version: 66.06
glider: 139
mission: 8
dive: 689
start: 10 16 110 11 29 49
data:
$ID,139
$MISSION,8
$DIVE,689
$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,-2165703.2
$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
$GPS1,112314,2108.917,-15803.204,13,1.9,13,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-72.8
$GPS2,112931,2108.907,-15803.267,11,2.0,22,9.8
$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,107.3,2332,-18.1,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.25,-99.0,0.0,0.0,0,84,0.00,0.00,-64.18,0.000,2,0.000,0.000,424,1517,2752,0,0,0,0,0,0
$GC,88,-1.28,-116.8,3.7,-3.9,12,111,12.57,0.00,-6.65,0.000,6,0.133,0.000,2766,1518,3109,0,0,0,0,0,0
$GC,309,-1.04,-116.8,48.8,-18.2,46,314,0.25,2.35,0.00,0.000,4,0.094,0.020,2820,2952,3111,0,0,0,0,0,0
$GC,350,-1.08,-116.8,54.9,-14.2,49,355,0.00,2.42,0.00,0.000,6,0.000,0.035,2819,1527,3111,0,0,0,0,0,0
$GC,615,-1.03,-116.8,83.6,-10.0,70,619,0.00,2.20,0.00,0.000,4,0.000,0.046,2820,235,3112,0,0,0,0,0,0
$GC,703,-1.00,-116.8,92.2,-7.9,76,710,0.00,2.15,0.00,0.000,6,0.000,0.018,2820,1594,3112,0,0,0,0,0,0
$GC,965,-1.00,-116.8,110.3,-7.0,97,969,0.00,2.33,0.00,0.000,4,0.000,0.044,2820,235,3114,0,0,0,0,0,0
$GC,1046,-1.00,-116.8,118.1,-9.1,103,1050,0.00,2.10,0.00,0.000,6,0.000,0.018,2820,1594,3113,0,0,0,0,0,0
$GC,1309,-1.00,-116.8,142.5,-8.5,123,1313,0.00,2.33,0.00,0.000,4,0.000,0.045,2820,235,3114,0,0,0,0,0,0
$GC,1378,-1.00,-116.8,148.3,-7.4,128,1382,0.00,2.10,0.00,0.000,6,0.000,0.018,2820,1586,3114,0,0,0,0,0,0
$GC,1640,-1.03,-116.8,167.5,-8.3,148,1641,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1590,3114,0,0,0,0,0,0
$GC,1889,-1.08,-116.8,189.4,-8.4,168,1893,0.00,2.33,0.00,0.000,4,0.000,0.046,2820,231,3114,0,0,0,0,0,0
$GC,1917,-1.08,-116.8,192.0,-9.6,170,1920,0.00,2.12,0.00,0.000,6,0.000,0.019,2820,1585,3114,0,0,0,0,0,0
$GC,2183,-1.13,-116.8,211.9,-7.6,186,2187,0.00,2.33,0.00,0.000,4,0.000,0.047,2820,228,3114,0,0,0,0,0,0
$GC,2215,-1.17,-116.8,214.7,-8.7,187,2220,0.12,2.15,0.00,0.000,6,0.061,0.020,2775,1589,3115,0,0,0,0,0,0
$GC,2532,-1.17,-116.8,245.9,-10.6,202,2536,0.00,2.33,0.00,0.000,4,0.000,0.047,2775,234,3114,0,0,0,0,0,0
$GC,2560,-1.10,-116.8,249.2,-11.6,203,2565,0.15,2.12,0.00,0.000,6,0.090,0.021,2808,1580,3114,0,0,0,0,0,0
$GC,2886,-1.16,-116.8,277.7,-8.6,219,2890,0.00,2.35,0.00,0.000,4,0.000,0.049,2808,228,3114,0,0,0,0,0,0
$GC,2945,-1.20,-116.8,283.6,-9.7,221,2949,0.00,2.08,0.00,0.000,6,0.000,0.021,2808,1537,3113,0,0,0,0,0,0
$GC,3261,-1.26,-116.8,305.8,-6.4,234,3266,0.15,2.28,0.00,0.000,4,0.057,0.051,2760,230,3112,0,0,0,0,0,0
$GC,3305,-1.16,-116.8,309.7,-10.2,235,3310,0.17,2.08,0.00,0.000,6,0.085,0.022,2797,1531,3112,0,0,0,0,0,0
$GC,3639,-1.21,-116.8,333.7,-7.1,243,3640,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1534,3110,0,0,0,0,0,0
$GC,3959,-1.25,-116.8,358.3,-7.7,251,3963,0.00,2.28,0.00,0.000,4,0.000,0.026,2797,2912,3108,0,0,0,0,0,0
$GC,3979,-1.33,-116.8,359.9,-7.4,251,3986,0.12,2.35,0.00,0.000,6,0.063,0.037,2749,1525,3108,0,0,0,0,0,0
$GC,4334,-1.27,-116.8,394.0,-9.8,260,4338,0.12,2.30,0.00,0.000,4,0.100,0.027,2775,2909,3105,0,0,0,0,0,0
$GC,4372,-1.35,-116.8,397.8,-8.8,260,4378,0.00,2.35,0.00,0.000,6,0.000,0.039,2774,1523,3105,0,0,0,0,0,0
$GC,4703,-1.35,-116.8,428.8,-9.6,269,4707,0.00,2.30,0.00,0.000,4,0.000,0.027,2775,2904,3103,0,0,0,0,0,0
$GC,4751,-1.44,-116.8,433.3,-9.3,270,4756,0.17,2.35,0.00,0.000,6,0.053,0.040,2723,1522,3103,0,0,0,0,0,0
$STATE,4911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4911,begin apogee
$GC,4917,-0.31,0.0,451.1,11.3,274,5018,1.23,0.00,97.07,0.829,6,0.076,0.000,2982,1522,2630,0,0,0,0,0,0
$STATE,5019,end apogee,CONTROL_FINISHED_OK
$STATE,5019,begin climb
$GC,5023,1.28,116.8,454.5,0.0,276,5135,1.50,2.35,101.43,0.814,4,0.036,0.028,3331,2866,2153,0,0,0,0,0,0
$GC,5212,1.12,130.4,452.7,7.2,280,5233,0.20,2.40,12.82,0.730,6,0.101,0.041,3292,1502,2098,0,0,0,0,0,0
$GC,5571,0.99,130.4,424.0,8.5,289,5576,0.12,2.22,0.00,0.000,4,0.112,0.057,3269,232,2090,0,0,0,0,0,0
$GC,5595,0.83,130.4,421.6,9.7,289,5600,0.17,2.05,0.00,0.000,6,0.100,0.026,3234,1493,2087,0,0,0,0,0,0
$GC,5938,0.84,142.3,395.7,7.3,298,5954,0.00,2.40,9.95,0.704,4,0.000,0.030,3234,2877,2049,0,0,0,0,0,0
$GC,6006,0.90,142.3,390.3,8.1,299,6010,0.00,2.40,0.00,0.000,6,0.000,0.041,3233,1496,2049,0,0,0,0,0,0
$GC,6357,0.93,163.6,364.2,6.8,308,6379,0.00,0.00,19.95,0.755,6,0.000,0.000,3234,1495,1963,0,0,0,0,0,0
$GC,6681,1.00,191.0,344.1,6.4,316,6709,0.15,0.00,25.65,0.755,6,0.062,0.000,3275,1496,1851,0,0,0,0,0,0
$GC,7007,0.96,195.7,318.4,7.6,324,7020,0.00,2.38,5.28,0.563,4,0.000,0.028,3275,2884,1830,0,0,0,0,0,0
$GC,7048,0.96,195.7,315.0,8.1,324,7053,0.00,2.45,0.00,0.000,6,0.000,0.043,3275,1494,1830,0,0,0,0,0,0
$GC,7362,0.96,218.1,291.7,6.7,335,7390,0.00,2.28,20.95,0.719,4,0.000,0.057,3275,228,1740,0,0,0,0,0,0
$GC,7524,0.87,218.1,277.1,8.7,342,7529,0.17,2.08,0.00,0.000,6,0.096,0.027,3241,1499,1735,0,0,0,0,0,0
$GC,7853,0.93,218.1,248.2,10.2,358,7857,0.00,2.28,0.00,0.000,4,0.000,0.058,3240,234,1734,0,0,0,0,0,0
$GC,7930,0.93,218.1,239.6,10.4,361,7934,0.00,2.08,0.00,0.000,6,0.000,0.027,3241,1504,1732,0,0,0,0,0,0
$GC,8253,1.07,261.7,216.3,5.6,377,8294,0.17,0.00,38.38,0.682,6,0.056,0.000,3290,1508,1562,0,0,0,0,0,0
$GC,8612,1.07,261.7,185.8,8.8,399,8616,0.00,2.25,0.00,0.000,4,0.000,0.054,3290,233,1557,0,0,0,0,0,0
$GC,8681,1.01,261.7,178.4,9.6,404,8685,0.00,2.10,0.00,0.000,6,0.000,0.025,3290,1504,1554,0,0,0,0,0,0
$GC,8947,1.01,261.7,156.4,8.3,425,8951,0.00,2.28,0.00,0.000,4,0.000,0.026,3290,2889,1554,0,0,0,0,0,0
$GC,8989,1.10,262.6,152.8,7.9,428,8993,0.00,2.42,0.00,0.000,6,0.000,0.039,3290,1494,1554,0,0,0,0,0,0
$GC,9249,1.13,283.2,134.1,6.8,448,9276,0.00,2.25,18.45,0.583,4,0.000,0.050,3290,231,1473,0,0,0,0,0,0
$GC,9350,1.08,283.2,126.2,8.1,455,9354,0.00,2.05,0.00,0.000,6,0.000,0.024,3290,1516,1470,0,0,0,0,0,0
$GC,9617,1.17,300.4,108.7,7.0,476,9634,0.00,0.00,15.65,0.550,6,0.000,0.000,3290,1517,1405,0,0,0,0,0,0
$GC,9887,1.24,303.2,88.5,7.7,497,9892,0.12,2.25,0.00,0.000,4,0.064,0.051,3331,231,1403,0,0,0,0,0,0
$GC,9992,1.18,303.2,76.5,10.2,504,9999,0.10,2.05,0.00,0.000,6,0.072,0.021,3307,1508,1400,0,0,0,0,0,0
$GC,10254,1.32,374.7,62.4,4.1,525,10324,0.12,2.25,62.97,0.534,4,0.063,0.048,3348,235,1100,0,0,0,0,0,0
$GC,10391,1.26,374.7,49.4,12.0,534,10399,0.10,2.03,0.00,0.000,6,0.069,0.021,3323,1502,1096,0,0,0,0,0,0
$GC,10654,1.31,374.7,25.0,9.8,561,10661,0.00,2.25,0.00,0.000,4,0.000,0.021,3323,2866,1095,0,0,0,0,0,0
$GC,10673,1.36,374.7,22.9,9.9,564,10680,0.08,2.38,0.00,0.000,6,0.037,0.034,3360,1496,1095,0,0,0,0,0,0
$STATE,10845,end climb,SURFACE_DEPTH_REACHED
$STATE,10845,begin surface coast
$FINISH,0.9,1.009262
$STATE,10873,end surface coast,CONTROL_FINISHED_OK
$STATE,10873,begin surface
$SM_CCo,10896,24.12,0.464,0,0,957,410.14
$SM_GC,1.57,0.00,0.00,24.12,0.000,0.000,0.464,425,1491,957,-12.07,-1.13,410.14
$IRIDIUM_FIX,2104.07,-15805.48,100100,080858
$TT8_MAMPS,0.029146
$HUMID,61.45
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.3,64.622
$10V_AH,10.1,52.445
$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,30.775,107.950,428.550,24.125,0.000,23.641,31.205,176.497,4.500,0.000,23.077,1186.149,7276.226,492.074,1789.920,547.675,0.000,1306.322,0.000,1767.838,0.000,29.261,0.000
$DEVICE_MAMPS,132.691,57.525,829.127,464.035,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,410.111,395.294,856.760,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355744
$DATA_FILE_SIZE,35068,609
$CAP_FILE_SIZE,118366,0
$CFSIZE,260165632,175628288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161010,143307,2109.098,-15803.026,39,0.8,39,9.8