version: 66.06
glider: 139
mission: 8
dive: 841
start: 11 6 110 6 50 46
data:
$ID,139
$MISSION,8
$DIVE,841
$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,534.75397
$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,-2169105.5
$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
$GPS1,063237,2106.689,-15759.206,17,2.0,21,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-74.6
$GPS2,065026,2106.530,-15759.161,13,1.8,13,9.8
$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,82.9,28097,-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,-116.8,0.0,0.0,0,78,0.00,0.00,-58.97,0.000,2,0.000,0.000,425,1429,2594,0,0,0,0,0,0
$GC,82,-1.18,-116.8,3.1,-2.7,11,112,12.57,2.40,-10.68,0.000,4,0.130,0.032,2783,2880,3107,0,0,0,0,0,0
$GC,133,-0.60,-116.8,13.2,-18.2,20,140,0.57,2.45,0.00,0.000,6,0.064,0.033,2920,1453,3108,0,0,0,0,0,0
$GC,337,-0.87,-116.8,25.0,-3.5,66,344,0.25,2.38,0.00,0.000,4,0.038,0.019,2836,2883,3109,0,0,0,0,0,0
$GC,354,-1.12,-116.8,25.6,-3.1,68,362,0.10,2.45,0.00,0.000,6,0.031,0.030,2786,1446,3109,0,0,0,0,0,0
$GC,560,-0.92,-116.8,49.4,-12.1,90,565,0.25,2.05,0.00,0.000,4,0.084,0.042,2842,235,3109,0,0,0,0,0,0
$GC,600,-0.86,-116.8,54.1,-9.1,93,605,0.10,1.98,0.00,0.000,6,0.107,0.018,2863,1519,3109,0,0,0,0,0,0
$GC,865,-0.86,-116.8,78.7,-8.9,114,869,0.00,2.20,0.00,0.000,4,0.000,0.043,2863,233,3109,0,0,0,0,0,0
$GC,917,-0.86,-116.8,83.9,-9.2,117,923,0.00,2.00,0.00,0.000,6,0.000,0.018,2863,1522,3109,0,0,0,0,0,0
$GC,1178,-1.01,-116.8,102.7,-7.9,138,1183,0.15,2.20,0.00,0.000,4,0.053,0.042,2807,237,3109,0,0,0,0,0,0
$GC,1263,-0.95,-116.8,111.7,-10.7,144,1268,0.17,1.95,0.00,0.000,6,0.082,0.018,2845,1522,3108,0,0,0,0,0,0
$GC,1525,-0.98,-116.8,133.4,-7.5,164,1528,0.00,2.22,0.00,0.000,4,0.000,0.020,2845,2886,3109,0,0,0,0,0,0
$GC,1566,-1.10,-116.8,136.3,-7.4,167,1571,0.17,2.40,0.00,0.000,6,0.047,0.028,2782,1445,3109,0,0,0,0,0,0
$GC,1835,-1.00,-116.8,161.0,-10.1,188,1839,0.22,2.05,0.00,0.000,4,0.080,0.042,2831,240,3109,0,0,0,0,0,0
$GC,1861,-1.00,-116.8,164.0,-9.6,190,1864,0.00,1.98,0.00,0.000,6,0.000,0.018,2831,1514,3109,0,0,0,0,0,0
$GC,2132,-1.00,-116.8,183.9,-7.3,211,2136,0.00,2.20,0.00,0.000,4,0.000,0.044,2831,240,3109,0,0,0,0,0,0
$GC,2202,-1.04,-116.8,189.8,-8.2,216,2206,0.00,1.98,0.00,0.000,6,0.000,0.019,2831,1530,3109,0,0,0,0,0,0
$GC,2475,-1.15,-116.8,210.5,-7.9,234,2480,0.15,2.20,0.00,0.000,4,0.054,0.044,2778,240,3109,0,0,0,0,0,0
$GC,2552,-1.06,-116.8,218.0,-10.1,237,2556,0.20,1.98,0.00,0.000,6,0.080,0.019,2822,1516,3109,0,0,0,0,0,0
$GC,2876,-1.10,-116.8,243.1,-6.6,253,2880,0.00,2.17,0.00,0.000,4,0.000,0.045,2822,237,3108,0,0,0,0,0,0
$GC,2916,-1.14,-116.8,245.9,-6.9,254,2923,0.00,2.00,0.00,0.000,6,0.000,0.021,2822,1505,3108,0,0,0,0,0,0
$GC,3232,-1.29,-116.8,266.0,-6.6,270,3237,0.22,2.22,0.00,0.000,4,0.043,0.021,2751,2877,3107,0,0,0,0,0,0
$GC,3255,-1.34,-116.8,267.5,-7.3,271,3259,0.00,2.42,0.00,0.000,6,0.000,0.032,2751,1439,3106,0,0,0,0,0,0
$GC,3590,-1.25,-116.8,294.0,-7.2,287,3594,0.12,2.08,0.00,0.000,4,0.096,0.048,2776,238,3105,0,0,0,0,0,0
$GC,3637,-1.21,-116.8,298.0,-7.2,289,3641,0.00,2.00,0.00,0.000,6,0.000,0.021,2776,1505,3105,0,0,0,0,0,0
$GC,3964,-1.16,-116.8,325.9,-9.2,298,3968,0.00,2.20,0.00,0.000,4,0.000,0.050,2776,234,3103,0,0,0,0,0,0
$GC,4011,-1.13,-116.8,331.1,-11.0,299,4015,0.12,1.98,0.00,0.000,6,0.095,0.022,2803,1492,3103,0,0,0,0,0,0
$GC,4339,-1.17,-116.8,356.1,-6.8,307,4343,0.00,2.17,0.00,0.000,4,0.000,0.051,2803,233,3100,0,0,0,0,0,0
$GC,4368,-1.17,-116.8,358.3,-7.3,307,4372,0.00,1.92,0.00,0.000,6,0.000,0.024,2803,1447,3100,0,0,0,0,0,0
$GC,4709,-1.20,-116.8,379.9,-6.5,316,4710,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1448,3097,0,0,0,0,0,0
$GC,5036,-1.20,-116.8,402.2,-6.8,324,5040,0.00,2.28,0.00,0.000,4,0.000,0.026,2804,2824,3095,0,0,0,0,0,0
$GC,5055,-1.25,-116.8,403.6,-6.3,324,5060,0.12,2.35,0.00,0.000,6,0.063,0.039,2762,1450,3095,0,0,0,0,0,0
$GC,5403,-1.18,-116.8,430.2,-7.7,333,5408,0.15,2.30,0.00,0.000,4,0.090,0.028,2794,2831,3092,0,0,0,0,0,0
$GC,5461,-1.26,-116.8,434.3,-6.6,334,5465,0.00,2.38,0.00,0.000,6,0.000,0.040,2793,1444,3092,0,0,0,0,0,0
$STATE,5690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5691,begin apogee
$GC,5697,-0.31,0.0,451.9,7.9,340,5794,0.88,0.00,94.00,0.825,6,0.066,0.000,2983,1443,2630,0,0,0,0,0,0
$STATE,5795,end apogee,CONTROL_FINISHED_OK
$STATE,5795,begin climb
$GC,5799,1.18,116.8,455.4,0.0,342,5911,1.40,2.38,100.88,0.811,4,0.031,0.028,3316,2799,2153,0,0,0,0,0,0
$GC,5976,1.04,164.2,455.7,5.8,346,6025,0.20,2.42,41.92,0.793,6,0.102,0.042,3277,1414,1959,0,0,0,0,0,0
$GC,6349,0.90,164.2,426.9,8.3,355,6351,0.15,0.00,0.00,0.000,6,0.103,0.000,3247,1414,1949,0,0,0,0,0,0
$GC,6676,0.85,180.6,404.9,7.2,363,6696,0.00,2.42,13.52,0.729,4,0.000,0.028,3247,2795,1893,0,0,0,0,0,0
$GC,6748,0.87,196.7,399.6,7.2,364,6768,0.00,2.42,15.70,0.742,6,0.000,0.041,3246,1411,1828,0,0,0,0,0,0
$GC,7096,0.81,196.7,371.4,8.3,373,7100,0.00,2.38,0.00,0.000,4,0.000,0.028,3246,2802,1822,0,0,0,0,0,0
$GC,7151,0.81,196.7,366.1,9.1,374,7156,0.00,2.40,0.00,0.000,6,0.000,0.042,3246,1419,1822,0,0,0,0,0,0
$GC,7467,0.75,196.7,339.0,8.5,382,7472,0.15,2.10,0.00,0.000,4,0.101,0.057,3216,228,1821,0,0,0,0,0,0
$GC,7539,0.75,197.1,333.0,7.9,383,7543,0.00,1.90,0.00,0.000,6,0.000,0.028,3216,1410,1817,0,0,0,0,0,0
$GC,7884,0.89,277.3,316.1,4.3,392,7965,0.12,2.42,69.62,0.758,4,0.071,0.028,3252,2800,1498,0,0,0,0,0,0
$GC,7995,0.94,280.2,308.9,7.8,394,8003,0.00,2.42,3.97,0.459,6,0.000,0.042,3252,1418,1487,0,0,0,0,0,0
$GC,8325,0.94,280.2,282.4,8.5,407,8329,0.00,2.10,0.00,0.000,4,0.000,0.057,3252,233,1482,0,0,0,0,0,0
$GC,8358,0.86,280.2,278.9,10.2,408,8362,0.00,1.92,0.00,0.000,6,0.000,0.028,3252,1423,1479,0,0,0,0,0,0
$GC,8678,0.88,296.5,252.8,7.2,424,8701,0.00,2.38,14.20,0.667,4,0.000,0.028,3252,2799,1420,0,0,0,0,0,0
$GC,8732,0.99,297.8,249.0,7.8,426,8736,0.00,2.42,0.00,0.000,6,0.000,0.041,3252,1418,1420,0,0,0,0,0,0
$GC,9058,1.08,338.4,227.5,6.1,442,9100,0.15,0.00,37.28,0.686,6,0.061,0.000,3295,1418,1248,0,0,0,0,0,0
$GC,9423,1.08,338.4,193.1,9.9,461,9427,0.00,2.10,0.00,0.000,4,0.000,0.054,3294,226,1243,0,0,0,0,0,0
$GC,9442,1.01,338.4,190.7,9.9,462,9447,0.12,1.95,0.00,0.000,6,0.097,0.026,3270,1424,1241,0,0,0,0,0,0
$GC,9707,1.07,349.9,171.2,7.4,482,9722,0.00,2.33,9.90,0.571,4,0.000,0.025,3270,2805,1202,0,0,0,0,0,0
$GC,9733,1.15,358.9,168.8,7.5,483,9753,0.15,2.42,9.52,0.561,6,0.058,0.039,3315,1418,1165,0,0,0,0,0,0
$GC,10005,1.11,358.9,142.9,9.6,505,10010,0.12,2.08,0.00,0.000,4,0.096,0.054,3289,234,1163,0,0,0,0,0,0
$GC,10048,1.08,358.9,138.7,9.7,508,10052,0.00,1.90,0.00,0.000,6,0.000,0.025,3288,1422,1161,0,0,0,0,0,0
$GC,10316,1.11,358.9,116.6,7.9,529,10320,0.00,2.30,0.00,0.000,4,0.000,0.024,3289,2812,1161,0,0,0,0,0,0
$GC,10343,1.22,371.6,114.5,7.3,531,10360,0.12,2.40,11.43,0.532,6,0.064,0.037,3331,1418,1115,0,0,0,0,0,0
$GC,10625,1.22,371.6,93.0,8.5,553,10629,0.00,2.03,0.00,0.000,4,0.000,0.048,3331,237,1113,0,0,0,0,0,0
$GC,10669,1.14,371.6,88.4,10.6,556,10673,0.15,1.90,0.00,0.000,6,0.091,0.023,3300,1429,1112,0,0,0,0,0,0
$GC,10944,1.24,387.9,66.9,7.2,577,10965,0.00,2.10,15.07,0.503,4,0.000,0.048,3300,236,1047,0,0,0,0,0,0
$GC,10989,1.30,405.0,63.2,7.1,580,11011,0.15,1.90,15.77,0.499,6,0.055,0.021,3348,1429,977,0,0,0,0,0,0
$GC,11272,1.42,499.9,46.8,3.6,602,11355,0.00,2.28,77.70,0.512,4,0.000,0.018,3348,2808,590,0,0,0,0,0,0
$GC,11381,1.52,499.9,38.1,11.7,609,11389,0.10,2.42,0.00,0.000,6,0.031,0.035,3391,1427,589,0,0,0,0,0,0
$GC,11647,1.37,499.9,10.3,14.9,658,11654,0.20,2.10,0.00,0.000,4,0.084,0.047,3350,235,587,0,0,0,0,0,0
$GC,11693,1.24,499.9,3.6,14.5,667,11700,0.12,1.90,0.00,0.000,6,0.072,0.019,3319,1436,586,0,0,0,0,0,0
$STATE,11706,end climb,SURFACE_DEPTH_REACHED
$STATE,11706,begin surface coast
$FINISH,0.9,1.012320
$STATE,11724,end surface coast,CONTROL_FINISHED_OK
$STATE,11725,begin surface
$SM_CCo,11747,27.88,0.461,0,0,449,534.75
$SM_GC,1.81,0.00,0.00,27.88,0.000,0.000,0.461,427,1435,449,-12.07,-0.42,534.75
$IRIDIUM_FIX,2059.45,-15801.19,310100,060632
$TT8_MAMPS,0.029146
$HUMID,63.93
$INTERNAL_PRESSURE,9.22541
$TCM_TEMP,20.60
$XPDR_PINGS,1
$24V_AH,23.3,82.175
$10V_AH,9.9,65.568
$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,32.450,135.725,530.500,27.875,0.000,136.569,315.495,224.913,4.750,0.000,13.647,1317.909,7910.204,549.054,2002.415,1067.963,0.000,1495.398,0.000,1980.870,0.000,29.265,0.000
$DEVICE_MAMPS,130.390,56.758,825.292,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,452.313,437.104,987.781,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355752
$DATA_FILE_SIZE,38035,673
$CAP_FILE_SIZE,143400,0
$CFSIZE,260165632,166256640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061110,100824,2106.690,-15757.298,25,1.0,42,9.8