version: 66.06
glider: 139
mission: 8
dive: 677
start: 10 14 110 20 37 16
data:
$ID,139
$MISSION,8
$DIVE,677
$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,-2165445.5
$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
$GPS1,203031,2100.313,-15752.013,41,1.5,42,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-73.7
$GPS2,203656,2100.357,-15752.020,13,1.5,13,9.8
$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,300.6,22789,-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,14,begin dive
$GC,16,-1.18,-116.8,0.0,0.0,0,83,0.00,0.00,-64.22,0.000,2,0.000,0.000,426,1508,2748,0,0,0,0,0,0
$GC,87,-1.18,-116.8,3.5,-3.4,12,111,12.65,2.45,-6.78,0.000,4,0.132,0.034,2785,2955,3110,0,0,0,0,0,0
$GC,181,-1.12,-116.8,22.4,-12.8,31,188,0.00,2.45,0.00,0.000,6,0.000,0.034,2784,1533,3112,0,0,0,0,0,0
$GC,392,-0.90,-116.8,55.0,-16.6,55,397,0.30,2.22,0.00,0.000,4,0.088,0.044,2849,233,3113,0,0,0,0,0,0
$GC,448,-0.82,-116.8,63.2,-11.7,59,452,0.00,2.10,0.00,0.000,6,0.000,0.018,2849,1593,3113,0,0,0,0,0,0
$GC,707,-0.82,-116.8,90.8,-10.6,79,711,0.00,2.20,0.00,0.000,4,0.000,0.021,2850,2954,3114,0,0,0,0,0,0
$GC,734,-0.88,-116.8,93.3,-9.6,81,739,0.00,2.42,0.00,0.000,6,0.000,0.031,2850,1524,3114,0,0,0,0,0,0
$GC,997,-0.88,-116.8,117.9,-9.6,102,1001,0.00,2.17,0.00,0.000,4,0.000,0.044,2849,236,3115,0,0,0,0,0,0
$GC,1070,-0.88,-116.8,124.9,-8.8,107,1076,0.00,2.12,0.00,0.000,6,0.000,0.018,2849,1600,3115,0,0,0,0,0,0
$GC,1329,-0.88,-116.8,144.0,-7.2,128,1333,0.00,2.33,0.00,0.000,4,0.000,0.044,2850,237,3116,0,0,0,0,0,0
$GC,1348,-0.88,-116.8,145.5,-7.7,129,1353,0.00,2.12,0.00,0.000,6,0.000,0.018,2849,1601,3116,0,0,0,0,0,0
$GC,1610,-0.93,-116.8,165.1,-7.9,150,1614,0.00,2.35,0.00,0.000,4,0.000,0.045,2849,238,3116,0,0,0,0,0,0
$GC,1677,-0.99,-116.8,171.1,-7.8,155,1681,0.00,2.10,0.00,0.000,6,0.000,0.018,2849,1592,3116,0,0,0,0,0,0
$GC,1948,-1.07,-116.8,188.0,-6.0,176,1953,0.15,2.35,0.00,0.000,4,0.054,0.047,2798,231,3117,0,0,0,0,0,0
$GC,2001,-1.01,-116.8,192.7,-8.6,180,2005,0.15,2.12,0.00,0.000,6,0.087,0.019,2830,1580,3117,0,0,0,0,0,0
$GC,2261,-1.05,-116.8,211.8,-7.5,196,2265,0.00,2.30,0.00,0.000,4,0.000,0.046,2830,237,3117,0,0,0,0,0,0
$GC,2335,-1.09,-116.8,218.6,-8.6,199,2339,0.00,2.03,0.00,0.000,6,0.000,0.020,2830,1548,3117,0,0,0,0,0,0
$GC,2661,-1.15,-116.8,240.4,-6.2,215,2666,0.15,2.28,0.00,0.000,4,0.055,0.048,2780,234,3117,0,0,0,0,0,0
$GC,2733,-1.05,-116.8,246.3,-7.8,218,2738,0.17,2.03,0.00,0.000,6,0.083,0.021,2819,1523,3116,0,0,0,0,0,0
$GC,3062,-1.05,-116.8,267.1,-7.6,234,3066,0.00,2.22,0.00,0.000,4,0.000,0.049,2819,230,3115,0,0,0,0,0,0
$GC,3094,-1.05,-116.8,270.4,-9.8,235,3098,0.00,2.05,0.00,0.000,6,0.000,0.021,2819,1531,3115,0,0,0,0,0,0
$GC,3411,-1.09,-116.8,295.6,-7.3,250,3415,0.00,2.22,0.00,0.000,4,0.000,0.025,2819,2902,3114,0,0,0,0,0,0
$GC,3444,-1.19,-116.8,298.1,-7.0,251,3449,0.12,2.33,0.00,0.000,6,0.062,0.036,2775,1524,3114,0,0,0,0,0,0
$GC,3757,-1.12,-116.8,326.3,-9.3,259,3762,0.15,2.22,0.00,0.000,4,0.090,0.051,2807,237,3112,0,0,0,0,0,0
$GC,3795,-1.12,-116.8,330.0,-8.8,259,3800,0.00,2.05,0.00,0.000,6,0.000,0.023,2806,1530,3112,0,0,0,0,0,0
$GC,4126,-1.12,-116.8,356.4,-7.8,268,4130,0.00,2.25,0.00,0.000,4,0.000,0.026,2806,2899,3109,0,0,0,0,0,0
$GC,4175,-1.21,-116.8,360.0,-7.3,269,4179,0.00,2.33,0.00,0.000,6,0.000,0.038,2806,1529,3109,0,0,0,0,0,0
$GC,4502,-1.21,-116.8,387.1,-8.7,277,4506,0.00,2.28,0.00,0.000,4,0.000,0.026,2806,2897,3107,0,0,0,0,0,0
$GC,4532,-1.28,-116.8,389.6,-9.2,277,4537,0.15,2.33,0.00,0.000,6,0.057,0.038,2758,1529,3107,0,0,0,0,0,0
$GC,4871,-1.20,-116.8,423.9,-10.2,286,4876,0.15,2.28,0.00,0.000,4,0.092,0.055,2788,233,3104,0,0,0,0,0,0
$GC,4961,-1.20,-116.8,433.2,-9.9,288,4965,0.00,2.05,0.00,0.000,6,0.000,0.025,2788,1520,3104,0,0,0,0,0,0
$STATE,5163,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5163,begin apogee
$GC,5171,-0.31,0.0,451.1,8.7,293,5271,0.90,0.00,96.82,0.837,6,0.067,0.000,2983,1524,2630,0,0,0,0,0,0
$STATE,5272,end apogee,CONTROL_FINISHED_OK
$STATE,5272,begin climb
$GC,5274,1.18,116.8,454.0,0.0,295,5384,1.40,0.00,101.97,0.819,6,0.035,0.000,3309,1524,2153,0,0,0,0,0,0
$GC,5682,0.97,116.8,432.9,8.1,305,5687,0.25,2.28,0.00,0.000,4,0.094,0.028,3255,2882,2142,0,0,0,0,0,0
$GC,5735,0.93,135.9,429.2,7.0,306,5758,0.00,2.42,16.40,0.759,6,0.000,0.042,3255,1499,2075,0,0,0,0,0,0
$GC,6098,0.88,160.8,404.8,6.8,315,6126,0.00,2.33,22.65,0.779,4,0.000,0.058,3255,235,1974,0,0,0,0,0,0
$GC,6142,0.76,160.8,401.3,8.1,316,6147,0.20,2.08,0.00,0.000,6,0.098,0.028,3217,1500,1971,0,0,0,0,0,0
$GC,6472,0.81,199.6,381.0,6.1,324,6514,0.00,2.40,35.03,0.788,4,0.000,0.031,3216,2890,1815,0,0,0,0,0,0
$GC,6568,0.92,229.2,375.0,6.6,326,6601,0.15,2.45,27.58,0.769,6,0.061,0.044,3258,1500,1695,0,0,0,0,0,0
$GC,6931,0.90,250.7,349.0,6.9,334,6955,0.00,2.42,19.27,0.744,4,0.000,0.030,3258,2894,1607,0,0,0,0,0,0
$GC,6976,0.91,258.4,345.5,7.5,335,6989,0.00,2.47,8.23,0.653,6,0.000,0.046,3259,1496,1576,0,0,0,0,0,0
$GC,7305,0.87,258.4,314.9,10.1,343,7306,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1496,1571,0,0,0,0,0,0
$GC,7610,0.87,258.4,285.5,8.4,354,7611,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1496,1570,0,0,0,0,0,0
$GC,7922,0.87,258.4,260.1,8.4,369,7926,0.00,2.25,0.00,0.000,4,0.000,0.058,3258,229,1568,0,0,0,0,0,0
$GC,8005,0.79,258.4,251.6,10.1,372,8012,0.15,2.10,0.00,0.000,6,0.081,0.028,3224,1494,1566,0,0,0,0,0,0
$GC,8324,0.89,282.5,229.3,6.8,388,8350,0.00,2.42,20.30,0.679,4,0.000,0.028,3224,2892,1477,0,0,0,0,0,0
$GC,8360,1.05,321.1,226.6,6.2,389,8403,0.25,2.45,35.00,0.686,6,0.045,0.040,3291,1494,1320,0,0,0,0,0,0
$GC,8720,0.99,321.1,192.4,9.6,409,8725,0.12,2.25,0.00,0.000,4,0.098,0.056,3266,235,1315,0,0,0,0,0,0
$GC,8830,0.95,321.1,180.4,11.0,417,8834,0.00,2.08,0.00,0.000,6,0.000,0.025,3266,1511,1312,0,0,0,0,0,0
$GC,9094,0.95,321.1,156.8,8.3,438,9098,0.00,2.25,0.00,0.000,4,0.000,0.054,3266,226,1312,0,0,0,0,0,0
$GC,9140,0.95,321.1,152.0,10.9,441,9146,0.00,2.08,0.00,0.000,6,0.000,0.025,3266,1515,1310,0,0,0,0,0,0
$GC,9400,1.01,321.1,129.6,8.4,462,9404,0.00,2.25,0.00,0.000,4,0.000,0.052,3265,234,1310,0,0,0,0,0,0
$GC,9443,1.01,321.1,125.7,8.9,465,9447,0.00,2.00,0.00,0.000,6,0.000,0.024,3266,1492,1309,0,0,0,0,0,0
$GC,9713,1.08,330.0,105.8,7.5,486,9729,0.00,2.28,7.32,0.491,4,0.000,0.051,3266,236,1284,0,0,0,0,0,0
$GC,9749,1.08,330.0,102.6,9.4,488,9753,0.00,2.05,0.00,0.000,6,0.000,0.022,3266,1513,1282,0,0,0,0,0,0
$GC,10010,1.18,344.2,85.2,7.3,508,10031,0.17,2.25,13.88,0.525,4,0.051,0.048,3319,233,1225,0,0,0,0,0,0
$GC,10061,1.08,344.2,79.7,12.4,511,10067,0.17,2.00,0.00,0.000,6,0.087,0.021,3283,1509,1222,0,0,0,0,0,0
$GC,10323,1.15,350.1,56.4,7.6,532,10339,0.00,2.28,6.15,0.427,4,0.000,0.048,3283,232,1201,0,0,0,0,0,0
$GC,10351,1.22,360.9,54.2,7.4,533,10373,0.10,2.03,10.52,0.477,6,0.034,0.021,3326,1495,1158,0,0,0,0,0,0
$GC,10623,1.22,360.9,33.3,8.0,555,10625,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,1495,1156,0,0,0,0,0,0
$GC,10880,1.22,360.9,11.1,8.4,607,10887,0.00,2.20,0.00,0.000,4,0.000,0.048,3326,240,1156,0,0,0,0,0,0
$GC,10942,1.16,360.9,4.9,10.6,620,10950,0.08,2.00,0.00,0.000,6,0.074,0.019,3306,1512,1154,0,0,0,0,0,0
$STATE,10959,end climb,SURFACE_DEPTH_REACHED
$STATE,10959,begin surface coast
$FINISH,0.8,1.004643
$STATE,10991,end surface coast,CONTROL_FINISHED_OK
$STATE,10991,begin surface
$SM_CCo,11013,33.53,0.477,0,0,958,410.14
$SM_GC,1.68,0.00,0.00,33.53,0.000,0.000,0.477,428,1511,958,-12.07,-0.54,410.14
$IRIDIUM_FIX,2052.52,-15752.63,080100,171753
$TT8_MAMPS,0.027612
$HUMID,61.02
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.3,63.312
$10V_AH,10.0,51.445
$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,30.400,124.800,421.125,33.525,0.000,28.691,32.807,191.203,4.500,0.000,14.086,1233.257,7283.982,491.396,1852.204,567.266,0.000,1344.750,0.000,1831.436,0.000,29.261,0.000
$DEVICE_MAMPS,131.924,58.292,836.797,477.074,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,424.270,406.383,902.234,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,34873,630
$CAP_FILE_SIZE,126604,0
$CFSIZE,260165632,176332800
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141010,234235,2101.070,-15753.344,14,7.6,33,9.8