version: 66.06
glider: 139
mission: 8
dive: 839
start: 11 6 110 1 45 51
data:
$ID,139
$MISSION,8
$DIVE,839
$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,-2169077.2
$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
$GPS1,012534,2107.161,-15800.687,10,2.5,29,9.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-68.3
$GPS2,014531,2107.094,-15800.724,12,2.0,17,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$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,84.6,30856,-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,-116.8,0.0,0.0,0,92,0.00,0.00,-75.03,0.000,2,0.000,0.000,426,1450,2864,0,0,0,0,0,0
$GC,96,-1.18,-116.8,3.7,-4.0,14,120,12.60,2.35,-4.55,0.000,4,0.130,0.031,2784,2883,3108,0,0,0,0,0,0
$GC,207,-1.10,-116.8,24.6,-12.6,37,214,0.10,2.47,0.00,0.000,6,0.077,0.033,2809,1451,3110,0,0,0,0,0,0
$GC,411,-0.94,-116.8,49.7,-13.3,59,416,0.17,2.10,0.00,0.000,4,0.091,0.045,2846,233,3110,0,0,0,0,0,0
$GC,444,-0.87,-116.8,54.5,-12.5,61,447,0.00,1.98,0.00,0.000,6,0.000,0.018,2845,1502,3111,0,0,0,0,0,0
$GC,708,-0.80,-116.8,82.0,-10.7,82,713,0.15,2.20,0.00,0.000,4,0.091,0.044,2878,236,3111,0,0,0,0,0,0
$GC,750,-0.80,-116.8,86.1,-9.7,85,753,0.00,1.98,0.00,0.000,6,0.000,0.018,2878,1512,3111,0,0,0,0,0,0
$GC,1020,-0.99,-116.8,107.5,-7.7,106,1022,0.20,0.00,0.00,0.000,6,0.044,0.000,2810,1530,3111,0,0,0,0,0,0
$GC,1273,-0.92,-116.8,134.4,-9.8,126,1278,0.17,2.22,0.00,0.000,4,0.081,0.021,2849,2887,3111,0,0,0,0,0,0
$GC,1320,-1.04,-116.8,139.0,-8.1,129,1326,0.12,2.40,0.00,0.000,6,0.061,0.028,2799,1443,3112,0,0,0,0,0,0
$GC,1584,-0.97,-116.8,162.3,-8.2,150,1589,0.17,2.05,0.00,0.000,4,0.081,0.044,2838,235,3111,0,0,0,0,0,0
$GC,1631,-1.01,-116.8,166.3,-6.9,153,1636,0.00,1.98,0.00,0.000,6,0.000,0.018,2838,1518,3112,0,0,0,0,0,0
$GC,1894,-1.07,-116.8,182.7,-6.4,174,1898,0.00,2.17,0.00,0.000,4,0.000,0.044,2838,237,3112,0,0,0,0,0,0
$GC,1940,-1.12,-116.8,186.4,-7.8,177,1946,0.15,1.95,0.00,0.000,6,0.054,0.019,2787,1518,3112,0,0,0,0,0,0
$GC,2218,-1.08,-116.8,210.1,-8.8,196,2222,0.12,2.20,0.00,0.000,4,0.091,0.046,2814,235,3112,0,0,0,0,0,0
$GC,2278,-1.08,-116.8,215.8,-8.2,198,2285,0.00,2.00,0.00,0.000,6,0.000,0.019,2814,1514,3112,0,0,0,0,0,0
$GC,2596,-1.08,-116.8,235.6,-5.7,214,2599,0.00,2.17,0.00,0.000,4,0.000,0.044,2814,241,3112,0,0,0,0,0,0
$GC,2624,-1.08,-116.8,237.6,-6.7,215,2627,0.00,1.95,0.00,0.000,6,0.000,0.021,2814,1502,3112,0,0,0,0,0,0
$GC,2950,-1.08,-116.8,259.4,-6.4,231,2954,0.00,2.17,0.00,0.000,4,0.000,0.047,2814,234,3111,0,0,0,0,0,0
$GC,3017,-1.08,-116.8,264.2,-7.2,234,3021,0.00,1.98,0.00,0.000,6,0.000,0.021,2814,1498,3111,0,0,0,0,0,0
$GC,3351,-1.08,-116.8,286.0,-7.0,250,3355,0.00,2.17,0.00,0.000,4,0.000,0.048,2814,237,3110,0,0,0,0,0,0
$GC,3408,-1.08,-116.8,290.1,-6.7,252,3412,0.00,1.95,0.00,0.000,6,0.000,0.022,2814,1458,3109,0,0,0,0,0,0
$GC,3748,-1.19,-116.8,307.6,-5.4,266,3752,0.12,2.12,0.00,0.000,4,0.063,0.049,2769,237,3107,0,0,0,0,0,0
$GC,3804,-1.11,-116.8,312.3,-8.8,267,3809,0.17,1.92,0.00,0.000,6,0.084,0.022,2808,1458,3107,0,0,0,0,0,0
$GC,4125,-1.11,-116.8,339.3,-9.5,275,4129,0.00,2.22,0.00,0.000,4,0.000,0.025,2808,2824,3105,0,0,0,0,0,0
$GC,4148,-1.20,-116.8,341.6,-9.2,275,4152,0.00,2.35,0.00,0.000,6,0.000,0.035,2807,1446,3105,0,0,0,0,0,0
$GC,4490,-1.20,-116.8,370.0,-8.0,284,4494,0.00,2.10,0.00,0.000,4,0.000,0.051,2807,229,3102,0,0,0,0,0,0
$GC,4569,-1.20,-116.8,376.3,-7.4,285,4572,0.00,1.95,0.00,0.000,6,0.000,0.023,2808,1455,3102,0,0,0,0,0,0
$GC,4906,-1.23,-116.8,399.6,-6.8,294,4912,0.12,2.12,0.00,0.000,4,0.064,0.052,2767,237,3100,0,0,0,0,0,0
$GC,4931,-1.16,-116.8,401.7,-8.3,294,4936,0.15,1.92,0.00,0.000,6,0.091,0.024,2799,1458,3100,0,0,0,0,0,0
$GC,5277,-1.16,-116.8,424.7,-6.5,303,5281,0.00,2.12,0.00,0.000,4,0.000,0.054,2799,234,3098,0,0,0,0,0,0
$GC,5311,-1.16,-116.8,426.9,-6.5,303,5315,0.00,1.92,0.00,0.000,6,0.000,0.025,2798,1451,3098,0,0,0,0,0,0
$GC,5647,-1.16,-116.8,446.7,-5.6,312,5651,0.00,2.10,0.00,0.000,4,0.000,0.054,2799,238,3096,0,0,0,0,0,0
$GC,5670,-1.16,-116.8,448.3,-6.4,312,5674,0.00,1.92,0.00,0.000,6,0.000,0.025,2799,1457,3096,0,0,0,0,0,0
$STATE,5728,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5728,begin apogee
$GC,5736,-0.31,0.0,452.4,6.9,314,5835,0.82,0.00,95.25,0.828,6,0.062,0.000,2979,1411,2630,0,0,0,0,0,0
$STATE,5835,end apogee,CONTROL_FINISHED_OK
$STATE,5836,begin climb
$GC,5838,1.18,116.8,454.9,0.0,316,5952,1.40,2.15,101.55,0.814,4,0.032,0.054,3310,238,2151,0,0,0,0,0,0
$GC,5968,0.93,177.8,455.7,5.1,319,6030,0.30,1.90,53.53,0.796,6,0.097,0.025,3252,1418,1905,0,0,0,0,0,0
$GC,6344,0.85,191.3,428.0,7.3,328,6360,0.00,2.35,11.62,0.716,4,0.000,0.028,3252,2800,1850,0,0,0,0,0,0
$GC,6422,0.89,218.9,422.8,6.6,329,6454,0.00,2.40,26.20,0.772,6,0.000,0.041,3252,1423,1736,0,0,0,0,0,0
$GC,6806,0.86,244.8,397.7,6.7,339,6834,0.00,2.20,22.95,0.764,4,0.000,0.058,3252,232,1630,0,0,0,0,0,0
$GC,6854,0.75,244.8,393.3,8.2,340,6858,0.20,1.95,0.00,0.000,6,0.095,0.027,3213,1413,1628,0,0,0,0,0,0
$GC,7179,0.82,260.8,370.0,7.2,348,7196,0.00,0.00,14.82,0.729,6,0.000,0.000,3213,1414,1566,0,0,0,0,0,0
$GC,7503,0.97,335.7,352.1,4.5,356,7572,0.22,0.00,66.47,0.772,6,0.051,0.000,3273,1414,1260,0,0,0,0,0,0
$GC,7867,0.92,335.7,320.2,9.3,365,7872,0.10,2.35,0.00,0.000,4,0.108,0.028,3253,2813,1254,0,0,0,0,0,0
$GC,7889,0.92,335.7,318.1,10.1,365,7893,0.00,2.45,0.00,0.000,6,0.000,0.043,3253,1420,1254,0,0,0,0,0,0
$GC,8215,0.93,342.9,290.2,7.6,376,8227,0.00,2.15,6.45,0.581,4,0.000,0.057,3253,242,1230,0,0,0,0,0,0
$GC,8268,0.89,342.9,285.5,10.1,378,8272,0.00,1.92,0.00,0.000,6,0.000,0.027,3253,1422,1228,0,0,0,0,0,0
$GC,8597,0.89,342.9,259.7,7.9,394,8601,0.00,2.33,0.00,0.000,4,0.000,0.028,3253,2815,1227,0,0,0,0,0,0
$GC,8630,1.02,342.9,257.1,8.0,395,8634,0.00,2.42,0.00,0.000,6,0.000,0.039,3253,1419,1227,0,0,0,0,0,0
$GC,8947,1.06,343.6,232.2,7.9,410,8952,0.12,2.10,0.00,0.000,4,0.067,0.056,3291,226,1227,0,0,0,0,0,0
$GC,9008,0.95,343.6,225.4,11.2,412,9016,0.12,1.95,0.00,0.000,6,0.075,0.026,3261,1414,1224,0,0,0,0,0,0
$GC,9326,1.00,350.4,199.7,7.6,428,9336,0.00,0.00,7.05,0.547,6,0.000,0.000,3260,1415,1201,0,0,0,0,0,0
$GC,9590,1.04,350.4,177.4,9.1,449,9591,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1415,1200,0,0,0,0,0,0
$GC,9844,1.13,376.7,158.9,6.7,469,9875,0.15,2.40,23.85,0.604,4,0.059,0.025,3306,2809,1094,0,0,0,0,0,0
$GC,9895,1.17,376.7,154.4,8.8,472,9902,0.00,2.45,0.00,0.000,6,0.000,0.039,3306,1423,1093,0,0,0,0,0,0
$GC,10157,1.17,376.7,132.1,8.7,493,10160,0.00,2.05,0.00,0.000,4,0.000,0.051,3306,232,1091,0,0,0,0,0,0
$GC,10194,1.10,376.7,128.2,10.0,495,10199,0.00,1.92,0.00,0.000,6,0.000,0.024,3306,1431,1090,0,0,0,0,0,0
$GC,10453,1.10,377.5,108.6,7.9,516,10457,0.00,2.08,0.00,0.000,4,0.000,0.050,3306,232,1090,0,0,0,0,0,0
$GC,10484,1.10,377.5,105.9,10.2,518,10488,0.00,1.88,0.00,0.000,6,0.000,0.023,3306,1421,1088,0,0,0,0,0,0
$GC,10755,1.16,377.5,83.3,8.0,539,10759,0.00,2.08,0.00,0.000,4,0.000,0.048,3306,227,1089,0,0,0,0,0,0
$GC,10789,1.17,384.7,80.6,7.6,541,10802,0.00,1.90,7.82,0.464,6,0.000,0.023,3306,1433,1060,0,0,0,0,0,0
$GC,11063,1.23,384.7,63.6,8.2,563,11066,0.00,2.08,0.00,0.000,4,0.000,0.048,3306,227,1059,0,0,0,0,0,0
$GC,11102,1.27,411.1,60.6,6.7,566,11131,0.00,1.90,23.35,0.510,6,0.000,0.022,3306,1426,952,0,0,0,0,0,0
$GC,11384,1.33,411.1,37.7,10.0,588,11388,0.15,2.08,0.00,0.000,4,0.054,0.048,3355,232,950,0,0,0,0,0,0
$GC,11400,1.33,411.1,35.7,11.4,589,11404,0.00,1.88,0.00,0.000,6,0.000,0.021,3356,1425,950,0,0,0,0,0,0
$GC,11665,1.26,411.1,6.6,12.1,642,11672,0.15,2.28,0.00,0.000,4,0.084,0.021,3323,2793,950,0,0,0,0,0,0
$GC,11682,1.20,411.1,5.3,11.4,644,11688,0.00,2.35,0.00,0.000,6,0.000,0.027,3322,1407,950,0,0,0,0,0,0
$STATE,11716,end climb,SURFACE_DEPTH_REACHED
$STATE,11716,begin surface coast
$FINISH,0.9,1.010928
$STATE,11766,end surface coast,CONTROL_FINISHED_OK
$STATE,11766,begin surface
$SM_CCo,11849,0.00,0.000,0,0,947,412.84
$SM_GC,1.70,12.40,0.00,0.00,0.024,0.000,0.000,429,1405,947,-11.98,-1.27,412.84
$IRIDIUM_FIX,2101.76,-15803.33,310100,010118
$TT8_MAMPS,0.028379
$HUMID,63.15
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,20.90
$XPDR_PINGS,0
$24V_AH,23.3,81.953
$10V_AH,9.9,65.406
$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,30.700,127.250,460.925,0.000,0.000,94.180,114.866,701.510,4.500,0.000,17.449,1291.103,8063.650,500.849,1902.327,1279.712,0.000,1374.795,0.000,1881.108,0.000,29.261,0.000
$DEVICE_MAMPS,129.623,106.613,827.593,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,445.321,426.470,942.936,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355868
$DATA_FILE_SIZE,38056,662
$CAP_FILE_SIZE,138896,0
$CFSIZE,260165632,166379520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061110,050437,2107.033,-15759.867,41,1.6,41,9.8