version: 66.06
glider: 139
mission: 8
dive: 834
start: 11 5 110 8 43 21
data:
$ID,139
$MISSION,8
$DIVE,834
$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,-2168991.5
$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
$GPS1,083222,2106.351,-15800.439,39,1.5,54,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-69.9
$GPS2,084259,2106.349,-15800.436,15,3.0,34,9.8
$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,312.8,4629,-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,-59.12,0.000,2,0.000,0.000,425,1431,2636,0,0,0,0,0,0
$GC,80,-1.18,-116.8,3.4,-3.8,11,110,12.65,2.42,-8.98,0.000,4,0.131,0.035,2785,2877,3110,0,0,0,0,0,0
$GC,176,-1.06,-116.8,23.0,-17.3,30,184,0.12,2.45,0.00,0.000,6,0.077,0.031,2815,1452,3112,0,0,0,0,0,0
$GC,383,-0.89,-116.8,51.4,-13.4,51,388,0.20,2.10,0.00,0.000,4,0.087,0.044,2857,235,3112,0,0,0,0,0,0
$GC,431,-0.85,-116.8,57.3,-11.3,54,438,0.00,2.00,0.00,0.000,6,0.000,0.019,2857,1513,3112,0,0,0,0,0,0
$GC,691,-0.81,-116.8,83.7,-10.0,75,695,0.00,2.20,0.00,0.000,4,0.000,0.044,2857,237,3112,0,0,0,0,0,0
$GC,717,-0.78,-116.8,86.1,-9.9,77,722,0.10,1.98,0.00,0.000,6,0.106,0.019,2878,1521,3112,0,0,0,0,0,0
$GC,985,-0.87,-116.8,106.7,-7.3,98,989,0.00,2.20,0.00,0.000,4,0.000,0.042,2878,234,3113,0,0,0,0,0,0
$GC,1045,-0.95,-116.8,111.4,-7.0,102,1049,0.15,1.98,0.00,0.000,6,0.054,0.018,2826,1524,3113,0,0,0,0,0,0
$GC,1314,-0.95,-116.8,131.1,-7.7,123,1318,0.00,2.20,0.00,0.000,4,0.000,0.044,2826,227,3114,0,0,0,0,0,0
$GC,1342,-0.95,-116.8,134.0,-8.5,125,1345,0.00,2.00,0.00,0.000,6,0.000,0.018,2826,1511,3114,0,0,0,0,0,0
$GC,1608,-0.95,-116.8,153.7,-7.3,146,1612,0.00,2.17,0.00,0.000,4,0.000,0.044,2826,237,3115,0,0,0,0,0,0
$GC,1683,-0.95,-116.8,159.7,-8.2,151,1689,0.00,1.98,0.00,0.000,6,0.000,0.019,2826,1517,3114,0,0,0,0,0,0
$GC,1943,-0.95,-116.8,179.0,-7.1,172,1947,0.00,2.20,0.00,0.000,4,0.000,0.021,2827,2877,3115,0,0,0,0,0,0
$GC,1963,-1.00,-116.8,180.5,-6.7,173,1967,0.00,2.40,0.00,0.000,6,0.000,0.030,2826,1446,3115,0,0,0,0,0,0
$GC,2226,-1.00,-116.8,199.9,-7.5,194,2231,0.00,2.05,0.00,0.000,4,0.000,0.044,2826,230,3115,0,0,0,0,0,0
$GC,2316,-1.00,-116.8,206.9,-8.4,198,2322,0.00,2.03,0.00,0.000,6,0.000,0.020,2826,1516,3114,0,0,0,0,0,0
$GC,2632,-1.04,-116.8,231.3,-7.8,214,2636,0.00,2.20,0.00,0.000,4,0.000,0.046,2826,235,3115,0,0,0,0,0,0
$GC,2706,-1.04,-116.8,237.2,-8.9,217,2710,0.00,1.98,0.00,0.000,6,0.000,0.021,2826,1505,3115,0,0,0,0,0,0
$GC,3044,-1.18,-116.8,262.3,-7.5,233,3048,0.15,2.22,0.00,0.000,4,0.054,0.023,2772,2874,3115,0,0,0,0,0,0
$GC,3074,-1.18,-116.8,265.1,-8.9,234,3079,0.10,2.40,0.00,0.000,6,0.104,0.031,2794,1441,3114,0,0,0,0,0,0
$GC,3398,-1.25,-116.8,289.2,-6.8,250,3402,0.00,2.35,0.00,0.000,4,0.000,0.023,2794,2877,3114,0,0,0,0,0,0
$GC,3489,-1.33,-116.8,294.7,-5.6,254,3494,0.15,2.42,0.00,0.000,6,0.056,0.032,2745,1445,3113,0,0,0,0,0,0
$GC,3817,-1.22,-116.8,321.8,-8.6,264,3821,0.20,2.10,0.00,0.000,4,0.083,0.050,2786,238,3112,0,0,0,0,0,0
$GC,3866,-1.22,-116.8,325.7,-7.6,265,3869,0.00,1.98,0.00,0.000,6,0.000,0.022,2787,1494,3112,0,0,0,0,0,0
$GC,4193,-1.22,-116.8,349.1,-7.1,273,4197,0.00,2.17,0.00,0.000,4,0.000,0.025,2787,2833,3109,0,0,0,0,0,0
$GC,4227,-1.27,-116.8,351.4,-7.2,273,4231,0.00,2.35,0.00,0.000,6,0.000,0.036,2787,1449,3109,0,0,0,0,0,0
$GC,4560,-1.27,-116.8,376.2,-8.0,281,4564,0.00,2.08,0.00,0.000,4,0.000,0.052,2787,238,3106,0,0,0,0,0,0
$GC,4606,-1.27,-116.8,380.6,-9.4,282,4609,0.00,1.92,0.00,0.000,6,0.000,0.024,2787,1450,3107,0,0,0,0,0,0
$GC,4935,-1.27,-116.8,406.8,-7.9,290,4939,0.00,2.25,0.00,0.000,4,0.000,0.026,2787,2826,3104,0,0,0,0,0,0
$GC,4968,-1.35,-116.8,409.5,-7.9,290,4973,0.12,2.38,0.00,0.000,6,0.064,0.038,2746,1446,3104,0,0,0,0,0,0
$GC,5305,-1.25,-116.8,439.8,-8.9,299,5307,0.15,0.00,0.00,0.000,6,0.091,0.000,2777,1446,3101,0,0,0,0,0,0
$STATE,5464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5464,begin apogee
$GC,5472,-0.31,0.0,451.9,7.5,303,5572,0.95,0.00,96.97,0.826,6,0.066,0.000,2983,1445,2630,0,0,0,0,0,0
$STATE,5573,end apogee,CONTROL_FINISHED_OK
$STATE,5573,begin climb
$GC,5576,1.18,116.8,454.5,0.0,305,5688,1.42,2.22,102.15,0.811,4,0.032,0.054,3314,236,2153,0,0,0,0,0,0
$GC,5728,0.84,128.7,453.3,7.4,309,5745,0.40,1.92,11.07,0.709,6,0.092,0.025,3235,1418,2105,0,0,0,0,0,0
$GC,6089,0.87,210.6,436.9,4.2,318,6170,0.00,2.38,72.18,0.808,4,0.000,0.028,3235,2796,1770,0,0,0,0,0,0
$GC,6232,0.89,229.0,428.9,7.1,320,6256,0.00,2.42,16.95,0.748,6,0.000,0.042,3235,1422,1696,0,0,0,0,0,0
$GC,6590,0.86,229.0,402.1,7.9,329,6594,0.00,2.33,0.00,0.000,4,0.000,0.029,3235,2797,1689,0,0,0,0,0,0
$GC,6628,0.91,229.0,398.9,8.4,329,6632,0.00,2.42,0.00,0.000,6,0.000,0.044,3235,1419,1689,0,0,0,0,0,0
$GC,6959,0.96,271.0,376.9,6.0,337,7002,0.10,2.15,36.28,0.779,4,0.078,0.058,3263,228,1524,0,0,0,0,0,0
$GC,7030,0.80,271.0,371.5,9.6,338,7035,0.20,1.98,0.00,0.000,6,0.095,0.028,3224,1417,1520,0,0,0,0,0,0
$GC,7376,0.83,297.7,346.6,6.7,347,7402,0.00,0.00,24.08,0.749,6,0.000,0.000,3224,1421,1416,0,0,0,0,0,0
$GC,7703,0.88,305.7,324.3,7.5,355,7716,0.00,2.15,7.97,0.640,4,0.000,0.058,3224,229,1382,0,0,0,0,0,0
$GC,7751,0.88,305.7,319.7,9.9,356,7755,0.00,1.98,0.00,0.000,6,0.000,0.028,3224,1423,1381,0,0,0,0,0,0
$GC,8086,0.95,313.0,294.9,7.6,365,8098,0.15,2.12,7.25,0.614,4,0.061,0.057,3265,234,1354,0,0,0,0,0,0
$GC,8152,0.87,313.0,287.6,12.7,367,8158,0.12,1.95,0.00,0.000,6,0.103,0.028,3241,1422,1351,0,0,0,0,0,0
$GC,8469,0.92,313.0,259.9,8.0,383,8473,0.00,2.10,0.00,0.000,4,0.000,0.056,3241,234,1351,0,0,0,0,0,0
$GC,8525,0.92,313.0,254.7,9.5,385,8529,0.00,1.95,0.00,0.000,6,0.000,0.028,3241,1425,1349,0,0,0,0,0,0
$GC,8847,1.02,336.7,230.6,6.8,401,8876,0.15,2.42,21.52,0.670,4,0.061,0.028,3284,2815,1257,0,0,0,0,0,0
$GC,8927,1.08,336.7,224.1,8.5,404,8931,0.00,2.42,0.00,0.000,6,0.000,0.040,3284,1418,1257,0,0,0,0,0,0
$GC,9246,1.08,336.7,194.1,10.4,421,9249,0.00,2.08,0.00,0.000,4,0.000,0.054,3284,235,1255,0,0,0,0,0,0
$GC,9272,1.03,336.7,191.2,11.2,423,9276,0.00,1.95,0.00,0.000,6,0.000,0.026,3284,1431,1253,0,0,0,0,0,0
$GC,9541,1.03,336.7,167.3,8.2,444,9545,0.00,2.30,0.00,0.000,4,0.000,0.025,3284,2813,1253,0,0,0,0,0,0
$GC,9564,1.11,356.7,165.4,7.0,445,9589,0.00,2.42,18.30,0.607,6,0.000,0.038,3284,1416,1175,0,0,0,0,0,0
$GC,9849,1.13,378.4,145.1,6.9,468,9876,0.00,2.12,19.40,0.586,4,0.000,0.052,3284,239,1087,0,0,0,0,0,0
$GC,9882,1.13,378.4,142.5,8.3,470,9885,0.00,1.95,0.00,0.000,6,0.000,0.025,3284,1430,1085,0,0,0,0,0,0
$GC,10148,1.17,378.4,119.6,9.5,491,10152,0.00,2.28,0.00,0.000,4,0.000,0.024,3284,2818,1084,0,0,0,0,0,0
$GC,10177,1.27,378.4,116.4,9.6,493,10182,0.20,2.42,0.00,0.000,6,0.048,0.036,3343,1417,1084,0,0,0,0,0,0
$GC,10440,1.23,378.4,91.0,9.0,513,10445,0.12,2.08,0.00,0.000,4,0.094,0.051,3316,231,1084,0,0,0,0,0,0
$GC,10483,1.23,378.4,86.5,8.4,516,10487,0.00,1.92,0.00,0.000,6,0.000,0.023,3317,1438,1082,0,0,0,0,0,0
$GC,10757,1.31,410.0,68.1,6.5,537,10786,0.00,0.00,27.48,0.523,6,0.000,0.000,3317,1442,957,0,0,0,0,0,0
$GC,11040,1.31,410.0,47.1,8.5,559,11044,0.00,2.10,0.00,0.000,4,0.000,0.046,3317,231,955,0,0,0,0,0,0
$GC,11060,1.31,410.0,44.9,8.7,560,11066,0.00,1.92,0.00,0.000,6,0.000,0.021,3317,1427,954,0,0,0,0,0,0
$GC,11328,1.35,410.0,23.5,8.4,591,11335,0.12,2.28,0.00,0.000,4,0.063,0.021,3359,2796,954,0,0,0,0,0,0
$GC,11360,1.39,410.0,20.4,8.6,597,11367,0.00,2.38,0.00,0.000,6,0.000,0.035,3359,1424,954,0,0,0,0,0,0
$STATE,11518,end climb,SURFACE_DEPTH_REACHED
$STATE,11518,begin surface coast
$FINISH,0.9,1.012318
$STATE,11550,end surface coast,CONTROL_FINISHED_OK
$STATE,11550,begin surface
$SM_CCo,11633,0.00,0.000,0,0,951,411.86
$SM_GC,1.56,12.52,0.00,0.00,0.021,0.000,0.000,427,1418,951,-11.98,-0.90,411.86
$IRIDIUM_FIX,2057.14,-15801.19,300100,080829
$TT8_MAMPS,0.029146
$HUMID,63.74
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,20.40
$XPDR_PINGS,1
$24V_AH,23.3,81.314
$10V_AH,9.9,64.957
$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,30.575,130.275,461.600,0.000,0.000,60.824,64.882,275.600,4.750,0.000,35.885,1257.457,7838.719,495.077,1898.089,774.594,0.000,1361.162,0.000,1862.995,0.000,29.261,0.000
$DEVICE_MAMPS,131.157,58.292,826.059,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,430.992,411.708,902.817,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,34889,640
$CAP_FILE_SIZE,130856,0
$CFSIZE,260165632,166703104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051110,115831,2106.868,-15800.711,41,1.6,41,9.8