version: 66.06
glider: 139
mission: 8
dive: 129
start: 8 9 110 6 43 56
data:
$ID,139
$MISSION,8
$DIVE,129
$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,-2153082.2
$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
$GPS1,063806,2104.177,-15746.556,27,2.0,27,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-71.6
$GPS2,064340,2104.142,-15746.550,13,2.2,32,9.8
$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,196.6,12870,-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,-58.4,0.0,0.0,0,81,0.00,0.00,-64.20,0.000,2,0.000,0.000,427,1676,2789,0,0,0,0,0,0
$GC,84,-1.56,-58.4,3.4,-4.0,12,109,12.55,2.47,-1.85,0.000,4,0.136,0.056,2755,269,2892,0,0,0,0,0,0
$GC,306,-1.49,-58.4,56.6,-17.8,42,311,0.10,2.35,0.00,0.000,6,0.124,0.018,2772,1728,2894,0,0,0,0,0,0
$GC,568,-1.53,-58.4,91.9,-13.2,62,572,0.00,2.50,0.00,0.000,4,0.000,0.046,2772,276,2896,0,0,0,0,0,0
$GC,660,-1.53,-58.4,105.4,-15.0,69,665,0.00,2.28,0.00,0.000,6,0.000,0.018,2772,1704,2896,0,0,0,0,0,0
$GC,927,-1.60,-58.4,136.4,-10.9,90,931,0.00,2.20,0.00,0.000,4,0.000,0.022,2773,3068,2897,0,0,0,0,0,0
$GC,1068,-1.75,-58.4,151.5,-10.8,100,1073,0.25,2.30,0.00,0.000,6,0.043,0.032,2704,1688,2897,0,0,0,0,0,0
$GC,1326,-1.70,-58.4,189.5,-15.4,120,1331,0.12,2.30,0.00,0.000,4,0.108,0.024,2728,3072,2898,0,0,0,0,0,0
$GC,1402,-1.77,-58.4,198.8,-11.0,125,1407,0.00,2.30,0.00,0.000,6,0.000,0.032,2728,1689,2898,0,0,0,0,0,0
$GC,1670,-1.77,-58.4,229.8,-12.4,139,1674,0.00,2.28,0.00,0.000,4,0.000,0.024,2728,3069,2898,0,0,0,0,0,0
$GC,1770,-1.85,-58.4,241.6,-10.9,143,1775,0.12,2.30,0.00,0.000,6,0.064,0.032,2689,1689,2898,0,0,0,0,0,0
$GC,2094,-1.85,-58.4,285.8,-13.6,159,2098,0.00,2.28,0.00,0.000,4,0.000,0.025,2688,3065,2898,0,0,0,0,0,0
$GC,2190,-1.85,-58.4,298.7,-13.0,163,2194,0.00,2.30,0.00,0.000,6,0.000,0.035,2689,1690,2898,0,0,0,0,0,0
$GC,2506,-1.85,-58.4,337.4,-12.1,172,2510,0.00,2.30,0.00,0.000,4,0.000,0.028,2689,3069,2897,0,0,0,0,0,0
$GC,2650,-1.88,-58.4,354.6,-11.0,175,2654,0.00,2.33,0.00,0.000,6,0.000,0.038,2689,1686,2896,0,0,0,0,0,0
$GC,2969,-1.88,-58.4,392.8,-12.1,183,2973,0.00,2.28,0.00,0.000,4,0.000,0.031,2689,3062,2894,0,0,0,0,0,0
$GC,3126,-1.92,-58.4,411.6,-12.4,186,3130,0.00,2.35,0.00,0.000,6,0.000,0.040,2689,1682,2894,0,0,0,0,0,0
$STATE,3470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3470,begin apogee
$GC,3477,-0.31,0.0,451.3,11.3,195,3531,1.62,0.00,49.80,0.842,6,0.082,0.000,3029,1833,2649,0,0,0,0,0,0
$STATE,3532,end apogee,CONTROL_FINISHED_OK
$STATE,3532,begin climb
$GC,3534,1.56,58.4,453.0,0.0,196,3590,1.77,0.00,50.70,0.824,6,0.029,0.000,3453,1833,2411,0,0,0,0,0,0
$GC,3905,1.33,127.2,449.4,1.7,205,3975,0.30,2.55,60.28,0.841,4,0.107,0.054,3392,425,2130,0,0,0,0,0,0
$GC,4060,1.05,127.2,435.7,13.4,208,4065,0.32,2.35,0.00,0.000,6,0.105,0.028,3330,1827,2123,0,0,0,0,0,0
$GC,4406,1.02,127.2,402.3,9.3,217,4407,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,1832,2119,0,0,0,0,0,0
$GC,4731,1.02,127.2,373.0,8.8,225,4732,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,1832,2117,0,0,0,0,0,0
$GC,5057,1.02,132.7,347.6,7.4,233,5061,0.00,2.35,0.00,0.000,4,0.000,0.036,3330,3216,2115,0,0,0,0,0,0
$GC,5113,1.03,137.0,343.4,7.5,234,5125,0.00,2.40,7.12,0.671,6,0.000,0.040,3330,1832,2091,0,0,0,0,0,0
$GC,5435,1.04,148.5,320.8,6.9,242,5449,0.00,0.00,11.75,0.732,6,0.000,0.000,3330,1832,2044,0,0,0,0,0,0
$GC,5741,1.04,148.5,292.4,9.5,251,5745,0.00,2.47,0.00,0.000,4,0.000,0.054,3330,422,2040,0,0,0,0,0,0
$GC,5824,0.96,148.5,283.9,9.3,254,5831,0.00,2.35,0.00,0.000,6,0.000,0.028,3330,1840,2037,0,0,0,0,0,0
$GC,6141,0.98,164.4,261.2,6.5,270,6164,0.00,2.58,14.73,0.711,4,0.000,0.052,3329,421,1979,0,0,0,0,0,0
$GC,6197,0.89,164.4,256.8,8.4,272,6203,0.17,2.33,0.00,0.000,6,0.110,0.026,3298,1826,1977,0,0,0,0,0,0
$GC,6521,0.98,164.4,230.3,8.9,288,6525,0.00,2.47,0.00,0.000,4,0.000,0.051,3297,417,1975,0,0,0,0,0,0
$GC,6567,0.98,164.4,226.0,8.4,290,6572,0.00,2.33,0.00,0.000,6,0.000,0.025,3297,1841,1973,0,0,0,0,0,0
$GC,6893,1.11,194.8,207.6,5.2,306,6928,0.20,2.58,27.62,0.694,4,0.054,0.050,3351,425,1854,0,0,0,0,0,0
$GC,6985,1.02,194.8,198.1,15.0,310,6992,0.10,2.33,0.00,0.000,6,0.087,0.025,3328,1824,1850,0,0,0,0,0,0
$GC,7247,1.07,194.8,167.8,9.8,331,7252,0.00,2.47,0.00,0.000,4,0.000,0.050,3328,421,1850,0,0,0,0,0,0
$GC,7289,1.07,194.8,162.8,11.0,334,7293,0.00,2.30,0.00,0.000,6,0.000,0.023,3328,1848,1848,0,0,0,0,0,0
$GC,7550,1.14,194.8,140.5,8.6,354,7554,0.00,2.47,0.00,0.000,4,0.000,0.048,3328,419,1848,0,0,0,0,0,0
$GC,7650,1.14,194.8,129.6,10.2,361,7656,0.00,2.28,0.00,0.000,6,0.000,0.022,3328,1831,1847,0,0,0,0,0,0
$GC,7910,1.23,194.8,106.0,9.1,382,7915,0.17,2.25,0.00,0.000,4,0.054,0.026,3379,3207,1847,0,0,0,0,0,0
$GC,7962,1.23,194.8,100.6,10.4,386,7966,0.00,2.35,0.00,0.000,6,0.000,0.032,3378,1822,1847,0,0,0,0,0,0
$GC,8226,1.23,194.8,76.3,8.1,407,8230,0.00,2.38,0.00,0.000,4,0.000,0.046,3378,424,1847,0,0,0,0,0,0
$GC,8471,1.16,194.8,51.8,9.9,425,8476,0.12,2.25,0.00,0.000,6,0.110,0.020,3355,1838,1846,0,0,0,0,0,0
$GC,8739,1.26,215.5,33.0,6.0,446,8763,0.00,2.47,18.33,0.518,4,0.000,0.044,3354,424,1771,0,0,0,0,0,0
$GC,8789,1.26,215.5,29.4,8.2,450,8796,0.00,2.28,0.00,0.000,6,0.000,0.019,3355,1840,1768,0,0,0,0,0,0
$GC,8993,1.40,241.7,15.9,5.5,496,9023,0.22,2.47,23.55,0.507,4,0.044,0.041,3418,417,1664,0,0,0,0,0,0
$STATE,9106,end climb,SURFACE_DEPTH_REACHED
$STATE,9106,begin surface coast
$FINISH,1.8,1.023073
$STATE,9112,end surface coast,CONTROL_FINISHED_OK
$STATE,9112,begin surface
$SM_CCo,9138,98.40,0.507,0,0,977,410.14
$SM_GC,1.32,0.00,0.00,98.40,0.000,0.000,0.507,431,1703,977,-12.28,0.37,410.14
$IRIDIUM_FIX,2057.14,-15748.75,031199,040414
$TT8_MAMPS,0.029146
$HUMID,52.04
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.5,11.917
$10V_AH,10.4,8.851
$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,31.050,94.400,263.875,98.400,0.000,23.749,35.136,140.068,4.500,0.000,33.337,1039.395,5993.612,414.942,1692.999,426.945,0.000,1151.850,0.000,1651.455,0.000,29.249,0.000
$DEVICE_MAMPS,135.759,55.991,842.166,506.987,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,350.958,330.027,762.726,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,28603,521
$CAP_FILE_SIZE,101107,0
$CFSIZE,260165632,206786560
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090810,091858,2103.624,-15747.122,8,6.1,27,9.8