5946,0.00,2.47,0.00,0.000,4,0.000,0.050,3336,422,1980,0,0,0,0,0,0
$GC,6164,1.00,159.9,192.1,9.3,290,6168,0.00,2.28,0.00,0.000,6,0.000,0.024,3336,1841,1978,0,0,0,0,0,0
$GC,6425,1.04,163.1,173.0,7.6,310,6429,0.00,2.47,0.00,0.000,4,0.000,0.047,3336,413,1978,0,0,0,0,0,0
$GC,6537,0.98,163.1,164.0,8.7,318,6542,0.12,2.30,0.00,0.000,6,0.112,0.022,3313,1841,1977,0,0,0,0,0,0
$GC,6798,1.11,195.3,150.0,5.0,338,6833,0.12,2.30,28.65,0.634,4,0.068,0.027,3351,3211,1853,0,0,0,0,0,0
$GC,6870,1.18,195.3,144.2,9.4,343,6874,0.00,2.38,0.00,0.000,6,0.000,0.033,3351,1827,1852,0,0,0,0,0,0
$GC,7134,1.18,195.3,114.0,11.4,364,7138,0.00,2.30,0.00,0.000,4,0.000,0.025,3351,3216,1851,0,0,0,0,0,0
$GC,7152,1.24,195.3,111.7,11.4,365,7156,0.00,2.38,0.00,0.000,6,0.000,0.032,3351,1821,1851,0,0,0,0,0,0
$GC,7415,1.30,200.2,88.4,7.5,385,7423,0.12,0.00,5.28,0.439,6,0.067,0.000,3389,1821,1834,0,0,0,0,0,0
$GC,7678,1.30,200.2,63.9,9.2,406,7682,0.00,2.40,0.00,0.000,4,0.000,0.044,3389,421,1833,0,0,0,0,0,0
$GC,7817,1.21,200.2,51.0,10.2,416,7821,0.12,2.25,0.00,0.000,6,0.110,0.019,3366,1854,1830,0,0,0,0,0,0
$GC,8084,1.28,202.0,33.7,7.7,437,8088,0.00,2.17,0.00,0.000,4,0.000,0.025,3365,3203,1831,0,0,0,0,0,0
$GC,8214,1.38,206.6,23.3,7.5,459,8228,0.12,2.33,7.32,0.441,6,0.033,0.029,3411,1828,1807,0,0,0,0,0,0
$GC,8424,1.34,206.6,5.5,9.6,506,8430,0.00,2.42,0.00,0.000,4,0.000,0.044,3411,422,1807,0,0,0,0,0,0
$GC,8446,1.25,206.6,3.0,10.1,510,8454,0.17,2.25,0.00,0.000,6,0.078,0.019,3371,1849,1806,0,0,0,0,0,0
$STATE,8461,end climb,SURFACE_DEPTH_REACHED
$STATE,8461,begin surface coast
$FINISH,0.6,1.010463
$STATE,8492,end surface coast,CONTROL_FINISHED_OK
$STATE,8492,begin surface
$SM_CCo,8516,125.30,0.501,0,0,977,410.14
$SM_GC,1.20,0.00,0.00,125.30,0.000,0.000,0.501,429,1674,977,-12.29,-0.45,410.14
$IRIDIUM_FIX,2059.45,-15741.46,021199,222226
$TT8_MAMPS,0.029146
$HUMID,52.00
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.4,11.753
$10V_AH,10.4,8.707
$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,30.550,85.050,229.000,125.300,0.000,40.523,36.592,121.294,4.500,0.000,38.018,1016.097,5499.423,403.721,1626.657,434.510,0.000,1094.602,0.000,1591.147,0.000,29.253,0.000
$DEVICE_MAMPS,134.992,55.991,839.098,500.851,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,349.512,340.698,795.285,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,28629,519
$CAP_FILE_SIZE,96459,0
$CFSIZE,260165632,206888960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090810,035437,2104.634,-15746.024,31,1.7,31,9.8