version: 66.06
glider: 139
mission: 8
dive: 132
start: 8 9 110 14 51 48
data:
$ID,139
$MISSION,8
$DIVE,132
$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,-2153151.8
$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
$GPS1,144601,2101.510,-15749.962,41,1.5,41,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-73.8
$GPS2,145131,2101.526,-15749.994,11,0.8,17,9.8
$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,168.2,6686,-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,-64.45,0.000,2,0.000,0.000,428,1674,2792,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.5,-3.9,12,110,12.52,2.47,-1.73,0.000,4,0.135,0.055,2754,275,2891,0,0,0,0,0,0
$GC,266,-1.48,-58.4,48.8,-17.7,38,271,0.10,2.33,0.00,0.000,6,0.130,0.018,2772,1731,2893,0,0,0,0,0,0
$GC,533,-1.48,-58.4,85.8,-13.4,59,538,0.00,2.53,0.00,0.000,4,0.000,0.046,2772,278,2894,0,0,0,0,0,0
$GC,575,-1.48,-58.4,92.7,-15.2,62,579,0.00,2.25,0.00,0.000,6,0.000,0.018,2772,1708,2894,0,0,0,0,0,0
$GC,835,-1.52,-58.4,125.9,-12.0,82,839,0.00,2.20,0.00,0.000,4,0.000,0.022,2773,3071,2895,0,0,0,0,0,0
$GC,888,-1.67,-58.4,131.9,-10.9,86,893,0.15,2.33,0.00,0.000,6,0.057,0.031,2726,1687,2895,0,0,0,0,0,0
$GC,1154,-1.67,-58.4,167.6,-13.0,107,1158,0.00,2.25,0.00,0.000,4,0.000,0.022,2727,3068,2896,0,0,0,0,0,0
$GC,1195,-1.72,-58.4,172.9,-11.6,110,1199,0.00,2.30,0.00,0.000,6,0.000,0.031,2727,1685,2896,0,0,0,0,0,0
$GC,1459,-1.72,-58.4,206.0,-12.1,129,1463,0.00,2.25,0.00,0.000,4,0.000,0.023,2727,3066,2896,0,0,0,0,0,0
$GC,1493,-1.79,-58.4,210.4,-12.1,130,1497,0.00,2.30,0.00,0.000,6,0.000,0.032,2727,1685,2896,0,0,0,0,0,0
$GC,1810,-1.82,-58.4,247.0,-10.5,145,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1684,2896,0,0,0,0,0,0
$GC,2119,-1.87,-58.4,280.8,-11.1,160,2121,0.15,0.00,0.00,0.000,6,0.058,0.000,2681,1684,2896,0,0,0,0,0,0
$GC,2446,-1.82,-58.4,323.3,-13.2,172,2451,0.10,2.33,0.00,0.000,4,0.117,0.028,2700,3069,2895,0,0,0,0,0,0
$GC,2547,-1.89,-58.4,335.0,-10.4,174,2551,0.00,2.33,0.00,0.000,6,0.000,0.035,2700,1690,2895,0,0,0,0,0,0
$GC,2866,-1.89,-58.4,367.1,-10.0,182,2870,0.00,2.30,0.00,0.000,4,0.000,0.029,2700,3067,2893,0,0,0,0,0,0
$GC,2880,-1.89,-58.4,368.9,-10.5,182,2884,0.00,2.33,0.00,0.000,6,0.000,0.038,2700,1690,2894,0,0,0,0,0,0
$GC,3231,-1.89,-58.4,407.7,-11.3,191,3235,0.00,2.30,0.00,0.000,4,0.000,0.031,2700,3058,2891,0,0,0,0,0,0
$GC,3333,-1.95,-58.4,419.1,-10.4,193,3338,0.12,2.35,0.00,0.000,6,0.069,0.041,2663,1692,2890,0,0,0,0,0,0
$STATE,3645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3645,begin apogee
$GC,3654,-0.31,0.0,454.1,11.1,201,3708,1.77,0.00,49.25,0.848,6,0.089,0.000,3028,1826,2649,0,0,0,0,0,0
$STATE,3708,end apogee,CONTROL_FINISHED_OK
$STATE,3709,begin climb
$GC,3711,1.56,58.4,455.7,0.0,202,3766,1.77,0.00,50.58,0.830,6,0.029,0.000,3449,1825,2411,0,0,0,0,0,0
$GC,4081,1.32,112.9,448.1,3.0,211,4133,0.30,0.00,48.22,0.839,6,0.112,0.000,3392,1826,2189,0,0,0,0,0,0
$GC,4444,1.15,112.9,412.6,10.6,220,4449,0.20,2.40,0.00,0.000,4,0.110,0.036,3354,3214,2180,0,0,0,0,0,0
$GC,4564,1.09,118.7,402.8,7.4,222,4576,0.00,2.42,4.93,0.587,6,0.000,0.041,3354,1824,2166,0,0,0,0,0,0
$GC,4908,1.01,118.7,374.2,8.6,231,4909,0.17,0.00,0.00,0.000,6,0.112,0.000,3321,1825,2161,0,0,0,0,0,0
$GC,5232,1.01,118.7,347.1,8.0,239,5236,0.00,2.45,0.00,0.000,4,0.000,0.056,3320,422,2159,0,0,0,0,0,0
$GC,5252,0.94,118.7,345.3,8.9,239,5256,0.00,2.33,0.00,0.000,6,0.000,0.030,3320,1831,2157,0,0,0,0,0,0
$GC,5601,0.96,137.7,321.8,6.2,248,5620,0.00,0.00,17.20,0.768,6,0.000,0.000,3321,1835,2088,0,0,0,0,0,0
$GC,5926,0.97,143.3,299.1,7.4,256,5939,0.00,2.55,5.93,0.616,4,0.000,0.054,3320,427,2064,0,0,0,0,0,0
$GC,6091,0.90,143.3,283.4,10.4,263,6096,0.12,2.33,0.00,0.000,6,0.124,0.028,3299,1843,2061,0,0,0,0,0,0
$GC,6425,1.00,168.8,262.8,5.6,279,6455,0.00,2.60,24.05,0.744,4,0.000,0.054,3299,412,1961,0,0,0,0,0,0
$GC,6597,1.00,168.8,247.7,10.6,286,6604,0.00,2.38,0.00,0.000,6,0.000,0.027,3299,1832,1954,0,0,0,0,0,0
$GC,6914,1.10,169.1,220.3,7.9,302,6919,0.17,2.50,0.00,0.000,4,0.058,0.051,3346,421,1954,0,0,0,0,0,0
$GC,6989,1.00,169.1,212.9,10.1,305,6994,0.15,2.30,0.00,0.000,6,0.107,0.025,3318,1834,1952,0,0,0,0,0,0
$GC,7319,1.07,169.1,186.7,8.3,326,7323,0.00,2.47,0.00,0.000,4,0.000,0.050,3317,413,1952,0,0,0,0,0,0
$GC,7419,1.07,169.1,177.0,8.5,333,7424,0.00,2.30,0.00,0.000,6,0.000,0.024,3317,1844,1950,0,0,0,0,0,0
$GC,7680,1.15,178.0,159.2,7.1,354,7696,0.15,2.53,7.88,0.568,4,0.062,0.047,3360,422,1924,0,0,0,0,0,0
$GC,7838,1.05,178.0,140.3,12.1,365,7843,0.15,2.28,0.00,0.000,6,0.106,0.023,3332,1842,1922,0,0,0,0,0,0
$GC,8104,1.13,190.6,121.0,6.8,386,8122,0.00,2.53,12.62,0.580,4,0.000,0.046,3332,413,1872,0,0,0,0,0,0
$GC,8205,1.13,190.6,113.1,8.6,393,8209,0.00,2.28,0.00,0.000,6,0.000,0.021,3332,1833,1869,0,0,0,0,0,0
$GC,8470,1.22,192.1,93.6,7.8,414,8472,0.15,0.00,0.00,0.000,6,0.059,0.000,3377,1838,1869,0,0,0,0,0,0
$GC,8723,1.23,193.0,70.2,7.8,434,8726,0.00,2.42,0.00,0.000,4,0.000,0.044,3378,418,1869,0,0,0,0,0,0
$GC,8795,1.14,193.0,64.0,8.7,439,8800,0.15,2.25,0.00,0.000,6,0.104,0.021,3348,1845,1869,0,0,0,0,0,0
$GC,9059,1.24,210.5,48.8,6.3,459,9088,0.00,2.47,18.62,0.530,4,0.000,0.043,3348,420,1790,0,0,0,0,0,0
$GC,9307,1.30,222.0,27.9,6.9,481,9327,0.10,2.28,11.18,0.484,6,0.036,0.019,3388,1842,1744,0,0,0,0,0,0
$GC,9522,1.32,240.9,9.7,6.2,529,9546,0.00,2.47,17.30,0.490,4,0.000,0.042,3388,419,1667,0,0,0,0,0,0
$STATE,9591,end climb,SURFACE_DEPTH_REACHED
$STATE,9591,begin surface coast
$FINISH,0.6,1.013908
$STATE,9620,end surface coast,CONTROL_FINISHED_OK
$STATE,9620,begin surface
$SM_CCo,9644,95.00,0.502,0,0,976,410.14
$SM_GC,1.22,0.00,0.00,95.00,0.000,0.000,0.502,430,1698,976,-12.29,0.23,410.14
$IRIDIUM_FIX,2057.14,-15749.62,031199,121231
$TT8_MAMPS,0.028379
$HUMID,52.00
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,12.166
$10V_AH,10.4,9.071
$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,31.225,89.875,267.750,95.000,0.000,30.346,34.176,144.368,4.500,0.000,17.237,1079.536,6439.254,430.172,1677.168,442.677,0.000,1149.868,0.000,1652.504,0.000,29.252,0.000
$DEVICE_MAMPS,134.992,55.991,847.535,501.618,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,369.966,345.190,800.237,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,31711,549
$CAP_FILE_SIZE,103026,0
$CFSIZE,260165632,206622720
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090810,173520,2100.703,-15750.434,33,1.6,33,9.8