version: 66.06
glider: 139
mission: 8
dive: 687
start: 10 16 110 5 11 28
data:
$ID,139
$MISSION,8
$DIVE,687
$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,-2165665
$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
$GPS1,050437,2109.084,-15803.144,35,1.1,35,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-70.9
$GPS2,051108,2109.141,-15803.192,16,1.9,16,9.8
$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,117.7,2456,-17.0,-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,-1.20,-110.9,0.0,0.0,0,82,0.00,0.00,-64.68,0.000,2,0.000,0.000,425,1511,2778,0,0,0,0,0,0
$GC,85,-1.21,-116.8,3.6,-4.1,12,110,12.68,2.40,-6.03,0.000,4,0.133,0.033,2777,2954,3109,0,0,0,0,0,0
$GC,128,-0.17,-116.8,16.5,-29.1,19,135,1.08,2.45,0.00,0.000,6,0.075,0.034,3013,1535,3110,0,0,0,0,0,0
$GC,331,-0.76,-116.8,30.2,-8.6,65,336,0.55,2.35,0.00,0.000,4,0.043,0.020,2881,2955,3112,0,0,0,0,0,0
$GC,358,-1.11,-116.8,32.8,-8.7,67,363,0.32,2.40,0.00,0.000,6,0.035,0.028,2785,1518,3112,0,0,0,0,0,0
$GC,627,-0.94,-116.8,70.0,-14.1,88,629,0.28,0.00,0.00,0.000,6,0.080,0.000,2844,1518,3112,0,0,0,0,0,0
$GC,877,-0.94,-116.8,96.1,-9.5,108,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1518,3113,0,0,0,0,0,0
$GC,1129,-0.97,-116.8,114.0,-6.4,128,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1518,3114,0,0,0,0,0,0
$GC,1382,-1.03,-116.8,134.3,-8.7,148,1386,0.00,2.17,0.00,0.000,4,0.000,0.045,2844,241,3114,0,0,0,0,0,0
$GC,1441,-1.08,-116.8,139.8,-8.4,152,1447,0.12,2.10,0.00,0.000,6,0.061,0.018,2800,1596,3115,0,0,0,0,0,0
$GC,1711,-1.04,-116.8,164.9,-8.1,173,1715,0.10,2.22,0.00,0.000,4,0.104,0.022,2822,2951,3115,0,0,0,0,0,0
$GC,1738,-1.11,-116.8,167.0,-5.8,175,1742,0.00,2.40,0.00,0.000,6,0.000,0.031,2822,1533,3115,0,0,0,0,0,0
$GC,2005,-1.11,-116.8,184.7,-7.5,196,2009,0.00,2.20,0.00,0.000,4,0.000,0.046,2822,237,3115,0,0,0,0,0,0
$GC,2045,-1.11,-116.8,188.4,-8.0,199,2049,0.00,2.12,0.00,0.000,6,0.000,0.020,2822,1590,3115,0,0,0,0,0,0
$GC,2323,-1.15,-116.8,211.6,-8.7,217,2327,0.10,2.35,0.00,0.000,4,0.075,0.047,2784,232,3115,0,0,0,0,0,0
$GC,2347,-1.08,-116.8,214.5,-10.5,218,2352,0.15,2.12,0.00,0.000,6,0.088,0.020,2817,1585,3115,0,0,0,0,0,0
$GC,2680,-1.08,-116.8,245.2,-8.6,234,2684,0.00,2.33,0.00,0.000,4,0.000,0.047,2817,230,3114,0,0,0,0,0,0
$GC,2741,-1.08,-116.8,250.5,-7.7,236,2748,0.00,2.15,0.00,0.000,6,0.000,0.021,2817,1581,3114,0,0,0,0,0,0
$GC,3057,-1.13,-116.8,272.2,-6.7,252,3062,0.00,2.30,0.00,0.000,4,0.000,0.048,2817,238,3113,0,0,0,0,0,0
$GC,3080,-1.13,-116.8,273.8,-7.7,253,3084,0.00,2.12,0.00,0.000,6,0.000,0.021,2817,1584,3114,0,0,0,0,0,0
$GC,3413,-1.18,-116.8,301.4,-7.9,269,3415,0.10,0.00,0.00,0.000,6,0.073,0.000,2780,1588,3113,0,0,0,0,0,0
$GC,3734,-1.18,-116.8,325.2,-6.9,277,3738,0.00,2.33,0.00,0.000,4,0.000,0.049,2780,236,3112,0,0,0,0,0,0
$GC,3769,-1.13,-116.8,327.6,-7.7,277,3774,0.12,2.15,0.00,0.000,6,0.092,0.022,2807,1582,3112,0,0,0,0,0,0
$GC,4100,-1.17,-116.8,352.1,-8.1,285,4104,0.00,2.35,0.00,0.000,4,0.000,0.051,2807,238,3110,0,0,0,0,0,0
$GC,4130,-1.17,-116.8,354.8,-9.8,285,4134,0.00,2.12,0.00,0.000,6,0.000,0.023,2807,1579,3110,0,0,0,0,0,0
$GC,4466,-1.17,-116.8,381.9,-7.7,294,4470,0.00,2.33,0.00,0.000,4,0.000,0.051,2807,238,3107,0,0,0,0,0,0
$GC,4490,-1.17,-116.8,383.7,-7.3,294,4494,0.00,2.08,0.00,0.000,6,0.000,0.025,2807,1538,3107,0,0,0,0,0,0
$GC,4832,-1.21,-116.8,407.9,-7.6,303,4836,0.00,2.28,0.00,0.000,4,0.000,0.054,2807,239,3105,0,0,0,0,0,0
$GC,4875,-1.21,-116.8,411.9,-8.8,304,4879,0.00,2.08,0.00,0.000,6,0.000,0.025,2807,1532,3105,0,0,0,0,0,0
$GC,5204,-1.26,-116.8,437.8,-7.2,312,5209,0.15,2.30,0.00,0.000,4,0.059,0.028,2762,2908,3103,0,0,0,0,0,0
$GC,5236,-1.26,-116.8,440.2,-8.5,312,5241,0.00,2.35,0.00,0.000,6,0.000,0.041,2761,1530,3103,0,0,0,0,0,0
$STATE,5366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5366,begin apogee
$GC,5373,-0.31,0.0,451.9,8.7,316,5473,1.02,0.00,96.62,0.829,6,0.069,0.000,2981,1484,2630,0,0,0,0,0,0
$STATE,5474,end apogee,CONTROL_FINISHED_OK
$STATE,5474,begin climb
$GC,5478,1.21,116.8,453.6,0.0,318,5590,1.45,2.45,101.18,0.813,4,0.038,0.029,3316,2880,2152,0,0,0,0,0,0
$GC,5707,1.03,116.8,443.7,8.7,323,5712,0.20,2.40,0.00,0.000,6,0.100,0.041,3277,1514,2149,0,0,0,0,0,0
$GC,6027,0.95,155.8,422.5,6.0,331,6065,0.00,0.00,34.47,0.788,6,0.000,0.000,3277,1514,1993,0,0,0,0,0,0
$GC,6393,0.85,155.8,392.5,8.8,340,6398,0.20,2.30,0.00,0.000,4,0.096,0.028,3237,2879,1986,0,0,0,0,0,0
$GC,6445,0.92,192.9,388.8,6.1,341,6485,0.00,2.42,32.75,0.777,6,0.000,0.042,3237,1499,1843,0,0,0,0,0,0
$GC,6810,0.95,213.2,364.9,6.9,350,6830,0.00,0.00,18.90,0.743,6,0.000,0.000,3237,1499,1760,0,0,0,0,0,0
$GC,7133,0.98,241.0,343.1,6.6,358,7162,0.12,0.00,25.33,0.748,6,0.067,0.000,3273,1499,1647,0,0,0,0,0,0
$GC,7505,0.93,244.1,314.4,7.7,367,7509,0.00,2.25,0.00,0.000,4,0.000,0.059,3273,226,1641,0,0,0,0,0,0
$GC,7553,0.81,244.1,309.9,9.4,368,7558,0.22,2.10,0.00,0.000,6,0.093,0.027,3228,1503,1638,0,0,0,0,0,0
$GC,7882,0.92,293.5,291.4,5.5,379,7935,0.10,2.30,45.78,0.735,4,0.078,0.056,3260,234,1431,0,0,0,0,0,0
$GC,7966,0.84,293.5,284.9,9.6,382,7973,0.10,2.10,0.00,0.000,6,0.079,0.028,3236,1492,1429,0,0,0,0,0,0
$GC,8281,0.91,293.5,257.6,9.7,398,8283,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1492,1426,0,0,0,0,0,0
$GC,8593,0.97,293.5,227.7,9.2,413,8598,0.12,2.20,0.00,0.000,4,0.067,0.056,3273,233,1424,0,0,0,0,0,0
$GC,8663,0.91,293.5,219.8,11.2,416,8668,0.12,2.05,0.00,0.000,6,0.100,0.026,3249,1507,1422,0,0,0,0,0,0
$GC,8985,0.95,293.5,192.3,10.0,434,8989,0.00,2.25,0.00,0.000,4,0.000,0.054,3249,232,1422,0,0,0,0,0,0
$GC,9021,0.95,293.5,187.3,12.6,436,9028,0.00,2.08,0.00,0.000,6,0.000,0.025,3249,1504,1420,0,0,0,0,0,0
$GC,9283,1.02,293.5,159.0,10.2,457,9288,0.10,2.25,0.00,0.000,4,0.077,0.053,3282,228,1421,0,0,0,0,0,0
$GC,9344,0.96,293.5,151.6,11.9,461,9350,0.12,2.05,0.00,0.000,6,0.099,0.024,3258,1516,1420,0,0,0,0,0,0
$GC,9606,1.11,363.9,135.2,4.6,482,9673,0.15,2.38,59.05,0.611,4,0.059,0.052,3302,227,1145,0,0,0,0,0,0
$GC,9690,1.04,363.9,128.9,8.8,488,9694,0.12,2.05,0.00,0.000,6,0.097,0.024,3277,1500,1143,0,0,0,0,0,0
$GC,9952,1.10,373.4,110.1,7.4,508,9967,0.00,2.25,9.00,0.509,4,0.000,0.051,3277,232,1106,0,0,0,0,0,0
$GC,10011,1.13,373.4,103.8,11.1,512,10014,0.00,2.05,0.00,0.000,6,0.000,0.022,3277,1497,1103,0,0,0,0,0,0
$GC,10283,1.24,373.4,80.2,7.9,533,10288,0.17,2.25,0.00,0.000,4,0.051,0.050,3330,227,1102,0,0,0,0,0,0
$GC,10330,1.17,373.4,74.5,12.1,536,10337,0.10,2.08,0.00,0.000,6,0.070,0.021,3306,1520,1101,0,0,0,0,0,0
$GC,10593,1.23,387.2,53.9,7.2,557,10611,0.00,2.30,12.12,0.487,4,0.000,0.048,3305,236,1050,0,0,0,0,0,0
$GC,10639,1.23,387.2,50.1,8.4,560,10642,0.00,1.98,0.00,0.000,6,0.000,0.021,3306,1485,1048,0,0,0,0,0,0
$GC,10906,1.30,388.8,31.3,7.8,581,10911,0.12,2.22,0.00,0.000,4,0.062,0.049,3348,231,1048,0,0,0,0,0,0
$GC,10940,1.25,388.8,27.7,9.1,586,10948,0.10,2.05,0.00,0.000,6,0.068,0.020,3323,1525,1048,0,0,0,0,0,0
$GC,11145,1.25,388.8,9.1,9.8,632,11152,0.00,2.28,0.00,0.000,4,0.000,0.048,3322,231,1048,0,0,0,0,0,0
$GC,11188,1.25,388.8,5.1,9.5,641,11195,0.00,2.00,0.00,0.000,6,0.000,0.021,3323,1492,1047,0,0,0,0,0,0
$STATE,11213,end climb,SURFACE_DEPTH_REACHED
$STATE,11213,begin surface coast
$FINISH,0.9,0.997857
$STATE,11248,end surface coast,CONTROL_FINISHED_OK
$STATE,11248,begin surface
$SM_CCo,11272,19.35,0.463,0,0,957,410.14
$SM_GC,1.92,0.00,0.00,19.35,0.000,0.000,0.463,424,1491,957,-12.08,-1.07,410.14
$IRIDIUM_FIX,2101.76,-15805.48,100100,010144
$TT8_MAMPS,0.029146
$HUMID,59.76
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,21.90
$XPDR_PINGS,2
$24V_AH,23.3,64.411
$10V_AH,10.0,52.285
$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,32.825,115.675,435.200,19.350,0.000,30.303,32.898,189.611,5.000,0.000,16.646,1257.347,7506.493,495.492,1852.535,566.057,0.000,1328.569,0.000,1826.615,0.000,29.259,0.000
$DEVICE_MAMPS,133.458,154.167,829.127,462.501,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,440.263,416.900,957.764,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,34947,654
$CAP_FILE_SIZE,124879,0
$CFSIZE,260165632,175734784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161010,082101,2108.879,-15803.233,43,1.4,43,9.8