version: 66.06
glider: 139
mission: 8
dive: 578
start: 10 1 110 13 29 15
data:
$ID,139
$MISSION,8
$DIVE,578
$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,120
$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,-2163134.5
$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,3050
$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,1700
$C_ROLL_CLIMB,1700
$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,2630
$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
$GPS1,132306,2101.488,-15756.622,32,0.9,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-73.5
$GPS2,132856,2101.479,-15756.653,11,1.4,11,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$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,313.8,15765,-16.6,-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,16,-1.18,-116.8,0.0,0.0,0,78,0.00,0.00,-59.42,0.000,2,0.000,0.000,423,1710,2616,0,0,0,0,0,0
$GC,81,-1.18,-116.8,3.2,-3.4,11,111,12.68,2.38,-9.48,0.000,4,0.133,0.035,2786,3111,3109,0,0,0,0,0,0
$GC,210,-1.09,-116.8,27.6,-14.7,38,217,0.10,2.42,0.00,0.000,6,0.081,0.033,2810,1699,3110,0,0,0,0,0,0
$GC,418,-0.93,-116.8,61.0,-16.2,56,423,0.17,2.45,0.00,0.000,4,0.092,0.047,2847,294,3111,0,0,0,0,0,0
$GC,479,-0.81,-116.8,70.8,-15.6,60,486,0.10,2.33,0.00,0.000,6,0.075,0.018,2872,1735,3111,0,0,0,0,0,0
$GC,741,-0.81,-116.8,95.9,-7.5,81,745,0.00,2.50,0.00,0.000,4,0.000,0.044,2872,287,3112,0,0,0,0,0,0
$GC,822,-0.81,-116.8,104.0,-10.9,87,827,0.00,2.28,0.00,0.000,6,0.000,0.018,2872,1720,3112,0,0,0,0,0,0
$GC,1088,-0.88,-116.8,126.0,-7.0,108,1092,0.00,2.45,0.00,0.000,4,0.000,0.044,2872,295,3112,0,0,0,0,0,0
$GC,1152,-0.98,-116.8,130.6,-7.0,112,1159,0.12,2.25,0.00,0.000,6,0.029,0.018,2819,1704,3113,0,0,0,0,0,0
$GC,1414,-0.95,-116.8,153.6,-8.3,133,1419,0.12,2.25,0.00,0.000,4,0.092,0.022,2846,3070,3113,0,0,0,0,0,0
$GC,1435,-0.98,-116.8,155.7,-8.8,134,1442,0.00,2.33,0.00,0.000,6,0.000,0.031,2846,1696,3113,0,0,0,0,0,0
$GC,1697,-1.04,-116.8,177.2,-9.0,155,1702,0.10,2.42,0.00,0.000,4,0.072,0.044,2805,290,3114,0,0,0,0,0,0
$GC,1755,-0.98,-116.8,184.0,-12.0,159,1759,0.15,2.22,0.00,0.000,6,0.087,0.018,2838,1698,3113,0,0,0,0,0,0
$GC,2033,-1.02,-116.8,210.3,-8.8,177,2037,0.00,2.42,0.00,0.000,4,0.000,0.044,2838,290,3114,0,0,0,0,0,0
$GC,2094,-1.08,-116.8,216.3,-8.2,179,2100,0.00,2.20,0.00,0.000,6,0.000,0.019,2838,1702,3114,0,0,0,0,0,0
$GC,2412,-1.15,-116.8,239.3,-7.2,195,2417,0.17,2.45,0.00,0.000,4,0.049,0.046,2780,294,3114,0,0,0,0,0,0
$GC,2480,-1.05,-116.8,246.8,-12.0,198,2485,0.17,2.20,0.00,0.000,6,0.082,0.019,2819,1692,3114,0,0,0,0,0,0
$GC,2814,-1.09,-116.8,272.0,-7.2,214,2818,0.00,2.42,0.00,0.000,4,0.000,0.048,2819,291,3114,0,0,0,0,0,0
$GC,2846,-1.09,-116.8,275.1,-8.3,215,2851,0.00,2.22,0.00,0.000,6,0.000,0.021,2819,1703,3114,0,0,0,0,0,0
$GC,3163,-1.14,-116.8,299.2,-8.3,230,3167,0.00,2.42,0.00,0.000,4,0.000,0.048,2819,294,3112,0,0,0,0,0,0
$GC,3269,-1.14,-116.8,308.4,-8.0,233,3273,0.00,2.22,0.00,0.000,6,0.000,0.021,2819,1696,3112,0,0,0,0,0,0
$GC,3585,-1.19,-116.8,327.3,-5.8,241,3590,0.12,2.42,0.00,0.000,4,0.064,0.051,2776,299,3110,0,0,0,0,0,0
$GC,3632,-1.11,-116.8,332.3,-11.7,242,3637,0.15,2.25,0.00,0.000,6,0.091,0.022,2808,1696,3110,0,0,0,0,0,0
$GC,3960,-1.15,-116.8,359.9,-8.2,250,3964,0.00,2.42,0.00,0.000,4,0.000,0.051,2808,287,3107,0,0,0,0,0,0
$GC,4011,-1.15,-116.8,365.2,-9.6,251,4015,0.00,2.28,0.00,0.000,6,0.000,0.023,2808,1704,3107,0,0,0,0,0,0
$GC,4335,-1.18,-116.8,392.7,-8.5,259,4340,0.00,2.47,0.00,0.000,4,0.000,0.053,2808,295,3105,0,0,0,0,0,0
$GC,4425,-1.18,-116.8,400.6,-9.7,261,4429,0.00,2.28,0.00,0.000,6,0.000,0.024,2808,1697,3104,0,0,0,0,0,0
$STATE,4506,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4506,begin apogee
$GC,4513,-0.31,0.0,407.8,8.3,263,4613,0.80,0.00,96.38,0.795,6,0.066,0.000,2981,1702,2630,0,0,0,0,0,0
$STATE,4613,end apogee,CONTROL_FINISHED_OK
$STATE,4614,begin climb
$GC,4616,1.18,116.8,410.3,0.0,265,4728,1.42,2.35,100.53,0.779,4,0.040,0.029,3310,3078,2153,0,0,0,0,0,0
$GC,4749,1.09,201.1,411.9,4.1,268,4832,0.12,2.38,73.45,0.767,6,0.107,0.033,3286,1700,1810,0,0,0,0,0,0
$GC,5162,0.96,201.1,371.7,10.4,278,5167,0.12,2.50,0.00,0.000,4,0.108,0.057,3262,299,1802,0,0,0,0,0,0
$GC,5206,0.81,201.1,366.5,11.4,279,5211,0.17,2.33,0.00,0.000,6,0.104,0.026,3229,1699,1798,0,0,0,0,0,0
$GC,5534,0.82,210.5,340.7,7.5,287,5547,0.00,2.53,7.53,0.626,4,0.000,0.055,3229,301,1771,0,0,0,0,0,0
$GC,5591,0.78,210.5,335.9,8.9,288,5595,0.00,2.33,0.00,0.000,6,0.000,0.026,3229,1701,1768,0,0,0,0,0,0
$GC,5904,0.78,211.1,311.4,7.9,296,5908,0.00,2.47,0.00,0.000,4,0.000,0.055,3229,301,1767,0,0,0,0,0,0
$GC,5975,0.78,211.1,304.7,9.3,297,5979,0.00,2.33,0.00,0.000,6,0.000,0.026,3229,1707,1765,0,0,0,0,0,0
$GC,6299,0.82,211.1,276.2,8.1,312,6303,0.00,2.47,0.00,0.000,4,0.000,0.055,3229,301,1765,0,0,0,0,0,0
$GC,6418,0.82,215.6,266.8,7.7,317,6427,0.00,2.30,4.47,0.494,6,0.000,0.026,3229,1708,1751,0,0,0,0,0,0
$GC,6746,0.93,253.6,247.0,6.2,333,6791,0.10,2.60,35.00,0.698,4,0.078,0.055,3261,303,1595,0,0,0,0,0,0
$GC,6852,0.86,253.6,237.2,10.5,337,6857,0.12,2.33,0.00,0.000,6,0.108,0.026,3238,1703,1591,0,0,0,0,0,0
$GC,7170,0.96,282.6,213.3,6.6,352,7200,0.00,2.53,25.40,0.657,4,0.000,0.053,3237,301,1477,0,0,0,0,0,0
$GC,7316,0.96,282.6,200.5,9.5,358,7320,0.00,2.33,0.00,0.000,6,0.000,0.024,3238,1711,1471,0,0,0,0,0,0
$GC,7650,1.04,282.6,174.7,8.4,383,7655,0.17,2.50,0.00,0.000,4,0.053,0.053,3289,300,1470,0,0,0,0,0,0
$GC,7815,0.93,282.6,153.7,13.8,395,7820,0.17,2.30,0.00,0.000,6,0.093,0.023,3253,1710,1468,0,0,0,0,0,0
$GC,8082,1.00,282.6,130.4,8.3,416,8086,0.00,2.47,0.00,0.000,4,0.000,0.051,3253,293,1468,0,0,0,0,0,0
$GC,8150,1.00,282.6,124.0,9.2,421,8154,0.00,2.30,0.00,0.000,6,0.000,0.022,3253,1711,1467,0,0,0,0,0,0
$GC,8417,1.10,290.7,104.2,7.5,442,8433,0.15,2.53,7.18,0.476,4,0.057,0.050,3301,304,1443,0,0,0,0,0,0
$GC,8547,1.05,290.7,90.1,10.4,451,8552,0.10,2.28,0.00,0.000,6,0.107,0.021,3280,1714,1441,0,0,0,0,0,0
$GC,8816,1.22,364.8,74.8,4.6,472,8886,0.15,2.53,63.47,0.542,4,0.056,0.047,3328,295,1140,0,0,0,0,0,0
$GC,8982,1.13,364.8,58.8,11.2,483,8989,0.12,2.30,0.00,0.000,6,0.069,0.020,3298,1714,1135,0,0,0,0,0,0
$GC,9244,1.19,364.8,37.4,8.4,504,9248,0.00,2.47,0.00,0.000,4,0.000,0.047,3298,299,1135,0,0,0,0,0,0
$GC,9358,1.19,364.8,25.9,10.3,518,9364,0.00,2.25,0.00,0.000,6,0.000,0.019,3298,1706,1133,0,0,0,0,0,0
$GC,9560,1.25,364.8,7.3,8.2,564,9567,0.10,2.47,0.00,0.000,4,0.072,0.048,3337,301,1132,0,0,0,0,0,0
$STATE,9594,end climb,SURFACE_DEPTH_REACHED
$STATE,9594,begin surface coast
$FINISH,0.9,1.020559
$STATE,9620,end surface coast,CONTROL_FINISHED_OK
$STATE,9621,begin surface
$SM_CCo,9645,26.98,0.461,0,0,957,410.14
$SM_GC,1.55,0.00,0.00,26.98,0.000,0.000,0.461,427,1708,957,-12.07,0.23,410.14
$IRIDIUM_FIX,2052.52,-15756.91,261299,101002
$TT8_MAMPS,0.029146
$HUMID,57.56
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,382.7,53.6
$24V_AH,23.4,52.139
$10V_AH,10.2,43.073
$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,30.525,123.375,413.400,26.975,0.000,28.805,31.558,159.412,4.000,0.000,11.924,1159.068,5989.036,462.890,1893.276,515.302,0.000,1330.783,0.000,1868.311,0.000,27.563,0.000
$DEVICE_MAMPS,133.458,56.758,794.612,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,387.464,380.172,859.663,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,31857,577
$CAP_FILE_SIZE,119087,0
$CFSIZE,260165632,182288384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011010,161136,2102.428,-15757.565,29,1.6,29,9.8