version: 66.06
glider: 139
mission: 8
dive: 836
start: 11 5 110 15 31 39
data:
$ID,139
$MISSION,8
$DIVE,836
$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,-2169024.8
$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
$GPS1,152106,2107.055,-15801.259,67,1.1,78,9.8
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-69.7
$GPS2,153120,2107.023,-15801.233,15,1.1,15,9.8
$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,319.6,2821,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.18,0.000,2,0.000,0.000,425,1417,2750,0,0,0,0,0,0
$GC,87,-1.18,-116.8,3.4,-3.3,12,112,12.73,2.40,-6.78,0.000,4,0.134,0.028,2785,2888,3109,0,0,0,0,0,0
$GC,150,-1.05,-116.8,19.0,-18.5,24,157,0.12,2.47,0.00,0.000,6,0.073,0.031,2817,1453,3111,0,0,0,0,0,0
$GC,359,-0.92,-116.8,45.7,-13.5,54,363,0.15,2.08,0.00,0.000,4,0.093,0.044,2848,234,3112,0,0,0,0,0,0
$GC,405,-0.86,-116.8,50.6,-8.6,57,412,0.00,2.00,0.00,0.000,6,0.000,0.018,2848,1512,3112,0,0,0,0,0,0
$GC,667,-0.78,-116.8,72.5,-9.9,78,671,0.15,2.22,0.00,0.000,4,0.090,0.044,2881,230,3112,0,0,0,0,0,0
$GC,693,-0.74,-116.8,75.4,-9.8,80,697,0.00,1.98,0.00,0.000,6,0.000,0.019,2881,1504,3113,0,0,0,0,0,0
$GC,964,-0.74,-116.8,99.1,-9.3,101,968,0.00,2.17,0.00,0.000,4,0.000,0.043,2880,233,3112,0,0,0,0,0,0
$GC,1022,-0.74,-116.8,104.5,-8.8,105,1025,0.00,1.98,0.00,0.000,6,0.000,0.018,2880,1513,3113,0,0,0,0,0,0
$GC,1293,-0.94,-116.8,124.0,-7.3,126,1298,0.15,2.20,0.00,0.000,4,0.053,0.042,2824,232,3113,0,0,0,0,0,0
$GC,1376,-0.94,-116.8,132.7,-10.7,132,1380,0.00,1.98,0.00,0.000,6,0.000,0.018,2824,1513,3113,0,0,0,0,0,0
$GC,1641,-0.94,-116.8,155.7,-8.4,153,1646,0.10,2.20,0.00,0.000,4,0.098,0.044,2847,235,3114,0,0,0,0,0,0
$GC,1671,-0.98,-116.8,158.3,-8.9,155,1675,0.00,2.00,0.00,0.000,6,0.000,0.019,2847,1514,3114,0,0,0,0,0,0
$GC,1936,-1.07,-116.8,176.9,-6.5,176,1941,0.15,2.20,0.00,0.000,4,0.053,0.044,2793,228,3114,0,0,0,0,0,0
$GC,1983,-0.98,-116.8,180.7,-8.7,179,1987,0.20,2.00,0.00,0.000,6,0.079,0.019,2837,1520,3114,0,0,0,0,0,0
$GC,2250,-1.02,-116.8,200.7,-7.5,200,2254,0.00,2.20,0.00,0.000,4,0.000,0.044,2837,231,3114,0,0,0,0,0,0
$GC,2299,-1.07,-116.8,204.6,-8.0,202,2302,0.00,1.98,0.00,0.000,6,0.000,0.019,2837,1507,3114,0,0,0,0,0,0
$GC,2634,-1.23,-116.8,225.3,-6.5,218,2639,0.22,2.22,0.00,0.000,4,0.041,0.021,2764,2879,3114,0,0,0,0,0,0
$GC,2710,-1.23,-116.8,232.0,-8.6,221,2714,0.00,2.42,0.00,0.000,6,0.000,0.030,2764,1438,3114,0,0,0,0,0,0
$GC,3035,-1.14,-116.8,260.5,-8.9,237,3039,0.17,2.05,0.00,0.000,4,0.085,0.047,2801,237,3114,0,0,0,0,0,0
$GC,3087,-1.14,-116.8,265.5,-8.7,239,3091,0.00,2.00,0.00,0.000,6,0.000,0.021,2802,1515,3114,0,0,0,0,0,0
$GC,3415,-1.14,-116.8,287.9,-6.2,255,3419,0.00,2.17,0.00,0.000,4,0.000,0.047,2801,238,3113,0,0,0,0,0,0
$GC,3443,-1.14,-116.8,289.9,-6.2,256,3447,0.00,2.00,0.00,0.000,6,0.000,0.021,2801,1511,3113,0,0,0,0,0,0
$GC,3766,-1.14,-116.8,314.5,-8.2,268,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1514,3112,0,0,0,0,0,0
$GC,4092,-1.14,-116.8,337.7,-6.5,276,4096,0.00,2.20,0.00,0.000,4,0.000,0.050,2801,232,3111,0,0,0,0,0,0
$GC,4106,-1.14,-116.8,338.8,-6.4,276,4110,0.00,2.00,0.00,0.000,6,0.000,0.023,2801,1499,3110,0,0,0,0,0,0
$GC,4421,-1.14,-116.8,358.8,-6.4,284,4425,0.00,2.15,0.00,0.000,4,0.000,0.025,2801,2830,3108,0,0,0,0,0,0
$GC,4445,-1.21,-116.8,360.5,-6.9,284,4449,0.00,2.38,0.00,0.000,6,0.000,0.035,2801,1442,3108,0,0,0,0,0,0
$GC,4793,-1.21,-116.8,382.4,-6.4,293,4797,0.00,2.10,0.00,0.000,4,0.000,0.052,2801,229,3105,0,0,0,0,0,0
$GC,4853,-1.21,-116.8,387.1,-7.6,294,4857,0.00,1.92,0.00,0.000,6,0.000,0.025,2802,1450,3105,0,0,0,0,0,0
$GC,5172,-1.21,-116.8,408.8,-6.2,302,5176,0.00,2.30,0.00,0.000,4,0.000,0.027,2802,2838,3103,0,0,0,0,0,0
$GC,5236,-1.29,-116.8,412.1,-5.2,303,5241,0.15,2.38,0.00,0.000,6,0.057,0.037,2754,1439,3103,0,0,0,0,0,0
$GC,5587,-1.22,-116.8,439.7,-7.9,312,5592,0.15,2.12,0.00,0.000,4,0.091,0.056,2786,228,3100,0,0,0,0,0,0
$GC,5609,-1.17,-116.8,441.8,-9.3,312,5613,0.00,1.95,0.00,0.000,6,0.000,0.025,2786,1445,3101,0,0,0,0,0,0
$STATE,5716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5716,begin apogee
$GC,5723,-0.31,0.0,450.8,8.1,315,5822,0.90,0.00,95.95,0.826,6,0.064,0.000,2982,1448,2630,0,0,0,0,0,0
$STATE,5823,end apogee,CONTROL_FINISHED_OK
$STATE,5823,begin climb
$GC,5826,1.18,116.8,453.7,0.0,317,5939,1.40,2.22,101.20,0.810,4,0.034,0.053,3311,238,2151,0,0,0,0,0,0
$GC,5973,0.88,149.2,454.1,6.4,320,6010,0.35,1.92,29.08,0.776,6,0.094,0.025,3242,1425,2021,0,0,0,0,0,0
$GC,6329,0.85,186.0,432.7,6.2,329,6367,0.00,2.33,32.38,0.782,4,0.000,0.027,3242,2796,1870,0,0,0,0,0,0
$GC,6386,0.89,215.8,428.7,6.6,329,6421,0.00,2.40,27.42,0.769,6,0.000,0.041,3242,1419,1750,0,0,0,0,0,0
$GC,6745,0.87,244.4,404.9,6.6,338,6777,0.00,2.38,25.35,0.768,4,0.000,0.027,3242,2805,1632,0,0,0,0,0,0
$GC,6801,0.87,244.4,399.7,8.9,339,6805,0.00,2.45,0.00,0.000,6,0.000,0.043,3242,1419,1632,0,0,0,0,0,0
$GC,7117,0.84,244.4,369.4,9.4,347,7120,0.00,2.10,0.00,0.000,4,0.000,0.058,3242,232,1628,0,0,0,0,0,0
$GC,7183,0.75,244.4,362.9,9.3,348,7188,0.15,1.92,0.00,0.000,6,0.107,0.028,3214,1408,1625,0,0,0,0,0,0
$GC,7532,0.82,264.0,339.3,7.0,357,7556,0.00,2.12,17.23,0.729,4,0.000,0.055,3213,225,1552,0,0,0,0,0,0
$GC,7585,0.82,264.0,334.6,8.4,358,7588,0.00,1.95,0.00,0.000,6,0.000,0.028,3213,1420,1549,0,0,0,0,0,0
$GC,7909,0.94,300.8,312.9,6.2,366,7952,0.17,2.38,33.08,0.742,4,0.058,0.027,3261,2808,1402,0,0,0,0,0,0
$GC,7968,0.94,300.8,307.8,9.0,367,7973,0.00,2.47,0.00,0.000,6,0.000,0.042,3261,1412,1401,0,0,0,0,0,0
$GC,8287,0.94,300.8,275.1,8.5,380,8290,0.00,2.08,0.00,0.000,4,0.000,0.057,3261,232,1397,0,0,0,0,0,0
$GC,8310,0.88,300.8,273.0,8.8,381,8314,0.00,1.95,0.00,0.000,6,0.000,0.028,3261,1423,1395,0,0,0,0,0,0
$GC,8641,0.90,316.8,250.1,7.2,397,8663,0.00,2.17,14.07,0.657,4,0.000,0.055,3261,234,1337,0,0,0,0,0,0
$GC,8674,0.90,316.8,247.3,8.0,398,8678,0.00,1.95,0.00,0.000,6,0.000,0.027,3261,1418,1335,0,0,0,0,0,0
$GC,8999,0.93,336.1,223.5,7.0,414,9022,0.00,2.35,17.80,0.647,4,0.000,0.025,3261,2808,1258,0,0,0,0,0,0
$GC,9053,1.05,341.1,219.6,7.7,416,9066,0.00,2.45,6.03,0.526,6,0.000,0.039,3261,1410,1238,0,0,0,0,0,0
$GC,9388,1.09,341.1,194.5,7.9,434,9393,0.12,2.08,0.00,0.000,4,0.067,0.053,3299,225,1235,0,0,0,0,0,0
$GC,9430,1.00,341.1,190.3,10.4,437,9435,0.10,1.98,0.00,0.000,6,0.075,0.025,3268,1430,1233,0,0,0,0,0,0
$GC,9701,1.04,341.1,164.6,10.2,458,9705,0.00,2.28,0.00,0.000,4,0.000,0.025,3268,2807,1233,0,0,0,0,0,0
$GC,9738,1.18,341.1,160.6,10.6,460,9745,0.12,2.42,0.00,0.000,6,0.035,0.038,3313,1420,1233,0,0,0,0,0,0
$GC,10002,1.11,341.1,133.5,9.4,481,10005,0.00,2.08,0.00,0.000,4,0.000,0.051,3314,230,1233,0,0,0,0,0,0
$GC,10011,1.04,341.1,131.9,9.2,481,10017,0.17,1.92,0.00,0.000,6,0.091,0.025,3278,1420,1233,0,0,0,0,0,0
$GC,10274,1.11,360.2,113.3,7.0,502,10296,0.00,2.35,16.92,0.551,4,0.000,0.025,3278,2797,1160,0,0,0,0,0,0
$GC,10325,1.24,360.2,109.4,8.1,505,10331,0.20,2.40,0.00,0.000,6,0.048,0.035,3337,1412,1160,0,0,0,0,0,0
$GC,10588,1.19,363.7,86.2,7.7,526,10603,0.12,2.33,4.55,0.389,4,0.095,0.021,3311,2815,1146,0,0,0,0,0,0
$GC,10652,1.35,420.0,82.1,5.4,530,10708,0.15,2.40,48.38,0.545,6,0.056,0.033,3358,1417,915,0,0,0,0,0,0
$GC,10973,1.31,420.0,51.6,11.5,555,10978,0.12,2.05,0.00,0.000,4,0.092,0.049,3332,237,912,0,0,0,0,0,0
$GC,11016,1.27,420.0,46.1,13.9,558,11020,0.00,1.90,0.00,0.000,6,0.000,0.021,3332,1434,910,0,0,0,0,0,0
$GC,11280,1.27,420.0,16.8,10.6,598,11287,0.00,2.12,0.00,0.000,4,0.000,0.049,3332,236,910,0,0,0,0,0,0
$GC,11298,1.27,420.0,14.7,10.8,601,11305,0.00,1.90,0.00,0.000,6,0.000,0.021,3332,1422,910,0,0,0,0,0,0
$STATE,11402,end climb,SURFACE_DEPTH_REACHED
$STATE,11402,begin surface coast
$FINISH,0.9,1.008941
$STATE,11437,end surface coast,CONTROL_FINISHED_OK
$STATE,11438,begin surface
$SM_CCo,11521,0.00,0.000,0,0,907,422.65
$SM_GC,1.71,12.52,0.00,0.00,0.025,0.000,0.000,426,1423,907,-11.99,-0.76,422.65
$IRIDIUM_FIX,2059.45,-15803.33,300100,151505
$TT8_MAMPS,0.028379
$HUMID,63.82
$INTERNAL_PRESSURE,9.22541
$TCM_TEMP,20.10
$XPDR_PINGS,0
$24V_AH,23.3,81.556
$10V_AH,9.9,65.132
$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,31.075,138.225,469.425,0.000,0.000,55.937,67.701,274.664,4.500,0.000,15.521,1261.854,7708.743,477.225,1912.850,763.576,0.000,1394.964,0.000,1886.379,0.000,31.218,0.000
$DEVICE_MAMPS,134.225,57.525,826.059,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,425.349,404.051,887.648,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355796
$DATA_FILE_SIZE,34920,632
$CAP_FILE_SIZE,134893,0
$CFSIZE,260165632,166576128
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051110,184500,2107.535,-15801.148,39,0.9,44,9.8