version: 66.06
glider: 139
mission: 8
dive: 818
start: 11 3 110 3 24 4
data:
$ID,139
$MISSION,8
$DIVE,818
$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,-2168669.8
$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
$GPS1,031724,2102.105,-15755.764,29,1.0,46,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-72.8
$GPS2,032344,2102.097,-15755.761,15,1.4,15,9.8
$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,306.9,15874,-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,-116.8,0.0,0.0,0,76,0.00,0.00,-58.80,0.000,2,0.000,0.000,428,1422,2592,0,0,0,0,0,0
$GC,80,-1.18,-116.8,3.2,-3.2,11,110,12.60,2.40,-10.45,0.000,4,0.131,0.033,2785,2874,3108,0,0,0,0,0,0
$GC,163,-1.09,-116.8,17.0,-12.6,27,170,0.10,2.45,0.00,0.000,6,0.083,0.034,2809,1458,3110,0,0,0,0,0,0
$GC,368,-0.92,-116.8,45.5,-13.4,56,373,0.20,2.10,0.00,0.000,4,0.090,0.044,2851,229,3111,0,0,0,0,0,0
$GC,437,-0.87,-116.8,53.4,-11.0,61,440,0.00,1.98,0.00,0.000,6,0.000,0.018,2851,1501,3111,0,0,0,0,0,0
$GC,707,-0.81,-116.8,80.9,-9.8,82,709,0.10,0.00,0.00,0.000,6,0.107,0.000,2872,1521,3111,0,0,0,0,0,0
$GC,959,-0.81,-116.8,102.6,-8.1,102,963,0.00,2.20,0.00,0.000,4,0.000,0.045,2872,233,3112,0,0,0,0,0,0
$GC,1042,-0.81,-116.8,109.4,-7.1,108,1045,0.00,1.98,0.00,0.000,6,0.000,0.018,2872,1505,3112,0,0,0,0,0,0
$GC,1310,-0.88,-116.8,124.9,-5.8,129,1314,0.00,2.20,0.00,0.000,4,0.000,0.043,2872,230,3113,0,0,0,0,0,0
$GC,1350,-1.01,-116.8,127.8,-6.6,132,1354,0.17,1.98,0.00,0.000,6,0.048,0.019,2812,1519,3113,0,0,0,0,0,0
$GC,1618,-1.01,-116.8,149.7,-8.4,153,1622,0.00,2.17,0.00,0.000,4,0.000,0.044,2812,233,3114,0,0,0,0,0,0
$GC,1657,-1.01,-116.8,153.6,-9.9,156,1661,0.00,2.00,0.00,0.000,6,0.000,0.018,2812,1516,3114,0,0,0,0,0,0
$GC,1927,-1.01,-116.8,176.3,-8.4,177,1931,0.00,2.20,0.00,0.000,4,0.000,0.044,2812,234,3114,0,0,0,0,0,0
$GC,1954,-0.97,-116.8,178.5,-8.0,179,1958,0.12,1.98,0.00,0.000,6,0.090,0.019,2840,1525,3114,0,0,0,0,0,0
$GC,2220,-1.04,-116.8,198.8,-7.7,200,2224,0.00,2.20,0.00,0.000,4,0.000,0.044,2840,232,3114,0,0,0,0,0,0
$GC,2271,-1.09,-116.8,202.5,-8.1,203,2275,0.12,2.00,0.00,0.000,6,0.062,0.020,2794,1526,3115,0,0,0,0,0,0
$GC,2610,-1.04,-116.8,227.8,-7.1,219,2615,0.12,2.20,0.00,0.000,4,0.092,0.023,2822,2877,3115,0,0,0,0,0,0
$GC,2642,-1.14,-116.8,230.1,-6.0,220,2646,0.00,2.40,0.00,0.000,6,0.000,0.031,2822,1440,3115,0,0,0,0,0,0
$GC,2965,-1.17,-116.8,252.9,-7.2,236,2966,0.12,0.00,0.00,0.000,6,0.063,0.000,2778,1439,3114,0,0,0,0,0,0
$GC,3275,-1.11,-116.8,278.8,-9.1,251,3279,0.12,2.08,0.00,0.000,4,0.091,0.048,2805,238,3114,0,0,0,0,0,0
$GC,3303,-1.11,-116.8,281.8,-9.6,252,3307,0.00,2.00,0.00,0.000,6,0.000,0.021,2805,1507,3114,0,0,0,0,0,0
$GC,3646,-1.11,-116.8,312.4,-8.8,266,3650,0.00,2.20,0.00,0.000,4,0.000,0.049,2805,232,3112,0,0,0,0,0,0
$GC,3685,-1.11,-116.8,315.8,-9.4,266,3690,0.00,2.00,0.00,0.000,6,0.000,0.022,2805,1505,3112,0,0,0,0,0,0
$GC,4016,-1.11,-116.8,336.2,-5.0,275,4020,0.00,2.22,0.00,0.000,4,0.000,0.025,2805,2871,3110,0,0,0,0,0,0
$GC,4089,-1.23,-116.8,339.7,-4.6,276,4094,0.00,2.40,0.00,0.000,6,0.000,0.035,2805,1450,3109,0,0,0,0,0,0
$GC,4436,-1.23,-116.8,361.1,-6.9,285,4440,0.00,2.10,0.00,0.000,4,0.000,0.052,2805,238,3108,0,0,0,0,0,0
$GC,4492,-1.23,-116.8,365.3,-7.1,286,4496,0.05,2.03,0.00,0.000,6,0.048,0.024,2768,1490,3107,0,0,0,0,0,0
$GC,4812,-1.17,-116.8,394.7,-9.7,294,4817,0.12,2.22,0.00,0.000,4,0.093,0.027,2795,2832,3105,0,0,0,0,0,0
$GC,4847,-1.27,-116.8,398.0,-9.5,294,4852,0.00,2.35,0.00,0.000,6,0.000,0.038,2795,1451,3105,0,0,0,0,0,0
$GC,5180,-1.27,-116.8,423.9,-7.6,302,5184,0.00,2.28,0.00,0.000,4,0.000,0.027,2796,2831,3103,0,0,0,0,0,0
$GC,5214,-1.36,-116.8,426.4,-7.0,302,5219,0.20,2.38,0.00,0.000,6,0.050,0.039,2737,1450,3102,0,0,0,0,0,0
$STATE,5503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5503,begin apogee
$GC,5509,-0.31,0.0,452.8,9.3,309,5609,1.12,0.00,96.03,0.830,6,0.071,0.000,2978,1450,2630,0,0,0,0,0,0
$STATE,5610,end apogee,CONTROL_FINISHED_OK
$STATE,5610,begin climb
$GC,5614,1.18,116.8,455.0,0.0,311,5726,1.42,2.17,101.12,0.813,4,0.035,0.055,3310,238,2151,0,0,0,0,0,0
$GC,5738,0.94,156.9,454.6,6.1,313,5780,0.28,1.95,35.60,0.784,6,0.096,0.025,3257,1431,1990,0,0,0,0,0,0
$GC,6112,0.87,180.5,426.6,6.8,323,6140,0.00,2.33,20.90,0.762,4,0.000,0.028,3257,2794,1892,0,0,0,0,0,0
$GC,6206,0.85,206.5,420.3,6.7,325,6235,0.10,2.42,23.88,0.766,6,0.112,0.042,3238,1416,1788,0,0,0,0,0,0
$GC,6574,0.86,214.9,392.4,7.5,334,6584,0.00,0.00,8.23,0.666,6,0.000,0.000,3238,1416,1753,0,0,0,0,0,0
$GC,6898,0.86,214.9,365.5,8.6,342,6902,0.00,2.33,0.00,0.000,4,0.000,0.028,3237,2796,1749,0,0,0,0,0,0
$GC,6912,0.86,214.9,364.1,8.5,342,6917,0.00,2.42,0.00,0.000,6,0.000,0.042,3238,1415,1749,0,0,0,0,0,0
$GC,7262,0.91,253.9,340.6,6.1,351,7304,0.00,2.17,34.62,0.763,4,0.000,0.058,3237,236,1594,0,0,0,0,0,0
$GC,7327,0.86,253.9,336.1,8.0,352,7331,0.00,1.95,0.00,0.000,6,0.000,0.028,3237,1418,1592,0,0,0,0,0,0
$GC,7640,0.86,253.9,310.3,8.1,360,7645,0.00,2.33,0.00,0.000,4,0.000,0.029,3237,2805,1588,0,0,0,0,0,0
$GC,7658,0.86,254.7,309.2,7.9,360,7662,0.00,2.45,0.00,0.000,6,0.000,0.043,3237,1411,1588,0,0,0,0,0,0
$GC,7993,0.88,268.6,285.4,7.3,373,8015,0.00,2.12,13.30,0.682,4,0.000,0.057,3237,234,1532,0,0,0,0,0,0
$GC,8041,0.89,277.1,281.8,7.5,375,8054,0.00,1.95,8.40,0.626,6,0.000,0.028,3237,1419,1500,0,0,0,0,0,0
$GC,8375,0.96,307.0,259.2,6.5,391,8406,0.00,0.00,27.27,0.702,6,0.000,0.000,3237,1419,1377,0,0,0,0,0,0
$GC,8731,1.02,307.0,232.9,8.1,408,8733,0.15,0.00,0.00,0.000,6,0.061,0.000,3281,1419,1374,0,0,0,0,0,0
$GC,9038,1.02,307.0,204.3,8.9,423,9042,0.00,2.30,0.00,0.000,4,0.000,0.028,3281,2809,1373,0,0,0,0,0,0
$GC,9061,1.06,307.0,202.2,8.2,424,9066,0.00,2.42,0.00,0.000,6,0.000,0.040,3281,1418,1373,0,0,0,0,0,0
$GC,9393,1.10,341.2,179.3,6.4,449,9425,0.00,0.00,29.75,0.642,6,0.000,0.000,3281,1418,1238,0,0,0,0,0,0
$GC,9678,1.12,354.1,158.1,7.3,472,9697,0.00,2.40,12.20,0.576,4,0.000,0.026,3281,2805,1186,0,0,0,0,0,0
$GC,9713,1.21,384.6,155.6,6.5,474,9751,0.15,2.42,27.40,0.608,6,0.058,0.038,3326,1420,1060,0,0,0,0,0,0
$GC,10003,1.14,384.6,126.0,11.4,497,10008,0.12,2.08,0.00,0.000,4,0.097,0.053,3301,235,1057,0,0,0,0,0,0
$GC,10060,1.09,384.6,119.9,10.2,501,10064,0.00,1.90,0.00,0.000,6,0.000,0.024,3300,1430,1055,0,0,0,0,0,0
$GC,10325,1.12,384.6,98.3,8.2,522,10327,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,1432,1055,0,0,0,0,0,0
$GC,10578,1.19,398.9,79.3,7.2,542,10596,0.00,2.33,12.35,0.508,4,0.000,0.023,3301,2802,1003,0,0,0,0,0,0
$GC,10628,1.35,398.9,75.3,8.5,545,10635,0.12,2.40,0.00,0.000,6,0.032,0.034,3348,1423,1003,0,0,0,0,0,0
$GC,10892,1.32,398.9,49.6,9.1,566,10896,0.00,2.05,0.00,0.000,4,0.000,0.049,3348,235,1002,0,0,0,0,0,0
$GC,10969,1.24,398.9,41.3,10.4,571,10976,0.10,1.92,0.00,0.000,6,0.069,0.021,3322,1434,1000,0,0,0,0,0,0
$GC,11234,1.24,398.9,19.7,8.8,610,11240,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,1434,1000,0,0,0,0,0,0
$GC,11438,1.31,428.2,4.1,6.6,656,11456,0.00,0.00,16.15,0.456,2,0.000,0.000,3322,1435,929,0,0,0,0,0,0
$STATE,11457,end climb,SURFACE_DEPTH_REACHED
$STATE,11457,begin surface coast
$FINISH,0.8,1.001324
$STATE,11505,end surface coast,CONTROL_FINISHED_OK
$STATE,11505,begin surface
$SM_CCo,11589,0.00,0.000,0,0,924,418.24
$SM_GC,1.70,12.48,0.00,0.00,0.025,0.000,0.000,429,1434,924,-11.98,-0.42,418.24
$IRIDIUM_FIX,2054.83,-15756.91,280100,000028
$TT8_MAMPS,0.028379
$HUMID,62.87
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,20.70
$XPDR_PINGS,0
$24V_AH,23.3,79.430
$10V_AH,9.9,63.562
$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,30.225,109.500,467.200,0.000,0.000,23.451,39.799,172.747,4.500,0.000,15.998,1272.512,7754.789,470.752,1885.656,576.801,0.000,1327.070,0.000,1867.602,0.000,29.255,0.000
$DEVICE_MAMPS,131.157,58.292,829.894,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,450.998,436.105,975.299,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,38084,670
$CAP_FILE_SIZE,122877,0
$CFSIZE,260165632,167723008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031110,063831,2102.470,-15755.740,42,1.5,42,9.8