version: 66.06
glider: 139
mission: 8
dive: 80
start: 8 3 110 19 48 12
data:
$ID,139
$MISSION,8
$DIVE,80
$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,-2151958.2
$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,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
$GPS1,193906,2100.896,-15749.747,49,1.2,54,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-71.8
$GPS2,194755,2100.950,-15749.764,12,1.2,17,9.8
$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,171.9,5618,-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,-58.4,0.0,0.0,0,77,0.00,0.00,-58.97,0.000,2,0.000,0.000,426,1674,2698,0,0,0,0,0,0
$GC,80,-1.56,-58.4,3.2,-4.2,11,104,12.55,2.42,-4.35,0.000,4,0.137,0.054,2752,286,2931,0,0,0,0,0,0
$GC,249,-1.49,-58.4,42.7,-17.3,38,254,0.10,2.30,0.00,0.000,6,0.129,0.018,2770,1724,2933,0,0,0,0,0,0
$GC,516,-1.49,-58.4,84.1,-15.6,59,520,0.00,2.47,0.00,0.000,4,0.000,0.046,2770,285,2934,0,0,0,0,0,0
$GC,563,-1.49,-58.4,92.4,-16.9,62,570,0.00,2.28,0.00,0.000,6,0.000,0.018,2770,1704,2934,0,0,0,0,0,0
$GC,826,-1.53,-58.4,129.4,-12.7,83,829,0.00,2.20,0.00,0.000,4,0.000,0.023,2770,3065,2935,0,0,0,0,0,0
$GC,886,-1.66,-58.4,137.0,-11.3,87,892,0.15,2.30,0.00,0.000,6,0.057,0.031,2725,1688,2935,0,0,0,0,0,0
$GC,1146,-1.66,-58.4,173.5,-14.5,108,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1687,2935,0,0,0,0,0,0
$GC,1404,-1.66,-58.4,212.6,-14.0,126,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1687,2936,0,0,0,0,0,0
$GC,1714,-1.66,-58.4,248.3,-11.9,141,1718,0.00,2.28,0.00,0.000,4,0.000,0.025,2725,3062,2936,0,0,0,0,0,0
$GC,1774,-1.76,-58.4,255.6,-11.1,143,1780,0.00,2.30,0.00,0.000,6,0.000,0.035,2725,1688,2936,0,0,0,0,0,0
$GC,2092,-1.79,-58.4,290.9,-10.7,159,2096,0.00,2.28,0.00,0.000,4,0.000,0.026,2725,3060,2935,0,0,0,0,0,0
$GC,2161,-1.89,-58.4,298.6,-10.9,162,2165,0.15,2.33,0.00,0.000,6,0.060,0.036,2680,1690,2936,0,0,0,0,0,0
$GC,2505,-1.85,-58.4,340.3,-12.1,171,2509,0.00,2.45,0.00,0.000,4,0.000,0.051,2679,280,2934,0,0,0,0,0,0
$GC,2636,-1.76,-58.4,359.1,-14.2,173,2643,0.17,2.25,0.00,0.000,6,0.101,0.023,2714,1682,2934,0,0,0,0,0,0
$GC,2968,-1.80,-58.4,395.6,-11.5,182,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1688,2932,0,0,0,0,0,0
$GC,3293,-1.85,-58.4,429.6,-9.8,190,3294,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1688,2930,0,0,0,0,0,0
$STATE,3493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3493,begin apogee
$GC,3500,-0.31,0.0,450.5,10.4,195,3553,1.50,0.00,49.53,0.838,6,0.081,0.000,3029,1856,2690,0,0,0,0,0,0
$STATE,3554,end apogee,CONTROL_FINISHED_OK
$STATE,3554,begin climb
$GC,3557,1.56,58.4,452.0,0.0,196,3615,1.80,0.00,50.80,0.823,6,0.029,0.000,3454,1857,2450,0,0,0,0,0,0
$GC,3941,1.37,158.5,458.0,-1.1,206,4036,0.28,2.55,88.45,0.849,4,0.112,0.055,3401,448,2042,0,0,0,0,0,0
$GC,4066,1.05,158.5,449.3,15.5,209,4072,0.38,2.35,0.00,0.000,6,0.105,0.028,3330,1853,2037,0,0,0,0,0,0
$GC,4395,1.02,158.5,407.5,12.6,217,4399,0.00,2.50,0.00,0.000,4,0.000,0.054,3330,446,2031,0,0,0,0,0,0
$GC,4500,0.90,158.5,393.0,14.7,219,4505,0.17,2.33,0.00,0.000,6,0.118,0.029,3298,1853,2028,0,0,0,0,0,0
$GC,4814,0.95,158.5,360.8,9.4,227,4818,0.00,2.50,0.00,0.000,4,0.000,0.054,3299,446,2026,0,0,0,0,0,0
$GC,4885,0.91,158.5,353.7,10.2,228,4889,0.00,2.33,0.00,0.000,6,0.000,0.028,3298,1852,2024,0,0,0,0,0,0
$GC,5230,0.96,158.5,325.0,8.4,237,5234,0.00,2.47,0.00,0.000,4,0.000,0.054,3299,442,2023,0,0,0,0,0,0
$GC,5304,0.96,158.5,318.1,9.3,238,5308,0.00,2.33,0.00,0.000,6,0.000,0.028,3299,1859,2021,0,0,0,0,0,0
$GC,5621,1.04,165.8,293.3,7.2,248,5626,0.12,2.53,0.00,0.000,4,0.074,0.054,3333,439,2020,0,0,0,0,0,0
$GC,5888,0.96,165.8,262.4,10.5,259,5894,0.12,2.33,0.00,0.000,6,0.118,0.028,3310,1860,2018,0,0,0,0,0,0
$GC,6205,1.04,184.8,238.5,6.2,275,6231,0.00,2.55,19.95,0.715,4,0.000,0.051,3310,446,1936,0,0,0,0,0,0
$GC,6400,1.04,187.5,224.0,7.7,283,6406,0.00,2.33,0.00,0.000,6,0.000,0.026,3310,1853,1930,0,0,0,0,0,0
$GC,6728,1.13,187.5,194.9,9.8,301,6730,0.15,0.00,0.00,0.000,6,0.064,0.000,3352,1857,1930,0,0,0,0,0,0
$GC,6979,1.13,187.5,171.1,8.2,321,6983,0.00,2.45,0.00,0.000,4,0.000,0.048,3352,445,1930,0,0,0,0,0,0
$GC,7026,1.06,187.5,166.8,8.1,324,7033,0.08,2.33,0.00,0.000,6,0.091,0.024,3334,1862,1928,0,0,0,0,0,0
$GC,7289,1.12,187.5,146.1,8.4,345,7293,0.00,2.47,0.00,0.000,4,0.000,0.046,3333,437,1928,0,0,0,0,0,0
$GC,7321,1.12,187.5,143.1,8.7,347,7326,0.00,2.28,0.00,0.000,6,0.000,0.023,3333,1862,1927,0,0,0,0,0,0
$GC,7582,1.21,202.1,123.3,6.6,368,7604,0.12,2.53,15.43,0.590,4,0.067,0.045,3371,447,1866,0,0,0,0,0,0
$GC,7662,1.12,202.1,116.8,9.2,373,7669,0.10,2.25,0.00,0.000,6,0.086,0.021,3348,1855,1862,0,0,0,0,0,0
$GC,7923,1.18,202.1,97.3,8.1,394,7927,0.00,2.45,0.00,0.000,4,0.000,0.044,3347,435,1862,0,0,0,0,0,0
$GC,8005,1.18,202.1,89.2,9.3,400,8009,0.00,2.25,0.00,0.000,6,0.000,0.021,3348,1856,1861,0,0,0,0,0,0
$GC,8267,1.29,223.5,71.2,6.0,420,8297,0.15,2.53,20.02,0.547,4,0.059,0.044,3392,441,1777,0,0,0,0,0,0
$GC,8444,1.20,223.5,54.1,10.4,432,8450,0.12,2.28,0.00,0.000,6,0.085,0.020,3365,1853,1774,0,0,0,0,0,0
$GC,8705,1.29,247.3,32.9,5.8,453,8734,0.00,2.33,21.30,0.515,4,0.000,0.025,3364,3220,1680,0,0,0,0,0,0
$GC,8885,1.44,247.3,17.6,9.4,487,8892,0.17,2.35,0.00,0.000,6,0.030,0.030,3420,1843,1680,0,0,0,0,0,0
$STATE,9015,end climb,SURFACE_DEPTH_REACHED
$STATE,9015,begin surface coast
$FINISH,0.4,1.022980
$STATE,9042,end surface coast,CONTROL_FINISHED_OK
$STATE,9042,begin surface
$SM_CCo,9066,102.28,0.502,0,0,1017,410.14
$SM_GC,1.00,0.00,0.00,102.28,0.000,0.000,0.502,429,1663,1017,-12.29,-0.76,410.14
$IRIDIUM_FIX,2054.83,-15749.62,281099,191939
$TT8_MAMPS,0.029146
$HUMID,51.81
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.4,7.884
$10V_AH,10.4,5.265
$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,31.250,85.875,265.475,102.275,0.000,52.698,60.039,229.954,4.500,0.000,17.109,1027.235,6044.104,458.725,1596.801,570.138,0.000,1137.328,0.000,1576.841,0.000,29.255,0.000
$DEVICE_MAMPS,136.526,55.224,849.069,502.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,350.955,331.142,759.901,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,28626,522
$CAP_FILE_SIZE,100888,0
$CFSIZE,260165632,209297408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030810,222224,2100.180,-15750.024,46,1.3,46,9.8