version: 66.06
glider: 139
mission: 8
dive: 74
start: 8 3 110 3 46 54
data:
$ID,139
$MISSION,8
$DIVE,74
$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,-2151815
$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,1850
$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,2690
$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
$GPS1,034108,2105.530,-15743.484,30,1.5,30,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-73.3
$GPS2,034637,2105.469,-15743.562,11,1.9,16,9.8
$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,208.1,17725,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.56,-58.4,0.0,0.0,0,82,0.00,0.00,-64.15,0.000,2,0.000,0.000,428,1677,2851,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.6,-5.1,12,105,12.57,2.45,-1.33,0.000,4,0.137,0.053,2753,283,2931,0,0,0,0,0,0
$GC,299,-1.49,-58.4,57.4,-20.9,39,306,0.08,2.33,0.00,0.000,6,0.098,0.018,2770,1714,2933,0,0,0,0,0,0
$GC,558,-1.49,-58.4,96.1,-14.8,60,559,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,1714,2935,0,0,0,0,0,0
$GC,810,-1.53,-58.4,131.8,-13.2,80,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,1718,2935,0,0,0,0,0,0
$GC,1063,-1.60,-58.4,163.7,-12.2,100,1067,0.00,2.25,0.00,0.000,4,0.000,0.025,2771,3083,2936,0,0,0,0,0,0
$GC,1142,-1.74,-58.4,172.3,-10.2,106,1147,0.22,2.33,0.00,0.000,6,0.046,0.032,2707,1688,2937,0,0,0,0,0,0
$GC,1418,-1.70,-58.4,208.4,-12.4,126,1423,0.10,2.40,0.00,0.000,4,0.116,0.047,2727,287,2937,0,0,0,0,0,0
$GC,1433,-1.65,-58.4,210.5,-12.5,126,1439,0.00,2.28,0.00,0.000,6,0.000,0.020,2727,1704,2937,0,0,0,0,0,0
$GC,1750,-1.68,-58.4,247.5,-11.5,142,1754,0.00,2.20,0.00,0.000,4,0.000,0.025,2727,3058,2937,0,0,0,0,0,0
$GC,1843,-1.78,-58.4,257.7,-10.3,146,1847,0.00,2.28,0.00,0.000,6,0.000,0.034,2727,1691,2936,0,0,0,0,0,0
$GC,2170,-1.82,-58.4,296.1,-12.0,162,2175,0.12,2.45,0.00,0.000,4,0.067,0.050,2689,281,2937,0,0,0,0,0,0
$GC,2193,-1.78,-58.4,299.3,-13.2,163,2199,0.10,2.22,0.00,0.000,6,0.119,0.021,2708,1682,2936,0,0,0,0,0,0
$GC,2545,-1.78,-58.4,340.6,-11.3,172,2549,0.00,2.30,0.00,0.000,4,0.000,0.029,2708,3065,2936,0,0,0,0,0,0
$GC,2601,-1.86,-58.4,346.9,-10.4,173,2606,0.00,2.33,0.00,0.000,6,0.000,0.038,2708,1687,2935,0,0,0,0,0,0
$GC,2917,-1.86,-58.4,381.3,-10.6,181,2918,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1687,2933,0,0,0,0,0,0
$GC,3240,-1.89,-58.4,417.1,-10.5,189,3244,0.00,2.33,0.00,0.000,4,0.000,0.033,2708,3062,2931,0,0,0,0,0,0
$GC,3269,-1.96,-58.4,419.7,-9.1,189,3276,0.15,2.38,0.00,0.000,6,0.064,0.041,2662,1684,2930,0,0,0,0,0,0
$STATE,3533,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3533,begin apogee
$GC,3540,-0.31,0.0,452.6,13.1,196,3594,1.77,0.00,49.75,0.846,6,0.088,0.000,3029,1851,2690,0,0,0,0,0,0
$STATE,3595,end apogee,CONTROL_FINISHED_OK
$STATE,3595,begin climb
$GC,3598,1.56,58.4,454.2,0.0,197,3653,1.75,0.00,50.53,0.830,6,0.030,0.000,3447,1850,2451,0,0,0,0,0,0
$GC,3967,1.39,171.9,463.9,-2.3,206,4076,0.22,2.58,100.38,0.858,4,0.115,0.055,3405,438,1988,0,0,0,0,0,0
$GC,4098,1.09,171.9,456.4,15.1,209,4103,0.35,2.35,0.00,0.000,6,0.107,0.028,3339,1846,1984,0,0,0,0,0,0
$GC,4417,1.04,171.9,416.7,11.6,217,4421,0.00,2.53,0.00,0.000,4,0.000,0.057,3339,438,1978,0,0,0,0,0,0
$GC,4497,0.89,171.9,406.1,12.1,218,4502,0.22,2.35,0.00,0.000,6,0.110,0.029,3297,1853,1974,0,0,0,0,0,0
$GC,4828,0.93,171.9,374.9,10.0,226,4833,0.00,2.50,0.00,0.000,4,0.000,0.056,3297,441,1972,0,0,0,0,0,0
$GC,5005,0.93,171.9,353.1,12.2,229,5010,0.00,2.35,0.00,0.000,6,0.000,0.029,3297,1851,1969,0,0,0,0,0,0
$GC,5336,1.00,171.9,322.5,8.6,238,5340,0.00,2.50,0.00,0.000,4,0.000,0.055,3297,432,1968,0,0,0,0,0,0
$GC,5464,1.00,171.9,307.5,10.7,240,5468,0.00,2.38,0.00,0.000,6,0.000,0.028,3297,1864,1966,0,0,0,0,0,0
$GC,5780,1.09,182.1,282.7,7.0,253,5792,0.17,2.58,6.12,0.615,4,0.061,0.053,3343,439,1947,0,0,0,0,0,0
$GC,5889,0.97,182.1,271.5,11.0,257,5896,0.15,2.35,0.00,0.000,6,0.113,0.028,3315,1857,1945,0,0,0,0,0,0
$GC,6207,1.03,182.1,241.4,8.0,273,6211,0.00,2.50,0.00,0.000,4,0.000,0.052,3315,438,1944,0,0,0,0,0,0
$GC,6277,1.03,182.1,235.0,8.7,276,6281,0.00,2.30,0.00,0.000,6,0.000,0.027,3315,1852,1942,0,0,0,0,0,0
$GC,6602,1.10,182.1,208.9,9.7,292,6604,0.10,0.00,0.00,0.000,6,0.081,0.000,3345,1857,1942,0,0,0,0,0,0
$GC,6919,1.10,182.1,178.6,9.1,314,6923,0.00,2.45,0.00,0.000,4,0.000,0.048,3344,440,1942,0,0,0,0,0,0
$GC,6948,1.01,182.1,175.9,10.3,316,6953,0.12,2.30,0.00,0.000,6,0.114,0.024,3321,1856,1940,0,0,0,0,0,0
$GC,7208,1.12,203.1,158.0,6.0,336,7237,0.10,2.55,19.08,0.637,4,0.080,0.046,3353,436,1861,0,0,0,0,0,0
$GC,7342,1.05,203.1,145.3,10.8,345,7348,0.12,2.30,0.00,0.000,6,0.110,0.022,3329,1853,1858,0,0,0,0,0,0
$GC,7604,1.14,206.5,126.3,7.6,366,7613,0.00,0.00,4.00,0.407,6,0.000,0.000,3329,1857,1848,0,0,0,0,0,0
$GC,7867,1.24,206.5,101.2,10.1,387,7872,0.17,2.45,0.00,0.000,4,0.054,0.046,3379,437,1848,0,0,0,0,0,0
$GC,8018,1.14,206.5,82.6,12.0,398,8023,0.15,2.28,0.00,0.000,6,0.105,0.021,3350,1862,1847,0,0,0,0,0,0
$GC,8281,1.22,212.3,59.0,7.4,418,8296,0.00,2.50,7.07,0.470,4,0.000,0.044,3350,443,1824,0,0,0,0,0,0
$GC,8424,1.22,215.8,46.7,7.6,428,8435,0.00,2.25,4.55,0.390,6,0.000,0.020,3350,1866,1810,0,0,0,0,0,0
$GC,8691,1.35,241.5,28.4,5.6,453,8721,0.20,2.50,24.00,0.519,4,0.049,0.041,3408,430,1704,0,0,0,0,0,0
$GC,8878,1.25,241.5,10.1,11.0,494,8885,0.15,2.28,0.00,0.000,6,0.085,0.019,3375,1856,1699,0,0,0,0,0,0
$STATE,8932,end climb,SURFACE_DEPTH_REACHED
$STATE,8933,begin surface coast
$FINISH,0.8,1.023093
$STATE,8958,end surface coast,CONTROL_FINISHED_OK
$STATE,8958,begin surface
$SM_CCo,8981,105.12,0.509,0,0,1017,410.14
$SM_GC,1.16,0.00,0.00,105.12,0.000,0.000,0.509,426,1661,1017,-12.31,-0.82,410.14
$IRIDIUM_FIX,2057.14,-15751.76,281099,010158
$TT8_MAMPS,0.028379
$HUMID,51.69
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.4,7.347
$10V_AH,10.4,4.825
$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,31.900,86.125,265.475,105.125,0.000,31.252,38.675,139.036,4.500,0.000,16.335,1011.099,5968.272,446.138,1556.563,431.913,0.000,1123.085,0.000,1537.962,0.000,29.274,0.000
$DEVICE_MAMPS,137.293,56.758,857.506,509.288,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,343.767,327.736,744.146,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,28625,511
$CAP_FILE_SIZE,98491,0
$CFSIZE,260165632,209592320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030810,062006,2104.498,-15745.222,67,1.0,67,9.8