version: 66.06
glider: 139
mission: 8
dive: 824
start: 11 3 110 22 56 28
data:
$ID,139
$MISSION,8
$DIVE,824
$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,-2168771
$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
$GPS1,225001,2103.276,-15757.066,42,1.4,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-71.4
$GPS2,225608,2103.275,-15757.090,13,1.4,13,9.8
$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,307.7,12713,-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,-59.10,0.000,2,0.000,0.000,427,1432,2573,0,0,0,0,0,0
$GC,80,-1.18,-116.8,3.0,-2.6,11,109,12.65,2.40,-10.98,0.000,4,0.132,0.033,2786,2878,3109,0,0,0,0,0,0
$GC,155,-1.09,-116.8,15.8,-12.8,25,162,0.10,2.47,0.00,0.000,6,0.076,0.034,2812,1449,3110,0,0,0,0,0,0
$GC,364,-0.92,-116.8,43.6,-13.4,57,368,0.17,2.10,0.00,0.000,4,0.091,0.046,2848,237,3111,0,0,0,0,0,0
$GC,411,-0.86,-116.8,50.1,-13.0,60,415,0.00,1.98,0.00,0.000,6,0.000,0.019,2848,1500,3111,0,0,0,0,0,0
$GC,677,-0.82,-116.8,81.0,-10.7,81,679,0.12,0.00,0.00,0.000,6,0.094,0.000,2875,1517,3112,0,0,0,0,0,0
$GC,934,-1.01,-116.8,102.5,-7.5,101,938,0.20,2.20,0.00,0.000,4,0.044,0.041,2808,236,3112,0,0,0,0,0,0
$GC,977,-0.89,-116.8,106.8,-9.6,104,981,0.22,1.90,0.00,0.000,6,0.077,0.019,2856,1469,3112,0,0,0,0,0,0
$GC,1239,-1.04,-116.8,127.2,-7.9,124,1244,0.15,2.20,0.00,0.000,4,0.052,0.021,2801,2819,3114,0,0,0,0,0,0
$GC,1348,-1.08,-116.8,136.8,-9.0,132,1352,0.00,2.30,0.00,0.000,6,0.000,0.031,2801,1449,3113,0,0,0,0,0,0
$GC,1621,-1.03,-116.8,159.2,-8.0,153,1626,0.10,2.08,0.00,0.000,4,0.105,0.045,2823,230,3113,0,0,0,0,0,0
$GC,1686,-1.03,-116.8,164.7,-7.4,157,1692,0.00,1.88,0.00,0.000,6,0.000,0.019,2823,1461,3114,0,0,0,0,0,0
$GC,1949,-1.03,-116.8,183.0,-7.2,178,1953,0.00,2.17,0.00,0.000,4,0.000,0.021,2823,2816,3114,0,0,0,0,0,0
$GC,1981,-1.12,-116.8,185.9,-7.8,180,1988,0.00,2.33,0.00,0.000,6,0.000,0.031,2823,1450,3114,0,0,0,0,0,0
$GC,2258,-1.12,-116.8,209.2,-8.8,199,2261,0.00,2.10,0.00,0.000,4,0.000,0.046,2823,233,3114,0,0,0,0,0,0
$GC,2313,-1.12,-116.8,214.6,-8.9,201,2316,0.00,1.88,0.00,0.000,6,0.000,0.020,2823,1446,3114,0,0,0,0,0,0
$GC,2643,-1.16,-116.8,236.8,-6.4,217,2647,0.12,2.10,0.00,0.000,4,0.062,0.045,2778,231,3114,0,0,0,0,0,0
$GC,2682,-1.08,-116.8,240.4,-8.3,218,2691,0.12,1.90,0.00,0.000,6,0.064,0.021,2812,1447,3114,0,0,0,0,0,0
$GC,3000,-1.08,-116.8,260.8,-6.6,234,3004,0.00,2.22,0.00,0.000,4,0.000,0.022,2811,2824,3114,0,0,0,0,0,0
$GC,3030,-1.19,-116.8,262.7,-7.0,235,3034,0.00,2.33,0.00,0.000,6,0.000,0.033,2812,1450,3114,0,0,0,0,0,0
$GC,3351,-1.19,-116.8,282.0,-5.9,251,3355,0.00,2.12,0.00,0.000,4,0.000,0.050,2811,230,3113,0,0,0,0,0,0
$GC,3370,-1.19,-116.8,283.3,-6.0,251,3376,0.00,1.90,0.00,0.000,6,0.000,0.022,2811,1447,3113,0,0,0,0,0,0
$GC,3687,-1.19,-116.8,304.0,-6.7,266,3691,0.00,2.10,0.00,0.000,4,0.000,0.049,2811,234,3111,0,0,0,0,0,0
$GC,3720,-1.19,-116.8,306.3,-7.6,266,3724,0.00,1.92,0.00,0.000,6,0.000,0.022,2811,1455,3111,0,0,0,0,0,0
$GC,4058,-1.22,-116.8,331.3,-7.9,275,4062,0.12,2.25,0.00,0.000,4,0.064,0.025,2769,2825,3109,0,0,0,0,0,0
$GC,4077,-1.22,-116.8,333.4,-8.9,275,4081,0.00,2.35,0.00,0.000,6,0.000,0.036,2769,1445,3109,0,0,0,0,0,0
$GC,4422,-1.16,-116.8,366.4,-9.4,284,4427,0.12,2.30,0.00,0.000,4,0.095,0.025,2795,2830,3107,0,0,0,0,0,0
$GC,4458,-1.25,-116.8,369.4,-7.9,284,4462,0.00,2.35,0.00,0.000,6,0.000,0.036,2795,1443,3107,0,0,0,0,0,0
$GC,4789,-1.25,-116.8,394.2,-7.4,292,4793,0.00,2.28,0.00,0.000,4,0.000,0.026,2795,2824,3105,0,0,0,0,0,0
$GC,4813,-1.31,-116.8,395.7,-5.9,292,4818,0.15,2.35,0.00,0.000,6,0.057,0.038,2746,1452,3105,0,0,0,0,0,0
$GC,5157,-1.22,-116.8,421.4,-8.0,301,5162,0.17,2.12,0.00,0.000,4,0.087,0.054,2783,230,3103,0,0,0,0,0,0
$GC,5182,-1.16,-116.8,423.7,-8.2,301,5186,0.00,1.95,0.00,0.000,6,0.000,0.025,2783,1454,3103,0,0,0,0,0,0
$STATE,5524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5524,begin apogee
$GC,5533,-0.31,0.0,451.5,8.4,310,5632,0.93,0.00,96.57,0.825,6,0.066,0.000,2983,1405,2630,0,0,0,0,0,0
$STATE,5633,end apogee,CONTROL_FINISHED_OK
$STATE,5633,begin climb
$GC,5636,1.18,116.8,455.3,0.0,312,5749,1.40,2.12,101.57,0.810,4,0.032,0.054,3311,246,2152,0,0,0,0,0,0
$GC,5769,0.95,191.6,457.4,4.5,315,5845,0.28,1.90,65.50,0.798,6,0.097,0.025,3258,1421,1848,0,0,0,0,0,0
$GC,6179,0.86,202.4,428.3,7.4,325,6195,0.00,2.40,9.60,0.688,4,0.000,0.027,3257,2799,1804,0,0,0,0,0,0
$GC,6228,0.87,209.4,424.2,7.6,326,6241,0.00,2.40,7.70,0.653,6,0.000,0.042,3258,1423,1776,0,0,0,0,0,0
$GC,6555,0.79,209.4,395.3,9.3,334,6557,0.17,0.00,0.00,0.000,6,0.094,0.000,3222,1423,1773,0,0,0,0,0,0
$GC,6880,0.82,235.7,372.3,6.7,342,6909,0.00,2.40,23.85,0.759,4,0.000,0.028,3223,2803,1667,0,0,0,0,0,0
$GC,6938,0.92,235.7,367.4,8.6,343,6943,0.12,2.45,0.00,0.000,6,0.067,0.041,3259,1417,1667,0,0,0,0,0,0
$GC,7291,0.87,247.8,339.6,7.4,352,7307,0.00,2.38,11.50,0.694,4,0.000,0.028,3259,2797,1619,0,0,0,0,0,0
$GC,7359,0.92,250.9,334.7,7.8,353,7368,0.00,2.42,4.32,0.502,6,0.000,0.042,3259,1414,1607,0,0,0,0,0,0
$GC,7707,0.90,267.3,310.8,7.2,362,7727,0.00,2.12,15.45,0.703,4,0.000,0.058,3259,232,1540,0,0,0,0,0,0
$GC,7787,0.81,267.3,303.3,9.7,363,7791,0.15,1.90,0.00,0.000,6,0.098,0.028,3229,1412,1536,0,0,0,0,0,0
$GC,8111,0.91,304.5,281.2,6.2,378,8149,0.00,2.40,33.20,0.717,4,0.000,0.028,3229,2809,1388,0,0,0,0,0,0
$GC,8166,1.08,363.6,278.0,5.2,379,8225,0.25,2.45,52.17,0.714,6,0.045,0.040,3297,1419,1146,0,0,0,0,0,0
$GC,8552,1.03,363.6,242.5,10.7,398,8556,0.12,2.12,0.00,0.000,4,0.097,0.056,3271,231,1139,0,0,0,0,0,0
$GC,8625,1.03,363.6,234.8,10.6,401,8629,0.00,1.95,0.00,0.000,6,0.000,0.026,3272,1428,1137,0,0,0,0,0,0
$GC,8960,1.03,363.6,204.8,9.1,417,8964,0.00,2.30,0.00,0.000,4,0.000,0.026,3271,2811,1136,0,0,0,0,0,0
$GC,8980,1.08,363.6,202.8,9.3,418,8985,0.00,2.42,0.00,0.000,6,0.000,0.039,3272,1419,1136,0,0,0,0,0,0
$GC,9316,1.08,363.6,173.7,9.4,443,9320,0.00,2.05,0.00,0.000,4,0.000,0.053,3271,234,1135,0,0,0,0,0,0
$GC,9342,1.08,363.6,170.9,9.9,445,9346,0.00,1.92,0.00,0.000,6,0.000,0.025,3272,1426,1134,0,0,0,0,0,0
$GC,9613,1.12,363.6,147.1,7.9,466,9618,0.10,2.25,0.00,0.000,4,0.074,0.025,3306,2802,1134,0,0,0,0,0,0
$GC,9643,1.19,363.6,144.1,8.8,468,9647,0.00,2.40,0.00,0.000,6,0.000,0.038,3306,1413,1134,0,0,0,0,0,0
$GC,9907,1.19,363.6,124.0,8.6,489,9911,0.00,2.03,0.00,0.000,4,0.000,0.051,3306,232,1134,0,0,0,0,0,0
$GC,9973,1.14,363.6,117.1,10.3,493,9979,0.00,1.88,0.00,0.000,6,0.000,0.023,3306,1437,1133,0,0,0,0,0,0
$GC,10232,1.14,363.6,92.1,8.5,514,10236,0.00,2.08,0.00,0.000,4,0.000,0.048,3305,233,1133,0,0,0,0,0,0
$GC,10261,1.14,363.6,89.7,8.7,516,10264,0.00,1.85,0.00,0.000,6,0.000,0.023,3305,1416,1133,0,0,0,0,0,0
$GC,10527,1.28,424.7,74.7,5.1,537,10584,0.10,2.33,49.67,0.538,4,0.073,0.021,3343,2805,898,0,0,0,0,0,0
$GC,10597,1.28,424.7,69.2,8.0,541,10604,0.00,2.42,0.00,0.000,6,0.000,0.035,3343,1423,897,0,0,0,0,0,0
$GC,10857,1.28,424.7,43.9,9.8,562,10861,0.00,2.05,0.00,0.000,4,0.000,0.048,3343,233,895,0,0,0,0,0,0
$GC,10876,1.22,424.7,41.7,11.1,563,10880,0.12,1.90,0.00,0.000,6,0.093,0.021,3317,1434,894,0,0,0,0,0,0
$GC,11142,1.26,424.7,17.5,9.2,603,11148,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1435,894,0,0,0,0,0,0
$STATE,11303,end climb,SURFACE_DEPTH_REACHED
$STATE,11303,begin surface coast
$FINISH,0.8,1.003797
$STATE,11339,end surface coast,CONTROL_FINISHED_OK
$STATE,11339,begin surface
$SM_CCo,11422,0.00,0.000,0,0,891,426.58
$SM_GC,1.77,12.40,0.00,0.00,0.023,0.000,0.000,425,1435,891,-12.00,-0.42,426.58
$IRIDIUM_FIX,2052.52,-15756.91,280100,191934
$TT8_MAMPS,0.028379
$HUMID,63.23
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,20.50
$XPDR_PINGS,0
$24V_AH,23.3,80.109
$10V_AH,9.9,64.076
$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,30.700,125.900,471.125,0.000,0.000,24.713,32.556,170.589,4.750,0.000,13.154,1249.906,7608.503,479.530,1869.304,573.463,0.000,1343.122,0.000,1852.331,0.000,32.073,0.000
$DEVICE_MAMPS,131.924,108.914,825.292,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,436.375,417.773,934.234,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,34827,648
$CAP_FILE_SIZE,126220,0
$CFSIZE,260165632,167354368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,041110,020807,2103.341,-15757.777,41,1.2,41,9.8