version: 66.06
glider: 139
mission: 8
dive: 816
start: 11 2 110 20 49 40
data:
$ID,139
$MISSION,8
$DIVE,816
$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,-2168609.2
$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,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
$GPS1,204307,2102.007,-15754.597,36,0.9,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-74.4
$GPS2,204920,2101.996,-15754.613,12,1.7,12,9.8
$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,302.6,17420,-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,-64.45,0.000,2,0.000,0.000,429,1420,2768,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.6,-3.8,12,110,12.60,2.42,-6.45,0.000,4,0.130,0.032,2784,2880,3109,0,0,0,0,0,0
$GC,197,-1.10,-116.8,23.3,-12.0,35,205,0.10,2.47,0.00,0.000,6,0.081,0.033,2809,1451,3110,0,0,0,0,0,0
$GC,408,-0.93,-116.8,50.9,-14.4,59,413,0.17,2.12,0.00,0.000,4,0.092,0.046,2845,226,3112,0,0,0,0,0,0
$GC,476,-0.89,-116.8,59.9,-12.5,64,480,0.00,2.00,0.00,0.000,6,0.000,0.018,2844,1499,3112,0,0,0,0,0,0
$GC,747,-0.84,-116.8,88.3,-9.2,85,748,0.10,0.00,0.00,0.000,6,0.104,0.000,2866,1515,3113,0,0,0,0,0,0
$GC,1003,-0.90,-116.8,105.6,-5.9,105,1007,0.00,2.20,0.00,0.000,4,0.000,0.044,2865,233,3114,0,0,0,0,0,0
$GC,1056,-0.97,-116.8,109.5,-7.4,109,1061,0.12,1.90,0.00,0.000,6,0.061,0.019,2821,1468,3114,0,0,0,0,0,0
$GC,1328,-0.97,-116.8,135.7,-8.8,130,1332,0.00,2.17,0.00,0.000,4,0.000,0.020,2820,2813,3114,0,0,0,0,0,0
$GC,1372,-1.04,-116.8,139.0,-6.9,133,1376,0.00,2.30,0.00,0.000,6,0.000,0.031,2820,1436,3114,0,0,0,0,0,0
$GC,1639,-1.04,-116.8,157.9,-8.9,154,1642,0.00,2.05,0.00,0.000,4,0.000,0.044,2820,234,3115,0,0,0,0,0,0
$GC,1684,-1.04,-116.8,162.3,-9.2,157,1688,0.00,1.85,0.00,0.000,6,0.000,0.019,2820,1450,3115,0,0,0,0,0,0
$GC,1952,-1.04,-116.8,181.6,-7.0,178,1956,0.00,2.20,0.00,0.000,4,0.000,0.021,2820,2820,3115,0,0,0,0,0,0
$GC,1992,-1.14,-116.8,184.6,-6.8,181,1996,0.00,2.30,0.00,0.000,6,0.000,0.031,2819,1451,3115,0,0,0,0,0,0
$GC,2251,-1.14,-116.8,203.5,-7.5,200,2255,0.00,2.05,0.00,0.000,4,0.000,0.045,2819,237,3115,0,0,0,0,0,0
$GC,2321,-1.14,-116.8,209.3,-8.0,203,2325,0.00,1.88,0.00,0.000,6,0.000,0.020,2819,1437,3115,0,0,0,0,0,0
$GC,2653,-1.14,-116.8,233.5,-7.4,219,2657,0.00,2.22,0.00,0.000,4,0.000,0.022,2820,2819,3116,0,0,0,0,0,0
$GC,2693,-1.22,-116.8,237.0,-8.7,220,2699,0.12,2.35,0.00,0.000,6,0.030,0.033,2768,1447,3115,0,0,0,0,0,0
$GC,3011,-1.14,-116.8,265.6,-8.5,236,3015,0.15,2.10,0.00,0.000,4,0.089,0.048,2801,231,3114,0,0,0,0,0,0
$GC,3056,-1.14,-116.8,269.4,-8.4,238,3059,0.00,1.90,0.00,0.000,6,0.000,0.021,2801,1449,3115,0,0,0,0,0,0
$GC,3389,-1.14,-116.8,295.1,-8.0,254,3393,0.00,2.25,0.00,0.000,4,0.000,0.024,2801,2822,3113,0,0,0,0,0,0
$GC,3410,-1.18,-116.8,296.6,-8.0,255,3415,0.00,2.33,0.00,0.000,6,0.000,0.035,2800,1442,3113,0,0,0,0,0,0
$GC,3738,-1.18,-116.8,323.2,-8.3,264,3741,0.00,2.10,0.00,0.000,4,0.000,0.052,2801,231,3113,0,0,0,0,0,0
$GC,3775,-1.18,-116.8,327.1,-10.2,264,3780,0.00,1.90,0.00,0.000,6,0.000,0.023,2801,1443,3113,0,0,0,0,0,0
$GC,4106,-1.18,-116.8,353.2,-8.3,273,4110,0.00,2.25,0.00,0.000,4,0.000,0.025,2801,2824,3111,0,0,0,0,0,0
$GC,4140,-1.26,-116.8,356.1,-8.8,273,4145,0.12,2.33,0.00,0.000,6,0.063,0.035,2759,1449,3111,0,0,0,0,0,0
$GC,4472,-1.19,-116.8,384.8,-8.2,281,4477,0.15,2.28,0.00,0.000,4,0.088,0.025,2791,2824,3108,0,0,0,0,0,0
$GC,4521,-1.27,-116.8,388.1,-6.5,282,4526,0.00,2.33,0.00,0.000,6,0.000,0.037,2791,1451,3108,0,0,0,0,0,0
$GC,4846,-1.27,-116.8,411.3,-7.5,290,4850,0.00,2.10,0.00,0.000,4,0.000,0.054,2791,238,3106,0,0,0,0,0,0
$GC,4915,-1.27,-116.8,417.6,-8.3,291,4919,0.00,1.92,0.00,0.000,6,0.000,0.024,2791,1448,3106,0,0,0,0,0,0
$GC,5263,-1.27,-116.8,444.0,-7.0,300,5265,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1451,3104,0,0,0,0,0,0
$STATE,5379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5379,begin apogee
$GC,5385,-0.31,0.0,451.7,6.4,303,5486,0.88,0.00,97.32,0.828,6,0.065,0.000,2980,1451,2630,0,0,0,0,0,0
$STATE,5487,end apogee,CONTROL_FINISHED_OK
$STATE,5487,begin climb
$GC,5490,1.18,116.8,453.5,0.0,305,5603,1.42,2.35,101.62,0.811,4,0.034,0.028,3314,2801,2153,0,0,0,0,0,0
$GC,5620,1.03,159.2,452.3,6.0,308,5665,0.20,2.42,38.10,0.784,6,0.099,0.039,3275,1422,1980,0,0,0,0,0,0
$GC,5994,0.89,159.2,422.0,8.5,317,5999,0.15,2.33,0.00,0.000,4,0.105,0.028,3246,2798,1970,0,0,0,0,0,0
$GC,6046,0.91,172.5,417.9,7.3,318,6063,0.00,2.42,11.40,0.712,6,0.000,0.042,3246,1413,1925,0,0,0,0,0,0
$GC,6412,0.90,217.8,394.0,5.8,327,6460,0.00,2.12,41.00,0.782,4,0.000,0.056,3246,231,1741,0,0,0,0,0,0
$GC,6497,0.80,235.7,388.9,7.1,328,6519,0.10,1.95,16.58,0.734,6,0.117,0.027,3227,1423,1668,0,0,0,0,0,0
$GC,6831,0.85,277.7,370.0,6.0,337,6873,0.00,2.42,37.35,0.767,4,0.000,0.028,3227,2804,1496,0,0,0,0,0,0
$GC,6906,0.98,300.8,365.3,6.9,338,6935,0.17,2.45,21.65,0.737,6,0.055,0.042,3275,1419,1402,0,0,0,0,0,0
$GC,7254,0.91,300.8,330.7,10.5,347,7259,0.12,2.12,0.00,0.000,4,0.101,0.059,3250,228,1396,0,0,0,0,0,0
$GC,7335,0.87,300.8,322.5,10.2,348,7339,0.00,1.92,0.00,0.000,6,0.000,0.027,3250,1417,1393,0,0,0,0,0,0
$GC,7657,0.87,303.2,296.3,7.8,357,7660,0.00,2.10,0.00,0.000,4,0.000,0.057,3250,231,1392,0,0,0,0,0,0
$GC,7695,0.82,303.2,292.6,9.4,358,7700,0.05,1.98,0.00,0.000,6,0.071,0.028,3228,1424,1391,0,0,0,0,0,0
$GC,8017,0.88,303.2,267.4,8.5,374,8019,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1424,1390,0,0,0,0,0,0
$GC,8328,1.08,399.4,248.9,3.5,389,8424,0.25,2.15,83.68,0.703,4,0.048,0.056,3299,234,1000,0,0,0,0,0,0
$GC,8494,1.00,399.4,232.6,12.3,396,8498,0.15,1.95,0.00,0.000,6,0.094,0.026,3269,1422,995,0,0,0,0,0,0
$GC,8818,1.03,399.4,202.9,9.3,412,8822,0.00,2.12,0.00,0.000,4,0.000,0.054,3269,228,993,0,0,0,0,0,0
$GC,8839,1.03,399.4,200.6,10.1,413,8843,0.00,1.95,0.00,0.000,6,0.000,0.026,3269,1422,992,0,0,0,0,0,0
$GC,9170,1.07,399.4,170.3,9.1,438,9174,0.00,2.10,0.00,0.000,4,0.000,0.053,3268,234,991,0,0,0,0,0,0
$GC,9188,1.07,399.4,168.2,9.7,439,9193,0.00,1.92,0.00,0.000,6,0.000,0.025,3269,1420,990,0,0,0,0,0,0
$GC,9447,1.13,399.4,146.3,8.0,460,9452,0.12,2.28,0.00,0.000,4,0.065,0.025,3307,2807,991,0,0,0,0,0,0
$GC,9468,1.17,399.4,144.5,8.6,461,9473,0.00,2.42,0.00,0.000,6,0.000,0.039,3308,1413,990,0,0,0,0,0,0
$GC,9726,1.17,399.4,118.6,10.4,482,9730,0.00,2.05,0.00,0.000,4,0.000,0.052,3308,225,990,0,0,0,0,0,0
$GC,9740,1.14,399.4,117.0,9.9,483,9744,0.00,1.92,0.00,0.000,6,0.000,0.025,3308,1428,990,0,0,0,0,0,0
$GC,10005,1.16,416.1,93.5,7.1,504,10023,0.00,2.10,13.57,0.521,4,0.000,0.049,3307,232,932,0,0,0,0,0,0
$GC,10033,1.17,426.1,91.2,7.4,506,10047,0.00,1.92,9.70,0.493,6,0.000,0.024,3308,1425,893,0,0,0,0,0,0
$GC,10314,1.21,426.1,68.8,8.9,528,10318,0.00,2.28,0.00,0.000,4,0.000,0.021,3307,2812,891,0,0,0,0,0,0
$GC,10326,1.26,426.1,67.5,9.3,529,10331,0.00,2.40,0.00,0.000,6,0.000,0.035,3308,1416,890,0,0,0,0,0,0
$GC,10595,1.34,426.1,44.0,8.7,550,10599,0.15,2.05,0.00,0.000,4,0.056,0.049,3355,230,891,0,0,0,0,0,0
$GC,10623,1.24,426.1,40.6,11.5,552,10627,0.17,1.90,0.00,0.000,6,0.084,0.021,3319,1438,889,0,0,0,0,0,0
$GC,10887,1.28,426.1,16.6,8.8,594,10894,0.00,2.22,0.00,0.000,4,0.000,0.021,3319,2790,889,0,0,0,0,0,0
$GC,10908,1.33,426.1,14.7,9.1,597,10915,0.00,2.38,0.00,0.000,6,0.000,0.035,3319,1417,890,0,0,0,0,0,0
$STATE,11045,end climb,SURFACE_DEPTH_REACHED
$STATE,11045,begin surface coast
$FINISH,0.9,1.023119
$STATE,11080,end surface coast,CONTROL_FINISHED_OK
$STATE,11080,begin surface
$SM_CCo,11163,0.00,0.000,0,0,887,427.56
$SM_GC,1.83,12.45,0.00,0.00,0.026,0.000,0.000,429,1415,887,-11.98,-0.96,427.56
$IRIDIUM_FIX,2052.52,-15751.76,270100,171746
$TT8_MAMPS,0.028379
$HUMID,63.90
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,20.40
$XPDR_PINGS,0
$24V_AH,23.3,79.209
$10V_AH,9.9,63.387
$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,30.050,125.000,471.975,0.000,0.000,30.682,34.621,166.780,4.500,0.000,12.269,1237.405,7361.970,465.729,1884.169,577.296,0.000,1345.779,0.000,1861.676,0.000,29.244,0.000
$DEVICE_MAMPS,130.390,59.059,827.593,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,428.051,408.185,917.328,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,34937,636
$CAP_FILE_SIZE,125894,0
$CFSIZE,260165632,167849984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021110,235632,2102.034,-15755.272,13,1.3,13,9.8