version: 66.06
glider: 139
mission: 8
dive: 675
start: 10 14 110 14 15 46
data:
$ID,139
$MISSION,8
$DIVE,675
$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,-2165415.5
$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,1530
$C_ROLL_CLIMB,1500
$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
$GPS1,140937,2058.804,-15749.808,25,1.7,25,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-73.0
$GPS2,141526,2058.815,-15749.828,13,1.7,13,9.8
$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,300.0,27523,-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,-116.8,0.0,0.0,0,82,0.00,0.00,-64.47,0.000,2,0.000,0.000,429,1505,2746,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.3,-3.5,12,110,12.60,2.28,-6.88,0.000,4,0.131,0.058,2785,228,3110,0,0,0,0,0,0
$GC,294,-0.92,-116.8,44.3,-15.6,45,299,0.30,2.12,0.00,0.000,6,0.082,0.018,2848,1578,3113,0,0,0,0,0,0
$GC,562,-0.92,-116.8,72.5,-9.7,66,563,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1583,3113,0,0,0,0,0,0
$GC,810,-0.92,-116.8,94.9,-9.3,86,814,0.00,2.30,0.00,0.000,4,0.000,0.044,2848,234,3115,0,0,0,0,0,0
$GC,850,-0.92,-116.8,98.8,-11.2,89,854,0.00,2.05,0.00,0.000,6,0.000,0.019,2848,1549,3114,0,0,0,0,0,0
$GC,1118,-0.95,-116.8,122.9,-8.9,110,1124,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1554,3116,0,0,0,0,0,0
$GC,1379,-1.00,-116.8,147.4,-9.6,131,1383,0.00,2.25,0.00,0.000,4,0.000,0.046,2848,234,3116,0,0,0,0,0,0
$GC,1446,-1.06,-116.8,154.3,-9.7,136,1451,0.12,2.03,0.00,0.000,6,0.061,0.019,2799,1538,3117,0,0,0,0,0,0
$GC,1713,-0.99,-116.8,178.8,-8.0,157,1718,0.17,2.22,0.00,0.000,4,0.084,0.022,2838,2898,3116,0,0,0,0,0,0
$GC,1743,-1.07,-116.8,181.1,-6.2,159,1747,0.00,2.33,0.00,0.000,6,0.000,0.032,2837,1521,3116,0,0,0,0,0,0
$GC,2006,-1.11,-116.8,199.2,-8.4,180,2011,0.12,2.20,0.00,0.000,4,0.062,0.046,2792,232,3116,0,0,0,0,0,0
$GC,2057,-1.04,-116.8,204.5,-11.8,183,2061,0.15,2.03,0.00,0.000,6,0.085,0.020,2825,1527,3117,0,0,0,0,0,0
$GC,2385,-1.04,-116.8,233.4,-8.1,199,2389,0.00,2.22,0.00,0.000,4,0.000,0.023,2825,2893,3116,0,0,0,0,0,0
$GC,2414,-1.13,-116.8,236.0,-8.1,200,2418,0.00,2.30,0.00,0.000,6,0.000,0.033,2825,1531,3116,0,0,0,0,0,0
$GC,2743,-1.16,-116.8,260.4,-7.1,216,2748,0.12,2.22,0.00,0.000,4,0.064,0.048,2781,236,3116,0,0,0,0,0,0
$GC,2768,-1.08,-116.8,263.0,-10.1,217,2772,0.17,2.03,0.00,0.000,6,0.084,0.021,2820,1526,3116,0,0,0,0,0,0
$GC,3099,-1.11,-116.8,291.7,-8.5,233,3103,0.00,2.25,0.00,0.000,4,0.000,0.049,2819,228,3115,0,0,0,0,0,0
$GC,3122,-1.11,-116.8,294.3,-9.0,234,3126,0.00,2.05,0.00,0.000,6,0.000,0.022,2819,1531,3115,0,0,0,0,0,0
$GC,3444,-1.11,-116.8,320.0,-7.4,244,3449,0.00,2.22,0.00,0.000,4,0.000,0.050,2818,238,3114,0,0,0,0,0,0
$GC,3477,-1.11,-116.8,322.6,-7.3,244,3481,0.00,2.05,0.00,0.000,6,0.000,0.022,2819,1534,3114,0,0,0,0,0,0
$GC,3814,-1.15,-116.8,343.3,-6.5,253,3818,0.00,2.28,0.00,0.000,4,0.000,0.026,2819,2903,3112,0,0,0,0,0,0
$GC,3848,-1.26,-116.8,345.7,-7.6,253,3853,0.20,2.33,0.00,0.000,6,0.046,0.036,2756,1530,3112,0,0,0,0,0,0
$GC,4179,-1.16,-116.8,379.7,-10.3,261,4185,0.20,2.25,0.00,0.000,4,0.084,0.051,2797,235,3110,0,0,0,0,0,0
$GC,4201,-1.09,-116.8,381.9,-10.1,261,4205,0.00,2.08,0.00,0.000,6,0.000,0.024,2797,1530,3110,0,0,0,0,0,0
$GC,4550,-1.09,-116.8,407.4,-7.0,270,4552,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1534,3108,0,0,0,0,0,0
$GC,4875,-1.09,-116.8,431.1,-7.4,278,4879,0.00,2.28,0.00,0.000,4,0.000,0.028,2797,2904,3106,0,0,0,0,0,0
$GC,4901,-1.12,-116.8,432.8,-7.0,278,4905,0.00,2.38,0.00,0.000,6,0.000,0.040,2797,1526,3105,0,0,0,0,0,0
$STATE,5161,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5161,begin apogee
$GC,5167,-0.31,0.0,451.2,7.1,285,5268,0.85,0.00,97.20,0.839,6,0.066,0.000,2981,1526,2630,0,0,0,0,0,0
$STATE,5269,end apogee,CONTROL_FINISHED_OK
$STATE,5269,begin climb
$GC,5271,1.18,116.8,453.6,0.0,287,5385,1.42,2.38,101.50,0.821,4,0.037,0.029,3310,2876,2153,0,0,0,0,0,0
$GC,5526,1.02,137.1,446.6,7.0,292,5551,0.20,2.42,18.20,0.764,6,0.097,0.041,3272,1501,2071,0,0,0,0,0,0
$GC,5870,0.90,137.1,419.7,8.1,301,5875,0.12,2.38,0.00,0.000,4,0.110,0.031,3248,2884,2063,0,0,0,0,0,0
$GC,5997,0.87,140.3,410.1,7.8,303,6001,0.00,2.42,0.00,0.000,6,0.000,0.043,3248,1501,2063,0,0,0,0,0,0
$GC,6328,0.83,159.5,385.9,7.0,311,6353,0.00,2.40,19.48,0.769,4,0.000,0.030,3248,2882,1979,0,0,0,0,0,0
$GC,6383,0.85,180.1,382.2,7.0,312,6408,0.00,2.45,20.02,0.764,6,0.000,0.043,3248,1496,1894,0,0,0,0,0,0
$GC,6736,0.84,202.4,358.0,6.9,320,6762,0.00,2.30,20.30,0.754,4,0.000,0.057,3248,232,1803,0,0,0,0,0,0
$GC,6787,0.72,202.4,354.1,8.5,321,6792,0.20,2.10,0.00,0.000,6,0.097,0.028,3210,1496,1801,0,0,0,0,0,0
$GC,7107,0.84,244.5,336.4,6.0,329,7152,0.10,2.45,37.67,0.767,4,0.081,0.031,3239,2888,1632,0,0,0,0,0,0
$GC,7181,0.89,244.5,330.2,8.8,330,7185,0.00,2.47,0.00,0.000,6,0.000,0.044,3239,1494,1631,0,0,0,0,0,0
$GC,7517,0.89,244.5,297.6,9.7,339,7518,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1494,1627,0,0,0,0,0,0
$GC,7826,0.93,275.5,275.2,6.5,354,7860,0.00,2.33,27.05,0.722,4,0.000,0.058,3239,234,1505,0,0,0,0,0,0
$GC,7920,0.93,275.5,268.2,8.6,358,7924,0.00,2.10,0.00,0.000,6,0.000,0.028,3239,1507,1501,0,0,0,0,0,0
$GC,8249,0.98,275.5,243.6,8.2,374,8254,0.10,2.30,0.00,0.000,4,0.078,0.057,3270,228,1500,0,0,0,0,0,0
$GC,8320,0.89,275.5,236.3,10.2,377,8325,0.12,2.10,0.00,0.000,6,0.102,0.027,3246,1508,1497,0,0,0,0,0,0
$GC,8654,0.94,275.5,208.3,9.2,393,8658,0.00,2.22,0.00,0.000,4,0.000,0.054,3245,233,1497,0,0,0,0,0,0
$GC,8692,0.94,275.5,203.8,11.4,394,8699,0.00,2.08,0.00,0.000,6,0.000,0.026,3245,1495,1495,0,0,0,0,0,0
$GC,9021,1.08,329.2,179.6,5.5,419,9075,0.17,2.30,45.60,0.649,4,0.054,0.053,3297,220,1287,0,0,0,0,0,0
$GC,9101,0.96,329.2,172.7,9.9,424,9108,0.15,2.12,0.00,0.000,6,0.074,0.025,3261,1507,1284,0,0,0,0,0,0
$GC,9363,1.04,347.9,154.0,7.1,445,9390,0.00,2.28,16.92,0.591,4,0.000,0.051,3261,228,1209,0,0,0,0,0,0
$GC,9442,1.04,347.9,147.4,8.1,450,9449,0.00,2.08,0.00,0.000,6,0.000,0.024,3261,1499,1206,0,0,0,0,0,0
$GC,9705,1.15,389.7,130.9,6.0,471,9748,0.17,2.33,36.03,0.590,4,0.052,0.051,3313,229,1040,0,0,0,0,0,0
$GC,9782,1.04,389.7,123.2,12.0,476,9789,0.15,2.08,0.00,0.000,6,0.072,0.022,3278,1510,1037,0,0,0,0,0,0
$GC,10045,1.09,389.7,99.6,9.4,497,10049,0.00,2.25,0.00,0.000,4,0.000,0.050,3278,228,1036,0,0,0,0,0,0
$GC,10100,1.13,389.7,93.0,11.4,501,10104,0.00,2.00,0.00,0.000,6,0.000,0.021,3278,1489,1034,0,0,0,0,0,0
$GC,10366,1.23,389.7,71.3,8.2,522,10371,0.17,2.22,0.00,0.000,4,0.050,0.049,3334,228,1034,0,0,0,0,0,0
$GC,10422,1.17,389.7,64.5,12.2,526,10427,0.15,2.05,0.00,0.000,6,0.090,0.021,3303,1524,1033,0,0,0,0,0,0
$GC,10685,1.24,397.3,41.9,7.6,546,10700,0.00,2.30,6.82,0.423,4,0.000,0.048,3303,232,1009,0,0,0,0,0,0
$GC,10738,1.24,397.3,36.3,10.4,549,10745,0.00,2.03,0.00,0.000,6,0.000,0.021,3303,1501,1007,0,0,0,0,0,0
$GC,11004,1.29,408.9,13.7,7.4,600,11023,0.12,2.25,11.23,0.443,4,0.061,0.044,3348,228,961,0,0,0,0,0,0
$GC,11039,1.25,408.9,10.2,8.7,606,11047,0.10,2.03,0.00,0.000,6,0.070,0.020,3323,1506,960,0,0,0,0,0,0
$STATE,11106,end climb,SURFACE_DEPTH_REACHED
$STATE,11106,begin surface coast
$FINISH,0.8,1.014520
$STATE,11141,end surface coast,CONTROL_FINISHED_OK
$STATE,11141,begin surface
$SM_CCo,11223,0.00,0.000,0,0,957,410.63
$SM_GC,1.66,12.40,0.00,0.00,0.022,0.000,0.000,425,1504,957,-11.99,-0.74,410.63
$IRIDIUM_FIX,2054.83,-15749.62,080100,111120
$TT8_MAMPS,0.028379
$HUMID,59.17
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,21.90
$XPDR_PINGS,1
$24V_AH,23.3,63.091
$10V_AH,10.0,51.281
$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,30.900,119.925,458.025,0.000,0.000,29.224,30.750,156.387,4.750,0.000,13.984,1219.886,7479.778,464.984,1862.720,537.354,0.000,1342.999,0.000,1843.247,0.000,29.262,0.000
$DEVICE_MAMPS,131.157,58.292,839.098,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,422.458,401.085,890.327,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355744
$DATA_FILE_SIZE,34934,628
$CAP_FILE_SIZE,125258,0
$CFSIZE,260165632,176451584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141010,172406,2059.694,-15750.682,37,0.8,42,9.8