version: 66.06
glider: 139
mission: 8
dive: 685
start: 10 15 110 22 36 58
data:
$ID,139
$MISSION,8
$DIVE,685
$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,-2165633.5
$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,1530
$C_ROLL_CLIMB,1500
$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
$GPS1,223036,2108.673,-15803.504,39,0.9,39,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-72.4
$GPS2,223638,2108.688,-15803.593,12,1.3,12,9.8
$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,94.2,2720,-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,-64.18,0.000,2,0.000,0.000,425,1524,2732,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.3,-3.0,12,115,12.68,2.42,-7.28,0.000,4,0.133,0.035,2787,2954,3111,0,0,0,0,0,0
$GC,124,0.01,-116.8,14.0,-24.6,18,132,1.17,2.47,0.00,0.000,6,0.070,0.034,3047,1529,3112,0,0,0,0,0,0
$GC,336,-0.57,-116.8,31.3,-9.9,64,343,0.52,2.35,0.00,0.000,4,0.043,0.020,2920,2961,3113,0,0,0,0,0,0
$GC,385,-0.98,-116.8,36.0,-7.0,67,392,0.32,2.45,0.00,0.000,6,0.022,0.028,2816,1520,3113,0,0,0,0,0,0
$GC,647,-0.86,-116.8,66.9,-11.1,88,651,0.22,2.20,0.00,0.000,4,0.078,0.044,2864,238,3113,0,0,0,0,0,0
$GC,701,-0.86,-116.8,72.4,-9.7,92,704,0.00,2.12,0.00,0.000,6,0.000,0.018,2865,1600,3113,0,0,0,0,0,0
$GC,965,-0.91,-116.8,97.0,-9.2,113,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1604,3114,0,0,0,0,0,0
$GC,1219,-0.97,-116.8,117.3,-7.2,133,1224,0.12,2.35,0.00,0.000,4,0.061,0.044,2819,235,3115,0,0,0,0,0,0
$GC,1309,-0.88,-116.8,125.6,-9.4,139,1316,0.17,2.10,0.00,0.000,6,0.084,0.018,2857,1601,3115,0,0,0,0,0,0
$GC,1573,-0.96,-116.8,142.1,-7.3,160,1577,0.00,2.33,0.00,0.000,4,0.000,0.044,2857,239,3115,0,0,0,0,0,0
$GC,1625,-1.03,-116.8,146.4,-7.5,164,1630,0.15,2.10,0.00,0.000,6,0.053,0.018,2806,1599,3116,0,0,0,0,0,0
$GC,1893,-1.03,-116.8,166.6,-7.0,185,1898,0.00,2.33,0.00,0.000,4,0.000,0.046,2806,240,3116,0,0,0,0,0,0
$GC,1921,-0.97,-116.8,169.3,-8.9,187,1926,0.15,2.10,0.00,0.000,6,0.085,0.019,2839,1592,3116,0,0,0,0,0,0
$GC,2184,-1.03,-116.8,190.4,-9.4,207,2188,0.00,2.33,0.00,0.000,4,0.000,0.046,2839,234,3116,0,0,0,0,0,0
$GC,2231,-1.08,-116.8,195.6,-10.6,210,2237,0.08,2.12,0.00,0.000,6,0.037,0.019,2801,1583,3116,0,0,0,0,0,0
$GC,2504,-1.08,-116.8,224.8,-10.0,225,2508,0.00,2.30,0.00,0.000,4,0.000,0.047,2800,238,3116,0,0,0,0,0,0
$GC,2532,-1.01,-116.8,228.2,-11.1,226,2537,0.15,2.12,0.00,0.000,6,0.087,0.020,2833,1588,3116,0,0,0,0,0,0
$GC,2860,-1.07,-116.8,253.6,-7.3,242,2864,0.00,2.33,0.00,0.000,4,0.000,0.048,2833,234,3115,0,0,0,0,0,0
$GC,2928,-1.14,-116.8,259.5,-9.0,245,2936,0.15,2.12,0.00,0.000,6,0.055,0.021,2783,1588,3116,0,0,0,0,0,0
$GC,3270,-1.10,-116.8,294.5,-9.8,261,3275,0.12,2.22,0.00,0.000,4,0.094,0.025,2810,2948,3115,0,0,0,0,0,0
$GC,3301,-1.17,-116.8,297.3,-7.7,262,3305,0.00,2.40,0.00,0.000,6,0.000,0.034,2810,1526,3114,0,0,0,0,0,0
$GC,3638,-1.17,-116.8,319.5,-5.9,272,3642,0.00,2.22,0.00,0.000,4,0.000,0.050,2810,237,3114,0,0,0,0,0,0
$GC,3682,-1.17,-116.8,321.8,-5.7,273,3686,0.00,2.12,0.00,0.000,6,0.000,0.022,2810,1584,3113,0,0,0,0,0,0
$GC,4009,-1.17,-116.8,339.9,-5.9,281,4014,0.00,2.33,0.00,0.000,4,0.000,0.050,2810,237,3112,0,0,0,0,0,0
$GC,4065,-1.17,-116.8,344.9,-9.6,282,4069,0.00,2.15,0.00,0.000,6,0.000,0.023,2810,1584,3111,0,0,0,0,0,0
$GC,4385,-1.20,-116.8,372.3,-8.2,290,4388,0.00,2.35,0.00,0.000,4,0.000,0.051,2810,230,3109,0,0,0,0,0,0
$GC,4403,-1.20,-116.8,374.0,-8.4,290,4407,0.00,2.15,0.00,0.000,6,0.000,0.024,2810,1576,3109,0,0,0,0,0,0
$GC,4755,-1.24,-116.8,400.4,-7.3,299,4760,0.12,2.35,0.00,0.000,4,0.065,0.053,2769,234,3107,0,0,0,0,0,0
$GC,4830,-1.15,-116.8,407.9,-9.9,300,4835,0.15,2.08,0.00,0.000,6,0.091,0.024,2801,1532,3106,0,0,0,0,0,0
$GC,5167,-1.15,-116.8,435.5,-7.9,309,5171,0.00,2.25,0.00,0.000,4,0.000,0.028,2801,2907,3104,0,0,0,0,0,0
$GC,5215,-1.25,-116.8,439.4,-7.7,310,5220,0.10,2.35,0.00,0.000,6,0.074,0.039,2767,1534,3104,0,0,0,0,0,0
$STATE,5374,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5374,begin apogee
$GC,5380,-0.31,0.0,453.0,8.6,314,5481,1.00,0.00,97.28,0.831,6,0.066,0.000,2983,1487,2630,0,0,0,0,0,0
$STATE,5482,end apogee,CONTROL_FINISHED_OK
$STATE,5482,begin climb
$GC,5486,1.18,116.8,454.1,0.0,316,5592,1.42,0.00,102.03,0.814,6,0.035,0.000,3312,1486,2153,0,0,0,0,0,0
$GC,5902,0.98,127.9,427.3,7.4,327,5919,0.25,2.40,9.40,0.690,4,0.094,0.028,3259,2886,2108,0,0,0,0,0,0
$GC,5999,0.99,194.7,422.5,4.9,329,6064,0.00,2.40,60.10,0.798,6,0.000,0.041,3259,1504,1836,0,0,0,0,0,0
$GC,6409,0.92,194.7,392.9,8.0,339,6410,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1504,1828,0,0,0,0,0,0
$GC,6732,0.84,194.7,366.4,8.0,347,6734,0.12,0.00,0.00,0.000,6,0.106,0.000,3234,1504,1825,0,0,0,0,0,0
$GC,7057,0.90,249.2,348.3,5.4,355,7110,0.00,2.35,47.17,0.771,4,0.000,0.060,3234,238,1613,0,0,0,0,0,0
$GC,7227,0.86,249.2,334.0,9.4,358,7231,0.00,2.08,0.00,0.000,6,0.000,0.028,3234,1493,1608,0,0,0,0,0,0
$GC,7558,0.87,256.4,308.3,7.6,366,7571,0.00,2.30,6.50,0.597,4,0.000,0.058,3234,238,1583,0,0,0,0,0,0
$GC,7624,0.83,256.4,302.6,9.3,367,7628,0.00,2.08,0.00,0.000,6,0.000,0.028,3234,1504,1582,0,0,0,0,0,0
$GC,7942,0.83,256.4,277.0,8.3,381,7946,0.00,2.30,0.00,0.000,4,0.000,0.029,3234,2888,1581,0,0,0,0,0,0
$GC,7964,0.90,256.4,275.3,8.0,382,7968,0.00,2.42,0.00,0.000,6,0.000,0.042,3234,1492,1580,0,0,0,0,0,0
$GC,8294,0.95,256.4,246.5,8.6,398,8297,0.00,2.20,0.00,0.000,4,0.000,0.057,3234,234,1580,0,0,0,0,0,0
$GC,8340,0.95,256.4,242.7,8.3,400,8344,0.00,2.08,0.00,0.000,6,0.000,0.027,3234,1504,1577,0,0,0,0,0,0
$GC,8671,1.07,293.8,221.0,6.2,416,8710,0.20,2.38,33.05,0.677,4,0.052,0.028,3291,2891,1431,0,0,0,0,0,0
$GC,8763,1.12,293.8,213.5,8.2,419,8768,0.00,2.45,0.00,0.000,6,0.000,0.041,3290,1497,1431,0,0,0,0,0,0
$GC,9086,1.08,293.8,185.5,10.2,439,9090,0.00,2.20,0.00,0.000,4,0.000,0.054,3290,234,1428,0,0,0,0,0,0
$GC,9128,0.98,293.8,180.0,12.9,442,9132,0.15,2.08,0.00,0.000,6,0.095,0.025,3260,1515,1425,0,0,0,0,0,0
$GC,9391,1.02,293.8,156.5,8.1,462,9395,0.00,2.25,0.00,0.000,4,0.000,0.052,3260,235,1425,0,0,0,0,0,0
$GC,9418,1.02,293.8,153.5,9.5,464,9422,0.00,2.03,0.00,0.000,6,0.000,0.024,3260,1506,1424,0,0,0,0,0,0
$GC,9681,1.11,321.3,135.7,6.7,484,9711,0.15,2.30,24.02,0.588,4,0.059,0.051,3305,242,1318,0,0,0,0,0,0
$GC,9767,1.02,321.3,126.9,11.6,490,9771,0.17,2.00,0.00,0.000,6,0.090,0.022,3269,1503,1315,0,0,0,0,0,0
$GC,10035,1.07,321.3,104.8,8.8,511,10039,0.00,2.22,0.00,0.000,4,0.000,0.050,3269,232,1314,0,0,0,0,0,0
$GC,10081,1.07,321.3,99.7,9.9,514,10087,0.00,2.05,0.00,0.000,6,0.000,0.022,3269,1504,1313,0,0,0,0,0,0
$GC,10345,1.21,352.1,79.7,6.5,535,10377,0.20,2.28,26.80,0.538,4,0.048,0.050,3329,230,1193,0,0,0,0,0,0
$GC,10427,1.13,352.1,71.9,9.8,541,10432,0.15,2.05,0.00,0.000,6,0.091,0.021,3298,1516,1190,0,0,0,0,0,0
$GC,10691,1.26,401.6,58.5,5.7,561,10740,0.10,2.28,41.92,0.522,4,0.073,0.047,3334,232,991,0,0,0,0,0,0
$GC,10771,1.16,401.6,50.5,12.2,566,10778,0.12,2.05,0.00,0.000,6,0.067,0.021,3304,1505,988,0,0,0,0,0,0
$GC,11033,1.21,401.6,26.8,9.0,591,11040,0.00,2.22,0.00,0.000,4,0.000,0.048,3304,241,987,0,0,0,0,0,0
$GC,11074,1.21,401.6,22.3,10.5,599,11081,0.00,2.00,0.00,0.000,6,0.000,0.020,3304,1506,985,0,0,0,0,0,0
$GC,11276,1.21,401.6,4.0,10.2,645,11282,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,1506,985,0,0,0,0,0,0
$STATE,11287,end climb,SURFACE_DEPTH_REACHED
$STATE,11287,begin surface coast
$FINISH,0.9,1.005672
$STATE,11318,end surface coast,CONTROL_FINISHED_OK
$STATE,11318,begin surface
$SM_CCo,11342,6.80,0.392,0,0,957,410.14
$SM_GC,1.56,0.00,0.00,6.80,0.000,0.000,0.392,426,1506,957,-12.07,-0.68,410.14
$IRIDIUM_FIX,2101.76,-15803.33,090100,191928
$TT8_MAMPS,0.029146
$HUMID,60.63
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.3,64.192
$10V_AH,10.0,52.116
$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,32.800,125.100,448.275,6.800,0.000,23.288,33.424,170.326,4.500,0.000,12.839,1272.112,7452.300,490.408,1938.961,552.084,0.000,1373.593,0.000,1917.856,0.000,29.268,0.000
$DEVICE_MAMPS,132.691,151.099,830.661,391.937,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,439.863,418.947,959.622,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,35002,654
$CAP_FILE_SIZE,128896,0
$CFSIZE,260165632,175853568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161010,014656,2109.143,-15803.300,11,1.6,11,9.8