version: 66.06
glider: 139
mission: 8
dive: 806
start: 11 1 110 13 24 4
data:
$ID,139
$MISSION,8
$DIVE,806
$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,-2168416.8
$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,1450
$C_ROLL_CLIMB,1420
$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
$GPS1,131307,2058.656,-15751.169,44,0.8,44,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-72.1
$GPS2,132344,2058.602,-15751.118,13,2.0,13,9.8
$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,303.8,26122,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.57,0.000,2,0.000,0.000,424,1430,2630,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.2,-3.3,12,115,12.62,2.10,-9.48,0.000,4,0.130,0.058,2785,238,3110,0,0,0,0,0,0
$GC,240,-0.99,-116.8,30.1,-15.4,45,245,0.22,1.98,0.00,0.000,6,0.087,0.018,2831,1510,3112,0,0,0,0,0,0
$GC,507,-0.87,-116.8,61.6,-10.5,66,509,0.15,0.00,0.00,0.000,6,0.097,0.000,2862,1515,3112,0,0,0,0,0,0
$GC,757,-0.87,-116.8,86.7,-9.5,86,761,0.00,2.20,0.00,0.000,4,0.000,0.044,2862,237,3112,0,0,0,0,0,0
$GC,809,-0.87,-116.8,91.8,-9.3,90,813,0.00,1.98,0.00,0.000,6,0.000,0.019,2862,1508,3112,0,0,0,0,0,0
$GC,1079,-0.87,-116.8,115.4,-8.8,111,1083,0.00,2.20,0.00,0.000,4,0.000,0.044,2862,236,3113,0,0,0,0,0,0
$GC,1125,-0.90,-116.8,120.0,-9.3,114,1133,0.00,2.00,0.00,0.000,6,0.000,0.019,2862,1515,3113,0,0,0,0,0,0
$GC,1389,-0.97,-116.8,142.8,-8.3,135,1394,0.10,2.22,0.00,0.000,4,0.071,0.044,2819,228,3113,0,0,0,0,0,0
$GC,1431,-0.97,-116.8,147.4,-10.1,138,1435,0.00,1.98,0.00,0.000,6,0.000,0.018,2818,1508,3113,0,0,0,0,0,0
$GC,1698,-0.97,-116.8,170.0,-7.7,159,1702,0.10,2.20,0.00,0.000,4,0.103,0.044,2841,236,3114,0,0,0,0,0,0
$GC,1728,-1.00,-116.8,172.5,-8.4,161,1732,0.00,1.98,0.00,0.000,6,0.000,0.019,2841,1506,3114,0,0,0,0,0,0
$GC,1993,-1.04,-116.8,189.5,-6.8,182,1997,0.00,2.17,0.00,0.000,4,0.000,0.044,2841,235,3114,0,0,0,0,0,0
$GC,2035,-1.09,-116.8,192.7,-7.8,185,2039,0.05,2.00,0.00,0.000,6,0.019,0.020,2793,1513,3114,0,0,0,0,0,0
$GC,2292,-1.03,-116.8,215.6,-9.0,200,2297,0.15,2.22,0.00,0.000,4,0.087,0.046,2826,230,3114,0,0,0,0,0,0
$GC,2321,-1.03,-116.8,218.2,-8.9,201,2325,0.00,2.00,0.00,0.000,6,0.000,0.019,2826,1507,3115,0,0,0,0,0,0
$GC,2647,-1.03,-116.8,241.3,-6.1,217,2648,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1524,3114,0,0,0,0,0,0
$GC,2956,-1.08,-116.8,259.0,-5.4,232,2957,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1524,3113,0,0,0,0,0,0
$GC,3268,-1.13,-116.8,278.9,-7.1,247,3272,0.00,2.20,0.00,0.000,4,0.000,0.048,2826,237,3113,0,0,0,0,0,0
$GC,3313,-1.17,-116.8,282.4,-7.8,249,3317,0.15,2.00,0.00,0.000,6,0.055,0.021,2775,1511,3113,0,0,0,0,0,0
$GC,3644,-1.11,-116.8,312.2,-8.7,262,3649,0.15,2.22,0.00,0.000,4,0.089,0.025,2807,2873,3111,0,0,0,0,0,0
$GC,3674,-1.20,-116.8,314.8,-7.4,262,3678,0.00,2.42,0.00,0.000,6,0.000,0.034,2807,1444,3111,0,0,0,0,0,0
$GC,4011,-1.20,-116.8,337.0,-6.6,271,4015,0.00,2.08,0.00,0.000,4,0.000,0.050,2807,238,3109,0,0,0,0,0,0
$GC,4044,-1.20,-116.8,339.4,-6.8,271,4048,0.00,2.00,0.00,0.000,6,0.000,0.022,2807,1497,3109,0,0,0,0,0,0
$GC,4379,-1.20,-116.8,364.6,-8.3,280,4383,0.00,2.17,0.00,0.000,4,0.000,0.051,2807,238,3107,0,0,0,0,0,0
$GC,4418,-1.20,-116.8,368.0,-9.2,280,4423,0.00,1.92,0.00,0.000,6,0.000,0.023,2807,1460,3107,0,0,0,0,0,0
$GC,4750,-1.23,-116.8,393.4,-6.9,289,4754,0.12,2.25,0.00,0.000,4,0.064,0.026,2765,2824,3105,0,0,0,0,0,0
$GC,4774,-1.23,-116.8,395.1,-6.9,289,4778,0.00,2.35,0.00,0.000,6,0.000,0.038,2765,1453,3105,0,0,0,0,0,0
$GC,5117,-1.17,-116.8,419.2,-7.3,298,5122,0.15,2.28,0.00,0.000,4,0.088,0.026,2797,2824,3102,0,0,0,0,0,0
$GC,5209,-1.24,-116.8,424.9,-5.3,300,5213,0.00,2.35,0.00,0.000,6,0.000,0.038,2797,1442,3102,0,0,0,0,0,0
$GC,5538,-1.24,-116.8,444.1,-6.1,308,5539,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1442,3100,0,0,0,0,0,0
$STATE,5655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5656,begin apogee
$GC,5662,-0.31,0.0,452.1,6.5,311,5761,0.85,0.00,95.93,0.823,6,0.064,0.000,2981,1441,2630,0,0,0,0,0,0
$STATE,5762,end apogee,CONTROL_FINISHED_OK
$STATE,5762,begin climb
$GC,5765,1.18,116.8,454.7,0.0,313,5872,1.42,0.00,102.00,0.808,6,0.032,0.000,3312,1442,2153,0,0,0,0,0,0
$GC,6192,0.95,116.8,432.9,7.9,324,6197,0.25,2.28,0.00,0.000,4,0.093,0.027,3259,2793,2142,0,0,0,0,0,0
$GC,6244,0.88,129.0,428.4,7.3,325,6261,0.00,2.40,10.27,0.699,6,0.000,0.041,3259,1420,2103,0,0,0,0,0,0
$GC,6610,0.81,166.0,403.7,6.2,334,6653,0.15,2.20,33.33,0.779,4,0.100,0.057,3229,235,1952,0,0,0,0,0,0
$GC,6675,0.79,216.1,400.0,5.6,335,6727,0.00,1.92,45.03,0.779,6,0.000,0.027,3229,1406,1749,0,0,0,0,0,0
$GC,7068,0.84,263.9,377.0,5.7,345,7117,0.00,2.42,41.65,0.772,4,0.000,0.028,3229,2802,1553,0,0,0,0,0,0
$GC,7149,0.95,269.4,371.6,7.6,346,7162,0.12,2.42,6.47,0.604,6,0.066,0.041,3266,1416,1530,0,0,0,0,0,0
$GC,7493,0.88,269.4,341.3,8.9,355,7497,0.12,2.10,0.00,0.000,4,0.100,0.058,3241,233,1524,0,0,0,0,0,0
$GC,7569,0.83,269.4,333.7,9.7,356,7573,0.00,1.98,0.00,0.000,6,0.000,0.028,3241,1421,1521,0,0,0,0,0,0
$GC,7909,0.83,269.4,303.7,9.1,365,7913,0.00,2.08,0.00,0.000,4,0.000,0.056,3241,235,1520,0,0,0,0,0,0
$GC,7951,0.83,269.4,299.4,10.3,365,7956,0.00,1.95,0.00,0.000,6,0.000,0.028,3241,1430,1519,0,0,0,0,0,0
$GC,8269,0.84,279.9,274.2,7.4,381,8279,0.00,0.00,8.52,0.624,6,0.000,0.000,3241,1431,1488,0,0,0,0,0,0
$GC,8576,0.93,317.6,252.5,6.2,396,8618,0.00,2.15,33.97,0.699,4,0.000,0.054,3241,234,1333,0,0,0,0,0,0
$GC,8646,0.93,317.6,247.9,7.9,399,8650,0.00,1.95,0.00,0.000,6,0.000,0.028,3240,1421,1331,0,0,0,0,0,0
$GC,8981,0.99,317.6,224.7,7.9,415,8986,0.10,2.33,0.00,0.000,4,0.077,0.028,3274,2810,1329,0,0,0,0,0,0
$GC,8998,1.05,317.6,223.1,8.1,415,9003,0.00,2.42,0.00,0.000,6,0.000,0.041,3273,1419,1329,0,0,0,0,0,0
$GC,9316,1.05,317.6,194.0,8.9,433,9320,0.00,2.08,0.00,0.000,4,0.000,0.054,3273,235,1327,0,0,0,0,0,0
$GC,9354,1.00,317.6,190.6,8.9,436,9358,0.00,1.92,0.00,0.000,6,0.000,0.026,3273,1427,1325,0,0,0,0,0,0
$GC,9625,1.00,317.6,168.6,8.6,457,9629,0.00,2.30,0.00,0.000,4,0.000,0.026,3273,2810,1325,0,0,0,0,0,0
$GC,9651,1.07,317.6,166.3,8.6,459,9655,0.00,2.38,0.00,0.000,6,0.000,0.038,3273,1419,1325,0,0,0,0,0,0
$GC,9918,1.10,317.6,143.9,8.1,480,9922,0.00,2.05,0.00,0.000,4,0.000,0.051,3273,233,1325,0,0,0,0,0,0
$GC,9961,1.10,317.6,140.1,8.3,483,9965,0.00,1.90,0.00,0.000,6,0.000,0.025,3273,1425,1324,0,0,0,0,0,0
$GC,10231,1.20,343.2,122.1,6.7,504,10256,0.17,0.00,21.98,0.570,6,0.052,0.000,3326,1426,1230,0,0,0,0,0,0
$GC,10509,1.23,365.0,101.2,6.9,526,10536,0.00,2.38,19.25,0.543,4,0.000,0.023,3326,2806,1141,0,0,0,0,0,0
$GC,10542,1.24,378.4,98.6,7.3,528,10560,0.00,2.40,12.93,0.517,6,0.000,0.036,3326,1419,1087,0,0,0,0,0,0
$GC,10821,1.25,385.5,76.0,7.6,550,10836,0.00,2.10,7.20,0.451,4,0.000,0.050,3326,239,1057,0,0,0,0,0,0
$GC,10894,1.19,385.5,69.3,9.9,555,10898,0.00,1.90,0.00,0.000,6,0.000,0.022,3326,1431,1055,0,0,0,0,0,0
$GC,11167,1.26,446.3,50.7,5.2,576,11220,0.00,0.00,51.30,0.515,6,0.000,0.000,3326,1433,809,0,0,0,0,0,0
$GC,11476,1.26,446.3,20.4,10.0,614,11483,0.00,2.10,0.00,0.000,4,0.000,0.048,3326,240,805,0,0,0,0,0,0
$GC,11525,1.23,446.3,15.1,11.4,624,11531,0.00,1.90,0.00,0.000,6,0.000,0.021,3326,1432,804,0,0,0,0,0,0
$STATE,11653,end climb,SURFACE_DEPTH_REACHED
$STATE,11653,begin surface coast
$FINISH,0.8,1.023414
$STATE,11690,end surface coast,CONTROL_FINISHED_OK
$STATE,11690,begin surface
$SM_CCo,11774,0.00,0.000,0,0,801,448.65
$SM_GC,1.71,12.50,0.00,0.00,0.025,0.000,0.000,425,1430,801,-12.00,-0.54,448.65
$IRIDIUM_FIX,2050.21,-15752.63,260100,131310
$TT8_MAMPS,0.028379
$HUMID,63.30
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,20.80
$XPDR_PINGS,0
$24V_AH,23.3,78.098
$10V_AH,10.0,62.556
$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,29.675,111.475,489.825,0.000,0.000,58.235,67.131,300.373,4.500,0.000,13.113,1248.464,8009.881,528.083,1843.753,772.321,0.000,1358.807,0.000,1825.633,0.000,29.258,0.000
$DEVICE_MAMPS,130.390,58.292,822.991,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,444.284,423.995,937.827,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355796
$DATA_FILE_SIZE,38074,661
$CAP_FILE_SIZE,125431,0
$CFSIZE,260165632,168431616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011110,164137,2059.212,-15751.497,43,0.9,43,9.8