version: 66.06
glider: 139
mission: 8
dive: 835
start: 11 5 110 12 9 27
data:
$ID,139
$MISSION,8
$DIVE,835
$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,-2169008.5
$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
$GPS1,115831,2106.868,-15800.711,41,1.6,41,9.8
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-71.2
$GPS2,120907,2106.898,-15800.702,11,1.1,16,9.8
$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,308.7,3551,-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,-64.30,0.000,2,0.000,0.000,426,1418,2748,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.2,-3.2,12,116,12.68,2.47,-7.10,0.000,4,0.132,0.035,2786,2876,3109,0,0,0,0,0,0
$GC,165,-1.11,-116.8,16.2,-9.0,27,172,0.08,2.47,0.00,0.000,6,0.081,0.033,2805,1445,3110,0,0,0,0,0,0
$GC,374,-0.93,-116.8,43.9,-12.9,59,378,0.20,2.10,0.00,0.000,4,0.089,0.044,2847,227,3110,0,0,0,0,0,0
$GC,421,-0.90,-116.8,49.6,-11.8,62,428,0.00,2.03,0.00,0.000,6,0.000,0.018,2848,1520,3111,0,0,0,0,0,0
$GC,681,-0.83,-116.8,76.6,-10.9,83,683,0.10,0.00,0.00,0.000,6,0.104,0.000,2869,1520,3111,0,0,0,0,0,0
$GC,935,-0.83,-116.8,98.2,-9.1,103,939,0.00,2.20,0.00,0.000,4,0.000,0.044,2869,229,3112,0,0,0,0,0,0
$GC,1015,-0.89,-116.8,105.0,-8.2,109,1019,0.00,2.00,0.00,0.000,6,0.000,0.018,2869,1508,3112,0,0,0,0,0,0
$GC,1287,-1.05,-116.8,126.2,-7.8,130,1291,0.20,2.20,0.00,0.000,4,0.044,0.041,2801,235,3112,0,0,0,0,0,0
$GC,1320,-0.97,-116.8,129.5,-9.5,132,1325,0.17,1.98,0.00,0.000,6,0.081,0.018,2840,1518,3112,0,0,0,0,0,0
$GC,1583,-1.01,-116.8,149.1,-7.7,152,1587,0.00,2.17,0.00,0.000,4,0.000,0.044,2840,234,3113,0,0,0,0,0,0
$GC,1629,-1.04,-116.8,153.4,-8.3,155,1635,0.00,1.98,0.00,0.000,6,0.000,0.019,2840,1519,3113,0,0,0,0,0,0
$GC,1893,-1.17,-116.8,173.0,-7.4,176,1897,0.20,2.17,0.00,0.000,4,0.044,0.041,2775,234,3113,0,0,0,0,0,0
$GC,1989,-1.09,-116.8,182.3,-9.7,183,1994,0.10,2.00,0.00,0.000,6,0.070,0.019,2813,1512,3113,0,0,0,0,0,0
$GC,2259,-1.09,-116.8,201.5,-6.7,203,2263,0.00,2.20,0.00,0.000,4,0.000,0.044,2813,233,3113,0,0,0,0,0,0
$GC,2310,-1.09,-116.8,205.8,-7.9,205,2313,0.00,2.00,0.00,0.000,6,0.000,0.019,2813,1509,3113,0,0,0,0,0,0
$GC,2637,-1.09,-116.8,226.5,-6.6,221,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1521,3113,0,0,0,0,0,0
$GC,2944,-1.13,-116.8,249.4,-7.8,236,2948,0.00,2.20,0.00,0.000,4,0.000,0.045,2813,227,3113,0,0,0,0,0,0
$GC,3046,-1.13,-116.8,257.5,-7.5,240,3050,0.00,2.00,0.00,0.000,6,0.000,0.021,2813,1495,3112,0,0,0,0,0,0
$GC,3368,-1.16,-116.8,278.4,-6.9,256,3372,0.00,2.17,0.00,0.000,4,0.000,0.048,2813,232,3112,0,0,0,0,0,0
$GC,3436,-1.16,-116.8,283.5,-6.8,259,3440,0.00,1.90,0.00,0.000,6,0.000,0.022,2813,1450,3111,0,0,0,0,0,0
$GC,3791,-1.28,-116.8,310.9,-8.4,273,3796,0.17,2.28,0.00,0.000,4,0.051,0.025,2756,2837,3110,0,0,0,0,0,0
$GC,3875,-1.28,-116.8,318.7,-8.8,274,3881,0.00,2.38,0.00,0.000,6,0.000,0.034,2756,1442,3109,0,0,0,0,0,0
$GC,4209,-1.19,-116.8,348.1,-8.8,283,4213,0.17,2.33,0.00,0.000,4,0.087,0.025,2793,2829,3107,0,0,0,0,0,0
$GC,4228,-1.19,-116.8,349.8,-7.3,283,4233,0.00,2.35,0.00,0.000,6,0.000,0.036,2793,1446,3107,0,0,0,0,0,0
$GC,4574,-1.19,-116.8,371.6,-6.3,292,4578,0.00,2.08,0.00,0.000,4,0.000,0.051,2792,233,3105,0,0,0,0,0,0
$GC,4613,-1.19,-116.8,374.4,-7.8,292,4618,0.00,1.92,0.00,0.000,6,0.000,0.024,2793,1449,3104,0,0,0,0,0,0
$GC,4944,-1.19,-116.8,399.8,-8.3,301,4948,0.00,2.25,0.00,0.000,4,0.000,0.027,2793,2824,3103,0,0,0,0,0,0
$GC,5025,-1.26,-116.8,406.8,-7.9,302,5030,0.00,2.35,0.00,0.000,6,0.000,0.038,2793,1445,3102,0,0,0,0,0,0
$GC,5361,-1.26,-116.8,434.9,-8.5,311,5362,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1444,3100,0,0,0,0,0,0
$STATE,5602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5602,begin apogee
$GC,5609,-0.31,0.0,450.2,5.6,317,5708,0.88,0.00,96.12,0.819,6,0.065,0.000,2982,1445,2630,0,0,0,0,0,0
$STATE,5709,end apogee,CONTROL_FINISHED_OK
$STATE,5709,begin climb
$GC,5713,1.18,116.8,451.6,0.0,319,5825,1.40,2.17,101.32,0.805,4,0.031,0.054,3315,241,2152,0,0,0,0,0,0
$GC,5842,0.91,162.7,451.2,5.8,322,5891,0.32,1.92,40.72,0.782,6,0.091,0.025,3251,1424,1966,0,0,0,0,0,0
$GC,6215,0.88,206.9,428.9,5.9,331,6260,0.00,2.38,38.62,0.781,4,0.000,0.028,3250,2790,1786,0,0,0,0,0,0
$GC,6352,0.90,223.5,419.7,7.1,334,6373,0.00,2.42,15.85,0.734,6,0.000,0.042,3251,1416,1718,0,0,0,0,0,0
$GC,6721,0.84,223.5,390.8,8.2,343,6725,0.00,2.10,0.00,0.000,4,0.000,0.058,3250,234,1711,0,0,0,0,0,0
$GC,6746,0.73,223.5,388.2,9.5,343,6751,0.20,1.92,0.00,0.000,6,0.094,0.027,3211,1411,1709,0,0,0,0,0,0
$GC,7092,0.83,268.6,364.7,5.9,352,7137,0.00,2.42,39.25,0.767,4,0.000,0.028,3211,2813,1534,0,0,0,0,0,0
$GC,7170,0.99,284.7,359.9,7.2,353,7190,0.25,2.42,15.20,0.713,6,0.046,0.041,3277,1419,1468,0,0,0,0,0,0
$GC,7516,0.92,284.7,330.4,8.6,362,7521,0.12,2.12,0.00,0.000,4,0.099,0.058,3252,232,1463,0,0,0,0,0,0
$GC,7528,0.85,284.7,329.1,8.8,362,7532,0.00,1.95,0.00,0.000,6,0.000,0.028,3252,1418,1461,0,0,0,0,0,0
$GC,7846,0.85,284.7,301.7,8.7,370,7850,0.00,2.33,0.00,0.000,4,0.000,0.029,3252,2809,1460,0,0,0,0,0,0
$GC,7888,0.93,284.7,297.8,9.4,370,7894,0.00,2.45,0.00,0.000,6,0.000,0.041,3252,1412,1461,0,0,0,0,0,0
$GC,8205,0.93,284.7,268.8,8.8,386,8209,0.00,2.08,0.00,0.000,4,0.000,0.056,3252,233,1460,0,0,0,0,0,0
$GC,8274,0.88,284.7,262.8,8.4,389,8278,0.00,1.95,0.00,0.000,6,0.000,0.028,3252,1425,1457,0,0,0,0,0,0
$GC,8607,0.95,316.3,241.2,6.5,405,8640,0.00,2.40,26.92,0.681,4,0.000,0.028,3252,2807,1340,0,0,0,0,0,0
$GC,8689,1.10,350.2,235.9,6.4,408,8727,0.17,2.42,30.62,0.674,6,0.054,0.038,3302,1417,1202,0,0,0,0,0,0
$GC,9053,1.04,350.2,206.1,8.1,426,9058,0.12,2.10,0.00,0.000,4,0.099,0.054,3276,234,1197,0,0,0,0,0,0
$GC,9073,1.00,350.2,204.3,8.4,426,9079,0.00,1.98,0.00,0.000,6,0.000,0.026,3277,1431,1195,0,0,0,0,0,0
$GC,9397,1.00,352.7,178.9,7.8,450,9401,0.00,2.30,0.00,0.000,4,0.000,0.025,3276,2813,1195,0,0,0,0,0,0
$GC,9430,1.14,352.7,175.8,8.1,452,9435,0.10,2.42,0.00,0.000,6,0.074,0.037,3310,1412,1194,0,0,0,0,0,0
$GC,9693,1.11,352.7,151.0,10.1,472,9697,0.00,2.08,0.00,0.000,4,0.000,0.052,3310,222,1194,0,0,0,0,0,0
$GC,9737,1.04,352.7,146.0,11.0,475,9741,0.17,1.95,0.00,0.000,6,0.087,0.024,3274,1437,1193,0,0,0,0,0,0
$GC,10004,1.19,401.3,129.7,5.7,496,10053,0.15,2.30,43.00,0.584,4,0.058,0.024,3321,2799,992,0,0,0,0,0,0
$GC,10085,1.29,407.6,123.7,7.6,501,10098,0.00,2.40,7.03,0.476,6,0.000,0.037,3321,1416,967,0,0,0,0,0,0
$GC,10355,1.33,407.6,100.2,9.1,522,10359,0.00,2.05,0.00,0.000,4,0.000,0.050,3321,235,964,0,0,0,0,0,0
$GC,10414,1.33,407.6,93.7,10.2,526,10418,0.00,1.90,0.00,0.000,6,0.000,0.022,3321,1423,962,0,0,0,0,0,0
$GC,10683,1.37,407.6,72.7,8.7,547,10687,0.12,2.28,0.00,0.000,4,0.062,0.022,3363,2799,962,0,0,0,0,0,0
$GC,10709,1.37,407.6,69.8,10.3,549,10713,0.00,2.38,0.00,0.000,6,0.000,0.036,3363,1419,962,0,0,0,0,0,0
$GC,10977,1.29,407.6,42.8,10.8,570,10982,0.15,2.05,0.00,0.000,4,0.096,0.048,3332,226,962,0,0,0,0,0,0
$GC,11017,1.23,407.6,37.7,12.3,573,11021,0.00,1.88,0.00,0.000,6,0.000,0.021,3332,1432,961,0,0,0,0,0,0
$GC,11283,1.23,407.6,8.6,12.2,622,11290,0.00,2.25,0.00,0.000,4,0.000,0.023,3331,2793,961,0,0,0,0,0,0
$GC,11306,1.23,407.6,5.9,12.0,626,11312,0.00,2.38,0.00,0.000,6,0.000,0.035,3331,1421,961,0,0,0,0,0,0
$STATE,11330,end climb,SURFACE_DEPTH_REACHED
$STATE,11330,begin surface coast
$FINISH,0.9,1.023240
$STATE,11357,end surface coast,CONTROL_FINISHED_OK
$STATE,11357,begin surface
$SM_CCo,11382,0.00,0.000,0,0,959,410.14
$SM_GC,2.13,0.00,0.00,0.00,0.000,0.000,0.000,425,1417,959,-12.07,-0.96,410.14
$IRIDIUM_FIX,2059.45,-15759.05,300100,121227
$TT8_MAMPS,0.029146
$HUMID,63.34
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,20.70
$XPDR_PINGS,0
$24V_AH,23.3,81.436
$10V_AH,10.0,65.044
$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,30.725,126.325,454.675,0.000,0.000,44.233,68.455,311.459,4.500,0.000,16.307,1250.484,7572.282,463.967,1923.964,800.194,0.000,1361.738,0.000,1904.921,0.000,29.254,0.000
$DEVICE_MAMPS,131.924,57.525,819.156,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,428.375,415.714,897.828,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,34882,637
$CAP_FILE_SIZE,132065,0
$CFSIZE,260165632,166637568
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051110,152106,2107.055,-15801.259,67,1.1,78,9.8