version: 66.06
glider: 139
mission: 8
dive: 130
start: 8 9 110 9 24 38
data:
$ID,139
$MISSION,8
$DIVE,130
$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,-2153120.8
$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
$GPS1,091858,2103.624,-15747.122,8,6.1,27,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-71.6
$GPS2,092422,2103.578,-15747.180,17,2.3,36,9.8
$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,194.1,11461,-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,-64.12,0.000,2,0.000,0.000,431,1704,2804,0,0,0,0,0,0
$GC,84,-1.56,-58.4,3.7,-4.7,12,104,12.55,2.53,-1.50,0.000,4,0.137,0.054,2751,275,2891,0,0,0,0,0,0
$GC,258,-1.46,-58.4,48.8,-19.5,36,265,0.10,2.35,0.00,0.000,6,0.093,0.018,2774,1720,2893,0,0,0,0,0,0
$GC,520,-1.51,-58.4,84.3,-12.7,57,524,0.00,2.47,0.00,0.000,4,0.000,0.045,2774,281,2895,0,0,0,0,0,0
$GC,562,-1.51,-58.4,90.5,-13.1,60,566,0.00,2.25,0.00,0.000,6,0.000,0.018,2774,1713,2895,0,0,0,0,0,0
$GC,822,-1.57,-58.4,122.3,-12.1,80,826,0.00,2.17,0.00,0.000,4,0.000,0.023,2774,3062,2896,0,0,0,0,0,0
$GC,923,-1.70,-58.4,133.0,-9.7,87,928,0.20,2.30,0.00,0.000,6,0.048,0.031,2716,1680,2897,0,0,0,0,0,0
$GC,1185,-1.67,-58.4,173.0,-15.4,107,1187,0.10,0.00,0.00,0.000,6,0.114,0.000,2735,1680,2897,0,0,0,0,0,0
$GC,1440,-1.67,-58.4,204.9,-9.7,126,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1680,2898,0,0,0,0,0,0
$GC,1748,-1.71,-58.4,244.0,-13.4,141,1752,0.00,2.25,0.00,0.000,4,0.000,0.025,2735,3059,2898,0,0,0,0,0,0
$GC,1877,-1.81,-58.4,260.1,-11.5,146,1882,0.12,2.30,0.00,0.000,6,0.065,0.031,2696,1679,2898,0,0,0,0,0,0
$GC,2194,-1.81,-58.4,299.2,-10.6,161,2198,0.00,2.30,0.00,0.000,4,0.000,0.025,2696,3065,2897,0,0,0,0,0,0
$GC,2265,-1.85,-58.4,306.9,-10.5,163,2269,0.00,2.30,0.00,0.000,6,0.000,0.035,2696,1689,2898,0,0,0,0,0,0
$GC,2609,-1.85,-58.4,349.9,-12.7,172,2613,0.00,2.28,0.00,0.000,4,0.000,0.028,2696,3057,2896,0,0,0,0,0,0
$GC,2699,-1.90,-58.4,359.5,-10.0,174,2704,0.00,2.33,0.00,0.000,6,0.000,0.038,2696,1683,2896,0,0,0,0,0,0
$GC,3032,-1.90,-58.4,397.5,-12.1,182,3036,0.00,2.33,0.00,0.000,4,0.000,0.031,2696,3062,2895,0,0,0,0,0,0
$GC,3121,-1.95,-58.4,407.6,-11.1,183,3126,0.00,2.35,0.00,0.000,6,0.000,0.041,2696,1685,2893,0,0,0,0,0,0
$GC,3453,-1.95,-58.4,444.3,-10.8,192,3457,0.00,2.33,0.00,0.000,4,0.000,0.033,2696,3061,2891,0,0,0,0,0,0
$STATE,3506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3506,begin apogee
$GC,3514,-0.31,0.0,450.5,10.8,193,3568,1.58,0.00,49.70,0.840,6,0.085,0.000,3026,1824,2649,0,0,0,0,0,0
$STATE,3569,end apogee,CONTROL_FINISHED_OK
$STATE,3569,begin climb
$GC,3572,1.56,58.4,451.8,0.0,194,3631,1.77,2.50,50.65,0.822,4,0.030,0.051,3451,423,2410,0,0,0,0,0,0
$GC,3648,1.30,153.5,451.8,-0.7,195,3742,0.35,2.33,83.72,0.828,6,0.109,0.027,3385,1821,2024,0,0,0,0,0,0
$GC,4065,1.16,153.5,403.2,13.4,206,4070,0.17,2.50,0.00,0.000,4,0.107,0.055,3351,421,2014,0,0,0,0,0,0
$GC,4085,0.99,153.5,400.2,14.0,206,4090,0.17,2.35,0.00,0.000,6,0.107,0.028,3318,1829,2011,0,0,0,0,0,0
$GC,4431,0.99,153.5,365.9,8.9,215,4435,0.00,2.50,0.00,0.000,4,0.000,0.056,3318,425,2009,0,0,0,0,0,0
$GC,4580,0.92,153.5,349.2,11.1,218,4585,0.00,2.35,0.00,0.000,6,0.000,0.028,3318,1841,2006,0,0,0,0,0,0
$GC,4894,0.92,153.5,323.8,8.6,226,4898,0.00,2.53,0.00,0.000,4,0.000,0.054,3319,418,2005,0,0,0,0,0,0
$GC,4922,0.84,153.5,320.9,10.5,226,4927,0.17,2.30,0.00,0.000,6,0.113,0.028,3286,1833,2003,0,0,0,0,0,0
$GC,5240,0.94,153.5,293.5,8.5,236,5245,0.00,2.47,0.00,0.000,4,0.000,0.053,3286,424,2003,0,0,0,0,0,0
$GC,5324,0.95,161.8,286.4,7.1,239,5333,0.00,2.30,4.38,0.524,6,0.000,0.028,3285,1843,1990,0,0,0,0,0,0
$GC,5661,1.07,164.3,265.1,7.7,256,5671,0.20,2.53,4.07,0.488,4,0.053,0.051,3340,414,1979,0,0,0,0,0,0
$GC,5851,0.98,164.3,245.0,9.1,264,5856,0.12,2.30,0.00,0.000,6,0.113,0.025,3317,1833,1977,0,0,0,0,0,0
$GC,6174,1.04,164.3,221.1,8.0,280,6178,0.00,2.47,0.00,0.000,4,0.000,0.050,3317,417,1977,0,0,0,0,0,0
$GC,6253,1.04,164.3,213.1,10.4,283,6257,0.00,2.28,0.00,0.000,6,0.000,0.025,3317,1831,1975,0,0,0,0,0,0
$GC,6579,1.12,166.4,186.0,7.7,303,6580,0.12,0.00,0.00,0.000,6,0.067,0.000,3355,1837,1975,0,0,0,0,0,0
$GC,6830,1.12,166.4,165.9,8.3,323,6834,0.00,2.45,0.00,0.000,4,0.000,0.047,3355,417,1976,0,0,0,0,0,0
$GC,7050,1.03,166.4,144.3,9.3,339,7055,0.15,2.25,0.00,0.000,6,0.104,0.022,3326,1840,1974,0,0,0,0,0,0
$GC,7313,1.12,184.1,127.4,6.3,359,7334,0.00,0.00,18.35,0.601,6,0.000,0.000,3326,1845,1899,0,0,0,0,0,0
$GC,7590,1.23,198.6,106.5,6.6,381,7611,0.17,2.53,13.95,0.558,4,0.052,0.045,3378,428,1839,0,0,0,0,0,0
$GC,7635,1.11,198.6,101.8,11.4,384,7640,0.17,2.25,0.00,0.000,6,0.100,0.021,3344,1829,1837,0,0,0,0,0,0
$GC,7899,1.19,198.6,74.6,9.3,404,7905,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,1835,1837,0,0,0,0,0,0
$GC,8159,1.31,217.8,55.0,6.2,425,8181,0.17,0.00,17.62,0.528,6,0.051,0.000,3397,1835,1762,0,0,0,0,0,0
$GC,8441,1.32,228.6,33.0,6.9,447,8457,0.00,2.47,10.90,0.484,4,0.000,0.043,3397,411,1717,0,0,0,0,0,0
$GC,8641,1.24,228.6,14.2,10.7,486,8649,0.10,2.30,0.00,0.000,6,0.083,0.019,3373,1847,1713,0,0,0,0,0,0
$STATE,8770,end climb,SURFACE_DEPTH_REACHED
$STATE,8771,begin surface coast
$FINISH,0.6,1.009537
$STATE,8810,end surface coast,CONTROL_FINISHED_OK
$STATE,8810,begin surface
$SM_CCo,8833,103.80,0.502,0,0,977,410.14
$SM_GC,1.25,0.00,0.00,103.80,0.000,0.000,0.502,426,1660,977,-12.31,-0.85,410.14
$IRIDIUM_FIX,2054.83,-15746.61,031199,060645
$TT8_MAMPS,0.028379
$HUMID,52.36
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.30
$XPDR_PINGS,2
$24V_AH,23.4,11.997
$10V_AH,10.4,8.923
$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,31.175,85.225,253.350,103.800,0.000,29.536,33.789,118.347,5.000,0.000,37.822,1034.424,5735.232,392.827,1686.244,411.233,0.000,1115.714,0.000,1644.190,0.000,31.728,0.000
$DEVICE_MAMPS,137.293,55.991,839.865,502.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,353.065,339.280,787.389,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,28730,524
$CAP_FILE_SIZE,99283,0
$CFSIZE,260165632,206733312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090810,115501,2102.654,-15748.544,46,1.2,46,9.8