version: 66.06
glider: 139
mission: 8
dive: 850
start: 11 7 110 13 26 33
data:
$ID,139
$MISSION,8
$DIVE,850
$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,-2169347.8
$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
$GPS1,131956,2106.089,-15751.558,13,1.5,13,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-69.8
$GPS2,132615,2106.090,-15751.597,18,1.7,18,9.8
$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,82.2,15004,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-69.53,0.000,2,0.000,0.000,429,1428,2638,0,0,0,0,0,0
$GC,91,-1.18,-116.8,3.0,-2.9,13,121,12.68,2.10,-9.52,0.000,4,0.133,0.058,2785,234,3110,0,0,0,0,0,0
$GC,135,-0.21,-116.8,13.0,-21.7,20,142,0.98,2.03,0.00,0.000,6,0.071,0.019,3002,1502,3111,0,0,0,0,0,0
$GC,337,-0.76,-116.8,33.0,-11.9,62,342,0.50,2.25,0.00,0.000,4,0.044,0.019,2880,2887,3112,0,0,0,0,0,0
$GC,372,-1.02,-116.8,36.8,-10.3,64,379,0.20,2.45,0.00,0.000,6,0.026,0.029,2800,1453,3111,0,0,0,0,0,0
$GC,634,-0.86,-116.8,66.7,-10.9,85,638,0.25,2.08,0.00,0.000,4,0.082,0.044,2858,239,3111,0,0,0,0,0,0
$GC,682,-0.90,-116.8,70.8,-6.9,88,686,0.00,2.00,0.00,0.000,6,0.000,0.019,2857,1514,3112,0,0,0,0,0,0
$GC,946,-0.90,-116.8,89.9,-9.1,109,950,0.00,2.17,0.00,0.000,4,0.000,0.043,2857,236,3112,0,0,0,0,0,0
$GC,1007,-0.90,-116.8,96.7,-10.9,113,1012,0.00,1.98,0.00,0.000,6,0.000,0.018,2858,1518,3112,0,0,0,0,0,0
$GC,1268,-1.08,-116.8,119.2,-8.7,134,1273,0.20,2.22,0.00,0.000,4,0.045,0.019,2792,2883,3113,0,0,0,0,0,0
$GC,1360,-1.08,-116.8,128.3,-10.3,140,1368,0.08,2.45,0.00,0.000,6,0.072,0.031,2814,1449,3113,0,0,0,0,0,0
$GC,1622,-1.08,-116.8,152.7,-8.5,161,1626,0.00,2.08,0.00,0.000,4,0.000,0.044,2814,233,3114,0,0,0,0,0,0
$GC,1708,-1.08,-116.8,160.5,-9.8,167,1712,0.00,1.95,0.00,0.000,6,0.000,0.018,2814,1505,3114,0,0,0,0,0,0
$GC,1972,-1.08,-116.8,183.8,-8.2,188,1976,0.00,2.17,0.00,0.000,4,0.000,0.044,2813,236,3114,0,0,0,0,0,0
$GC,1996,-1.08,-116.8,185.9,-8.5,190,1999,0.00,1.98,0.00,0.000,6,0.000,0.019,2814,1504,3114,0,0,0,0,0,0
$GC,2275,-1.08,-116.8,205.5,-6.6,209,2279,0.00,2.17,0.00,0.000,4,0.000,0.045,2813,238,3114,0,0,0,0,0,0
$GC,2321,-1.08,-116.8,209.4,-7.9,211,2324,0.00,1.95,0.00,0.000,6,0.000,0.020,2814,1502,3114,0,0,0,0,0,0
$GC,2653,-1.11,-116.8,232.2,-7.8,227,2657,0.00,2.20,0.00,0.000,4,0.000,0.046,2814,234,3114,0,0,0,0,0,0
$GC,2727,-1.11,-116.8,237.9,-7.2,230,2731,0.00,1.98,0.00,0.000,6,0.000,0.021,2814,1502,3115,0,0,0,0,0,0
$GC,3056,-1.15,-116.8,261.9,-7.3,246,3060,0.00,2.25,0.00,0.000,4,0.000,0.024,2814,2879,3114,0,0,0,0,0,0
$GC,3071,-1.21,-116.8,263.2,-6.9,246,3078,0.10,2.45,0.00,0.000,6,0.033,0.033,2768,1451,3114,0,0,0,0,0,0
$GC,3389,-1.14,-116.8,290.3,-9.4,262,3394,0.15,2.10,0.00,0.000,4,0.088,0.049,2801,228,3113,0,0,0,0,0,0
$GC,3406,-1.10,-116.8,292.0,-9.6,262,3412,0.00,2.03,0.00,0.000,6,0.000,0.022,2801,1498,3113,0,0,0,0,0,0
$GC,3718,-1.10,-116.8,320.0,-9.3,273,3723,0.00,2.20,0.00,0.000,4,0.000,0.050,2801,231,3111,0,0,0,0,0,0
$GC,3756,-1.10,-116.8,323.6,-9.4,273,3760,0.00,1.90,0.00,0.000,6,0.000,0.023,2801,1445,3111,0,0,0,0,0,0
$GC,4093,-1.10,-116.8,350.4,-7.9,282,4097,0.00,2.10,0.00,0.000,4,0.000,0.051,2801,237,3109,0,0,0,0,0,0
$GC,4116,-1.10,-116.8,352.5,-8.2,282,4120,0.00,1.95,0.00,0.000,6,0.000,0.024,2801,1448,3109,0,0,0,0,0,0
$GC,4461,-1.10,-116.8,376.1,-6.5,291,4465,0.00,2.25,0.00,0.000,4,0.000,0.025,2801,2827,3106,0,0,0,0,0,0
$GC,4519,-1.18,-116.8,379.6,-5.6,292,4524,0.00,2.35,0.00,0.000,6,0.000,0.035,2801,1442,3106,0,0,0,0,0,0
$GC,4833,-1.18,-116.8,397.5,-5.7,300,4837,0.00,2.08,0.00,0.000,4,0.000,0.053,2801,234,3104,0,0,0,0,0,0
$GC,4849,-1.18,-116.8,398.5,-5.9,300,4852,0.00,1.92,0.00,0.000,6,0.000,0.025,2801,1455,3104,0,0,0,0,0,0
$GC,5162,-1.18,-116.8,418.2,-6.6,308,5166,0.00,2.28,0.00,0.000,4,0.000,0.027,2801,2828,3102,0,0,0,0,0,0
$GC,5177,-1.23,-116.8,419.3,-7.0,308,5181,0.00,2.38,0.00,0.000,6,0.000,0.039,2801,1447,3102,0,0,0,0,0,0
$GC,5493,-1.26,-116.8,443.0,-8.0,316,5498,0.12,2.12,0.00,0.000,4,0.067,0.055,2763,230,3100,0,0,0,0,0,0
$GC,5527,-1.17,-116.8,446.8,-10.8,316,5532,0.15,1.95,0.00,0.000,6,0.091,0.025,2794,1447,3100,0,0,0,0,0,0
$STATE,5571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5571,begin apogee
$GC,5578,-0.31,0.0,451.2,9.8,317,5677,0.88,0.00,96.05,0.828,6,0.065,0.000,2984,1449,2630,0,0,0,0,0,0
$STATE,5678,end apogee,CONTROL_FINISHED_OK
$STATE,5678,begin climb
$GC,5682,1.18,116.8,455.8,0.0,319,5796,1.42,2.38,101.53,0.814,4,0.031,0.028,3316,2805,2152,0,0,0,0,0,0
$GC,5850,1.06,182.3,458.1,4.9,323,5915,0.17,2.42,57.25,0.801,6,0.104,0.040,3283,1414,1885,0,0,0,0,0,0
$GC,6243,0.91,185.8,427.8,7.7,333,6248,0.17,2.35,0.00,0.000,4,0.099,0.028,3248,2802,1876,0,0,0,0,0,0
$GC,6281,0.95,217.2,425.0,6.5,333,6318,0.00,2.42,30.38,0.779,6,0.000,0.041,3248,1420,1743,0,0,0,0,0,0
$GC,6657,0.91,230.6,398.2,7.3,343,6674,0.00,2.15,12.25,0.718,4,0.000,0.057,3248,232,1689,0,0,0,0,0,0
$GC,6690,0.83,230.7,395.4,7.9,343,6694,0.00,1.92,0.00,0.000,6,0.000,0.027,3248,1420,1686,0,0,0,0,0,0
$GC,7026,0.78,230.7,368.0,8.0,352,7031,0.15,2.35,0.00,0.000,4,0.097,0.028,3218,2809,1684,0,0,0,0,0,0
$GC,7054,0.86,244.8,365.9,7.3,352,7073,0.00,2.42,13.07,0.717,6,0.000,0.041,3218,1414,1632,0,0,0,0,0,0
$GC,7398,0.90,244.8,338.2,8.3,361,7400,0.12,0.00,0.00,0.000,6,0.070,0.000,3254,1414,1628,0,0,0,0,0,0
$GC,7723,0.90,244.8,308.6,8.9,369,7724,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1414,1626,0,0,0,0,0,0
$GC,8033,0.90,244.8,281.4,8.5,381,8037,0.00,2.35,0.00,0.000,4,0.000,0.028,3253,2806,1625,0,0,0,0,0,0
$GC,8103,0.94,244.8,275.2,8.7,384,8107,0.00,2.42,0.00,0.000,6,0.000,0.041,3253,1411,1625,0,0,0,0,0,0
$GC,8429,0.99,283.0,251.5,6.2,400,8468,0.00,2.45,33.65,0.701,4,0.000,0.028,3254,2805,1475,0,0,0,0,0,0
$GC,8478,1.03,317.7,248.3,6.3,402,8516,0.00,2.45,31.65,0.687,6,0.000,0.040,3253,1417,1333,0,0,0,0,0,0
$GC,8848,1.04,324.8,223.4,7.6,420,8860,0.10,2.15,6.57,0.550,4,0.078,0.056,3284,237,1304,0,0,0,0,0,0
$GC,8932,0.95,324.8,215.0,9.9,423,8936,0.12,1.95,0.00,0.000,6,0.100,0.026,3259,1450,1302,0,0,0,0,0,0
$GC,9262,1.04,365.9,193.9,6.0,442,9304,0.00,2.20,35.88,0.647,4,0.000,0.052,3259,233,1137,0,0,0,0,0,0
$GC,9343,1.04,365.9,188.1,8.5,447,9348,0.00,1.95,0.00,0.000,6,0.000,0.026,3259,1425,1135,0,0,0,0,0,0
$GC,9603,1.12,383.1,169.5,7.1,468,9625,0.15,0.00,15.45,0.591,6,0.060,0.000,3303,1426,1067,0,0,0,0,0,0
$GC,9880,1.12,383.1,142.6,10.2,490,9884,0.00,2.08,0.00,0.000,4,0.000,0.051,3302,233,1065,0,0,0,0,0,0
$GC,9904,1.05,383.1,139.8,11.6,492,9909,0.12,1.92,0.00,0.000,6,0.097,0.025,3278,1430,1064,0,0,0,0,0,0
$GC,10173,1.09,383.1,118.9,8.4,513,10178,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1431,1064,0,0,0,0,0,0
$GC,10432,1.17,383.1,95.7,8.8,534,10437,0.12,2.10,0.00,0.000,4,0.064,0.050,3318,228,1064,0,0,0,0,0,0
$GC,10491,1.11,383.1,89.4,11.3,538,10496,0.10,1.92,0.00,0.000,6,0.074,0.023,3286,1422,1062,0,0,0,0,0,0
$GC,10764,1.32,393.3,70.0,7.4,559,10779,0.22,2.30,9.62,0.475,4,0.044,0.021,3354,2811,1025,0,0,0,0,0,0
$GC,10847,1.36,393.3,62.6,9.2,564,10854,0.00,2.42,0.00,0.000,6,0.000,0.035,3354,1419,1025,0,0,0,0,0,0
$GC,11111,1.29,393.3,37.6,9.9,585,11115,0.12,2.05,0.00,0.000,4,0.096,0.048,3329,235,1025,0,0,0,0,0,0
$GC,11188,1.25,393.3,28.5,12.1,591,11195,0.00,1.90,0.00,0.000,6,0.000,0.021,3329,1423,1024,0,0,0,0,0,0
$GC,11392,1.25,393.3,8.3,10.7,637,11398,0.00,2.28,0.00,0.000,4,0.000,0.021,3329,2800,1024,0,0,0,0,0,0
$GC,11414,1.25,393.3,5.8,10.3,641,11421,0.00,2.40,0.00,0.000,6,0.000,0.035,3329,1415,1024,0,0,0,0,0,0
$STATE,11447,end climb,SURFACE_DEPTH_REACHED
$STATE,11447,begin surface coast
$FINISH,0.8,1.009790
$STATE,11484,end surface coast,CONTROL_FINISHED_OK
$STATE,11484,begin surface
$SM_CCo,11509,14.90,0.450,0,0,957,410.14
$SM_GC,1.71,0.00,0.00,14.90,0.000,0.000,0.450,424,1414,957,-12.08,-1.02,410.14
$IRIDIUM_FIX,2059.45,-15750.89,010200,101048
$TT8_MAMPS,0.028379
$HUMID,64.37
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,19.80
$XPDR_PINGS,0
$24V_AH,23.3,83.255
$10V_AH,9.9,66.372
$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,31.875,130.225,443.350,14.900,0.000,29.852,32.371,169.811,4.500,0.000,18.836,1263.956,7631.625,499.179,1912.063,588.534,0.000,1383.207,0.000,1887.026,0.000,29.251,0.000
$DEVICE_MAMPS,132.691,57.525,827.593,450.229,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,440.790,425.182,949.256,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355672
$DATA_FILE_SIZE,38029,656
$CAP_FILE_SIZE,128446,0
$CFSIZE,260165632,165699584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071110,164006,2106.010,-15751.202,49,0.8,49,9.8