version: 66.06
glider: 139
mission: 8
dive: 828
start: 11 4 110 12 15 40
data:
$ID,139
$MISSION,8
$DIVE,828
$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,-2168837.2
$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
$GPS1,120831,2104.199,-15758.231,39,1.6,39,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-71.7
$GPS2,121520,2104.192,-15758.234,15,1.0,15,9.8
$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,309.4,10131,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.18,-116.8,0.0,0.0,0,89,0.00,0.00,-69.93,0.000,2,0.000,0.000,429,1443,2744,0,0,0,0,0,0
$GC,94,-1.18,-116.8,3.4,-3.6,13,119,12.57,2.42,-6.90,0.000,4,0.130,0.034,2780,2879,3108,0,0,0,0,0,0
$GC,201,-1.06,-116.8,21.7,-11.2,35,208,0.15,2.45,0.00,0.000,6,0.076,0.031,2815,1456,3110,0,0,0,0,0,0
$GC,414,-0.92,-116.8,44.8,-10.1,61,419,0.15,2.12,0.00,0.000,4,0.094,0.045,2847,231,3111,0,0,0,0,0,0
$GC,467,-0.85,-116.8,51.4,-10.1,65,471,0.00,1.98,0.00,0.000,6,0.000,0.018,2847,1501,3112,0,0,0,0,0,0
$GC,739,-0.79,-116.8,80.1,-9.9,86,744,0.15,2.20,0.00,0.000,4,0.088,0.044,2879,236,3112,0,0,0,0,0,0
$GC,786,-0.85,-116.8,85.0,-8.8,89,791,0.00,1.95,0.00,0.000,6,0.000,0.018,2879,1516,3112,0,0,0,0,0,0
$GC,1045,-1.04,-116.8,105.8,-8.1,110,1050,0.25,2.17,0.00,0.000,4,0.038,0.041,2796,235,3112,0,0,0,0,0,0
$GC,1158,-0.97,-116.8,116.6,-10.7,118,1163,0.20,1.98,0.00,0.000,6,0.080,0.018,2839,1512,3113,0,0,0,0,0,0
$GC,1427,-0.97,-116.8,138.6,-8.6,139,1431,0.00,2.20,0.00,0.000,4,0.000,0.021,2839,2885,3113,0,0,0,0,0,0
$GC,1459,-1.08,-116.8,141.7,-8.2,141,1466,0.12,2.40,0.00,0.000,6,0.060,0.028,2790,1444,3113,0,0,0,0,0,0
$GC,1722,-1.00,-116.8,163.3,-7.7,162,1727,0.20,2.05,0.00,0.000,4,0.080,0.043,2834,240,3114,0,0,0,0,0,0
$GC,1769,-1.00,-116.8,167.3,-7.9,165,1774,0.00,1.98,0.00,0.000,6,0.000,0.019,2834,1515,3114,0,0,0,0,0,0
$GC,2030,-1.05,-116.8,184.5,-7.2,186,2034,0.00,2.20,0.00,0.000,4,0.000,0.044,2834,234,3114,0,0,0,0,0,0
$GC,2098,-1.05,-116.8,189.3,-7.1,191,2102,0.00,2.00,0.00,0.000,6,0.000,0.020,2834,1502,3114,0,0,0,0,0,0
$GC,2358,-1.14,-116.8,207.8,-7.2,208,2363,0.15,2.17,0.00,0.000,4,0.054,0.044,2781,240,3114,0,0,0,0,0,0
$GC,2398,-1.07,-116.8,211.5,-9.6,209,2404,0.17,1.98,0.00,0.000,6,0.083,0.019,2819,1512,3114,0,0,0,0,0,0
$GC,2715,-1.07,-116.8,233.6,-6.8,225,2716,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1512,3114,0,0,0,0,0,0
$GC,3024,-1.07,-116.8,258.5,-8.1,240,3028,0.00,2.17,0.00,0.000,4,0.000,0.046,2819,237,3114,0,0,0,0,0,0
$GC,3094,-1.07,-116.8,264.2,-7.9,243,3097,0.00,1.98,0.00,0.000,6,0.000,0.021,2819,1501,3114,0,0,0,0,0,0
$GC,3428,-1.16,-116.8,287.9,-7.6,259,3432,0.00,2.17,0.00,0.000,4,0.000,0.047,2819,240,3113,0,0,0,0,0,0
$GC,3499,-1.20,-116.8,294.5,-8.7,262,3504,0.12,1.98,0.00,0.000,6,0.062,0.022,2776,1497,3113,0,0,0,0,0,0
$GC,3847,-1.16,-116.8,325.8,-8.7,272,3852,0.10,2.17,0.00,0.000,4,0.100,0.025,2798,2828,3112,0,0,0,0,0,0
$GC,3887,-1.26,-116.8,329.0,-8.3,272,3893,0.00,2.33,0.00,0.000,6,0.000,0.034,2798,1449,3111,0,0,0,0,0,0
$GC,4218,-1.26,-116.8,354.9,-8.2,281,4222,0.00,2.10,0.00,0.000,4,0.000,0.051,2798,232,3110,0,0,0,0,0,0
$GC,4271,-1.26,-116.8,359.5,-8.9,282,4278,0.00,1.90,0.00,0.000,6,0.000,0.023,2798,1448,3109,0,0,0,0,0,0
$GC,4596,-1.26,-116.8,387.3,-8.4,290,4600,0.00,2.25,0.00,0.000,4,0.000,0.025,2798,2825,3107,0,0,0,0,0,0
$GC,4629,-1.35,-116.8,390.0,-8.5,290,4634,0.17,2.35,0.00,0.000,6,0.051,0.036,2743,1450,3107,0,0,0,0,0,0
$GC,4965,-1.24,-116.8,423.3,-10.6,298,4967,0.17,0.00,0.00,0.000,6,0.086,0.000,2780,1449,3105,0,0,0,0,0,0
$GC,5287,-1.24,-116.8,449.2,-7.3,306,5291,0.00,2.28,0.00,0.000,4,0.000,0.027,2780,2825,3103,0,0,0,0,0,0
$STATE,5299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5299,begin apogee
$GC,5310,-0.31,0.0,450.2,6.3,306,5410,0.90,0.00,96.47,0.818,6,0.065,0.000,2978,1415,2630,0,0,0,0,0,0
$STATE,5410,end apogee,CONTROL_FINISHED_OK
$STATE,5411,begin climb
$GC,5413,1.18,116.8,451.4,0.0,308,5525,1.40,2.10,101.03,0.802,4,0.030,0.054,3313,239,2151,0,0,0,0,0,0
$GC,5551,0.83,116.9,448.2,7.9,311,5556,0.40,1.92,0.00,0.000,6,0.090,0.025,3233,1422,2147,0,0,0,0,0,0
$GC,5871,0.85,190.2,431.2,4.6,319,5940,0.00,2.38,63.53,0.792,4,0.000,0.028,3233,2800,1854,0,0,0,0,0,0
$GC,5982,0.88,212.6,424.6,6.9,321,6010,0.00,2.45,20.92,0.748,6,0.000,0.041,3234,1412,1762,0,0,0,0,0,0
$GC,6332,0.85,212.6,398.0,8.0,330,6336,0.00,2.35,0.00,0.000,4,0.000,0.027,3233,2802,1756,0,0,0,0,0,0
$GC,6379,0.89,212.6,394.0,7.9,331,6384,0.00,2.42,0.00,0.000,6,0.000,0.041,3234,1418,1756,0,0,0,0,0,0
$GC,6702,0.92,236.0,371.6,6.8,339,6728,0.00,2.12,20.38,0.745,4,0.000,0.055,3233,230,1666,0,0,0,0,0,0
$GC,6763,0.86,236.0,367.0,8.5,340,6767,0.00,1.95,0.00,0.000,6,0.000,0.026,3233,1420,1662,0,0,0,0,0,0
$GC,7076,0.89,260.1,345.5,6.8,348,7104,0.00,2.20,21.73,0.738,4,0.000,0.055,3233,236,1569,0,0,0,0,0,0
$GC,7130,0.84,260.1,341.6,8.7,349,7134,0.00,1.95,0.00,0.000,6,0.000,0.027,3234,1417,1565,0,0,0,0,0,0
$GC,7453,0.87,287.4,319.7,6.7,357,7482,0.00,2.38,24.25,0.727,4,0.000,0.027,3233,2813,1457,0,0,0,0,0,0
$GC,7515,0.99,297.0,315.3,7.5,358,7532,0.15,2.45,10.30,0.659,6,0.060,0.041,3275,1420,1418,0,0,0,0,0,0
$GC,7855,0.94,297.0,281.9,9.4,370,7859,0.00,2.10,0.00,0.000,4,0.000,0.057,3275,235,1413,0,0,0,0,0,0
$GC,7903,0.87,297.0,276.6,10.6,372,7907,0.17,1.95,0.00,0.000,6,0.093,0.027,3240,1430,1411,0,0,0,0,0,0
$GC,8231,0.97,338.5,254.1,6.0,388,8275,0.10,2.20,35.83,0.698,4,0.077,0.055,3272,236,1249,0,0,0,0,0,0
$GC,8293,0.94,338.5,249.6,8.1,390,8297,0.00,1.95,0.00,0.000,6,0.000,0.027,3272,1422,1246,0,0,0,0,0,0
$GC,8613,0.95,350.4,225.8,7.4,406,8629,0.00,2.38,11.12,0.614,4,0.000,0.027,3272,2801,1200,0,0,0,0,0,0
$GC,8644,1.01,352.2,223.1,7.8,407,8648,0.00,2.42,0.00,0.000,6,0.000,0.041,3273,1420,1200,0,0,0,0,0,0
$GC,8963,1.03,369.7,196.5,7.1,424,8985,0.00,2.10,17.88,0.622,4,0.000,0.052,3272,235,1121,0,0,0,0,0,0
$GC,9028,1.03,369.7,191.1,8.6,428,9032,0.00,1.95,0.00,0.000,6,0.000,0.025,3272,1426,1118,0,0,0,0,0,0
$GC,9299,1.03,369.7,171.5,8.3,449,9303,0.00,2.08,0.00,0.000,4,0.000,0.052,3272,235,1117,0,0,0,0,0,0
$GC,9326,1.03,369.7,168.5,10.0,451,9330,0.00,1.92,0.00,0.000,6,0.000,0.025,3272,1427,1116,0,0,0,0,0,0
$GC,9593,1.10,396.4,148.9,6.7,472,9621,0.00,2.38,22.95,0.588,4,0.000,0.024,3272,2803,1014,0,0,0,0,0,0
$GC,9639,1.22,422.1,145.6,6.7,475,9669,0.20,2.42,23.40,0.582,6,0.048,0.037,3331,1414,908,0,0,0,0,0,0
$GC,9933,1.16,422.1,117.1,10.7,498,9938,0.12,2.08,0.00,0.000,4,0.096,0.051,3305,231,905,0,0,0,0,0,0
$GC,9985,1.11,422.1,111.4,10.8,501,9990,0.00,1.92,0.00,0.000,6,0.000,0.023,3305,1436,902,0,0,0,0,0,0
$GC,10247,1.16,422.1,88.3,10.1,522,10248,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1437,903,0,0,0,0,0,0
$GC,10497,1.24,430.8,67.3,7.5,542,10512,0.00,2.12,8.00,0.456,4,0.000,0.048,3305,241,872,0,0,0,0,0,0
$GC,10531,1.31,430.8,64.5,8.2,544,10535,0.12,1.88,0.00,0.000,6,0.062,0.022,3346,1429,871,0,0,0,0,0,0
$GC,10803,1.27,430.8,38.5,9.2,565,10806,0.00,2.08,0.00,0.000,4,0.000,0.048,3347,234,871,0,0,0,0,0,0
$GC,10816,1.21,430.8,36.4,10.3,566,10821,0.17,1.90,0.00,0.000,6,0.085,0.022,3310,1429,871,0,0,0,0,0,0
$GC,11082,1.35,494.2,17.4,5.0,612,11145,0.15,2.30,52.12,0.486,4,0.055,0.019,3359,2795,614,0,0,0,0,0,0
$GC,11157,1.31,494.2,10.8,10.2,624,11164,0.10,2.42,0.00,0.000,6,0.074,0.035,3334,1414,614,0,0,0,0,0,0
$STATE,11241,end climb,SURFACE_DEPTH_REACHED
$STATE,11241,begin surface coast
$FINISH,1.0,1.023258
$STATE,11280,end surface coast,CONTROL_FINISHED_OK
$STATE,11280,begin surface
$SM_CCo,11364,0.00,0.000,0,0,609,495.75
$SM_GC,1.70,12.50,0.00,0.00,0.021,0.000,0.000,419,1410,609,-12.00,-1.13,495.75
$IRIDIUM_FIX,2057.14,-15756.91,290100,090956
$TT8_MAMPS,0.029146
$HUMID,62.71
$INTERNAL_PRESSURE,9.22541
$TCM_TEMP,20.70
$XPDR_PINGS,0
$24V_AH,23.3,80.579
$10V_AH,9.9,64.420
$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,31.200,129.625,529.900,0.000,0.000,27.290,31.558,205.439,4.500,0.000,15.956,1256.969,7434.149,507.425,1942.408,622.499,0.000,1434.841,0.000,1916.114,0.000,29.260,0.000
$DEVICE_MAMPS,130.390,56.758,817.622,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,436.716,426.109,950.135,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355772
$DATA_FILE_SIZE,38094,651
$CAP_FILE_SIZE,132216,0
$CFSIZE,260165632,167092224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041110,152606,2104.447,-15758.718,10,2.0,26,9.8