version: 66.06
glider: 139
mission: 8
dive: 807
start: 11 1 110 16 48 4
data:
$ID,139
$MISSION,8
$DIVE,807
$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,-2168431.5
$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,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
$GPS1,164137,2059.212,-15751.497,43,0.9,43,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-73.5
$GPS2,164744,2059.197,-15751.498,13,1.5,13,9.8
$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,303.0,24889,-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,-116.8,0.0,0.0,0,87,0.00,0.00,-69.70,0.000,2,0.000,0.000,425,1433,2762,0,0,0,0,0,0
$GC,91,-1.18,-116.8,3.7,-4.0,13,116,12.60,2.38,-6.50,0.000,4,0.130,0.031,2784,2877,3108,0,0,0,0,0,0
$GC,173,-1.09,-116.8,21.0,-15.4,29,180,0.10,2.47,0.00,0.000,6,0.080,0.033,2808,1448,3110,0,0,0,0,0,0
$GC,375,-0.91,-116.8,48.3,-13.2,53,380,0.20,2.08,0.00,0.000,4,0.089,0.044,2850,237,3111,0,0,0,0,0,0
$GC,435,-0.84,-116.8,56.2,-12.6,57,439,0.00,2.00,0.00,0.000,6,0.000,0.019,2850,1507,3111,0,0,0,0,0,0
$GC,704,-0.78,-116.8,85.3,-9.9,78,709,0.12,2.22,0.00,0.000,4,0.095,0.044,2877,231,3111,0,0,0,0,0,0
$GC,738,-0.78,-116.8,88.4,-8.9,80,745,0.00,2.00,0.00,0.000,6,0.000,0.019,2877,1509,3112,0,0,0,0,0,0
$GC,999,-0.83,-116.8,109.2,-8.5,101,1003,0.00,2.17,0.00,0.000,4,0.000,0.044,2877,232,3112,0,0,0,0,0,0
$GC,1027,-0.89,-116.8,112.0,-9.4,103,1031,0.00,2.00,0.00,0.000,6,0.000,0.019,2877,1512,3112,0,0,0,0,0,0
$GC,1293,-1.10,-116.8,133.8,-8.4,124,1298,0.28,2.20,0.00,0.000,4,0.039,0.041,2786,230,3112,0,0,0,0,0,0
$GC,1363,-1.02,-116.8,140.9,-10.3,129,1367,0.17,2.00,0.00,0.000,6,0.082,0.018,2824,1518,3112,0,0,0,0,0,0
$GC,1632,-1.02,-116.8,159.9,-6.0,150,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1522,3113,0,0,0,0,0,0
$GC,1892,-1.02,-116.8,179.7,-7.8,171,1897,0.00,2.17,0.00,0.000,4,0.000,0.044,2824,237,3113,0,0,0,0,0,0
$GC,1952,-1.02,-116.8,184.9,-9.3,175,1956,0.00,1.98,0.00,0.000,6,0.000,0.019,2824,1506,3113,0,0,0,0,0,0
$GC,2219,-1.02,-116.8,205.1,-6.9,194,2220,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1516,3113,0,0,0,0,0,0
$GC,2533,-1.07,-116.8,227.2,-7.2,209,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1516,3113,0,0,0,0,0,0
$GC,2838,-1.11,-116.8,248.6,-6.6,224,2842,0.00,2.20,0.00,0.000,4,0.000,0.047,2824,236,3113,0,0,0,0,0,0
$GC,2886,-1.16,-116.8,252.0,-7.5,226,2890,0.12,1.98,0.00,0.000,6,0.062,0.021,2780,1511,3113,0,0,0,0,0,0
$GC,3219,-1.10,-116.8,278.8,-8.8,242,3224,0.15,2.25,0.00,0.000,4,0.087,0.025,2813,2882,3112,0,0,0,0,0,0
$GC,3252,-1.21,-116.8,281.7,-7.4,243,3257,0.12,2.42,0.00,0.000,6,0.061,0.034,2766,1450,3112,0,0,0,0,0,0
$GC,3588,-1.15,-116.8,310.8,-8.5,256,3593,0.15,2.10,0.00,0.000,4,0.087,0.051,2798,238,3111,0,0,0,0,0,0
$GC,3649,-1.15,-116.8,315.9,-7.8,257,3653,0.00,2.00,0.00,0.000,6,0.000,0.022,2798,1499,3111,0,0,0,0,0,0
$GC,3969,-1.15,-116.8,338.2,-7.7,265,3973,0.00,2.17,0.00,0.000,4,0.000,0.026,2798,2828,3109,0,0,0,0,0,0
$GC,3994,-1.18,-116.8,340.0,-7.7,265,3998,0.00,2.35,0.00,0.000,6,0.000,0.038,2798,1444,3108,0,0,0,0,0,0
$GC,4336,-1.18,-116.8,366.0,-8.1,274,4337,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1444,3106,0,0,0,0,0,0
$GC,4660,-1.18,-116.8,391.5,-7.4,282,4664,0.00,2.28,0.00,0.000,4,0.000,0.026,2798,2827,3104,0,0,0,0,0,0
$GC,4749,-1.26,-116.8,397.5,-6.2,284,4754,0.10,2.35,0.00,0.000,6,0.072,0.038,2762,1445,3104,0,0,0,0,0,0
$GC,5081,-1.19,-116.8,424.6,-9.2,292,5086,0.12,2.30,0.00,0.000,4,0.094,0.028,2788,2826,3101,0,0,0,0,0,0
$GC,5101,-1.19,-116.8,426.7,-8.6,292,5105,0.00,2.38,0.00,0.000,6,0.000,0.040,2788,1448,3101,0,0,0,0,0,0
$STATE,5403,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5403,begin apogee
$GC,5411,-0.31,0.0,451.6,8.5,300,5510,0.90,0.00,96.32,0.830,6,0.065,0.000,2983,1449,2629,0,0,0,0,0,0
$STATE,5511,end apogee,CONTROL_FINISHED_OK
$STATE,5511,begin climb
$GC,5514,1.18,116.8,455.2,0.0,302,5626,1.40,2.30,101.62,0.816,4,0.032,0.028,3312,2792,2153,0,0,0,0,0,0
$GC,5648,1.09,216.5,458.4,3.4,305,5743,0.12,2.42,86.93,0.807,6,0.107,0.041,3289,1417,1747,0,0,0,0,0,0
$GC,6059,0.93,216.5,422.5,9.8,315,6064,0.17,2.33,0.00,0.000,4,0.097,0.028,3255,2796,1737,0,0,0,0,0,0
$GC,6088,0.93,216.5,419.6,8.1,315,6092,0.00,2.42,0.00,0.000,6,0.000,0.044,3254,1420,1737,0,0,0,0,0,0
$GC,6424,0.87,216.5,389.6,9.2,324,6428,0.00,2.12,0.00,0.000,4,0.000,0.059,3254,225,1735,0,0,0,0,0,0
$GC,6454,0.72,216.5,386.6,9.8,324,6458,0.22,1.92,0.00,0.000,6,0.093,0.028,3210,1406,1732,0,0,0,0,0,0
$GC,6791,0.80,235.4,362.0,7.0,333,6808,0.00,0.00,15.43,0.732,6,0.000,0.000,3210,1406,1670,0,0,0,0,0,0
$GC,7117,0.91,282.8,342.7,5.8,341,7163,0.17,0.00,42.90,0.765,6,0.058,0.000,3257,1406,1476,0,0,0,0,0,0
$GC,7480,0.88,282.8,313.7,8.1,350,7481,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1406,1469,0,0,0,0,0,0
$GC,7786,0.92,311.9,292.4,6.6,360,7817,0.00,2.15,25.27,0.722,4,0.000,0.058,3257,229,1357,0,0,0,0,0,0
$GC,7877,0.86,311.9,285.5,9.2,364,7881,0.00,1.98,0.00,0.000,6,0.000,0.028,3257,1429,1354,0,0,0,0,0,0
$GC,8211,0.86,311.9,256.8,9.7,380,8215,0.00,2.12,0.00,0.000,4,0.000,0.057,3257,233,1352,0,0,0,0,0,0
$GC,8249,0.82,311.9,252.9,10.9,381,8255,0.15,1.92,0.00,0.000,6,0.096,0.028,3227,1423,1350,0,0,0,0,0,0
$GC,8567,0.92,328.3,228.0,7.2,397,8585,0.10,0.00,14.55,0.650,6,0.077,0.000,3258,1424,1290,0,0,0,0,0,0
$GC,8898,0.97,338.3,203.5,7.4,413,8914,0.00,2.38,9.95,0.597,4,0.000,0.027,3258,2809,1249,0,0,0,0,0,0
$GC,8930,1.06,347.2,200.6,7.5,414,8946,0.10,2.42,9.48,0.586,6,0.076,0.040,3291,1417,1214,0,0,0,0,0,0
$GC,9261,1.06,347.2,168.7,10.0,440,9265,0.00,2.05,0.00,0.000,4,0.000,0.054,3291,236,1211,0,0,0,0,0,0
$GC,9303,0.97,347.2,164.0,10.7,443,9307,0.15,1.90,0.00,0.000,6,0.094,0.026,3261,1427,1209,0,0,0,0,0,0
$GC,9566,1.02,347.2,141.8,8.7,463,9570,0.00,2.10,0.00,0.000,4,0.000,0.053,3261,233,1209,0,0,0,0,0,0
$GC,9598,1.02,347.2,138.5,10.4,465,9602,0.00,1.92,0.00,0.000,6,0.000,0.025,3261,1422,1209,0,0,0,0,0,0
$GC,9869,1.12,359.8,115.9,7.3,486,9884,0.15,0.00,11.43,0.540,6,0.057,0.000,3308,1423,1163,0,0,0,0,0,0
$GC,10135,1.12,359.8,94.8,7.9,507,10139,0.00,2.30,0.00,0.000,4,0.000,0.024,3308,2809,1162,0,0,0,0,0,0
$GC,10163,1.24,377.0,92.3,7.1,509,10187,0.00,2.40,16.17,0.540,6,0.000,0.037,3308,1420,1092,0,0,0,0,0,0
$GC,10440,1.31,396.3,72.9,7.0,531,10463,0.12,2.10,17.38,0.522,4,0.063,0.050,3348,235,1013,0,0,0,0,0,0
$GC,10538,1.22,396.3,64.6,8.5,538,10542,0.17,1.90,0.00,0.000,6,0.084,0.022,3312,1441,1010,0,0,0,0,0,0
$GC,10807,1.28,398.2,47.0,7.8,559,10811,0.00,2.20,0.00,0.000,4,0.000,0.021,3313,2796,1010,0,0,0,0,0,0
$GC,10833,1.39,403.1,44.6,7.7,561,10849,0.17,2.38,6.97,0.428,6,0.048,0.035,3368,1415,984,0,0,0,0,0,0
$GC,11107,1.30,403.1,15.6,10.5,602,11114,0.17,2.08,0.00,0.000,4,0.084,0.048,3331,241,984,0,0,0,0,0,0
$GC,11136,1.23,403.1,12.5,10.7,607,11143,0.00,1.88,0.00,0.000,6,0.000,0.021,3331,1422,983,0,0,0,0,0,0
$STATE,11241,end climb,SURFACE_DEPTH_REACHED
$STATE,11243,begin surface coast
$FINISH,0.8,1.010779
$STATE,11278,end surface coast,CONTROL_FINISHED_OK
$STATE,11278,begin surface
$SM_CCo,11301,6.47,0.392,0,0,957,410.14
$SM_GC,1.48,0.00,0.00,6.47,0.000,0.000,0.392,426,1422,957,-12.07,-0.79,410.14
$IRIDIUM_FIX,2050.21,-15749.62,260100,131354
$TT8_MAMPS,0.029146
$HUMID,63.42
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,20.70
$XPDR_PINGS,1
$24V_AH,23.3,78.209
$10V_AH,10.0,62.639
$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,31.075,104.150,454.400,6.475,0.000,27.645,32.962,167.853,4.750,0.000,13.945,1221.240,7629.638,486.473,1767.426,567.886,0.000,1292.593,0.000,1761.711,0.000,29.262,0.000
$DEVICE_MAMPS,130.390,59.059,829.894,391.937,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,430.380,414.351,907.775,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,34987,639
$CAP_FILE_SIZE,119488,0
$CFSIZE,260165632,168378368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011110,195726,2059.634,-15751.990,13,1.8,13,9.8