version: 66.06
glider: 139
mission: 8
dive: 848
start: 11 7 110 6 39 24
data:
$ID,139
$MISSION,8
$DIVE,848
$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,-2169312.2
$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
$GPS1,062107,2105.905,-15753.894,43,1.9,43,9.8
$_CALLS,4
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-72.8
$GPS2,063906,2105.782,-15753.821,35,1.2,39,9.8
$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,80.0,18839,-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,13,begin dive
$GC,16,-1.18,-116.8,0.0,0.0,0,93,0.00,0.00,-74.90,0.000,2,0.000,0.000,425,1418,2732,0,0,0,0,0,0
$GC,97,-1.18,-116.8,3.2,-3.1,14,127,12.62,2.45,-7.75,0.000,4,0.130,0.033,2787,2883,3109,0,0,0,0,0,0
$GC,149,-0.59,-116.8,13.0,-17.0,23,157,0.57,2.47,0.00,0.000,6,0.064,0.033,2924,1452,3110,0,0,0,0,0,0
$GC,354,-0.85,-116.8,26.2,-4.6,69,361,0.25,2.10,0.00,0.000,4,0.040,0.041,2848,237,3111,0,0,0,0,0,0
$GC,378,-1.04,-116.8,27.6,-4.8,73,385,0.08,2.00,0.00,0.000,6,0.036,0.019,2810,1508,3111,0,0,0,0,0,0
$GC,588,-0.90,-116.8,52.6,-14.2,93,593,0.20,2.20,0.00,0.000,4,0.084,0.044,2853,233,3111,0,0,0,0,0,0
$GC,672,-0.84,-116.8,64.6,-13.2,99,676,0.00,2.00,0.00,0.000,6,0.000,0.018,2853,1517,3111,0,0,0,0,0,0
$GC,936,-0.80,-116.8,90.2,-9.3,120,940,0.10,2.20,0.00,0.000,4,0.102,0.044,2874,234,3111,0,0,0,0,0,0
$GC,994,-0.86,-116.8,95.7,-9.7,124,997,0.00,1.95,0.00,0.000,6,0.000,0.018,2874,1504,3111,0,0,0,0,0,0
$GC,1260,-0.92,-116.8,116.8,-7.2,145,1265,0.12,2.22,0.00,0.000,4,0.061,0.044,2827,234,3111,0,0,0,0,0,0
$GC,1345,-0.88,-116.8,123.7,-7.4,151,1349,0.15,2.00,0.00,0.000,6,0.087,0.018,2859,1537,3111,0,0,0,0,0,0
$GC,1616,-1.00,-116.8,141.7,-6.6,172,1621,0.12,2.25,0.00,0.000,4,0.061,0.043,2811,231,3112,0,0,0,0,0,0
$GC,1714,-0.95,-116.8,149.1,-7.5,179,1719,0.15,1.98,0.00,0.000,6,0.087,0.018,2844,1525,3112,0,0,0,0,0,0
$GC,1982,-0.98,-116.8,165.3,-5.5,200,1986,0.00,2.22,0.00,0.000,4,0.000,0.044,2843,225,3112,0,0,0,0,0,0
$GC,2038,-0.98,-116.8,168.8,-5.9,204,2042,0.00,2.03,0.00,0.000,6,0.000,0.019,2844,1533,3112,0,0,0,0,0,0
$GC,2312,-1.14,-116.8,182.0,-5.2,225,2316,0.17,2.20,0.00,0.000,4,0.048,0.021,2783,2886,3112,0,0,0,0,0,0
$GC,2363,-1.14,-116.8,185.6,-6.9,228,2370,0.00,2.45,0.00,0.000,6,0.000,0.031,2783,1447,3112,0,0,0,0,0,0
$GC,2623,-1.07,-116.8,205.5,-7.9,247,2624,0.15,0.00,0.00,0.000,6,0.088,0.000,2816,1446,3111,0,0,0,0,0,0
$GC,2932,-1.07,-116.8,229.5,-8.7,262,2935,0.00,2.05,0.00,0.000,4,0.000,0.046,2816,234,3111,0,0,0,0,0,0
$GC,2991,-1.07,-116.8,235.5,-10.1,264,2998,0.00,2.00,0.00,0.000,6,0.000,0.020,2817,1505,3111,0,0,0,0,0,0
$GC,3309,-1.07,-116.8,260.1,-7.2,280,3313,0.00,2.15,0.00,0.000,4,0.000,0.046,2816,238,3110,0,0,0,0,0,0
$GC,3418,-1.11,-116.8,267.8,-7.4,284,3424,0.00,2.00,0.00,0.000,6,0.000,0.020,2816,1506,3110,0,0,0,0,0,0
$GC,3735,-1.17,-116.8,288.2,-7.0,300,3739,0.00,2.17,0.00,0.000,4,0.000,0.048,2816,233,3108,0,0,0,0,0,0
$GC,3814,-1.17,-116.8,295.0,-8.2,303,3818,0.00,1.98,0.00,0.000,6,0.000,0.021,2816,1496,3108,0,0,0,0,0,0
$GC,4132,-1.31,-116.8,318.4,-7.2,313,4137,0.22,2.17,0.00,0.000,4,0.044,0.023,2746,2840,3107,0,0,0,0,0,0
$GC,4210,-1.28,-116.8,324.6,-7.7,314,4215,0.12,2.35,0.00,0.000,6,0.095,0.035,2772,1446,3106,0,0,0,0,0,0
$GC,4549,-1.23,-116.8,348.8,-7.0,323,4553,0.00,2.30,0.00,0.000,4,0.000,0.025,2772,2838,3104,0,0,0,0,0,0
$GC,4584,-1.27,-116.8,351.6,-7.5,323,4588,0.00,2.38,0.00,0.000,6,0.000,0.036,2772,1447,3104,0,0,0,0,0,0
$GC,4920,-1.22,-116.8,377.2,-7.9,332,4924,0.00,2.30,0.00,0.000,4,0.000,0.025,2772,2833,3102,0,0,0,0,0,0
$GC,4945,-1.22,-116.8,379.2,-8.2,332,4949,0.00,2.38,0.00,0.000,6,0.000,0.038,2772,1449,3102,0,0,0,0,0,0
$GC,5290,-1.19,-116.8,409.7,-8.7,341,5294,0.00,2.30,0.00,0.000,4,0.000,0.026,2772,2832,3099,0,0,0,0,0,0
$GC,5319,-1.23,-116.8,411.8,-7.2,341,5323,0.00,2.40,0.00,0.000,6,0.000,0.038,2772,1439,3099,0,0,0,0,0,0
$GC,5662,-1.19,-116.8,433.5,-6.2,350,5666,0.00,2.10,0.00,0.000,4,0.000,0.055,2772,234,3097,0,0,0,0,0,0
$GC,5686,-1.14,-116.8,435.3,-6.7,350,5691,0.10,1.95,0.00,0.000,6,0.071,0.025,2799,1438,3097,0,0,0,0,0,0
$STATE,5947,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5947,begin apogee
$GC,5955,-0.31,0.0,450.3,5.7,357,6054,0.85,0.00,94.90,0.828,6,0.064,0.000,2983,1439,2630,0,0,0,0,0,0
$STATE,6054,end apogee,CONTROL_FINISHED_OK
$STATE,6054,begin climb
$GC,6057,1.18,116.8,452.9,0.0,359,6169,1.40,2.15,101.12,0.812,4,0.031,0.054,3314,242,2151,0,0,0,0,0,0
$GC,6267,0.85,126.7,449.5,7.4,363,6282,0.32,1.92,8.70,0.679,6,0.086,0.025,3239,1422,2113,0,0,0,0,0,0
$GC,6607,0.83,176.8,431.0,5.6,372,6659,0.00,2.35,44.62,0.800,4,0.000,0.026,3239,2803,1908,0,0,0,0,0,0
$GC,6677,0.88,216.8,426.9,6.1,373,6718,0.00,2.42,36.00,0.784,6,0.000,0.041,3239,1417,1746,0,0,0,0,0,0
$GC,7061,0.88,242.3,398.8,6.7,383,7090,0.00,2.17,22.25,0.762,4,0.000,0.057,3238,238,1641,0,0,0,0,0,0
$GC,7096,0.82,247.8,396.0,7.6,383,7109,0.00,1.95,6.45,0.614,6,0.000,0.028,3238,1407,1618,0,0,0,0,0,0
$GC,7439,0.83,256.1,370.5,7.5,392,7452,0.00,2.40,7.97,0.657,4,0.000,0.028,3238,2813,1584,0,0,0,0,0,0
$GC,7473,0.84,267.2,367.8,7.4,392,7489,0.00,2.42,11.48,0.702,6,0.000,0.041,3238,1419,1540,0,0,0,0,0,0
$GC,7814,0.84,267.2,340.0,8.0,401,7818,0.00,2.10,0.00,0.000,4,0.000,0.058,3238,235,1535,0,0,0,0,0,0
$GC,7835,0.81,267.2,338.4,8.0,401,7838,0.00,1.95,0.00,0.000,6,0.000,0.028,3238,1427,1532,0,0,0,0,0,0
$GC,8184,0.85,300.9,314.4,6.4,410,8220,0.00,2.22,29.62,0.744,4,0.000,0.057,3238,234,1401,0,0,0,0,0,0
$GC,8235,0.85,300.9,309.9,8.8,411,8239,0.00,1.98,0.00,0.000,6,0.000,0.028,3238,1425,1399,0,0,0,0,0,0
$GC,8563,0.89,309.0,283.4,7.5,424,8575,0.00,2.15,7.57,0.613,4,0.000,0.058,3238,237,1370,0,0,0,0,0,0
$GC,8614,0.89,309.0,279.2,8.8,426,8617,0.00,1.95,0.00,0.000,6,0.000,0.028,3238,1426,1368,0,0,0,0,0,0
$GC,8945,0.98,329.3,256.2,7.0,442,8966,0.12,0.00,18.90,0.681,6,0.067,0.000,3275,1427,1287,0,0,0,0,0,0
$GC,9272,0.99,336.2,228.2,7.6,458,9284,0.00,2.17,7.00,0.565,4,0.000,0.055,3275,237,1259,0,0,0,0,0,0
$GC,9314,0.92,336.2,224.3,10.1,459,9320,0.12,1.95,0.00,0.000,6,0.100,0.027,3250,1431,1257,0,0,0,0,0,0
$GC,9631,0.97,336.2,198.4,8.8,475,9635,0.00,2.10,0.00,0.000,4,0.000,0.054,3250,234,1257,0,0,0,0,0,0
$GC,9650,0.97,336.2,196.3,10.1,476,9656,0.00,1.95,0.00,0.000,6,0.000,0.026,3250,1420,1255,0,0,0,0,0,0
$GC,9912,1.05,353.1,175.9,7.1,497,9934,0.12,2.35,15.80,0.607,4,0.067,0.026,3289,2807,1190,0,0,0,0,0,0
$GC,9964,1.12,353.1,171.7,8.0,500,9967,0.00,2.42,0.00,0.000,6,0.000,0.039,3289,1420,1189,0,0,0,0,0,0
$GC,10234,1.12,353.7,151.2,7.9,521,10238,0.00,2.35,0.00,0.000,4,0.000,0.025,3289,2812,1188,0,0,0,0,0,0
$GC,10253,1.12,353.7,149.3,8.5,522,10259,0.00,2.45,0.00,0.000,6,0.000,0.038,3290,1417,1188,0,0,0,0,0,0
$GC,10515,1.12,358.1,127.8,7.7,543,10529,0.00,2.15,5.65,0.461,4,0.000,0.052,3289,227,1169,0,0,0,0,0,0
$GC,10575,1.12,358.1,122.2,8.7,547,10579,0.00,1.92,0.00,0.000,6,0.000,0.024,3289,1429,1167,0,0,0,0,0,0
$GC,10839,1.15,381.9,103.9,6.8,568,10867,0.00,2.30,21.33,0.554,4,0.000,0.024,3289,2805,1072,0,0,0,0,0,0
$GC,10887,1.28,411.5,100.6,6.6,571,10923,0.17,2.40,26.23,0.551,6,0.052,0.035,3342,1409,952,0,0,0,0,0,0
$GC,11177,1.25,417.3,77.3,7.6,594,11194,0.00,2.10,6.05,0.431,4,0.000,0.049,3342,233,927,0,0,0,0,0,0
$GC,11213,1.17,417.3,73.8,9.4,596,11218,0.17,1.90,0.00,0.000,6,0.085,0.022,3306,1426,926,0,0,0,0,0,0
$GC,11479,1.25,421.4,53.0,7.7,616,11493,0.00,2.08,4.90,0.381,4,0.000,0.047,3306,233,910,0,0,0,0,0,0
$GC,11511,1.32,442.0,50.3,7.0,618,11539,0.15,1.90,18.27,0.492,6,0.056,0.022,3354,1432,827,0,0,0,0,0,0
$GC,11792,1.26,442.0,20.9,12.5,652,11801,0.15,2.28,0.00,0.000,4,0.087,0.021,3322,2799,826,0,0,0,0,0,0
$GC,11809,1.22,442.0,18.7,13.2,654,11816,0.00,2.40,0.00,0.000,6,0.000,0.035,3321,1417,825,0,0,0,0,0,0
$STATE,11955,end climb,SURFACE_DEPTH_REACHED
$STATE,11955,begin surface coast
$FINISH,0.9,0.999701
$STATE,11990,end surface coast,CONTROL_FINISHED_OK
$STATE,11990,begin surface
$SM_CCo,12074,0.00,0.000,0,0,822,443.26
$SM_GC,1.67,12.52,0.00,0.00,0.028,0.000,0.000,429,1414,822,-11.98,-1.02,443.26
$IRIDIUM_FIX,2059.45,-15756.04,010200,060657
$TT8_MAMPS,0.028379
$HUMID,65.16
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,20.10
$XPDR_PINGS,0
$24V_AH,23.3,83.023
$10V_AH,9.9,66.200
$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,31.275,139.025,494.825,0.000,0.000,113.338,193.550,383.373,4.500,0.000,39.964,1345.395,8099.806,520.177,2083.448,1092.570,0.000,1491.908,0.000,2031.970,0.000,29.256,0.000
$DEVICE_MAMPS,130.390,57.525,828.360,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,466.696,451.797,1005.128,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,38190,695
$CAP_FILE_SIZE,146986,0
$CFSIZE,260165632,165814272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071110,100231,2106.062,-15752.181,77,1.3,77,9.8