version: 66.06
glider: 139
mission: 8
dive: 676
start: 10 14 110 17 30 40
data:
$ID,139
$MISSION,8
$DIVE,676
$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,-2165430.8
$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,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
$GPS1,172406,2059.694,-15750.682,37,0.8,42,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-72.9
$GPS2,173020,2059.746,-15750.678,14,1.6,14,9.8
$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,299.2,25295,-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,-64.68,0.000,2,0.000,0.000,425,1506,2777,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.6,-4.0,12,110,12.62,2.40,-6.10,0.000,4,0.131,0.032,2785,2957,3109,0,0,0,0,0,0
$GC,209,-1.12,-116.8,27.2,-12.5,38,215,0.00,2.45,0.00,0.000,6,0.000,0.032,2786,1534,3111,0,0,0,0,0,0
$GC,408,-0.91,-116.8,55.6,-13.8,56,413,0.28,2.22,0.00,0.000,4,0.088,0.044,2846,232,3112,0,0,0,0,0,0
$GC,443,-0.85,-116.8,59.6,-10.4,58,449,0.00,2.15,0.00,0.000,6,0.000,0.018,2846,1581,3112,0,0,0,0,0,0
$GC,703,-0.85,-116.8,84.8,-9.1,79,707,0.00,2.33,0.00,0.000,4,0.000,0.044,2846,236,3112,0,0,0,0,0,0
$GC,757,-0.85,-116.8,89.6,-9.4,83,761,0.00,2.12,0.00,0.000,6,0.000,0.018,2846,1597,3112,0,0,0,0,0,0
$GC,1024,-0.85,-116.8,112.0,-8.6,104,1028,0.00,2.20,0.00,0.000,4,0.000,0.021,2846,2953,3113,0,0,0,0,0,0
$GC,1063,-0.95,-116.8,115.2,-8.3,107,1067,0.00,2.40,0.00,0.000,6,0.000,0.030,2847,1528,3113,0,0,0,0,0,0
$GC,1332,-0.95,-116.8,139.0,-8.7,128,1336,0.00,2.20,0.00,0.000,4,0.000,0.044,2846,227,3114,0,0,0,0,0,0
$GC,1431,-1.00,-116.8,148.5,-9.0,135,1435,0.00,2.12,0.00,0.000,6,0.000,0.018,2846,1593,3114,0,0,0,0,0,0
$GC,1697,-1.05,-116.8,169.9,-8.4,156,1702,0.12,2.38,0.00,0.000,4,0.061,0.045,2797,227,3114,0,0,0,0,0,0
$GC,1764,-0.97,-116.8,177.3,-10.2,161,1769,0.17,2.15,0.00,0.000,6,0.082,0.018,2835,1596,3114,0,0,0,0,0,0
$GC,2032,-1.01,-116.8,199.3,-7.7,182,2036,0.00,2.35,0.00,0.000,4,0.000,0.046,2836,235,3114,0,0,0,0,0,0
$GC,2070,-1.04,-116.8,202.4,-7.3,184,2077,0.00,2.15,0.00,0.000,6,0.000,0.019,2836,1593,3115,0,0,0,0,0,0
$GC,2388,-1.09,-116.8,222.8,-6.5,200,2393,0.10,2.35,0.00,0.000,4,0.072,0.047,2795,228,3115,0,0,0,0,0,0
$GC,2472,-1.06,-116.8,231.0,-10.2,203,2478,0.12,2.15,0.00,0.000,6,0.093,0.019,2822,1589,3114,0,0,0,0,0,0
$GC,2791,-1.10,-116.8,256.6,-8.7,219,2795,0.00,2.33,0.00,0.000,4,0.000,0.050,2822,238,3114,0,0,0,0,0,0
$GC,2828,-1.10,-116.8,260.4,-9.3,220,2835,0.00,2.15,0.00,0.000,6,0.000,0.021,2822,1583,3114,0,0,0,0,0,0
$GC,3146,-1.14,-116.8,283.9,-6.7,236,3150,0.00,2.33,0.00,0.000,4,0.000,0.048,2822,231,3113,0,0,0,0,0,0
$GC,3225,-1.20,-116.8,290.7,-8.5,239,3230,0.15,2.15,0.00,0.000,6,0.056,0.021,2773,1583,3113,0,0,0,0,0,0
$GC,3540,-1.15,-116.8,319.9,-9.2,249,3545,0.12,2.25,0.00,0.000,4,0.095,0.026,2800,2952,3112,0,0,0,0,0,0
$GC,3583,-1.24,-116.8,323.9,-8.6,249,3589,0.00,2.40,0.00,0.000,6,0.000,0.036,2800,1534,3112,0,0,0,0,0,0
$GC,3914,-1.24,-116.8,352.4,-8.7,258,3918,0.00,2.25,0.00,0.000,4,0.000,0.052,2800,234,3110,0,0,0,0,0,0
$GC,3996,-1.24,-116.8,359.5,-8.3,259,4000,0.00,2.12,0.00,0.000,6,0.000,0.023,2800,1575,3110,0,0,0,0,0,0
$GC,4332,-1.24,-116.8,386.5,-8.0,268,4336,0.00,2.20,0.00,0.000,4,0.000,0.028,2800,2910,3107,0,0,0,0,0,0
$GC,4360,-1.31,-116.8,388.8,-9.0,268,4365,0.15,2.35,0.00,0.000,6,0.056,0.039,2751,1531,3107,0,0,0,0,0,0
$GC,4698,-1.21,-116.8,425.6,-11.4,277,4700,0.17,0.00,0.00,0.000,6,0.085,0.000,2788,1531,3104,0,0,0,0,0,0
$STATE,4979,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4979,begin apogee
$GC,4986,-0.31,0.0,451.5,8.8,284,5086,0.90,0.00,96.70,0.834,6,0.067,0.000,2982,1485,2630,0,0,0,0,0,0
$STATE,5087,end apogee,CONTROL_FINISHED_OK
$STATE,5087,begin climb
$GC,5091,1.18,116.8,454.6,0.0,286,5203,1.40,2.40,101.35,0.816,4,0.035,0.029,3310,2879,2152,0,0,0,0,0,0
$GC,5243,1.07,177.5,455.6,5.2,289,5306,0.12,2.40,53.62,0.799,6,0.108,0.041,3286,1513,1905,0,0,0,0,0,0
$GC,5631,0.93,177.5,420.9,8.8,299,5635,0.17,2.33,0.00,0.000,4,0.099,0.029,3251,2885,1896,0,0,0,0,0,0
$GC,5679,0.95,199.9,417.3,6.9,300,5703,0.00,2.42,19.33,0.759,6,0.000,0.044,3251,1500,1814,0,0,0,0,0,0
$GC,6047,0.91,210.0,390.2,7.4,309,6063,0.00,2.42,9.57,0.695,4,0.000,0.030,3251,2879,1773,0,0,0,0,0,0
$GC,6097,0.91,210.0,386.0,8.1,310,6101,0.00,2.45,0.00,0.000,6,0.000,0.044,3251,1497,1772,0,0,0,0,0,0
$GC,6420,0.87,210.0,359.1,8.2,318,6424,0.00,2.35,0.00,0.000,4,0.000,0.029,3251,2886,1770,0,0,0,0,0,0
$GC,6453,0.88,221.8,356.6,7.4,318,6469,0.00,2.45,11.60,0.709,6,0.000,0.044,3251,1493,1726,0,0,0,0,0,0
$GC,6796,0.87,241.0,332.0,7.0,327,6820,0.00,2.33,17.90,0.733,4,0.000,0.059,3251,235,1646,0,0,0,0,0,0
$GC,6842,0.76,241.0,328.4,8.4,328,6847,0.17,2.05,0.00,0.000,6,0.100,0.028,3218,1490,1644,0,0,0,0,0,0
$GC,7174,0.85,257.0,304.8,7.2,336,7194,0.00,2.42,14.70,0.706,4,0.000,0.030,3217,2885,1582,0,0,0,0,0,0
$GC,7210,0.96,272.6,302.0,7.2,336,7231,0.17,2.45,15.50,0.701,6,0.055,0.043,3265,1500,1518,0,0,0,0,0,0
$GC,7554,0.91,272.6,270.1,9.0,352,7558,0.00,2.25,0.00,0.000,4,0.000,0.058,3266,233,1512,0,0,0,0,0,0
$GC,7669,0.80,272.6,258.4,10.8,357,7673,0.20,2.08,0.00,0.000,6,0.094,0.028,3226,1508,1510,0,0,0,0,0,0
$GC,8009,0.90,287.2,233.3,7.2,373,8024,0.00,0.00,12.68,0.647,6,0.000,0.000,3226,1508,1458,0,0,0,0,0,0
$GC,8336,1.03,330.3,213.1,6.0,389,8380,0.20,2.38,38.53,0.674,4,0.051,0.054,3283,228,1283,0,0,0,0,0,0
$GC,8465,0.95,330.3,201.3,10.0,394,8470,0.12,2.10,0.00,0.000,6,0.101,0.025,3258,1510,1277,0,0,0,0,0,0
$GC,8798,0.99,330.3,168.8,11.3,419,8802,0.00,2.25,0.00,0.000,4,0.000,0.054,3258,230,1276,0,0,0,0,0,0
$GC,8853,0.99,330.3,161.9,11.9,423,8857,0.00,2.08,0.00,0.000,6,0.000,0.025,3258,1517,1275,0,0,0,0,0,0
$GC,9116,1.12,377.6,143.5,5.8,443,9163,0.15,2.35,40.22,0.609,4,0.058,0.052,3304,233,1089,0,0,0,0,0,0
$GC,9191,1.03,377.6,137.0,10.0,448,9198,0.12,2.08,0.00,0.000,6,0.071,0.023,3273,1499,1086,0,0,0,0,0,0
$GC,9454,1.10,377.6,116.0,8.8,469,9458,0.00,2.25,0.00,0.000,4,0.000,0.051,3273,232,1085,0,0,0,0,0,0
$GC,9482,1.10,377.6,112.6,9.6,471,9486,0.00,2.03,0.00,0.000,6,0.000,0.022,3273,1514,1084,0,0,0,0,0,0
$GC,9745,1.17,378.0,90.9,7.9,491,9750,0.15,2.25,0.00,0.000,4,0.056,0.049,3323,224,1084,0,0,0,0,0,0
$GC,9815,1.11,378.0,82.6,11.4,496,9820,0.15,2.03,0.00,0.000,6,0.089,0.021,3291,1505,1082,0,0,0,0,0,0
$GC,10079,1.19,378.7,62.6,7.9,516,10083,0.00,2.22,0.00,0.000,4,0.000,0.021,3291,2873,1082,0,0,0,0,0,0
$GC,10106,1.35,394.5,60.5,7.2,518,10128,0.22,2.35,14.48,0.494,6,0.041,0.035,3361,1495,1020,0,0,0,0,0,0
$GC,10390,1.26,394.5,29.2,11.1,540,10397,0.17,2.22,0.00,0.000,4,0.084,0.048,3324,237,1019,0,0,0,0,0,0
$GC,10479,1.22,394.5,19.3,11.0,559,10486,0.00,2.00,0.00,0.000,6,0.000,0.020,3324,1508,1017,0,0,0,0,0,0
$STATE,10643,end climb,SURFACE_DEPTH_REACHED
$STATE,10643,begin surface coast
$FINISH,0.9,1.014110
$STATE,10674,end surface coast,CONTROL_FINISHED_OK
$STATE,10674,begin surface
$SM_CCo,10696,13.35,0.448,0,0,957,410.14
$SM_GC,1.82,0.00,0.00,13.35,0.000,0.000,0.448,426,1507,957,-12.07,-0.65,410.14
$IRIDIUM_FIX,2050.21,-15747.49,080100,141431
$TT8_MAMPS,0.029146
$HUMID,60.23
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.10
$XPDR_PINGS,1
$24V_AH,23.3,63.202
$10V_AH,10.0,51.361
$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,30.875,122.075,446.175,13.350,0.000,23.085,34.056,183.915,4.750,0.000,14.552,1186.984,7044.955,473.821,1823.765,551.487,0.000,1325.552,0.000,1801.635,0.000,29.270,0.000
$DEVICE_MAMPS,131.157,151.099,834.496,447.928,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,405.480,386.781,860.301,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,34889,603
$CAP_FILE_SIZE,122243,0
$CFSIZE,260165632,176394240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141010,203031,2100.313,-15752.013,41,1.5,42,9.8