version: 66.06
glider: 139
mission: 8
dive: 843
start: 11 6 110 13 42 41
data:
$ID,139
$MISSION,8
$DIVE,843
$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,-2169184
$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
$GPS1,133114,2106.385,-15756.527,37,1.7,37,9.8
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-70.1
$GPS2,134223,2106.415,-15756.540,28,1.3,45,9.8
$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,82.9,23564,-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,-64.25,0.000,2,0.000,0.000,429,1426,2710,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.5,-3.7,12,116,12.62,2.45,-7.47,0.000,4,0.131,0.033,2785,2882,3110,0,0,0,0,0,0
$GC,138,-0.60,-116.8,16.3,-22.6,21,146,0.57,2.47,0.00,0.000,6,0.067,0.033,2919,1452,3110,0,0,0,0,0,0
$GC,341,-0.70,-116.8,31.8,-6.9,63,345,0.00,2.08,0.00,0.000,4,0.000,0.044,2919,233,3111,0,0,0,0,0,0
$GC,400,-0.80,-116.8,36.1,-8.1,67,405,0.20,1.98,0.00,0.000,6,0.046,0.019,2857,1517,3111,0,0,0,0,0,0
$GC,666,-0.80,-116.8,63.7,-11.5,88,670,0.00,2.25,0.00,0.000,4,0.000,0.021,2857,2885,3112,0,0,0,0,0,0
$GC,686,-0.83,-116.8,66.1,-11.6,89,691,0.00,2.42,0.00,0.000,6,0.000,0.031,2857,1438,3112,0,0,0,0,0,0
$GC,947,-0.83,-116.8,88.4,-6.0,109,951,0.00,2.35,0.00,0.000,4,0.000,0.020,2857,2878,3113,0,0,0,0,0,0
$GC,1043,-0.92,-116.8,94.8,-6.7,116,1048,0.00,2.38,0.00,0.000,6,0.000,0.028,2857,1448,3113,0,0,0,0,0,0
$GC,1310,-1.07,-116.8,116.8,-8.4,137,1315,0.17,2.35,0.00,0.000,4,0.048,0.021,2795,2885,3113,0,0,0,0,0,0
$GC,1367,-1.07,-116.8,122.0,-9.2,141,1372,0.10,2.42,0.00,0.000,6,0.105,0.030,2816,1446,3113,0,0,0,0,0,0
$GC,1629,-1.04,-116.8,142.2,-7.7,161,1633,0.00,2.05,0.00,0.000,4,0.000,0.044,2816,238,3114,0,0,0,0,0,0
$GC,1688,-1.04,-116.8,147.8,-8.6,165,1692,0.00,2.00,0.00,0.000,6,0.000,0.018,2816,1542,3114,0,0,0,0,0,0
$GC,1953,-1.04,-116.8,169.1,-8.6,186,1957,0.00,2.25,0.00,0.000,4,0.000,0.044,2816,234,3114,0,0,0,0,0,0
$GC,1986,-1.00,-116.8,172.4,-10.0,188,1992,0.00,2.00,0.00,0.000,6,0.000,0.019,2816,1513,3113,0,0,0,0,0,0
$GC,2247,-1.00,-116.8,196.2,-9.9,209,2251,0.00,2.22,0.00,0.000,4,0.000,0.021,2816,2880,3113,0,0,0,0,0,0
$GC,2273,-1.05,-116.8,198.7,-9.6,211,2277,0.00,2.42,0.00,0.000,6,0.000,0.031,2816,1442,3114,0,0,0,0,0,0
$GC,2547,-1.05,-116.8,222.5,-7.7,225,2551,0.00,2.03,0.00,0.000,4,0.000,0.045,2816,240,3114,0,0,0,0,0,0
$GC,2598,-1.05,-116.8,226.6,-7.7,227,2601,0.00,1.95,0.00,0.000,6,0.000,0.020,2816,1502,3114,0,0,0,0,0,0
$GC,2928,-1.05,-116.8,246.3,-4.8,243,2932,0.00,2.17,0.00,0.000,4,0.000,0.046,2816,234,3113,0,0,0,0,0,0
$GC,2976,-1.05,-116.8,248.7,-4.9,245,2980,0.00,2.00,0.00,0.000,6,0.000,0.021,2816,1510,3114,0,0,0,0,0,0
$GC,3308,-1.05,-116.8,267.1,-7.0,261,3312,0.00,2.17,0.00,0.000,4,0.000,0.047,2816,240,3113,0,0,0,0,0,0
$GC,3354,-1.05,-116.8,271.0,-8.1,263,3358,0.00,1.98,0.00,0.000,6,0.000,0.021,2816,1497,3113,0,0,0,0,0,0
$GC,3688,-1.12,-116.8,294.4,-6.6,279,3692,0.00,2.17,0.00,0.000,4,0.000,0.046,2816,239,3112,0,0,0,0,0,0
$GC,3754,-1.12,-116.8,299.1,-6.3,281,3759,0.00,1.90,0.00,0.000,6,0.000,0.022,2817,1460,3112,0,0,0,0,0,0
$GC,4067,-1.12,-116.8,314.9,-4.8,290,4071,0.00,2.25,0.00,0.000,4,0.000,0.024,2817,2832,3110,0,0,0,0,0,0
$GC,4086,-1.18,-116.8,316.0,-5.0,290,4091,0.10,2.35,0.00,0.000,6,0.070,0.034,2775,1449,3110,0,0,0,0,0,0
$GC,4437,-1.14,-116.8,341.5,-7.5,299,4441,0.12,2.10,0.00,0.000,4,0.094,0.050,2802,239,3108,0,0,0,0,0,0
$GC,4461,-1.14,-116.8,343.9,-8.1,299,4465,0.00,1.90,0.00,0.000,6,0.000,0.022,2802,1455,3108,0,0,0,0,0,0
$GC,4806,-1.14,-116.8,371.0,-7.9,308,4807,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1456,3107,0,0,0,0,0,0
$GC,5132,-1.14,-116.8,392.9,-6.1,316,5136,0.00,2.25,0.00,0.000,4,0.000,0.026,2803,2824,3105,0,0,0,0,0,0
$GC,5152,-1.20,-116.8,394.2,-5.9,316,5156,0.00,2.35,0.00,0.000,6,0.000,0.036,2802,1449,3105,0,0,0,0,0,0
$GC,5501,-1.20,-116.8,411.2,-5.3,325,5505,0.00,2.28,0.00,0.000,4,0.000,0.025,2802,2832,3103,0,0,0,0,0,0
$GC,5522,-1.26,-116.8,412.7,-7.2,325,5527,0.12,2.35,0.00,0.000,6,0.061,0.038,2758,1452,3103,0,0,0,0,0,0
$GC,5869,-1.19,-116.8,444.8,-9.4,334,5874,0.15,2.28,0.00,0.000,4,0.089,0.027,2790,2824,3100,0,0,0,0,0,0
$GC,5904,-1.28,-116.8,447.7,-8.6,334,5908,0.00,2.38,0.00,0.000,6,0.000,0.039,2790,1440,3101,0,0,0,0,0,0
$STATE,5952,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5953,begin apogee
$GC,5959,-0.31,0.0,451.6,7.6,336,6058,0.88,0.00,95.75,0.820,6,0.063,0.000,2981,1440,2630,0,0,0,0,0,0
$STATE,6059,end apogee,CONTROL_FINISHED_OK
$STATE,6059,begin climb
$GC,6062,1.18,116.8,454.4,0.0,338,6175,1.40,2.38,100.88,0.805,4,0.031,0.027,3313,2799,2152,0,0,0,0,0,0
$GC,6228,0.99,118.4,452.7,7.8,341,6233,0.25,2.42,0.00,0.000,6,0.088,0.040,3263,1413,2151,0,0,0,0,0,0
$GC,6561,0.91,162.5,432.1,5.9,349,6603,0.00,0.00,39.45,0.786,6,0.000,0.000,3263,1412,1967,0,0,0,0,0,0
$GC,6931,0.89,230.0,413.8,4.9,358,6996,0.00,2.40,58.97,0.790,4,0.000,0.028,3263,2787,1692,0,0,0,0,0,0
$GC,7067,0.92,255.1,405.2,6.8,361,7096,0.00,2.42,22.88,0.752,6,0.000,0.041,3263,1413,1589,0,0,0,0,0,0
$GC,7434,0.85,255.1,371.3,10.2,370,7439,0.12,2.35,0.00,0.000,4,0.103,0.028,3238,2795,1582,0,0,0,0,0,0
$GC,7462,0.90,255.1,368.4,9.8,370,7466,0.00,2.40,0.00,0.000,6,0.000,0.041,3238,1414,1581,0,0,0,0,0,0
$GC,7802,0.90,255.1,336.9,8.4,379,7806,0.00,2.10,0.00,0.000,4,0.000,0.057,3238,227,1578,0,0,0,0,0,0
$GC,7868,0.87,258.9,331.8,7.7,380,7872,0.00,1.95,0.00,0.000,6,0.000,0.028,3238,1403,1576,0,0,0,0,0,0
$GC,8219,0.93,285.7,310.3,6.7,389,8251,0.00,2.47,25.48,0.725,4,0.000,0.028,3238,2820,1463,0,0,0,0,0,0
$GC,8281,1.06,299.0,305.7,7.3,390,8301,0.20,2.47,12.93,0.673,6,0.051,0.040,3294,1413,1411,0,0,0,0,0,0
$GC,8622,0.99,299.0,273.2,10.2,405,8627,0.12,2.08,0.00,0.000,4,0.097,0.056,3267,234,1407,0,0,0,0,0,0
$GC,8643,0.93,299.0,270.6,10.6,406,8647,0.00,1.98,0.00,0.000,6,0.000,0.027,3267,1427,1405,0,0,0,0,0,0
$GC,8978,0.96,318.1,243.3,7.0,422,9001,0.00,0.00,16.77,0.653,6,0.000,0.000,3267,1428,1332,0,0,0,0,0,0
$GC,9312,1.00,348.5,221.4,6.5,438,9346,0.00,2.20,26.95,0.650,4,0.000,0.053,3267,235,1208,0,0,0,0,0,0
$GC,9371,1.00,348.5,216.5,9.1,440,9375,0.00,1.92,0.00,0.000,6,0.000,0.025,3267,1426,1206,0,0,0,0,0,0
$GC,9699,1.05,367.6,193.2,7.0,459,9721,0.00,0.00,17.17,0.604,6,0.000,0.000,3267,1428,1131,0,0,0,0,0,0
$GC,9979,1.10,373.0,171.3,7.7,481,9994,0.10,2.35,5.90,0.481,4,0.074,0.025,3301,2809,1109,0,0,0,0,0,0
$GC,10011,1.13,373.0,168.2,8.9,483,10015,0.00,2.40,0.00,0.000,6,0.000,0.038,3301,1419,1109,0,0,0,0,0,0
$GC,10276,1.13,373.0,141.2,10.9,504,10280,0.00,2.30,0.00,0.000,4,0.000,0.024,3301,2816,1108,0,0,0,0,0,0
$GC,10300,1.20,373.0,138.7,10.5,506,10304,0.00,2.42,0.00,0.000,6,0.000,0.038,3301,1417,1108,0,0,0,0,0,0
$GC,10567,1.26,417.8,118.1,5.9,527,10613,0.10,2.10,38.83,0.566,4,0.074,0.050,3337,232,925,0,0,0,0,0,0
$GC,10651,1.14,417.8,111.0,9.8,533,10655,0.20,1.92,0.00,0.000,6,0.081,0.022,3296,1440,923,0,0,0,0,0,0
$GC,10920,1.25,425.7,90.9,7.5,554,10936,0.10,2.15,7.40,0.454,4,0.072,0.049,3334,239,893,0,0,0,0,0,0
$GC,10979,1.25,425.7,85.2,9.9,558,10983,0.00,1.88,0.00,0.000,6,0.000,0.021,3335,1419,892,0,0,0,0,0,0
$GC,11249,1.25,425.7,62.3,8.8,579,11253,0.00,2.25,0.00,0.000,4,0.000,0.021,3334,2801,891,0,0,0,0,0,0
$GC,11275,1.30,429.0,60.2,7.7,581,11285,0.00,2.38,4.18,0.347,6,0.000,0.033,3334,1413,880,0,0,0,0,0,0
$GC,11542,1.30,429.0,35.1,10.4,601,11545,0.00,2.00,0.00,0.000,4,0.000,0.048,3334,237,880,0,0,0,0,0,0
$GC,11573,1.24,429.0,31.7,10.3,603,11577,0.00,1.88,0.00,0.000,6,0.000,0.021,3334,1431,879,0,0,0,0,0,0
$GC,11838,1.25,464.3,10.2,6.3,660,11873,0.00,2.30,30.00,0.465,4,0.000,0.020,3334,2792,736,0,0,0,0,0,0
$GC,11890,1.25,464.3,4.8,11.0,669,11896,0.00,2.40,0.00,0.000,6,0.000,0.035,3334,1419,736,0,0,0,0,0,0
$STATE,11906,end climb,SURFACE_DEPTH_REACHED
$STATE,11906,begin surface coast
$FINISH,0.9,1.023247
$STATE,11933,end surface coast,CONTROL_FINISHED_OK
$STATE,11933,begin surface
$SM_CCo,12018,0.00,0.000,0,0,732,465.58
$SM_GC,1.75,12.52,0.00,0.00,0.024,0.000,0.000,428,1417,732,-11.98,-0.93,465.58
$IRIDIUM_FIX,2059.45,-15756.04,310100,131311
$TT8_MAMPS,0.028379
$HUMID,63.19
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,20.90
$XPDR_PINGS,0
$24V_AH,23.3,82.425
$10V_AH,10.0,65.751
$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,30.175,137.225,503.525,0.000,0.000,49.975,68.997,278.560,4.500,0.000,49.463,1305.160,8078.762,500.728,2004.235,787.431,0.000,1429.506,0.000,1947.451,0.000,29.249,0.000
$DEVICE_MAMPS,131.157,56.758,819.923,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,455.816,436.751,982.654,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,38072,678
$CAP_FILE_SIZE,136411,0
$CFSIZE,260165632,166141952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061110,170407,2106.416,-15755.920,32,1.5,32,9.8