version: 66.06
glider: 139
mission: 8
dive: 134
start: 8 9 110 20 17 31
data:
$ID,139
$MISSION,8
$DIVE,134
$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,-2153180.2
$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
$GPS1,201206,2100.117,-15750.131,36,1.0,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-73.7
$GPS2,201714,2100.127,-15750.146,14,1.8,14,9.8
$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,163.3,4120,-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,-64.53,0.000,2,0.000,0.000,430,1696,2804,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.5,-4.2,12,105,12.57,2.50,-1.52,0.000,4,0.137,0.054,2754,280,2891,0,0,0,0,0,0
$GC,155,-1.36,-58.4,26.2,-25.3,26,163,0.20,2.35,0.00,0.000,6,0.087,0.019,2798,1722,2893,0,0,0,0,0,0
$GC,364,-1.43,-58.4,59.1,-12.6,44,365,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1723,2894,0,0,0,0,0,0
$GC,616,-1.52,-58.4,91.3,-12.4,64,621,0.12,2.50,0.00,0.000,4,0.064,0.047,2757,285,2895,0,0,0,0,0,0
$GC,636,-1.52,-58.4,94.5,-14.2,65,641,0.00,2.22,0.00,0.000,6,0.000,0.018,2758,1706,2895,0,0,0,0,0,0
$GC,894,-1.52,-58.4,130.4,-14.0,86,898,0.00,2.47,0.00,0.000,4,0.000,0.046,2757,280,2896,0,0,0,0,0,0
$GC,935,-1.52,-58.4,136.0,-13.8,89,940,0.00,2.20,0.00,0.000,6,0.000,0.019,2758,1686,2896,0,0,0,0,0,0
$GC,1201,-1.57,-58.4,169.5,-12.7,110,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1692,2897,0,0,0,0,0,0
$GC,1454,-1.64,-58.4,200.9,-12.2,130,1458,0.00,2.42,0.00,0.000,4,0.000,0.047,2758,281,2898,0,0,0,0,0,0
$GC,1468,-1.68,-58.4,203.2,-12.2,130,1475,0.08,2.25,0.00,0.000,6,0.040,0.020,2723,1687,2897,0,0,0,0,0,0
$GC,1784,-1.68,-58.4,242.4,-10.7,146,1788,0.00,2.22,0.00,0.000,4,0.000,0.025,2723,3057,2898,0,0,0,0,0,0
$GC,1853,-1.74,-58.4,249.8,-11.0,149,1857,0.00,2.33,0.00,0.000,6,0.000,0.034,2723,1680,2898,0,0,0,0,0,0
$GC,2181,-1.77,-58.4,287.0,-11.4,165,2185,0.00,2.28,0.00,0.000,4,0.000,0.026,2722,3056,2898,0,0,0,0,0,0
$GC,2210,-1.84,-58.4,290.6,-10.5,166,2214,0.10,2.33,0.00,0.000,6,0.077,0.035,2689,1684,2898,0,0,0,0,0,0
$GC,2531,-1.84,-58.4,334.6,-14.0,176,2535,0.00,2.30,0.00,0.000,4,0.000,0.028,2689,3061,2896,0,0,0,0,0,0
$GC,2689,-1.87,-58.4,354.6,-13.3,179,2693,0.00,2.33,0.00,0.000,6,0.000,0.037,2689,1684,2896,0,0,0,0,0,0
$GC,3034,-1.87,-58.4,397.8,-12.7,188,3038,0.00,2.30,0.00,0.000,4,0.000,0.031,2689,3054,2894,0,0,0,0,0,0
$GC,3144,-1.90,-58.4,409.8,-10.5,190,3149,0.00,2.35,0.00,0.000,6,0.000,0.040,2689,1686,2893,0,0,0,0,0,0
$STATE,3491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3492,begin apogee
$GC,3498,-0.31,0.0,450.3,11.2,199,3552,1.65,0.00,49.70,0.834,6,0.084,0.000,3032,1818,2650,0,0,0,0,0,0
$STATE,3553,end apogee,CONTROL_FINISHED_OK
$STATE,3553,begin climb
$GC,3556,1.56,58.4,451.4,0.0,200,3614,1.75,2.45,50.30,0.820,4,0.030,0.036,3451,3212,2411,0,0,0,0,0,0
$GC,3711,1.35,130.3,451.1,1.4,203,3782,0.28,2.38,63.12,0.827,6,0.109,0.037,3398,1830,2118,0,0,0,0,0,0
$GC,4105,1.18,130.3,412.0,10.5,213,4110,0.22,2.50,0.00,0.000,4,0.108,0.055,3355,425,2109,0,0,0,0,0,0
$GC,4154,0.99,130.3,406.2,12.1,214,4159,0.20,2.33,0.00,0.000,6,0.107,0.028,3319,1832,2105,0,0,0,0,0,0
$GC,4477,0.99,131.0,379.4,7.8,222,4482,0.00,2.50,0.00,0.000,4,0.000,0.054,3319,425,2104,0,0,0,0,0,0
$GC,4534,0.89,131.0,373.8,10.3,223,4539,0.12,2.33,0.00,0.000,6,0.120,0.028,3297,1834,2101,0,0,0,0,0,0
$GC,4851,0.96,138.4,350.3,7.2,231,4863,0.00,2.50,5.43,0.604,4,0.000,0.052,3297,423,2084,0,0,0,0,0,0
$GC,4873,0.96,138.4,348.2,7.9,231,4877,0.00,2.33,0.00,0.000,6,0.000,0.028,3296,1834,2083,0,0,0,0,0,0
$GC,5219,1.04,151.6,323.9,6.7,240,5240,0.12,2.53,12.75,0.733,4,0.071,0.052,3331,421,2031,0,0,0,0,0,0
$GC,5254,0.95,151.6,320.9,8.4,240,5260,0.12,2.35,0.00,0.000,6,0.115,0.028,3309,1832,2029,0,0,0,0,0,0
$GC,5568,1.01,157.2,297.4,7.4,248,5581,0.00,2.55,6.03,0.611,4,0.000,0.053,3309,427,2008,0,0,0,0,0,0
$GC,5679,0.97,157.2,287.2,9.7,252,5686,0.00,2.35,0.00,0.000,6,0.000,0.028,3309,1828,2006,0,0,0,0,0,0
$GC,5996,1.03,161.2,263.0,7.5,268,6008,0.00,2.50,4.93,0.532,4,0.000,0.051,3309,424,1992,0,0,0,0,0,0
$GC,6066,1.03,161.2,257.1,8.1,271,6070,0.00,2.30,0.00,0.000,6,0.000,0.027,3309,1837,1990,0,0,0,0,0,0
$GC,6398,1.10,161.2,230.6,8.1,287,6403,0.12,2.50,0.00,0.000,4,0.070,0.051,3345,424,1989,0,0,0,0,0,0
$GC,6459,1.01,161.2,225.1,8.5,289,6465,0.12,2.28,0.00,0.000,6,0.112,0.026,3322,1831,1987,0,0,0,0,0,0
$GC,6777,1.07,171.3,202.3,7.0,305,6793,0.00,2.53,10.02,0.630,4,0.000,0.049,3321,427,1951,0,0,0,0,0,0
$GC,6894,1.07,171.3,191.0,9.7,312,6900,0.00,2.33,0.00,0.000,6,0.000,0.025,3322,1840,1947,0,0,0,0,0,0
$GC,7155,1.14,171.3,169.0,8.5,333,7160,0.12,2.50,0.00,0.000,4,0.068,0.048,3359,413,1947,0,0,0,0,0,0
$GC,7359,1.05,171.3,147.6,9.9,348,7364,0.15,2.28,0.00,0.000,6,0.105,0.022,3330,1834,1946,0,0,0,0,0,0
$GC,7627,1.15,189.4,128.2,6.3,369,7654,0.00,2.50,17.17,0.599,4,0.000,0.044,3330,417,1875,0,0,0,0,0,0
$GC,7744,1.15,189.4,118.3,8.9,377,7750,0.00,2.28,0.00,0.000,6,0.000,0.021,3330,1844,1872,0,0,0,0,0,0
$GC,8003,1.24,189.4,98.2,8.4,398,8008,0.17,2.47,0.00,0.000,4,0.053,0.045,3382,423,1872,0,0,0,0,0,0
$GC,8137,1.14,189.4,83.5,11.8,408,8142,0.17,2.22,0.00,0.000,6,0.100,0.021,3348,1826,1871,0,0,0,0,0,0
$GC,8407,1.23,195.0,63.6,7.4,429,8414,0.00,0.00,5.90,0.444,6,0.000,0.000,3347,1832,1854,0,0,0,0,0,0
$GC,8669,1.33,206.4,42.8,6.9,450,8687,0.17,2.47,11.75,0.499,4,0.052,0.044,3400,424,1807,0,0,0,0,0,0
$GC,8720,1.23,206.4,38.3,9.6,453,8727,0.12,2.28,0.00,0.000,6,0.086,0.019,3371,1838,1805,0,0,0,0,0,0
$GC,8983,1.32,219.6,17.6,6.7,498,9000,0.00,0.00,12.85,0.482,6,0.000,0.000,3371,1841,1753,0,0,0,0,0,0
$STATE,9190,end climb,SURFACE_DEPTH_REACHED
$STATE,9190,begin surface coast
$FINISH,0.7,1.011885
$STATE,9261,end surface coast,CONTROL_FINISHED_OK
$STATE,9261,begin surface
$SM_CCo,9284,113.80,0.500,0,0,978,410.14
$SM_GC,1.30,0.00,0.00,113.80,0.000,0.000,0.500,427,1681,978,-12.29,-0.28,410.14
$IRIDIUM_FIX,2052.52,-15752.63,031199,171752
$TT8_MAMPS,0.029146
$HUMID,51.06
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,12.325
$10V_AH,10.4,9.218
$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,31.375,100.275,249.950,113.800,0.000,29.325,41.978,118.008,4.500,0.000,14.351,1111.516,5995.816,420.802,1745.762,431.645,0.000,1180.652,0.000,1724.983,0.000,29.248,0.000
$DEVICE_MAMPS,137.293,61.360,834.496,500.084,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,377.582,367.192,859.524,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,31767,561
$CAP_FILE_SIZE,107741,0
$CFSIZE,260165632,206520320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090810,225522,2059.418,-15749.997,15,2.4,34,9.8