version: 66.06
glider: 139
mission: 8
dive: 690
start: 10 16 110 14 39 45
data:
$ID,139
$MISSION,8
$DIVE,690
$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,-2165722.8
$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
$GPS1,143307,2109.098,-15803.026,39,0.8,39,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-73.3
$GPS2,143925,2109.112,-15803.138,13,0.9,18,9.8
$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,118.1,2347,-18.0,-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,-1.25,-100.5,0.0,0.0,0,82,0.00,0.00,-64.60,0.000,2,0.000,0.000,425,1491,2780,0,0,0,0,0,0
$GC,85,-1.27,-116.8,3.8,-4.3,12,109,12.57,2.17,-5.95,0.000,4,0.133,0.057,2765,235,3109,0,0,0,0,0,0
$GC,152,-0.96,-116.8,22.5,-21.9,25,159,0.30,2.15,0.00,0.000,6,0.077,0.019,2840,1584,3111,0,0,0,0,0,0
$GC,358,-0.89,-116.8,47.9,-11.6,48,362,0.00,2.25,0.00,0.000,4,0.000,0.021,2840,2956,3112,0,0,0,0,0,0
$GC,389,-0.93,-116.8,51.5,-10.7,50,393,0.00,2.40,0.00,0.000,6,0.000,0.031,2840,1529,3112,0,0,0,0,0,0
$GC,655,-0.93,-116.8,80.6,-11.2,71,658,0.00,2.22,0.00,0.000,4,0.000,0.046,2840,230,3113,0,0,0,0,0,0
$GC,712,-0.97,-116.8,87.7,-12.3,75,716,0.00,2.12,0.00,0.000,6,0.000,0.018,2840,1586,3113,0,0,0,0,0,0
$GC,983,-1.01,-116.8,116.8,-9.9,96,987,0.00,2.33,0.00,0.000,4,0.000,0.044,2840,232,3114,0,0,0,0,0,0
$GC,1054,-1.06,-116.8,123.7,-9.0,101,1058,0.00,2.12,0.00,0.000,6,0.000,0.018,2840,1590,3114,0,0,0,0,0,0
$GC,1321,-1.13,-116.8,139.8,-5.1,122,1326,0.15,2.35,0.00,0.000,4,0.055,0.045,2789,231,3114,0,0,0,0,0,0
$GC,1386,-1.05,-116.8,145.4,-9.0,126,1393,0.10,2.15,0.00,0.000,6,0.067,0.018,2817,1588,3115,0,0,0,0,0,0
$GC,1650,-1.05,-116.8,168.3,-10.6,147,1654,0.00,2.35,0.00,0.000,4,0.000,0.045,2817,228,3115,0,0,0,0,0,0
$GC,1676,-1.05,-116.8,171.8,-12.1,149,1680,0.00,2.12,0.00,0.000,6,0.000,0.019,2817,1592,3115,0,0,0,0,0,0
$GC,1942,-1.09,-116.8,199.5,-10.1,170,1947,0.00,2.33,0.00,0.000,4,0.000,0.046,2816,235,3115,0,0,0,0,0,0
$GC,1984,-1.09,-116.8,204.2,-10.3,172,1991,0.00,2.15,0.00,0.000,6,0.000,0.020,2817,1590,3116,0,0,0,0,0,0
$GC,2302,-1.14,-116.8,230.7,-7.7,188,2306,0.00,2.35,0.00,0.000,4,0.000,0.048,2816,228,3115,0,0,0,0,0,0
$GC,2334,-1.14,-116.8,233.6,-8.5,189,2338,0.00,2.12,0.00,0.000,6,0.000,0.020,2816,1587,3115,0,0,0,0,0,0
$GC,2656,-1.19,-116.8,260.8,-9.0,205,2661,0.12,2.35,0.00,0.000,4,0.064,0.048,2773,232,3115,0,0,0,0,0,0
$GC,2687,-1.08,-116.8,264.4,-12.3,206,2692,0.17,2.15,0.00,0.000,6,0.085,0.021,2812,1592,3115,0,0,0,0,0,0
$GC,3010,-1.14,-116.8,294.7,-9.1,222,3014,0.00,2.35,0.00,0.000,4,0.000,0.049,2812,229,3113,0,0,0,0,0,0
$GC,3054,-1.20,-116.8,299.0,-9.6,224,3059,0.10,2.12,0.00,0.000,6,0.072,0.021,2775,1576,3113,0,0,0,0,0,0
$GC,3400,-1.20,-116.8,329.5,-8.3,233,3404,0.00,2.33,0.00,0.000,4,0.000,0.050,2775,231,3112,0,0,0,0,0,0
$GC,3419,-1.16,-116.8,331.0,-7.6,233,3424,0.10,2.08,0.00,0.000,6,0.104,0.022,2796,1534,3112,0,0,0,0,0,0
$GC,3767,-1.20,-116.8,358.4,-8.4,242,3768,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1538,3110,0,0,0,0,0,0
$GC,4090,-1.24,-116.8,386.2,-8.4,250,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1539,3108,0,0,0,0,0,0
$GC,4417,-1.29,-116.8,409.2,-7.1,258,4422,0.12,2.28,0.00,0.000,4,0.066,0.054,2757,240,3106,0,0,0,0,0,0
$GC,4451,-1.22,-116.8,412.5,-10.3,258,4456,0.12,2.05,0.00,0.000,6,0.099,0.025,2783,1521,3106,0,0,0,0,0,0
$GC,4783,-1.22,-116.8,440.9,-8.7,266,4787,0.00,2.30,0.00,0.000,4,0.000,0.029,2783,2917,3103,0,0,0,0,0,0
$GC,4813,-1.29,-116.8,443.6,-8.7,266,4817,0.00,2.38,0.00,0.000,6,0.000,0.041,2783,1532,3103,0,0,0,0,0,0
$STATE,4902,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4902,begin apogee
$GC,4909,-0.31,0.0,452.0,9.1,269,5009,0.93,0.00,97.10,0.834,6,0.067,0.000,2982,1487,2630,0,0,0,0,0,0
$STATE,5010,end apogee,CONTROL_FINISHED_OK
$STATE,5010,begin climb
$GC,5013,1.27,116.8,454.8,0.0,271,5126,1.50,2.45,101.30,0.819,4,0.035,0.029,3330,2882,2152,0,0,0,0,0,0
$GC,5137,1.16,187.6,456.3,4.2,273,5210,0.15,2.42,62.65,0.803,6,0.108,0.041,3302,1507,1864,0,0,0,0,0,0
$GC,5556,1.02,187.6,419.5,9.3,284,5561,0.15,2.33,0.00,0.000,4,0.108,0.030,3273,2885,1854,0,0,0,0,0,0
$GC,5630,1.02,187.6,413.2,8.2,285,5635,0.00,2.45,0.00,0.000,6,0.000,0.045,3273,1501,1854,0,0,0,0,0,0
$GC,5968,0.97,191.2,386.6,7.7,294,5972,0.00,2.28,0.00,0.000,4,0.000,0.060,3274,225,1850,0,0,0,0,0,0
$GC,6015,0.84,191.2,381.8,9.9,295,6020,0.20,2.08,0.00,0.000,6,0.097,0.028,3234,1498,1847,0,0,0,0,0,0
$GC,6340,0.89,204.8,358.9,7.2,303,6360,0.00,2.35,13.62,0.728,4,0.000,0.058,3234,233,1794,0,0,0,0,0,0
$GC,6386,0.85,204.8,355.1,9.3,304,6390,0.00,2.10,0.00,0.000,6,0.000,0.028,3234,1504,1792,0,0,0,0,0,0
$GC,6715,0.90,210.8,329.7,7.6,312,6727,0.00,2.33,6.47,0.619,4,0.000,0.058,3234,235,1770,0,0,0,0,0,0
$GC,6742,0.92,222.9,327.4,7.3,312,6760,0.00,2.08,12.30,0.703,6,0.000,0.028,3234,1507,1721,0,0,0,0,0,0
$GC,7085,0.98,233.0,303.1,7.4,321,7103,0.12,2.33,10.25,0.674,4,0.069,0.058,3271,239,1679,0,0,0,0,0,0
$GC,7147,0.91,233.0,297.5,9.9,322,7151,0.12,2.08,0.00,0.000,6,0.104,0.028,3248,1495,1676,0,0,0,0,0,0
$GC,7466,1.03,287.4,279.1,5.0,337,7521,0.12,2.35,48.25,0.732,4,0.068,0.058,3285,232,1457,0,0,0,0,0,0
$GC,7606,0.94,287.4,265.4,11.8,343,7611,0.15,2.10,0.00,0.000,6,0.098,0.027,3255,1509,1453,0,0,0,0,0,0
$GC,7941,1.00,297.0,239.0,7.4,359,7956,0.00,2.28,8.77,0.597,4,0.000,0.054,3255,232,1418,0,0,0,0,0,0
$GC,8017,1.00,297.0,231.9,9.4,362,8020,0.00,2.05,0.00,0.000,6,0.000,0.026,3255,1501,1415,0,0,0,0,0,0
$GC,8339,1.09,308.9,208.6,7.3,378,8357,0.15,0.00,11.73,0.614,6,0.059,0.000,3299,1506,1368,0,0,0,0,0,0
$GC,8680,1.09,308.9,174.0,10.3,402,8684,0.00,2.28,0.00,0.000,4,0.000,0.025,3299,2887,1367,0,0,0,0,0,0
$GC,8714,1.15,308.9,170.5,10.7,404,8718,0.00,2.42,0.00,0.000,6,0.000,0.040,3299,1494,1367,0,0,0,0,0,0
$GC,8973,1.15,308.9,144.0,8.9,424,8976,0.00,2.17,0.00,0.000,4,0.000,0.052,3299,235,1367,0,0,0,0,0,0
$GC,9041,1.07,308.9,137.7,8.9,429,9045,0.00,2.05,0.00,0.000,6,0.000,0.024,3299,1500,1363,0,0,0,0,0,0
$GC,9306,1.08,315.9,121.1,7.5,450,9321,0.00,2.33,6.62,0.469,4,0.000,0.024,3299,2889,1342,0,0,0,0,0,0
$GC,9340,1.14,315.9,117.9,8.8,452,9345,0.00,2.40,0.00,0.000,6,0.000,0.037,3299,1497,1342,0,0,0,0,0,0
$GC,9601,1.20,315.9,91.9,8.8,472,9602,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1497,1342,0,0,0,0,0,0
$GC,9853,1.30,323.3,72.6,7.5,492,9869,0.15,2.35,7.97,0.467,4,0.057,0.020,3346,2900,1311,0,0,0,0,0,0
$GC,9880,1.30,323.3,70.1,10.4,493,9887,0.00,2.45,0.00,0.000,6,0.000,0.035,3346,1494,1311,0,0,0,0,0,0
$GC,10140,1.33,351.2,49.2,6.4,514,10171,0.00,2.25,24.98,0.511,4,0.000,0.048,3346,238,1197,0,0,0,0,0,0
$GC,10256,1.27,351.2,37.0,11.0,522,10260,0.00,2.03,0.00,0.000,6,0.000,0.020,3346,1526,1193,0,0,0,0,0,0
$GC,10521,1.27,351.2,10.2,9.4,572,10527,0.00,2.28,0.00,0.000,4,0.000,0.048,3346,238,1193,0,0,0,0,0,0
$GC,10539,1.23,351.2,8.0,10.2,575,10547,0.10,2.00,0.00,0.000,6,0.072,0.020,3321,1503,1193,0,0,0,0,0,0
$STATE,10590,end climb,SURFACE_DEPTH_REACHED
$STATE,10590,begin surface coast
$FINISH,0.9,1.023434
$STATE,10627,end surface coast,CONTROL_FINISHED_OK
$STATE,10627,begin surface
$SM_CCo,10651,36.20,0.472,0,0,958,410.14
$SM_GC,1.99,0.00,0.00,36.20,0.000,0.000,0.472,430,1502,958,-12.05,-0.79,410.14
$IRIDIUM_FIX,2101.76,-15803.33,100100,111102
$TT8_MAMPS,0.029146
$HUMID,59.96
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.70
$XPDR_PINGS,1
$24V_AH,23.3,64.729
$10V_AH,10.1,52.524
$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,30.150,121.150,412.025,36.200,0.000,25.501,33.245,182.183,4.750,0.000,18.731,1160.229,7147.290,475.770,1736.369,541.699,0.000,1289.544,0.000,1712.565,0.000,29.271,0.000
$DEVICE_MAMPS,132.691,153.400,833.729,471.705,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,399.939,380.153,846.176,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,31703,594
$CAP_FILE_SIZE,120127,0
$CFSIZE,260165632,175570944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161010,173844,2108.869,-15802.940,13,1.9,13,9.8