version: 66.06
glider: 139
mission: 8
dive: 822
start: 11 3 110 16 39 40
data:
$ID,139
$MISSION,8
$DIVE,822
$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,-2168743.5
$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
$GPS1,163301,2102.708,-15756.705,47,1.0,47,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-73.7
$GPS2,163920,2102.684,-15756.702,15,0.9,15,9.8
$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,308.7,13975,-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,-64.62,0.000,2,0.000,0.000,428,1433,2681,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.4,-3.6,12,116,12.57,2.10,-8.32,0.000,4,0.130,0.058,2785,237,3109,0,0,0,0,0,0
$GC,150,-0.91,-116.8,17.5,-16.9,24,157,0.28,2.03,0.00,0.000,6,0.074,0.019,2848,1516,3110,0,0,0,0,0,0
$GC,350,-0.83,-116.8,43.1,-11.1,54,355,0.10,2.22,0.00,0.000,4,0.107,0.044,2869,237,3111,0,0,0,0,0,0
$GC,380,-0.77,-116.8,46.3,-10.8,56,384,0.00,2.00,0.00,0.000,6,0.000,0.019,2869,1507,3111,0,0,0,0,0,0
$GC,645,-0.77,-116.8,69.8,-8.5,77,649,0.00,2.20,0.00,0.000,4,0.000,0.044,2869,237,3111,0,0,0,0,0,0
$GC,677,-0.74,-116.8,72.7,-9.2,79,684,0.00,2.00,0.00,0.000,6,0.000,0.019,2869,1518,3112,0,0,0,0,0,0
$GC,938,-0.74,-116.8,91.0,-6.8,100,942,0.00,2.20,0.00,0.000,4,0.000,0.044,2869,234,3112,0,0,0,0,0,0
$GC,982,-0.79,-116.8,94.3,-7.5,103,986,0.00,1.98,0.00,0.000,6,0.000,0.018,2869,1511,3112,0,0,0,0,0,0
$GC,1254,-0.85,-116.8,113.1,-7.1,124,1258,0.00,2.22,0.00,0.000,4,0.000,0.043,2869,227,3113,0,0,0,0,0,0
$GC,1287,-0.91,-116.8,115.9,-7.8,126,1290,0.00,2.00,0.00,0.000,6,0.000,0.018,2869,1506,3113,0,0,0,0,0,0
$GC,1555,-1.10,-116.8,130.8,-5.7,147,1560,0.25,2.20,0.00,0.000,4,0.039,0.020,2787,2881,3114,0,0,0,0,0,0
$GC,1616,-1.10,-116.8,135.5,-7.3,151,1622,0.12,2.42,0.00,0.000,6,0.093,0.031,2814,1445,3113,0,0,0,0,0,0
$GC,1879,-1.06,-116.8,152.5,-7.4,172,1882,0.00,2.05,0.00,0.000,4,0.000,0.044,2814,237,3114,0,0,0,0,0,0
$GC,1930,-1.00,-116.8,156.2,-6.7,175,1935,0.00,1.98,0.00,0.000,6,0.000,0.018,2814,1495,3114,0,0,0,0,0,0
$GC,2190,-1.00,-116.8,176.9,-8.1,196,2194,0.00,2.15,0.00,0.000,4,0.000,0.044,2814,231,3114,0,0,0,0,0,0
$GC,2231,-1.00,-116.8,180.1,-8.3,199,2235,0.00,1.90,0.00,0.000,6,0.000,0.019,2814,1475,3114,0,0,0,0,0,0
$GC,2501,-1.00,-116.8,197.4,-5.4,220,2505,0.00,2.17,0.00,0.000,4,0.000,0.021,2814,2822,3114,0,0,0,0,0,0
$GC,2548,-1.07,-116.8,199.8,-4.8,223,2555,0.00,2.30,0.00,0.000,6,0.000,0.030,2814,1440,3114,0,0,0,0,0,0
$GC,2814,-1.07,-116.8,218.3,-7.7,236,2818,0.00,2.05,0.00,0.000,4,0.000,0.045,2814,229,3114,0,0,0,0,0,0
$GC,2855,-1.07,-116.8,221.7,-8.8,237,2858,0.00,1.90,0.00,0.000,6,0.000,0.020,2814,1451,3114,0,0,0,0,0,0
$GC,3177,-1.07,-116.8,247.7,-7.9,253,3178,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1452,3114,0,0,0,0,0,0
$GC,3484,-1.10,-116.8,267.9,-6.3,268,3488,0.00,2.22,0.00,0.000,4,0.000,0.023,2814,2826,3114,0,0,0,0,0,0
$GC,3501,-1.16,-116.8,268.9,-6.2,268,3507,0.00,2.38,0.00,0.000,6,0.000,0.034,2814,1445,3114,0,0,0,0,0,0
$GC,3817,-1.20,-116.8,291.0,-8.2,284,3821,0.12,2.08,0.00,0.000,4,0.063,0.049,2771,234,3112,0,0,0,0,0,0
$GC,3914,-1.13,-116.8,300.2,-9.8,288,3919,0.10,1.92,0.00,0.000,6,0.066,0.022,2806,1442,3112,0,0,0,0,0,0
$GC,4260,-1.13,-116.8,319.3,-4.7,297,4264,0.00,2.25,0.00,0.000,4,0.000,0.025,2806,2822,3110,0,0,0,0,0,0
$GC,4280,-1.20,-116.8,320.4,-5.3,297,4284,0.00,2.33,0.00,0.000,6,0.000,0.036,2805,1448,3110,0,0,0,0,0,0
$GC,4626,-1.24,-116.8,348.1,-8.9,306,4627,0.12,0.00,0.00,0.000,6,0.064,0.000,2765,1448,3108,0,0,0,0,0,0
$GC,4951,-1.19,-116.8,380.2,-9.6,314,4956,0.12,2.10,0.00,0.000,4,0.094,0.053,2790,237,3105,0,0,0,0,0,0
$GC,4982,-1.19,-116.8,383.7,-11.4,314,4985,0.00,1.92,0.00,0.000,6,0.000,0.024,2790,1446,3105,0,0,0,0,0,0
$GC,5322,-1.19,-116.8,413.1,-7.0,323,5326,0.00,2.30,0.00,0.000,4,0.000,0.029,2790,2825,3103,0,0,0,0,0,0
$STATE,5450,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5450,begin apogee
$GC,5459,-0.31,0.0,425.3,8.5,325,5559,0.85,0.00,96.50,0.806,6,0.066,0.000,2977,1422,2630,0,0,0,0,0,0
$STATE,5559,end apogee,CONTROL_FINISHED_OK
$STATE,5560,begin climb
$GC,5562,1.18,116.8,427.9,0.0,328,5671,1.42,0.00,101.30,0.788,6,0.034,0.000,3311,1422,2153,0,0,0,0,0,0
$GC,5971,0.93,116.8,383.6,9.6,338,5976,0.25,2.33,0.00,0.000,4,0.091,0.026,3256,2803,2143,0,0,0,0,0,0
$GC,6028,0.95,182.5,380.3,4.9,339,6092,0.00,2.42,56.78,0.763,6,0.000,0.041,3256,1414,1885,0,0,0,0,0,0
$GC,6424,0.95,240.3,358.6,5.3,349,6481,0.00,2.42,50.40,0.756,4,0.000,0.028,3256,2797,1650,0,0,0,0,0,0
$GC,6533,0.95,240.3,350.5,8.4,351,6538,0.00,2.42,0.00,0.000,6,0.000,0.041,3256,1420,1649,0,0,0,0,0,0
$GC,6879,0.90,240.3,320.8,8.5,360,6883,0.00,2.10,0.00,0.000,4,0.000,0.058,3256,227,1642,0,0,0,0,0,0
$GC,6935,0.79,240.3,315.3,10.0,361,6939,0.17,1.92,0.00,0.000,6,0.097,0.027,3222,1410,1640,0,0,0,0,0,0
$GC,7253,0.87,270.9,293.2,6.5,371,7281,0.00,0.00,26.30,0.713,6,0.000,0.000,3222,1410,1524,0,0,0,0,0,0
$GC,7581,1.00,329.5,273.0,5.2,387,7640,0.20,2.15,51.33,0.713,4,0.053,0.055,3276,241,1285,0,0,0,0,0,0
$GC,7668,0.90,329.5,266.0,10.3,390,7674,0.12,1.95,0.00,0.000,6,0.074,0.027,3247,1420,1282,0,0,0,0,0,0
$GC,7986,0.98,355.7,244.2,6.7,406,8015,0.00,2.35,23.15,0.671,4,0.000,0.025,3247,2802,1178,0,0,0,0,0,0
$GC,8040,1.15,389.9,240.5,6.4,408,8076,0.25,2.42,30.35,0.673,6,0.045,0.041,3314,1420,1040,0,0,0,0,0,0
$GC,8387,1.07,389.9,201.1,12.0,425,8391,0.15,2.10,0.00,0.000,4,0.093,0.056,3283,232,1034,0,0,0,0,0,0
$GC,8456,1.07,389.9,193.7,9.7,430,8460,0.00,1.98,0.00,0.000,6,0.000,0.026,3283,1428,1032,0,0,0,0,0,0
$GC,8722,1.07,390.2,173.0,7.9,451,8726,0.00,2.30,0.00,0.000,4,0.000,0.026,3283,2808,1031,0,0,0,0,0,0
$GC,8736,1.10,390.2,171.6,8.3,452,8741,0.00,2.42,0.00,0.000,6,0.000,0.039,3283,1414,1031,0,0,0,0,0,0
$GC,8995,1.14,390.2,147.6,10.2,472,8999,0.00,2.05,0.00,0.000,4,0.000,0.051,3283,229,1031,0,0,0,0,0,0
$GC,9013,1.14,390.2,145.9,10.0,473,9017,0.00,1.92,0.00,0.000,6,0.000,0.025,3283,1431,1030,0,0,0,0,0,0
$GC,9283,1.17,390.2,122.3,8.2,494,9287,0.00,2.10,0.00,0.000,4,0.000,0.051,3283,233,1030,0,0,0,0,0,0
$GC,9307,1.17,390.2,119.7,9.1,496,9311,0.00,1.92,0.00,0.000,6,0.000,0.025,3283,1429,1029,0,0,0,0,0,0
$GC,9579,1.22,390.2,95.7,8.0,517,9584,0.15,2.25,0.00,0.000,4,0.057,0.023,3330,2802,1029,0,0,0,0,0,0
$GC,9619,1.29,390.2,92.2,8.0,520,9623,0.00,2.40,0.00,0.000,6,0.000,0.038,3330,1412,1029,0,0,0,0,0,0
$GC,9885,1.29,390.2,73.5,8.2,541,9889,0.00,2.30,0.00,0.000,4,0.000,0.022,3330,2806,1028,0,0,0,0,0,0
$GC,9913,1.40,401.3,71.0,7.4,543,9928,0.10,2.40,9.18,0.478,6,0.073,0.036,3367,1410,993,0,0,0,0,0,0
$GC,10188,1.33,401.3,41.8,10.6,565,10193,0.15,2.30,0.00,0.000,4,0.089,0.021,3336,2810,993,0,0,0,0,0,0
$GC,10217,1.40,401.3,38.9,8.6,567,10221,0.00,2.38,0.00,0.000,6,0.000,0.035,3336,1414,992,0,0,0,0,0,0
$GC,10482,1.40,401.3,15.1,10.0,611,10488,0.00,2.05,0.00,0.000,4,0.000,0.048,3336,237,992,0,0,0,0,0,0
$GC,10504,1.40,401.3,12.8,10.0,615,10511,0.00,1.90,0.00,0.000,6,0.000,0.021,3336,1434,992,0,0,0,0,0,0
$STATE,10620,end climb,SURFACE_DEPTH_REACHED
$STATE,10620,begin surface coast
$FINISH,0.9,1.000433
$STATE,10656,end surface coast,CONTROL_FINISHED_OK
$STATE,10656,begin surface
$SM_CCo,10679,8.12,0.418,0,0,958,410.14
$SM_GC,1.82,0.00,0.00,8.12,0.000,0.000,0.418,428,1434,958,-12.06,-0.45,410.14
$IRIDIUM_FIX,2054.83,-15756.91,280100,131359
$TT8_MAMPS,0.029146
$HUMID,64.41
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,20.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,402.2,52.7
$24V_AH,23.3,79.886
$10V_AH,10.0,63.907
$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,30.050,121.300,445.275,8.125,0.000,24.450,36.240,175.578,4.250,0.000,16.036,1240.988,6918.658,476.756,1859.568,565.515,0.000,1317.893,0.000,1838.877,0.000,29.112,0.000
$DEVICE_MAMPS,129.623,58.292,806.117,418.015,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,436.843,435.165,967.177,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355772
$DATA_FILE_SIZE,34952,649
$CAP_FILE_SIZE,121928,0
$CFSIZE,260165632,167473152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031110,193837,2103.092,-15756.618,11,1.5,11,9.8