version: 66.06
glider: 139
mission: 8
dive: 580
start: 10 1 110 19 34 23
data:
$ID,139
$MISSION,8
$DIVE,580
$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,-2163166.8
$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
$GPS1,192357,2103.502,-15758.851,46,1.3,46,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-72.5
$GPS2,193401,2103.601,-15758.889,16,1.4,16,9.8
$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,318.2,10340,-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,-116.8,0.0,0.0,0,82,0.00,0.00,-64.25,0.000,2,0.000,0.000,426,1705,2745,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.2,-3.4,12,111,12.68,2.40,-6.78,0.000,4,0.133,0.035,2786,3113,3109,0,0,0,0,0,0
$GC,228,-1.12,-116.8,31.1,-15.1,42,232,0.00,2.38,0.00,0.000,6,0.000,0.033,2786,1699,3111,0,0,0,0,0,0
$GC,488,-0.94,-116.8,76.7,-17.0,62,493,0.25,2.40,0.00,0.000,4,0.087,0.044,2842,295,3111,0,0,0,0,0,0
$GC,592,-0.87,-116.8,89.7,-11.1,69,597,0.00,2.30,0.00,0.000,6,0.000,0.018,2842,1739,3112,0,0,0,0,0,0
$GC,850,-0.87,-116.8,116.1,-9.8,90,855,0.00,2.47,0.00,0.000,4,0.000,0.044,2842,293,3112,0,0,0,0,0,0
$GC,898,-0.87,-116.8,121.2,-10.7,93,904,0.00,2.25,0.00,0.000,6,0.000,0.018,2842,1718,3113,0,0,0,0,0,0
$GC,1157,-0.87,-116.8,144.4,-9.0,114,1161,0.00,2.47,0.00,0.000,4,0.000,0.044,2842,287,3113,0,0,0,0,0,0
$GC,1252,-0.91,-116.8,153.6,-9.4,121,1256,0.00,2.22,0.00,0.000,6,0.000,0.018,2842,1702,3113,0,0,0,0,0,0
$GC,1517,-0.95,-116.8,176.4,-9.1,142,1521,0.00,2.42,0.00,0.000,4,0.000,0.044,2842,294,3113,0,0,0,0,0,0
$GC,1560,-0.95,-116.8,180.6,-9.9,145,1564,0.00,2.25,0.00,0.000,6,0.000,0.019,2841,1713,3113,0,0,0,0,0,0
$GC,1831,-1.00,-116.8,204.4,-8.3,165,1835,0.00,2.45,0.00,0.000,4,0.000,0.046,2842,294,3113,0,0,0,0,0,0
$GC,1897,-1.04,-116.8,209.9,-7.9,168,1901,0.00,2.22,0.00,0.000,6,0.000,0.019,2842,1701,3113,0,0,0,0,0,0
$GC,2230,-1.10,-116.8,229.9,-5.6,184,2235,0.15,2.45,0.00,0.000,4,0.055,0.047,2788,294,3113,0,0,0,0,0,0
$GC,2291,-1.01,-116.8,235.4,-9.4,186,2298,0.15,2.25,0.00,0.000,6,0.064,0.020,2827,1690,3112,0,0,0,0,0,0
$GC,2611,-1.05,-116.8,264.9,-9.8,202,2615,0.00,2.42,0.00,0.000,4,0.000,0.047,2827,289,3112,0,0,0,0,0,0
$GC,2685,-1.12,-116.8,272.6,-9.5,205,2689,0.00,2.22,0.00,0.000,6,0.000,0.020,2827,1701,3112,0,0,0,0,0,0
$GC,3009,-1.17,-116.8,295.3,-7.7,221,3014,0.15,2.47,0.00,0.000,4,0.056,0.048,2777,286,3112,0,0,0,0,0,0
$GC,3079,-1.07,-116.8,303.1,-11.4,224,3084,0.20,2.28,0.00,0.000,6,0.082,0.021,2820,1704,3112,0,0,0,0,0,0
$GC,3422,-1.11,-116.8,327.5,-6.0,233,3426,0.00,2.42,0.00,0.000,4,0.000,0.048,2820,294,3110,0,0,0,0,0,0
$GC,3488,-1.11,-116.8,331.1,-5.7,234,3492,0.00,2.28,0.00,0.000,6,0.000,0.021,2820,1705,3109,0,0,0,0,0,0
$GC,3834,-1.15,-116.8,354.6,-8.1,243,3838,0.00,2.45,0.00,0.000,4,0.000,0.051,2820,289,3107,0,0,0,0,0,0
$GC,3881,-1.19,-116.8,359.5,-10.4,244,3886,0.12,2.28,0.00,0.000,6,0.064,0.023,2778,1703,3107,0,0,0,0,0,0
$GC,4206,-1.15,-116.8,391.0,-9.0,252,4211,0.10,2.47,0.00,0.000,4,0.104,0.053,2799,296,3105,0,0,0,0,0,0
$GC,4298,-1.15,-116.8,397.8,-7.1,254,4302,0.00,2.28,0.00,0.000,6,0.000,0.024,2799,1703,3104,0,0,0,0,0,0
$GC,4630,-1.15,-116.8,423.6,-8.7,262,4635,0.00,2.47,0.00,0.000,4,0.000,0.054,2799,296,3102,0,0,0,0,0,0
$GC,4678,-1.15,-116.8,428.9,-11.3,263,4682,0.00,2.25,0.00,0.000,6,0.000,0.024,2799,1695,3102,0,0,0,0,0,0
$STATE,4958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4958,begin apogee
$GC,4964,-0.31,0.0,452.5,7.9,270,5063,0.85,0.00,96.35,0.828,6,0.066,0.000,2983,1700,2630,0,0,0,0,0,0
$STATE,5064,end apogee,CONTROL_FINISHED_OK
$STATE,5064,begin climb
$GC,5068,1.18,116.8,454.2,0.0,272,5180,1.40,2.38,101.45,0.811,4,0.035,0.031,3311,3079,2152,0,0,0,0,0,0
$GC,5358,1.00,116.8,437.7,8.7,278,5363,0.22,2.38,0.00,0.000,6,0.097,0.039,3266,1701,2147,0,0,0,0,0,0
$GC,5705,0.96,167.7,414.3,5.6,287,5756,0.00,2.38,44.40,0.793,4,0.000,0.029,3266,3080,1945,0,0,0,0,0,0
$GC,5788,0.97,218.9,410.1,5.6,288,5841,0.00,2.40,46.25,0.785,6,0.000,0.040,3266,1701,1736,0,0,0,0,0,0
$GC,6165,0.90,218.9,379.0,8.8,298,6170,0.00,2.53,0.00,0.000,4,0.000,0.058,3266,293,1729,0,0,0,0,0,0
$GC,6217,0.75,218.9,372.9,11.5,299,6222,0.25,2.33,0.00,0.000,6,0.097,0.027,3217,1700,1725,0,0,0,0,0,0
$GC,6536,0.83,241.0,349.8,6.9,307,6561,0.00,2.60,18.58,0.739,4,0.000,0.058,3217,298,1646,0,0,0,0,0,0
$GC,6643,0.83,241.0,341.1,9.2,309,6647,0.00,2.33,0.00,0.000,6,0.000,0.027,3217,1704,1642,0,0,0,0,0,0
$GC,6957,0.89,241.0,316.2,8.2,317,6962,0.12,2.55,0.00,0.000,4,0.071,0.058,3253,290,1641,0,0,0,0,0,0
$GC,7010,0.79,241.0,310.3,11.9,318,7015,0.15,2.35,0.00,0.000,6,0.107,0.027,3224,1708,1638,0,0,0,0,0,0
$GC,7336,0.85,241.0,281.7,8.4,331,7341,0.00,2.50,0.00,0.000,4,0.000,0.056,3224,294,1639,0,0,0,0,0,0
$GC,7421,0.85,241.0,273.7,9.2,334,7427,0.00,2.35,0.00,0.000,6,0.000,0.027,3224,1702,1637,0,0,0,0,0,0
$GC,7737,1.00,292.2,256.4,5.6,350,7787,0.20,2.58,44.28,0.710,4,0.053,0.056,3279,295,1438,0,0,0,0,0,0
$GC,7829,0.88,292.2,246.2,13.6,354,7834,0.17,2.35,0.00,0.000,6,0.096,0.025,3244,1705,1434,0,0,0,0,0,0
$GC,8161,0.93,292.2,214.6,8.8,370,8166,0.00,2.50,0.00,0.000,4,0.000,0.054,3244,297,1432,0,0,0,0,0,0
$GC,8290,0.93,292.2,201.3,10.4,375,8294,0.00,2.33,0.00,0.000,6,0.000,0.024,3244,1707,1429,0,0,0,0,0,0
$GC,8623,1.05,346.0,176.9,5.5,400,8678,0.15,2.58,46.33,0.637,4,0.060,0.053,3289,293,1218,0,0,0,0,0,0
$GC,8822,0.97,346.0,155.6,12.5,414,8827,0.15,2.28,0.00,0.000,6,0.094,0.022,3259,1704,1212,0,0,0,0,0,0
$GC,9084,1.04,347.3,135.0,7.8,434,9088,0.00,2.50,0.00,0.000,4,0.000,0.051,3259,290,1211,0,0,0,0,0,0
$GC,9250,1.08,347.3,119.0,9.5,446,9255,0.10,2.30,0.00,0.000,6,0.076,0.021,3296,1709,1210,0,0,0,0,0,0
$GC,9510,1.12,347.3,94.3,9.0,466,9515,0.00,2.47,0.00,0.000,4,0.000,0.048,3296,294,1210,0,0,0,0,0,0
$GC,9626,1.12,347.3,81.8,9.8,474,9633,0.00,2.30,0.00,0.000,6,0.000,0.021,3296,1712,1210,0,0,0,0,0,0
$GC,9886,1.19,347.3,59.9,8.5,495,9890,0.00,2.47,0.00,0.000,4,0.000,0.048,3296,293,1210,0,0,0,0,0,0
$GC,9980,1.19,347.3,51.2,8.9,502,9985,0.00,2.25,0.00,0.000,6,0.000,0.020,3296,1707,1209,0,0,0,0,0,0
$GC,10247,1.26,347.3,29.5,8.3,523,10254,0.12,2.50,0.00,0.000,4,0.062,0.048,3339,297,1209,0,0,0,0,0,0
$GC,10341,1.14,347.3,18.7,12.0,543,10349,0.17,2.25,0.00,0.000,6,0.066,0.019,3298,1705,1209,0,0,0,0,0,0
$STATE,10515,end climb,SURFACE_DEPTH_REACHED
$STATE,10515,begin surface coast
$FINISH,1.1,1.005775
$STATE,10551,end surface coast,CONTROL_FINISHED_OK
$STATE,10551,begin surface
$SM_CCo,10574,36.15,0.468,0,0,958,410.14
$SM_GC,1.77,0.00,0.00,36.15,0.000,0.000,0.468,426,1710,958,-12.07,0.28,410.14
$IRIDIUM_FIX,2057.14,-15753.90,261299,191953
$TT8_MAMPS,0.029146
$HUMID,58.38
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.4,52.357
$10V_AH,10.1,43.241
$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,30.175,123.950,397.625,36.150,0.000,54.508,81.813,263.862,4.500,0.000,16.186,1196.216,6859.204,459.081,1986.751,712.874,0.000,1361.100,0.000,1956.305,0.000,29.252,0.000
$DEVICE_MAMPS,132.691,58.292,827.593,467.870,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,397.630,373.857,839.884,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,31816,591
$CAP_FILE_SIZE,124982,0
$CFSIZE,260165632,182165504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011010,223237,2104.640,-15759.819,45,0.8,45,9.8