version: 66.06
glider: 139
mission: 8
dive: 579
start: 10 1 110 16 17 40
data:
$ID,139
$MISSION,8
$DIVE,579
$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,-2163149.8
$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,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
$GPS1,161136,2102.428,-15757.565,29,1.6,29,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-73.2
$GPS2,161720,2102.445,-15757.582,14,1.6,14,9.8
$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,314.8,13375,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.18,-116.8,0.0,0.0,0,76,0.00,0.00,-59.33,0.000,2,0.000,0.000,427,1710,2593,0,0,0,0,0,0
$GC,80,-1.18,-116.8,3.0,-2.9,11,110,12.62,2.35,-10.30,0.000,4,0.132,0.034,2786,3120,3108,0,0,0,0,0,0
$GC,188,-1.10,-116.8,23.3,-14.3,33,194,0.08,2.45,0.00,0.000,6,0.084,0.034,2805,1699,3110,0,0,0,0,0,0
$GC,389,-0.94,-116.8,55.4,-16.2,55,394,0.20,2.42,0.00,0.000,4,0.089,0.047,2847,296,3110,0,0,0,0,0,0
$GC,457,-0.84,-116.8,66.5,-14.0,60,461,0.00,2.33,0.00,0.000,6,0.000,0.018,2847,1740,3111,0,0,0,0,0,0
$GC,723,-0.84,-116.8,95.7,-10.0,81,727,0.00,2.50,0.00,0.000,4,0.000,0.044,2847,294,3111,0,0,0,0,0,0
$GC,793,-0.84,-116.8,103.2,-10.1,86,797,0.00,2.25,0.00,0.000,6,0.000,0.018,2847,1712,3112,0,0,0,0,0,0
$GC,1054,-0.88,-116.8,126.1,-7.1,106,1058,0.00,2.45,0.00,0.000,4,0.000,0.045,2846,295,3112,0,0,0,0,0,0
$GC,1122,-0.88,-116.8,132.0,-8.7,111,1126,0.00,2.20,0.00,0.000,6,0.000,0.018,2847,1704,3112,0,0,0,0,0,0
$GC,1387,-0.94,-116.8,154.9,-9.0,132,1388,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1709,3113,0,0,0,0,0,0
$GC,1639,-0.99,-116.8,175.7,-6.9,152,1643,0.00,2.42,0.00,0.000,4,0.000,0.046,2847,289,3113,0,0,0,0,0,0
$GC,1721,-0.99,-116.8,181.7,-6.9,158,1726,0.00,2.22,0.00,0.000,6,0.000,0.019,2847,1706,3113,0,0,0,0,0,0
$GC,1986,-1.06,-116.8,200.5,-8.4,178,1991,0.12,2.47,0.00,0.000,4,0.062,0.046,2799,286,3113,0,0,0,0,0,0
$GC,2042,-1.02,-116.8,208.0,-13.0,180,2047,0.12,2.25,0.00,0.000,6,0.092,0.019,2826,1698,3113,0,0,0,0,0,0
$GC,2363,-1.05,-116.8,233.7,-7.0,195,2367,0.00,2.42,0.00,0.000,4,0.000,0.047,2827,292,3113,0,0,0,0,0,0
$GC,2412,-1.05,-116.8,237.6,-7.7,197,2416,0.00,2.25,0.00,0.000,6,0.000,0.020,2826,1705,3113,0,0,0,0,0,0
$GC,2746,-1.10,-116.8,263.4,-8.9,213,2750,0.00,2.42,0.00,0.000,4,0.000,0.048,2826,292,3112,0,0,0,0,0,0
$GC,2783,-1.10,-116.8,267.4,-9.9,214,2790,0.00,2.28,0.00,0.000,6,0.000,0.021,2826,1702,3113,0,0,0,0,0,0
$GC,3099,-1.16,-116.8,290.1,-5.7,230,3104,0.12,2.47,0.00,0.000,4,0.063,0.049,2782,289,3112,0,0,0,0,0,0
$GC,3175,-1.10,-116.8,296.3,-9.4,233,3179,0.12,2.28,0.00,0.000,6,0.094,0.021,2809,1697,3111,0,0,0,0,0,0
$GC,3516,-1.10,-116.8,325.5,-9.2,243,3520,0.00,2.42,0.00,0.000,4,0.000,0.050,2809,292,3109,0,0,0,0,0,0
$GC,3588,-1.10,-116.8,332.7,-10.4,244,3593,0.00,2.25,0.00,0.000,6,0.000,0.022,2809,1706,3109,0,0,0,0,0,0
$GC,3929,-1.10,-116.8,357.7,-7.2,253,3933,0.00,2.47,0.00,0.000,4,0.000,0.052,2809,294,3107,0,0,0,0,0,0
$GC,4004,-1.10,-116.8,364.0,-8.2,254,4008,0.00,2.25,0.00,0.000,6,0.000,0.023,2809,1700,3107,0,0,0,0,0,0
$GC,4341,-1.13,-116.8,388.5,-7.6,263,4345,0.00,2.47,0.00,0.000,4,0.000,0.053,2809,292,3104,0,0,0,0,0,0
$GC,4438,-1.13,-116.8,397.4,-9.2,265,4443,0.00,2.30,0.00,0.000,6,0.000,0.024,2809,1703,3104,0,0,0,0,0,0
$GC,4759,-1.16,-116.8,422.5,-7.9,273,4763,0.00,2.45,0.00,0.000,4,0.000,0.054,2809,296,3101,0,0,0,0,0,0
$GC,4824,-1.16,-116.8,428.3,-8.1,274,4828,0.00,2.30,0.00,0.000,6,0.000,0.025,2809,1704,3101,0,0,0,0,0,0
$STATE,5166,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5167,begin apogee
$GC,5174,-0.31,0.0,452.0,6.5,283,5273,0.80,0.00,96.00,0.838,6,0.065,0.000,2982,1709,2630,0,0,0,0,0,0
$STATE,5274,end apogee,CONTROL_FINISHED_OK
$STATE,5274,begin climb
$GC,5277,1.18,116.8,453.7,0.0,285,5388,1.42,2.35,101.32,0.819,4,0.037,0.031,3313,3075,2152,0,0,0,0,0,0
$GC,5591,1.01,116.8,439.8,8.1,292,5596,0.22,2.40,0.00,0.000,6,0.098,0.040,3269,1700,2147,0,0,0,0,0,0
$GC,5922,0.94,153.8,418.4,6.2,300,5959,0.00,2.42,31.92,0.794,4,0.000,0.032,3269,3082,2002,0,0,0,0,0,0
$GC,5990,0.87,153.8,413.2,8.9,300,5995,0.15,2.42,0.00,0.000,6,0.103,0.041,3241,1699,2001,0,0,0,0,0,0
$GC,6333,0.89,171.3,387.5,7.1,309,6354,0.00,2.53,16.17,0.753,4,0.000,0.057,3240,296,1930,0,0,0,0,0,0
$GC,6369,0.87,213.8,385.0,6.0,309,6416,0.00,2.35,39.08,0.785,6,0.000,0.027,3240,1707,1757,0,0,0,0,0,0
$GC,6744,0.90,236.5,357.7,6.9,319,6770,0.00,2.60,19.90,0.749,4,0.000,0.058,3240,290,1665,0,0,0,0,0,0
$GC,6823,0.83,236.5,350.5,9.6,320,6827,0.00,2.35,0.00,0.000,6,0.000,0.027,3240,1696,1661,0,0,0,0,0,0
$GC,7160,0.84,244.8,324.0,7.5,329,7173,0.00,2.55,7.82,0.642,4,0.000,0.058,3240,294,1631,0,0,0,0,0,0
$GC,7253,0.79,244.8,315.4,9.8,331,7257,0.00,2.35,0.00,0.000,6,0.000,0.027,3240,1703,1628,0,0,0,0,0,0
$GC,7585,0.79,244.8,285.1,8.2,343,7590,0.00,2.50,0.00,0.000,4,0.000,0.056,3240,293,1627,0,0,0,0,0,0
$GC,7636,0.75,244.8,280.3,8.9,345,7641,0.12,2.33,0.00,0.000,6,0.110,0.026,3216,1710,1625,0,0,0,0,0,0
$GC,7962,0.89,277.2,259.4,6.4,361,7999,0.12,2.55,28.60,0.706,4,0.070,0.054,3254,295,1499,0,0,0,0,0,0
$GC,8073,0.85,277.2,248.7,11.3,366,8078,0.00,2.35,0.00,0.000,6,0.000,0.025,3254,1710,1495,0,0,0,0,0,0
$GC,8404,0.85,277.2,221.8,7.9,382,8408,0.00,2.53,0.00,0.000,4,0.000,0.054,3254,288,1493,0,0,0,0,0,0
$GC,8512,0.81,277.2,210.4,11.1,386,8519,0.10,2.33,0.00,0.000,6,0.083,0.025,3230,1694,1491,0,0,0,0,0,0
$GC,8834,0.90,277.2,181.4,8.7,408,8838,0.00,2.45,0.00,0.000,4,0.000,0.053,3230,294,1491,0,0,0,0,0,0
$GC,8971,0.95,277.2,168.3,8.0,418,8976,0.12,2.28,0.00,0.000,6,0.069,0.023,3269,1706,1489,0,0,0,0,0,0
$GC,9235,0.96,288.9,147.0,7.4,438,9250,0.00,2.50,10.20,0.552,4,0.000,0.049,3269,294,1451,0,0,0,0,0,0
$GC,9337,0.96,288.9,138.0,10.5,445,9341,0.00,2.30,0.00,0.000,6,0.000,0.022,3269,1710,1449,0,0,0,0,0,0
$GC,9604,1.02,296.3,117.7,7.6,466,9619,0.00,2.55,7.80,0.499,4,0.000,0.051,3269,292,1422,0,0,0,0,0,0
$GC,9745,1.02,296.3,103.9,11.7,476,9749,0.00,2.28,0.00,0.000,6,0.000,0.021,3269,1699,1418,0,0,0,0,0,0
$GC,10012,1.12,315.5,86.6,7.0,497,10040,0.10,2.53,17.95,0.531,4,0.074,0.048,3305,300,1342,0,0,0,0,0,0
$GC,10103,1.07,315.5,75.8,11.3,503,10108,0.10,2.28,0.00,0.000,6,0.104,0.020,3284,1710,1339,0,0,0,0,0,0
$GC,10365,1.13,315.5,55.8,8.1,523,10369,0.00,2.47,0.00,0.000,4,0.000,0.048,3284,293,1339,0,0,0,0,0,0
$GC,10439,1.13,315.5,48.5,9.6,528,10445,0.00,2.28,0.00,0.000,6,0.000,0.020,3284,1710,1338,0,0,0,0,0,0
$GC,10701,1.27,356.9,31.5,6.0,549,10746,0.20,2.55,35.60,0.496,4,0.046,0.047,3346,296,1174,0,0,0,0,0,0
$GC,10808,1.12,356.9,19.6,12.9,567,10815,0.22,2.25,0.00,0.000,6,0.067,0.019,3294,1698,1171,0,0,0,0,0,0
$STATE,10996,end climb,SURFACE_DEPTH_REACHED
$STATE,10996,begin surface coast
$FINISH,1.0,1.023050
$STATE,11036,end surface coast,CONTROL_FINISHED_OK
$STATE,11036,begin surface
$SM_CCo,11059,32.70,0.466,0,0,958,410.14
$SM_GC,1.49,0.00,0.00,32.70,0.000,0.000,0.466,427,1704,958,-12.07,0.11,410.14
$IRIDIUM_FIX,2052.52,-15754.77,261299,131358
$TT8_MAMPS,0.029146
$HUMID,57.91
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,23.3,52.243
$10V_AH,10.1,43.156
$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,29.400,128.975,412.375,32.700,0.000,28.840,31.077,150.465,4.750,0.000,14.389,1241.888,7185.760,471.340,2007.752,526.731,0.000,1388.227,0.000,1980.872,0.000,29.251,0.000
$DEVICE_MAMPS,131.924,58.292,837.564,465.569,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,416.731,395.973,884.848,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,34969,619
$CAP_FILE_SIZE,125567,0
$CFSIZE,260165632,182222848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011010,192357,2103.502,-15758.851,46,1.3,46,9.8