version: 66.06
glider: 139
mission: 8
dive: 681
start: 10 15 110 9 37 33
data:
$ID,139
$MISSION,8
$DIVE,681
$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,-2165521
$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
$GPS1,093122,2103.476,-15759.071,16,2.1,35,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-72.3
$GPS2,093714,2103.529,-15759.149,12,2.0,12,9.8
$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,320.7,10225,-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,-64.35,0.000,2,0.000,0.000,428,1510,2715,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.4,-3.4,12,116,12.65,2.42,-7.53,0.000,4,0.132,0.034,2786,2950,3110,0,0,0,0,0,0
$GC,187,-1.09,-116.8,23.4,-16.2,32,194,0.10,2.45,0.00,0.000,6,0.079,0.033,2811,1525,3112,0,0,0,0,0,0
$GC,393,-0.94,-116.8,55.0,-14.1,53,398,0.15,2.22,0.00,0.000,4,0.095,0.047,2842,234,3112,0,0,0,0,0,0
$GC,496,-0.87,-116.8,67.7,-10.5,60,500,0.00,2.12,0.00,0.000,6,0.000,0.018,2842,1593,3112,0,0,0,0,0,0
$GC,762,-0.87,-116.8,92.1,-9.9,81,766,0.00,2.35,0.00,0.000,4,0.000,0.044,2842,234,3113,0,0,0,0,0,0
$GC,809,-0.87,-116.8,97.7,-11.2,84,816,0.00,2.15,0.00,0.000,6,0.000,0.018,2842,1597,3113,0,0,0,0,0,0
$GC,1069,-0.87,-116.8,124.0,-9.3,105,1074,0.00,2.35,0.00,0.000,4,0.000,0.045,2842,234,3113,0,0,0,0,0,0
$GC,1136,-0.87,-116.8,129.6,-7.6,110,1140,0.00,2.10,0.00,0.000,6,0.000,0.018,2842,1591,3114,0,0,0,0,0,0
$GC,1403,-0.91,-116.8,147.6,-7.3,131,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1594,3115,0,0,0,0,0,0
$GC,1654,-0.95,-116.8,166.1,-7.4,151,1658,0.00,2.33,0.00,0.000,4,0.000,0.046,2842,234,3115,0,0,0,0,0,0
$GC,1708,-1.00,-116.8,170.5,-7.9,155,1712,0.00,2.10,0.00,0.000,6,0.000,0.019,2842,1589,3115,0,0,0,0,0,0
$GC,1974,-1.05,-116.8,194.0,-9.6,176,1978,0.00,2.33,0.00,0.000,4,0.000,0.046,2842,238,3115,0,0,0,0,0,0
$GC,2018,-1.09,-116.8,198.8,-11.2,179,2023,0.15,2.12,0.00,0.000,6,0.054,0.019,2792,1590,3115,0,0,0,0,0,0
$GC,2279,-1.04,-116.8,226.9,-10.0,192,2281,0.15,0.00,0.00,0.000,6,0.087,0.000,2825,1594,3115,0,0,0,0,0,0
$GC,2589,-1.08,-116.8,251.0,-7.2,207,2593,0.00,2.33,0.00,0.000,4,0.000,0.048,2825,238,3115,0,0,0,0,0,0
$GC,2649,-1.08,-116.8,256.2,-8.5,209,2654,0.00,2.12,0.00,0.000,6,0.000,0.021,2825,1587,3115,0,0,0,0,0,0
$GC,2968,-1.12,-116.8,279.6,-6.9,225,2973,0.00,2.33,0.00,0.000,4,0.000,0.049,2824,235,3114,0,0,0,0,0,0
$GC,2988,-1.12,-116.8,281.1,-6.2,225,2993,0.00,2.15,0.00,0.000,6,0.000,0.021,2824,1588,3114,0,0,0,0,0,0
$GC,3306,-1.18,-116.8,300.6,-6.1,241,3308,0.15,0.00,0.00,0.000,6,0.057,0.000,2776,1592,3113,0,0,0,0,0,0
$GC,3631,-1.12,-116.8,328.0,-8.5,249,3636,0.12,2.38,0.00,0.000,4,0.094,0.051,2803,239,3112,0,0,0,0,0,0
$GC,3665,-1.12,-116.8,331.4,-8.8,249,3669,0.00,2.12,0.00,0.000,6,0.000,0.023,2803,1579,3112,0,0,0,0,0,0
$GC,3998,-1.12,-116.8,357.5,-7.7,257,4002,0.00,2.35,0.00,0.000,4,0.000,0.051,2803,235,3110,0,0,0,0,0,0
$GC,4030,-1.12,-116.8,360.3,-8.6,257,4034,0.00,2.08,0.00,0.000,6,0.000,0.024,2803,1534,3109,0,0,0,0,0,0
$GC,4363,-1.12,-116.8,388.1,-8.5,265,4367,0.00,2.25,0.00,0.000,4,0.000,0.026,2803,2911,3107,0,0,0,0,0,0
$GC,4411,-1.22,-116.8,392.4,-9.3,266,4415,0.00,2.38,0.00,0.000,6,0.000,0.038,2803,1525,3107,0,0,0,0,0,0
$GC,4734,-1.22,-116.8,415.3,-5.9,274,4738,0.00,2.22,0.00,0.000,4,0.000,0.054,2803,235,3105,0,0,0,0,0,0
$GC,4799,-1.22,-116.8,419.7,-6.5,275,4804,0.00,2.05,0.00,0.000,6,0.000,0.025,2802,1524,3104,0,0,0,0,0,0
$GC,5152,-1.22,-116.8,442.7,-6.9,284,5156,0.00,2.25,0.00,0.000,4,0.000,0.054,2802,238,3102,0,0,0,0,0,0
$GC,5214,-1.22,-116.8,448.6,-9.7,285,5218,0.00,2.05,0.00,0.000,6,0.000,0.025,2803,1526,3101,0,0,0,0,0,0
$STATE,5225,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5225,begin apogee
$GC,5233,-0.31,0.0,450.0,8.8,285,5333,0.80,0.00,96.97,0.831,6,0.066,0.000,2978,1530,2630,0,0,0,0,0,0
$STATE,5334,end apogee,CONTROL_FINISHED_OK
$STATE,5334,begin climb
$GC,5336,1.18,116.8,454.0,0.0,288,5446,1.45,2.33,102.30,0.817,4,0.036,0.054,3311,236,2152,0,0,0,0,0,0
$GC,5500,0.86,116.8,452.7,8.4,292,5505,0.38,2.08,0.00,0.000,6,0.094,0.025,3237,1516,2145,0,0,0,0,0,0
$GC,5820,0.81,116.8,426.8,8.5,300,5824,0.00,2.30,0.00,0.000,4,0.000,0.029,3237,2885,2140,0,0,0,0,0,0
$GC,5852,0.81,116.8,424.0,8.8,300,5856,0.00,2.40,0.00,0.000,6,0.000,0.040,3238,1497,2140,0,0,0,0,0,0
$GC,6185,0.82,165.2,402.8,5.7,308,6233,0.00,2.33,41.95,0.792,4,0.000,0.057,3237,239,1956,0,0,0,0,0,0
$GC,6301,0.70,165.2,394.7,8.2,310,6306,0.17,2.08,0.00,0.000,6,0.098,0.027,3203,1500,1951,0,0,0,0,0,0
$GC,6639,0.81,219.1,376.0,5.5,319,6693,0.12,2.28,48.12,0.782,4,0.071,0.056,3239,238,1735,0,0,0,0,0,0
$GC,6710,0.74,219.1,370.5,8.7,320,6715,0.15,2.10,0.00,0.000,6,0.103,0.028,3209,1502,1732,0,0,0,0,0,0
$GC,7048,0.82,238.4,346.4,7.0,329,7067,0.00,0.00,17.10,0.727,6,0.000,0.000,3210,1502,1658,0,0,0,0,0,0
$GC,7372,0.92,275.1,327.1,6.2,337,7414,0.17,2.38,33.17,0.748,4,0.058,0.058,3258,232,1506,0,0,0,0,0,0
$GC,7467,0.81,275.1,316.8,11.1,339,7472,0.15,2.10,0.00,0.000,6,0.099,0.028,3229,1505,1502,0,0,0,0,0,0
$GC,7797,0.86,284.7,290.8,7.5,349,7812,0.00,2.28,8.68,0.636,4,0.000,0.057,3229,236,1468,0,0,0,0,0,0
$GC,7857,0.86,284.7,285.2,9.6,351,7861,0.00,2.10,0.00,0.000,6,0.000,0.028,3229,1502,1465,0,0,0,0,0,0
$GC,8172,0.93,284.7,259.3,8.1,366,8177,0.10,2.28,0.00,0.000,4,0.077,0.057,3260,238,1464,0,0,0,0,0,0
$GC,8187,0.93,284.7,257.8,8.1,366,8193,0.00,2.10,0.00,0.000,6,0.000,0.028,3260,1499,1464,0,0,0,0,0,0
$GC,8504,0.93,284.7,229.6,10.0,382,8508,0.00,2.22,0.00,0.000,4,0.000,0.056,3260,232,1463,0,0,0,0,0,0
$GC,8566,0.88,284.7,222.2,12.5,384,8572,0.00,2.10,0.00,0.000,6,0.000,0.027,3261,1507,1461,0,0,0,0,0,0
$GC,8884,0.89,300.2,194.4,7.2,402,8900,0.00,0.00,13.95,0.625,6,0.000,0.000,3260,1507,1406,0,0,0,0,0,0
$GC,9148,0.89,300.2,170.8,9.7,423,9149,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1508,1404,0,0,0,0,0,0
$GC,9402,0.97,322.3,152.2,6.9,443,9429,0.00,2.35,20.17,0.604,4,0.000,0.025,3260,2884,1316,0,0,0,0,0,0
$GC,9449,1.10,322.3,148.1,8.7,446,9454,0.12,2.42,0.00,0.000,6,0.064,0.039,3301,1499,1315,0,0,0,0,0,0
$GC,9710,1.10,322.3,122.2,9.7,466,9714,0.00,2.22,0.00,0.000,4,0.000,0.051,3301,226,1314,0,0,0,0,0,0
$GC,9754,1.04,322.3,117.8,10.7,469,9759,0.12,2.05,0.00,0.000,6,0.097,0.023,3275,1510,1311,0,0,0,0,0,0
$GC,10020,1.12,341.7,98.9,7.0,490,10042,0.00,2.28,17.52,0.545,4,0.000,0.050,3275,236,1236,0,0,0,0,0,0
$GC,10110,1.12,341.7,90.7,10.4,495,10116,0.00,2.03,0.00,0.000,6,0.000,0.022,3275,1506,1233,0,0,0,0,0,0
$GC,10374,1.25,376.7,69.7,6.3,516,10407,0.20,0.00,30.65,0.532,6,0.047,0.000,3336,1506,1093,0,0,0,0,0,0
$GC,10660,1.21,376.7,46.3,8.0,539,10665,0.10,2.22,0.00,0.000,4,0.101,0.048,3314,227,1091,0,0,0,0,0,0
$GC,10708,1.17,376.7,42.1,9.1,542,10714,0.00,2.05,0.00,0.000,6,0.000,0.021,3314,1513,1089,0,0,0,0,0,0
$GC,10971,1.24,399.7,20.7,6.9,581,11000,0.00,2.30,19.85,0.476,4,0.000,0.047,3314,233,998,0,0,0,0,0,0
$GC,11042,1.24,399.7,14.6,9.2,595,11051,0.00,2.03,0.00,0.000,6,0.000,0.020,3314,1509,996,0,0,0,0,0,0
$STATE,11172,end climb,SURFACE_DEPTH_REACHED
$STATE,11172,begin surface coast
$FINISH,0.9,1.023009
$STATE,11220,end surface coast,CONTROL_FINISHED_OK
$STATE,11220,begin surface
$SM_CCo,11243,8.85,0.417,0,0,958,410.14
$SM_GC,1.46,0.00,0.00,8.85,0.000,0.000,0.417,428,1508,958,-12.07,-0.62,410.14
$IRIDIUM_FIX,2057.14,-15638.38,090100,060635
$TT8_MAMPS,0.029146
$HUMID,60.04
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.3,63.749
$10V_AH,10.0,51.777
$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,29.925,115.475,450.450,8.850,0.000,25.557,33.066,160.024,4.500,0.000,12.586,1221.777,7525.930,514.975,1802.386,533.934,0.000,1332.901,0.000,1793.317,0.000,29.265,0.000
$DEVICE_MAMPS,131.924,58.292,831.428,417.248,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,426.658,404.366,915.326,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355744
$DATA_FILE_SIZE,35004,635
$CAP_FILE_SIZE,120270,0
$CFSIZE,260165632,176099328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151010,124625,2104.741,-15800.495,41,1.6,41,9.8