version: 66.06
glider: 139
mission: 8
dive: 831
start: 11 4 110 22 30 39
data:
$ID,139
$MISSION,8
$DIVE,831
$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,-2168907.5
$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
$GPS1,222337,2105.226,-15758.893,82,1.3,82,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-68.6
$GPS2,223019,2105.224,-15758.935,11,1.4,16,9.8
$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,307.0,7900,-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,-116.8,0.0,0.0,0,84,0.00,0.00,-64.55,0.000,2,0.000,0.000,428,1418,2621,0,0,0,0,0,0
$GC,87,-1.18,-116.8,3.2,-3.1,12,117,12.62,2.45,-9.65,0.000,4,0.131,0.031,2786,2899,3109,0,0,0,0,0,0
$GC,192,-1.09,-116.8,22.2,-16.5,33,199,0.10,2.53,0.00,0.000,6,0.079,0.035,2811,1449,3110,0,0,0,0,0,0
$GC,404,-0.93,-116.8,52.8,-12.7,55,409,0.17,2.10,0.00,0.000,4,0.092,0.045,2847,234,3111,0,0,0,0,0,0
$GC,436,-0.82,-116.8,57.1,-12.7,57,440,0.10,2.00,0.00,0.000,6,0.104,0.018,2868,1520,3111,0,0,0,0,0,0
$GC,701,-0.82,-116.8,86.2,-11.0,78,705,0.00,2.22,0.00,0.000,4,0.000,0.044,2868,231,3111,0,0,0,0,0,0
$GC,770,-0.82,-116.8,93.1,-9.0,83,774,0.00,1.98,0.00,0.000,6,0.000,0.019,2868,1516,3111,0,0,0,0,0,0
$GC,1036,-1.00,-116.8,112.0,-6.2,104,1040,0.17,2.20,0.00,0.000,4,0.049,0.043,2808,231,3112,0,0,0,0,0,0
$GC,1140,-0.92,-116.8,120.1,-8.5,111,1144,0.17,1.98,0.00,0.000,6,0.081,0.018,2847,1520,3112,0,0,0,0,0,0
$GC,1406,-0.97,-116.8,138.9,-6.6,132,1410,0.00,2.20,0.00,0.000,4,0.000,0.044,2847,234,3113,0,0,0,0,0,0
$GC,1446,-1.03,-116.8,141.9,-7.1,134,1452,0.00,2.00,0.00,0.000,6,0.000,0.019,2847,1510,3113,0,0,0,0,0,0
$GC,1709,-1.20,-116.8,159.4,-6.9,155,1714,0.25,2.17,0.00,0.000,4,0.038,0.041,2763,221,3113,0,0,0,0,0,0
$GC,1811,-1.06,-116.8,169.0,-10.1,162,1816,0.25,2.00,0.00,0.000,6,0.077,0.019,2816,1507,3113,0,0,0,0,0,0
$GC,2078,-1.06,-116.8,187.6,-6.9,183,2082,0.00,2.20,0.00,0.000,4,0.000,0.021,2817,2877,3113,0,0,0,0,0,0
$GC,2099,-1.10,-116.8,189.2,-6.5,184,2106,0.00,2.45,0.00,0.000,6,0.000,0.031,2817,1445,3113,0,0,0,0,0,0
$GC,2360,-1.10,-116.8,208.1,-7.2,202,2364,0.00,2.08,0.00,0.000,4,0.000,0.046,2817,230,3114,0,0,0,0,0,0
$GC,2422,-1.10,-116.8,213.3,-8.5,204,2425,0.00,2.00,0.00,0.000,6,0.000,0.020,2817,1504,3113,0,0,0,0,0,0
$GC,2742,-1.10,-116.8,241.2,-8.2,220,2746,0.00,2.20,0.00,0.000,4,0.000,0.046,2817,234,3113,0,0,0,0,0,0
$GC,2802,-1.10,-116.8,246.3,-7.9,222,2808,0.00,2.00,0.00,0.000,6,0.000,0.021,2817,1495,3114,0,0,0,0,0,0
$GC,3120,-1.14,-116.8,268.1,-7.2,238,3124,0.00,2.15,0.00,0.000,4,0.000,0.048,2817,238,3113,0,0,0,0,0,0
$GC,3194,-1.14,-116.8,274.0,-7.3,241,3198,0.00,1.88,0.00,0.000,6,0.000,0.021,2816,1448,3112,0,0,0,0,0,0
$GC,3524,-1.20,-116.8,294.0,-5.4,257,3526,0.12,0.00,0.00,0.000,6,0.063,0.000,2772,1449,3111,0,0,0,0,0,0
$GC,3847,-1.13,-116.8,321.7,-8.9,267,3852,0.15,2.12,0.00,0.000,4,0.087,0.050,2805,234,3109,0,0,0,0,0,0
$GC,3905,-1.13,-116.8,327.0,-8.4,268,3909,0.00,1.90,0.00,0.000,6,0.000,0.023,2805,1447,3109,0,0,0,0,0,0
$GC,4223,-1.13,-116.8,352.3,-7.7,276,4227,0.00,2.28,0.00,0.000,4,0.000,0.025,2805,2832,3107,0,0,0,0,0,0
$GC,4247,-1.21,-116.8,354.0,-7.4,276,4251,0.00,2.38,0.00,0.000,6,0.000,0.036,2805,1446,3108,0,0,0,0,0,0
$GC,4594,-1.24,-116.8,375.0,-6.1,285,4599,0.12,2.10,0.00,0.000,4,0.064,0.052,2765,232,3105,0,0,0,0,0,0
$GC,4623,-1.16,-116.8,377.2,-8.6,285,4628,0.15,1.92,0.00,0.000,6,0.088,0.023,2797,1448,3105,0,0,0,0,0,0
$GC,4961,-1.16,-116.8,399.8,-7.8,294,4965,0.00,2.28,0.00,0.000,4,0.000,0.027,2797,2831,3103,0,0,0,0,0,0
$GC,4995,-1.26,-116.8,402.6,-7.7,294,4999,0.00,2.35,0.00,0.000,6,0.000,0.038,2797,1449,3104,0,0,0,0,0,0
$GC,5331,-1.26,-116.8,427.2,-7.0,303,5335,0.00,2.10,0.00,0.000,4,0.000,0.054,2797,228,3101,0,0,0,0,0,0
$GC,5422,-1.26,-116.8,433.8,-7.3,305,5426,0.10,1.95,0.00,0.000,6,0.076,0.025,2765,1448,3101,0,0,0,0,0,0
$STATE,5670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5670,begin apogee
$GC,5676,-0.31,0.0,452.1,7.3,311,5777,1.00,0.00,96.60,0.823,6,0.067,0.000,2979,1450,2630,0,0,0,0,0,0
$STATE,5777,end apogee,CONTROL_FINISHED_OK
$STATE,5777,begin climb
$GC,5782,1.18,116.8,454.5,0.0,313,5889,1.42,0.00,102.65,0.808,6,0.033,0.000,3313,1450,2152,0,0,0,0,0,0
$GC,6192,0.99,158.3,437.0,6.0,323,6235,0.22,2.30,36.38,0.788,4,0.095,0.028,3268,2799,1983,0,0,0,0,0,0
$GC,6274,0.99,235.1,433.1,4.4,324,6350,0.00,2.42,67.93,0.798,6,0.000,0.042,3268,1422,1670,0,0,0,0,0,0
$GC,6693,0.89,235.1,398.9,10.3,335,6697,0.12,2.12,0.00,0.000,4,0.106,0.058,3244,230,1662,0,0,0,0,0,0
$GC,6726,0.77,235.1,395.0,11.3,335,6731,0.12,1.92,0.00,0.000,6,0.109,0.027,3220,1414,1659,0,0,0,0,0,0
$GC,7062,0.77,235.1,365.6,8.4,344,7067,0.00,2.35,0.00,0.000,4,0.000,0.028,3221,2811,1658,0,0,0,0,0,0
$GC,7115,0.86,235.1,361.2,8.7,345,7120,0.00,2.45,0.00,0.000,6,0.000,0.041,3221,1411,1658,0,0,0,0,0,0
$GC,7434,0.90,235.1,335.1,7.9,353,7439,0.12,2.08,0.00,0.000,4,0.070,0.056,3256,234,1657,0,0,0,0,0,0
$GC,7506,0.80,235.1,329.0,8.7,354,7511,0.15,1.95,0.00,0.000,6,0.100,0.027,3227,1429,1653,0,0,0,0,0,0
$GC,7848,0.93,306.5,311.4,4.7,363,7919,0.12,2.17,60.50,0.750,4,0.068,0.055,3263,228,1379,0,0,0,0,0,0
$GC,7927,0.92,337.6,306.5,6.5,364,7960,0.00,1.98,28.05,0.716,6,0.000,0.028,3263,1419,1253,0,0,0,0,0,0
$GC,8285,0.92,337.6,278.3,8.1,380,8289,0.00,2.35,0.00,0.000,4,0.000,0.028,3263,2816,1247,0,0,0,0,0,0
$GC,8319,1.01,337.6,275.7,8.2,381,8323,0.00,2.42,0.00,0.000,6,0.000,0.041,3263,1419,1246,0,0,0,0,0,0
$GC,8634,1.01,337.6,247.5,8.8,396,8638,0.00,2.08,0.00,0.000,4,0.000,0.055,3263,234,1244,0,0,0,0,0,0
$GC,8710,0.97,337.6,239.4,11.3,399,8713,0.00,1.95,0.00,0.000,6,0.000,0.026,3263,1433,1241,0,0,0,0,0,0
$GC,9035,0.97,337.6,208.9,8.3,415,9039,0.00,2.30,0.00,0.000,4,0.000,0.027,3263,2813,1241,0,0,0,0,0,0
$GC,9063,1.08,337.6,206.4,8.5,416,9069,0.10,2.42,0.00,0.000,6,0.076,0.040,3295,1414,1241,0,0,0,0,0,0
$GC,9390,1.05,345.7,181.1,7.5,439,9404,0.00,2.12,6.32,0.515,4,0.000,0.054,3295,235,1220,0,0,0,0,0,0
$GC,9449,0.97,345.7,175.9,8.5,443,9453,0.17,1.92,0.00,0.000,6,0.089,0.025,3259,1428,1218,0,0,0,0,0,0
$GC,9718,1.09,397.0,160.8,5.6,464,9772,0.12,2.38,44.78,0.618,4,0.066,0.025,3298,2799,1010,0,0,0,0,0,0
$GC,9795,1.15,397.0,154.7,8.0,469,9799,0.00,2.40,0.00,0.000,6,0.000,0.038,3298,1415,1010,0,0,0,0,0,0
$GC,10055,1.15,397.0,132.4,8.1,489,10059,0.00,2.05,0.00,0.000,4,0.000,0.051,3299,231,1008,0,0,0,0,0,0
$GC,10115,1.11,397.0,127.0,8.5,493,10120,0.00,1.92,0.00,0.000,6,0.000,0.024,3298,1432,1006,0,0,0,0,0,0
$GC,10377,1.16,397.0,106.9,8.6,514,10381,0.00,2.28,0.00,0.000,4,0.000,0.024,3298,2809,1006,0,0,0,0,0,0
$GC,10415,1.31,397.0,103.2,9.3,516,10422,0.12,2.42,0.00,0.000,6,0.032,0.035,3347,1414,1006,0,0,0,0,0,0
$GC,10678,1.27,397.0,77.7,9.3,537,10682,0.00,2.03,0.00,0.000,4,0.000,0.048,3347,229,1006,0,0,0,0,0,0
$GC,10695,1.21,397.0,76.0,8.6,538,10700,0.15,1.90,0.00,0.000,6,0.090,0.022,3316,1427,1005,0,0,0,0,0,0
$GC,10969,1.27,403.9,55.6,7.6,559,10985,0.00,2.30,6.55,0.421,4,0.000,0.021,3316,2802,982,0,0,0,0,0,0
$GC,11002,1.38,420.9,52.7,7.1,561,11024,0.15,2.35,15.95,0.487,6,0.054,0.033,3366,1419,912,0,0,0,0,0,0
$GC,11283,1.29,420.9,24.7,8.6,590,11290,0.17,2.08,0.00,0.000,4,0.083,0.047,3329,241,910,0,0,0,0,0,0
$GC,11298,1.21,420.9,23.5,8.3,592,11305,0.00,1.90,0.00,0.000,6,0.000,0.021,3329,1434,909,0,0,0,0,0,0
$GC,11501,1.21,420.9,6.4,9.9,638,11507,0.00,2.22,0.00,0.000,4,0.000,0.020,3329,2792,910,0,0,0,0,0,0
$GC,11516,1.21,420.9,4.8,10.4,640,11522,0.00,2.35,0.00,0.000,6,0.000,0.033,3329,1428,909,0,0,0,0,0,0
$STATE,11532,end climb,SURFACE_DEPTH_REACHED
$STATE,11532,begin surface coast
$FINISH,0.9,1.023230
$STATE,11562,end surface coast,CONTROL_FINISHED_OK
$STATE,11562,begin surface
$SM_CCo,11647,0.00,0.000,0,0,907,422.90
$SM_GC,1.68,12.48,0.00,0.00,0.025,0.000,0.000,424,1425,907,-12.00,-0.68,422.90
$IRIDIUM_FIX,2054.83,-15756.91,290100,191906
$TT8_MAMPS,0.028379
$HUMID,62.83
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,20.80
$XPDR_PINGS,0
$24V_AH,23.3,80.948
$10V_AH,9.9,64.690
$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,31.275,134.050,465.700,0.000,0.000,31.258,31.818,191.935,4.500,0.000,16.518,1277.643,7719.005,502.447,1925.333,615.405,0.000,1397.215,0.000,1902.375,0.000,29.262,0.000
$DEVICE_MAMPS,131.157,58.292,822.991,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,436.492,414.226,915.353,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,37980,649
$CAP_FILE_SIZE,132562,0
$CFSIZE,260165632,166891520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051110,014558,2105.256,-15759.920,16,4.3,35,9.8