version: 66.06
glider: 139
mission: 8
dive: 679
start: 10 15 110 3 8 49
data:
$ID,139
$MISSION,8
$DIVE,679
$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,-2165490
$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
$GPS1,030200,2101.601,-15754.917,44,1.0,49,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-71.7
$GPS2,030831,2101.575,-15754.929,14,1.0,25,9.8
$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,305.6,17567,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.18,-116.8,0.0,0.0,0,84,0.00,0.00,-64.53,0.000,2,0.000,0.000,425,1506,2765,0,0,0,0,0,0
$GC,88,-1.18,-116.8,3.6,-3.8,12,112,12.68,2.40,-6.38,0.000,4,0.133,0.031,2784,2960,3109,0,0,0,0,0,0
$GC,199,-1.13,-116.8,25.3,-12.9,35,206,0.00,2.45,0.00,0.000,6,0.000,0.034,2784,1537,3111,0,0,0,0,0,0
$GC,399,-0.90,-116.8,54.1,-15.2,55,401,0.32,0.00,0.00,0.000,6,0.085,0.000,2852,1537,3112,0,0,0,0,0,0
$GC,652,-0.90,-116.8,79.9,-9.3,75,656,0.00,2.22,0.00,0.000,4,0.000,0.045,2852,234,3113,0,0,0,0,0,0
$GC,672,-0.86,-116.8,82.2,-9.7,76,676,0.00,2.12,0.00,0.000,6,0.000,0.019,2852,1603,3113,0,0,0,0,0,0
$GC,939,-0.86,-116.8,105.6,-8.1,97,943,0.00,2.35,0.00,0.000,4,0.000,0.044,2852,232,3114,0,0,0,0,0,0
$GC,1005,-0.89,-116.8,111.0,-7.4,102,1009,0.00,2.12,0.00,0.000,6,0.000,0.018,2852,1592,3114,0,0,0,0,0,0
$GC,1272,-0.89,-116.8,128.6,-7.2,123,1276,0.00,2.35,0.00,0.000,4,0.000,0.045,2851,232,3114,0,0,0,0,0,0
$GC,1325,-0.94,-116.8,133.6,-9.3,127,1329,0.00,2.10,0.00,0.000,6,0.000,0.018,2852,1589,3114,0,0,0,0,0,0
$GC,1592,-1.00,-116.8,156.6,-7.8,148,1596,0.00,2.33,0.00,0.000,4,0.000,0.044,2852,227,3115,0,0,0,0,0,0
$GC,1639,-1.07,-116.8,160.2,-6.7,151,1645,0.15,2.12,0.00,0.000,6,0.054,0.018,2800,1588,3115,0,0,0,0,0,0
$GC,1903,-1.03,-116.8,181.7,-8.7,172,1908,0.12,2.33,0.00,0.000,4,0.094,0.045,2827,235,3115,0,0,0,0,0,0
$GC,1927,-1.03,-116.8,184.7,-9.5,174,1931,0.00,2.10,0.00,0.000,6,0.000,0.019,2827,1592,3115,0,0,0,0,0,0
$GC,2184,-1.03,-116.8,207.7,-8.7,192,2188,0.00,2.33,0.00,0.000,4,0.000,0.046,2827,234,3115,0,0,0,0,0,0
$GC,2241,-1.03,-116.8,212.6,-8.9,194,2245,0.00,2.12,0.00,0.000,6,0.000,0.019,2827,1590,3115,0,0,0,0,0,0
$GC,2558,-1.07,-116.8,234.8,-8.0,209,2562,0.00,2.33,0.00,0.000,4,0.000,0.047,2827,235,3115,0,0,0,0,0,0
$GC,2596,-1.11,-116.8,238.6,-9.1,210,2602,0.00,2.15,0.00,0.000,6,0.000,0.020,2828,1591,3115,0,0,0,0,0,0
$GC,2913,-1.16,-116.8,263.8,-8.1,226,2918,0.12,2.25,0.00,0.000,4,0.062,0.025,2784,2950,3114,0,0,0,0,0,0
$GC,2942,-1.20,-116.8,266.6,-9.7,227,2946,0.00,2.42,0.00,0.000,6,0.000,0.035,2784,1521,3114,0,0,0,0,0,0
$GC,3265,-1.16,-116.8,296.2,-9.0,243,3266,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1520,3113,0,0,0,0,0,0
$GC,3569,-1.13,-116.8,320.5,-7.3,252,3570,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1520,3112,0,0,0,0,0,0
$GC,3895,-1.13,-116.8,341.3,-6.8,260,3896,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1520,3110,0,0,0,0,0,0
$GC,4219,-1.13,-116.8,367.8,-7.7,268,4223,0.10,2.25,0.00,0.000,4,0.107,0.054,2805,235,3108,0,0,0,0,0,0
$GC,4262,-1.16,-116.8,371.5,-8.7,268,4267,0.00,2.15,0.00,0.000,6,0.000,0.024,2805,1577,3108,0,0,0,0,0,0
$GC,4594,-1.16,-116.8,397.9,-8.4,277,4598,0.00,2.17,0.00,0.000,4,0.000,0.027,2805,2910,3105,0,0,0,0,0,0
$GC,4626,-1.27,-116.8,400.7,-8.4,277,4631,0.15,2.38,0.00,0.000,6,0.057,0.039,2756,1528,3105,0,0,0,0,0,0
$GC,4958,-1.19,-116.8,433.9,-9.9,285,4959,0.15,0.00,0.00,0.000,6,0.091,0.000,2788,1528,3103,0,0,0,0,0,0
$STATE,5158,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5158,begin apogee
$GC,5165,-0.31,0.0,451.2,8.6,290,5265,0.90,0.00,96.65,0.835,6,0.067,0.000,2982,1528,2630,0,0,0,0,0,0
$STATE,5266,end apogee,CONTROL_FINISHED_OK
$STATE,5266,begin climb
$GC,5268,1.18,116.8,453.8,0.0,292,5380,1.40,2.30,101.38,0.816,4,0.034,0.029,3312,2872,2152,0,0,0,0,0,0
$GC,5398,1.05,179.3,453.8,5.1,295,5459,0.17,2.42,55.03,0.799,6,0.100,0.040,3278,1497,1899,0,0,0,0,0,0
$GC,5772,0.92,179.3,423.3,8.2,304,5777,0.15,2.35,0.00,0.000,4,0.107,0.028,3249,2878,1890,0,0,0,0,0,0
$GC,5847,0.92,179.3,416.4,8.9,305,5851,0.00,2.42,0.00,0.000,6,0.000,0.043,3249,1501,1890,0,0,0,0,0,0
$GC,6183,0.87,187.2,390.1,7.5,314,6195,0.00,2.38,6.12,0.618,4,0.000,0.028,3249,2874,1866,0,0,0,0,0,0
$GC,6207,0.83,187.2,388.3,8.0,314,6211,0.00,2.42,0.00,0.000,6,0.000,0.042,3249,1496,1866,0,0,0,0,0,0
$GC,6553,0.78,189.5,360.7,7.8,323,6557,0.15,2.35,0.00,0.000,4,0.100,0.029,3220,2879,1864,0,0,0,0,0,0
$GC,6620,0.86,193.7,355.2,7.7,324,6632,0.00,2.40,7.07,0.643,6,0.000,0.042,3220,1500,1840,0,0,0,0,0,0
$GC,6969,0.91,210.0,331.2,7.2,333,6991,0.12,2.30,16.00,0.732,4,0.071,0.057,3255,232,1773,0,0,0,0,0,0
$GC,7013,0.80,210.0,327.1,10.3,334,7018,0.15,2.08,0.00,0.000,6,0.104,0.028,3226,1489,1770,0,0,0,0,0,0
$GC,7343,0.88,240.8,303.6,6.5,342,7376,0.00,2.40,27.83,0.740,4,0.000,0.030,3226,2892,1648,0,0,0,0,0,0
$GC,7393,0.97,264.1,300.0,6.8,343,7422,0.15,2.47,22.02,0.716,6,0.061,0.043,3267,1494,1551,0,0,0,0,0,0
$GC,7740,0.95,283.4,273.4,7.0,359,7761,0.00,0.00,17.23,0.693,6,0.000,0.000,3267,1494,1472,0,0,0,0,0,0
$GC,8074,0.95,283.4,243.0,9.7,375,8078,0.00,2.35,0.00,0.000,4,0.000,0.028,3267,2888,1468,0,0,0,0,0,0
$GC,8090,0.95,283.4,241.1,9.7,375,8095,0.00,2.42,0.00,0.000,6,0.000,0.041,3267,1501,1468,0,0,0,0,0,0
$GC,8407,0.96,293.8,217.5,7.4,391,8423,0.00,2.33,9.48,0.607,4,0.000,0.057,3267,233,1431,0,0,0,0,0,0
$GC,8462,0.91,293.8,212.1,9.8,393,8466,0.00,2.08,0.00,0.000,6,0.000,0.025,3267,1504,1428,0,0,0,0,0,0
$GC,8783,0.93,304.5,187.2,7.4,414,8799,0.00,2.28,10.45,0.594,4,0.000,0.053,3267,234,1388,0,0,0,0,0,0
$GC,8839,0.87,304.5,182.2,10.2,417,8846,0.12,2.08,0.00,0.000,6,0.100,0.025,3242,1511,1384,0,0,0,0,0,0
$GC,9100,0.97,328.9,162.0,6.8,438,9128,0.00,2.28,21.85,0.613,4,0.000,0.051,3242,234,1288,0,0,0,0,0,0
$GC,9196,1.01,328.9,154.0,8.2,444,9203,0.08,2.05,0.00,0.000,6,0.042,0.024,3274,1491,1284,0,0,0,0,0,0
$GC,9457,1.01,328.9,131.1,8.8,465,9461,0.00,2.20,0.00,0.000,4,0.000,0.051,3274,227,1284,0,0,0,0,0,0
$GC,9504,1.01,328.9,126.6,8.4,468,9511,0.00,2.08,0.00,0.000,6,0.000,0.023,3274,1511,1283,0,0,0,0,0,0
$GC,9765,1.06,328.9,109.0,8.1,489,9769,0.00,2.20,0.00,0.000,4,0.000,0.049,3274,233,1283,0,0,0,0,0,0
$GC,9785,1.06,328.9,107.1,8.7,490,9792,0.00,2.03,0.00,0.000,6,0.000,0.023,3275,1492,1282,0,0,0,0,0,0
$GC,10047,1.15,344.6,85.8,7.2,511,10068,0.10,2.25,14.07,0.522,4,0.072,0.049,3310,239,1224,0,0,0,0,0,0
$GC,10138,1.09,344.6,76.3,10.1,517,10145,0.08,2.03,0.00,0.000,6,0.073,0.021,3289,1500,1221,0,0,0,0,0,0
$GC,10401,1.20,372.9,57.5,6.6,538,10432,0.10,2.28,25.00,0.517,4,0.074,0.048,3326,233,1108,0,0,0,0,0,0
$GC,10481,1.15,372.9,50.3,9.7,543,10489,0.10,2.03,0.00,0.000,6,0.069,0.021,3301,1501,1105,0,0,0,0,0,0
$GC,10743,1.21,372.9,28.5,8.2,566,10750,0.00,2.22,0.00,0.000,4,0.000,0.048,3300,233,1105,0,0,0,0,0,0
$GC,10768,1.24,372.9,26.3,8.5,570,10775,0.00,2.00,0.00,0.000,6,0.000,0.021,3301,1498,1104,0,0,0,0,0,0
$GC,10972,1.31,387.4,9.4,7.2,616,10990,0.15,0.00,13.10,0.448,6,0.054,0.000,3351,1498,1049,0,0,0,0,0,0
$STATE,11037,end climb,SURFACE_DEPTH_REACHED
$STATE,11037,begin surface coast
$FINISH,0.9,1.009020
$STATE,11067,end surface coast,CONTROL_FINISHED_OK
$STATE,11068,begin surface
$SM_CCo,11090,17.70,0.455,0,0,957,410.14
$SM_GC,1.93,0.00,0.00,17.70,0.000,0.000,0.455,424,1498,957,-12.08,-0.90,410.14
$IRIDIUM_FIX,2052.52,-15754.77,080100,232328
$TT8_MAMPS,0.029146
$HUMID,59.76
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.3,63.527
$10V_AH,10.0,51.611
$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,30.250,117.000,443.275,17.700,0.000,30.977,33.604,180.393,4.500,0.000,25.381,1210.786,7435.860,477.286,1796.275,572.294,0.000,1311.997,0.000,1774.668,0.000,29.252,0.000
$DEVICE_MAMPS,133.458,56.758,835.263,454.831,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,427.530,411.219,917.349,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,34944,636
$CAP_FILE_SIZE,122636,0
$CFSIZE,260165632,176214016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151010,061537,2102.269,-15757.054,61,1.1,61,9.8