version: 66.06
glider: 139
mission: 8
dive: 813
start: 11 2 110 10 53 26
data:
$ID,139
$MISSION,8
$DIVE,813
$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,-2168544.8
$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
$GPS1,104707,2101.018,-15754.249,31,0.9,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-72.2
$GPS2,105306,2101.008,-15754.225,10,1.1,14,9.8
$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,305.3,19170,-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,-64.47,0.000,2,0.000,0.000,428,1429,2645,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.1,-2.7,12,115,12.57,2.42,-9.32,0.000,4,0.130,0.035,2786,2874,3109,0,0,0,0,0,0
$GC,165,-1.10,-116.8,16.4,-11.5,27,172,0.08,2.47,0.00,0.000,6,0.082,0.034,2806,1447,3110,0,0,0,0,0,0
$GC,369,-0.91,-116.8,44.1,-13.7,58,374,0.20,2.10,0.00,0.000,4,0.089,0.044,2847,227,3111,0,0,0,0,0,0
$GC,437,-0.85,-116.8,52.3,-11.6,63,441,0.00,2.00,0.00,0.000,6,0.000,0.018,2847,1503,3112,0,0,0,0,0,0
$GC,707,-0.80,-116.8,79.9,-10.2,84,712,0.12,2.22,0.00,0.000,4,0.095,0.044,2874,234,3112,0,0,0,0,0,0
$GC,756,-0.86,-116.8,84.8,-9.3,87,761,0.00,1.95,0.00,0.000,6,0.000,0.019,2874,1517,3112,0,0,0,0,0,0
$GC,1015,-0.91,-116.8,105.8,-8.1,108,1019,0.10,2.20,0.00,0.000,4,0.071,0.044,2834,231,3113,0,0,0,0,0,0
$GC,1056,-0.88,-116.8,109.4,-9.7,111,1061,0.08,2.00,0.00,0.000,6,0.070,0.019,2863,1508,3113,0,0,0,0,0,0
$GC,1327,-1.06,-116.8,130.8,-7.0,132,1332,0.20,2.20,0.00,0.000,4,0.044,0.041,2796,224,3114,0,0,0,0,0,0
$GC,1398,-0.99,-116.8,136.8,-9.1,137,1403,0.12,2.03,0.00,0.000,6,0.064,0.018,2834,1511,3114,0,0,0,0,0,0
$GC,1664,-0.99,-116.8,152.7,-7.0,158,1668,0.00,2.20,0.00,0.000,4,0.000,0.021,2835,2876,3114,0,0,0,0,0,0
$GC,1683,-1.03,-116.8,153.9,-7.3,159,1687,0.00,2.42,0.00,0.000,6,0.000,0.031,2835,1438,3114,0,0,0,0,0,0
$GC,1948,-1.03,-116.8,173.4,-6.6,180,1952,0.00,2.05,0.00,0.000,4,0.000,0.045,2835,230,3114,0,0,0,0,0,0
$GC,2006,-1.06,-116.8,177.5,-6.7,184,2010,0.00,2.00,0.00,0.000,6,0.000,0.019,2835,1507,3115,0,0,0,0,0,0
$GC,2277,-1.06,-116.8,195.4,-6.5,205,2281,0.00,2.17,0.00,0.000,4,0.000,0.044,2835,238,3115,0,0,0,0,0,0
$GC,2304,-1.06,-116.8,197.2,-6.9,207,2307,0.00,1.98,0.00,0.000,6,0.000,0.020,2835,1503,3115,0,0,0,0,0,0
$GC,2566,-1.10,-116.8,216.4,-7.8,221,2571,0.12,2.20,0.00,0.000,4,0.061,0.046,2790,238,3115,0,0,0,0,0,0
$GC,2591,-1.04,-116.8,219.1,-9.7,222,2595,0.15,1.98,0.00,0.000,6,0.086,0.020,2823,1506,3115,0,0,0,0,0,0
$GC,2921,-1.04,-116.8,246.3,-8.1,238,2925,0.00,2.17,0.00,0.000,4,0.000,0.046,2823,233,3114,0,0,0,0,0,0
$GC,2988,-1.04,-116.8,252.3,-8.8,241,2991,0.00,1.98,0.00,0.000,6,0.000,0.021,2823,1504,3114,0,0,0,0,0,0
$GC,3327,-1.08,-116.8,281.9,-9.5,257,3328,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1514,3114,0,0,0,0,0,0
$GC,3629,-1.12,-116.8,311.2,-9.1,269,3633,0.00,2.17,0.00,0.000,4,0.000,0.048,2823,238,3113,0,0,0,0,0,0
$GC,3676,-1.16,-116.8,315.0,-7.4,270,3681,0.12,2.00,0.00,0.000,6,0.063,0.021,2780,1509,3113,0,0,0,0,0,0
$GC,4003,-1.11,-116.8,339.5,-7.3,278,4005,0.12,0.00,0.00,0.000,6,0.092,0.000,2807,1512,3112,0,0,0,0,0,0
$GC,4325,-1.11,-116.8,362.6,-7.3,286,4329,0.00,2.20,0.00,0.000,4,0.000,0.051,2807,231,3111,0,0,0,0,0,0
$GC,4424,-1.11,-116.8,370.0,-7.5,288,4428,0.00,1.98,0.00,0.000,6,0.000,0.022,2807,1494,3110,0,0,0,0,0,0
$GC,4748,-1.15,-116.8,390.9,-6.2,296,4749,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1501,3108,0,0,0,0,0,0
$GC,5074,-1.19,-116.8,414.5,-7.7,304,5078,0.00,2.17,0.00,0.000,4,0.000,0.052,2807,238,3106,0,0,0,0,0,0
$GC,5107,-1.23,-116.8,417.3,-8.3,304,5111,0.12,1.90,0.00,0.000,6,0.065,0.025,2767,1447,3106,0,0,0,0,0,0
$GC,5443,-1.18,-116.8,445.9,-8.9,313,5448,0.12,2.30,0.00,0.000,4,0.094,0.028,2793,2823,3104,0,0,0,0,0,0
$GC,5489,-1.27,-116.8,449.4,-8.0,314,5493,0.00,2.38,0.00,0.000,6,0.000,0.040,2793,1445,3104,0,0,0,0,0,0
$STATE,5496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5496,begin apogee
$GC,5502,-0.31,0.0,450.3,7.2,314,5603,0.85,0.00,96.82,0.821,6,0.064,0.000,2981,1444,2630,0,0,0,0,0,0
$STATE,5604,end apogee,CONTROL_FINISHED_OK
$STATE,5604,begin climb
$GC,5606,1.18,116.8,453.5,0.0,316,5716,1.40,0.00,101.45,0.805,6,0.031,0.000,3312,1445,2153,0,0,0,0,0,0
$GC,6015,0.95,116.8,428.4,9.3,326,6019,0.28,2.28,0.00,0.000,4,0.091,0.027,3255,2796,2143,0,0,0,0,0,0
$GC,6055,0.88,120.4,425.2,7.7,326,6060,0.00,2.40,0.00,0.000,6,0.000,0.041,3254,1419,2142,0,0,0,0,0,0
$GC,6387,0.82,155.5,402.7,6.3,335,6429,0.12,2.20,33.20,0.779,4,0.109,0.057,3230,232,1993,0,0,0,0,0,0
$GC,6469,0.75,183.8,397.8,6.6,336,6501,0.00,1.92,25.67,0.761,6,0.000,0.027,3230,1416,1880,0,0,0,0,0,0
$GC,6849,0.85,265.9,380.1,4.2,346,6930,0.00,2.40,71.90,0.782,4,0.000,0.028,3230,2808,1545,0,0,0,0,0,0
$GC,6963,0.98,304.9,373.5,6.1,347,7005,0.15,2.45,35.20,0.752,6,0.059,0.043,3273,1419,1385,0,0,0,0,0,0
$GC,7348,0.92,304.9,335.7,10.4,357,7352,0.12,2.12,0.00,0.000,4,0.102,0.058,3248,227,1377,0,0,0,0,0,0
$GC,7427,0.88,304.9,327.2,10.1,358,7431,0.00,1.92,0.00,0.000,6,0.000,0.028,3248,1422,1373,0,0,0,0,0,0
$GC,7763,0.88,304.9,298.5,8.5,367,7766,0.00,2.12,0.00,0.000,4,0.000,0.056,3248,228,1373,0,0,0,0,0,0
$GC,7794,0.83,304.9,295.5,10.6,368,7798,0.00,1.95,0.00,0.000,6,0.000,0.028,3249,1424,1371,0,0,0,0,0,0
$GC,8118,0.83,307.0,266.9,7.8,384,8120,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1425,1371,0,0,0,0,0,0
$GC,8430,0.93,344.0,246.1,6.2,399,8467,0.00,2.15,32.25,0.689,4,0.000,0.054,3248,227,1226,0,0,0,0,0,0
$GC,8509,0.93,344.0,240.3,8.9,401,8513,0.00,1.95,0.00,0.000,6,0.000,0.027,3249,1422,1222,0,0,0,0,0,0
$GC,8831,1.01,353.5,215.5,7.5,417,8842,0.00,0.00,8.98,0.583,6,0.000,0.000,3249,1425,1188,0,0,0,0,0,0
$GC,9148,1.12,378.8,192.8,6.8,435,9178,0.20,2.17,22.77,0.628,4,0.051,0.054,3305,235,1084,0,0,0,0,0,0
$GC,9194,1.02,378.8,188.3,9.4,438,9198,0.15,1.92,0.00,0.000,6,0.094,0.025,3274,1431,1082,0,0,0,0,0,0
$GC,9463,1.06,378.8,165.0,9.3,459,9467,0.00,2.28,0.00,0.000,4,0.000,0.025,3274,2810,1081,0,0,0,0,0,0
$GC,9489,1.15,378.8,162.0,9.2,461,9494,0.12,2.42,0.00,0.000,6,0.064,0.038,3315,1415,1081,0,0,0,0,0,0
$GC,9758,1.15,378.8,133.2,9.2,482,9762,0.00,2.05,0.00,0.000,4,0.000,0.051,3315,229,1081,0,0,0,0,0,0
$GC,9804,1.08,378.8,127.7,11.1,485,9810,0.15,1.90,0.00,0.000,6,0.093,0.023,3284,1436,1079,0,0,0,0,0,0
$GC,10066,1.14,378.8,107.9,8.0,506,10067,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1436,1079,0,0,0,0,0,0
$GC,10315,1.27,410.0,91.4,6.5,526,10350,0.17,2.20,26.75,0.540,4,0.051,0.049,3338,229,957,0,0,0,0,0,0
$GC,10407,1.19,410.0,83.0,10.2,532,10414,0.10,1.92,0.00,0.000,6,0.068,0.022,3313,1418,954,0,0,0,0,0,0
$GC,10669,1.32,459.8,65.7,5.6,553,10718,0.12,2.38,41.97,0.522,4,0.062,0.021,3355,2804,754,0,0,0,0,0,0
$GC,10757,1.43,459.8,58.8,8.6,559,10761,0.00,2.38,0.00,0.000,6,0.000,0.034,3355,1414,754,0,0,0,0,0,0
$GC,11026,1.37,459.8,36.2,10.8,580,11029,0.00,2.03,0.00,0.000,4,0.000,0.048,3355,231,752,0,0,0,0,0,0
$GC,11076,1.27,459.8,28.9,12.9,583,11083,0.10,1.90,0.00,0.000,6,0.067,0.020,3328,1429,751,0,0,0,0,0,0
$STATE,11332,end climb,SURFACE_DEPTH_REACHED
$STATE,11332,begin surface coast
$FINISH,1.0,1.021858
$STATE,11371,end surface coast,CONTROL_FINISHED_OK
$STATE,11371,begin surface
$SM_CCo,11454,0.00,0.000,0,0,747,461.90
$SM_GC,1.73,12.48,0.00,0.00,0.025,0.000,0.000,425,1428,747,-12.00,-0.62,461.90
$IRIDIUM_FIX,2052.52,-15751.76,270100,070723
$TT8_MAMPS,0.028379
$HUMID,63.23
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,20.70
$XPDR_PINGS,0
$24V_AH,23.3,78.858
$10V_AH,9.9,63.129
$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,30.775,111.275,496.975,0.000,0.000,24.987,34.350,158.323,4.500,0.000,14.309,1256.720,7593.027,483.964,1895.829,574.070,0.000,1360.460,0.000,1883.922,0.000,29.239,0.000
$DEVICE_MAMPS,130.390,58.292,821.457,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,437.225,420.581,931.919,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,34948,650
$CAP_FILE_SIZE,126341,0
$CFSIZE,260165632,168030208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021110,140537,2101.172,-15754.582,41,0.9,41,9.8