version: 66.06
glider: 139
mission: 8
dive: 854
start: 11 8 110 3 27 21
data:
$ID,139
$MISSION,8
$DIVE,854
$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,-2169414.5
$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
$GPS1,030706,2105.778,-15749.481,35,2.0,35,9.8
$_CALLS,4
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-68.3
$GPS2,032702,2105.727,-15749.711,16,1.5,16,9.8
$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,79.4,11739,-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,-116.8,0.0,0.0,0,83,0.00,0.00,-64.28,0.000,2,0.000,0.000,427,1411,2785,0,0,0,0,0,0
$GC,88,-1.18,-116.8,3.7,-4.2,12,113,12.73,2.05,-5.85,0.000,4,0.133,0.058,2784,227,3108,0,0,0,0,0,0
$GC,146,-0.85,-116.8,19.4,-20.1,23,153,0.32,2.05,0.00,0.000,6,0.077,0.020,2864,1512,3109,0,0,0,0,0,0
$GC,355,-0.85,-116.8,45.6,-11.7,50,359,0.00,2.20,0.00,0.000,4,0.000,0.043,2865,235,3110,0,0,0,0,0,0
$GC,382,-0.79,-116.8,49.0,-10.6,52,385,0.00,1.98,0.00,0.000,6,0.000,0.018,2865,1505,3110,0,0,0,0,0,0
$GC,649,-0.79,-116.8,74.5,-11.1,73,653,0.00,2.20,0.00,0.000,4,0.000,0.044,2864,235,3110,0,0,0,0,0,0
$GC,701,-0.79,-116.8,80.2,-11.0,77,704,0.00,1.98,0.00,0.000,6,0.000,0.018,2864,1512,3110,0,0,0,0,0,0
$GC,971,-0.93,-116.8,104.2,-7.1,98,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1529,3111,0,0,0,0,0,0
$GC,1223,-1.14,-116.8,119.9,-7.0,118,1228,0.25,2.20,0.00,0.000,4,0.038,0.018,2781,2881,3111,0,0,0,0,0,0
$GC,1268,-1.11,-116.8,124.0,-9.1,121,1274,0.12,2.40,0.00,0.000,6,0.096,0.028,2808,1437,3111,0,0,0,0,0,0
$GC,1533,-1.07,-116.8,148.8,-8.3,142,1537,0.00,2.35,0.00,0.000,4,0.000,0.020,2808,2874,3112,0,0,0,0,0,0
$GC,1567,-1.12,-116.8,151.6,-8.3,144,1571,0.00,2.40,0.00,0.000,6,0.000,0.029,2807,1439,3112,0,0,0,0,0,0
$GC,1830,-1.09,-116.8,173.4,-8.7,164,1833,0.00,2.05,0.00,0.000,4,0.000,0.044,2808,234,3112,0,0,0,0,0,0
$GC,1866,-1.09,-116.8,177.2,-9.4,166,1873,0.00,2.00,0.00,0.000,6,0.000,0.019,2808,1513,3112,0,0,0,0,0,0
$GC,2128,-1.09,-116.8,195.0,-6.6,187,2132,0.00,2.17,0.00,0.000,4,0.000,0.045,2808,233,3112,0,0,0,0,0,0
$GC,2174,-1.09,-116.8,199.0,-8.5,190,2181,0.00,2.00,0.00,0.000,6,0.000,0.020,2808,1506,3112,0,0,0,0,0,0
$GC,2441,-1.09,-116.8,218.4,-6.9,204,2445,0.00,2.17,0.00,0.000,4,0.000,0.045,2808,238,3111,0,0,0,0,0,0
$GC,2470,-1.09,-116.8,220.4,-8.4,205,2474,0.00,1.95,0.00,0.000,6,0.000,0.020,2808,1503,3111,0,0,0,0,0,0
$GC,2805,-1.09,-116.8,247.8,-7.7,221,2809,0.00,2.22,0.00,0.000,4,0.000,0.022,2808,2874,3111,0,0,0,0,0,0
$GC,2834,-1.17,-116.8,249.7,-6.3,222,2838,0.00,2.40,0.00,0.000,6,0.000,0.031,2808,1446,3111,0,0,0,0,0,0
$GC,3157,-1.23,-116.8,266.8,-5.3,238,3158,0.12,0.00,0.00,0.000,6,0.064,0.000,2766,1446,3109,0,0,0,0,0,0
$GC,3465,-1.16,-116.8,290.8,-8.4,253,3470,0.15,2.10,0.00,0.000,4,0.089,0.049,2798,234,3108,0,0,0,0,0,0
$GC,3495,-1.16,-116.8,293.5,-8.4,254,3499,0.00,2.00,0.00,0.000,6,0.000,0.021,2798,1495,3108,0,0,0,0,0,0
$GC,3837,-1.16,-116.8,321.0,-8.2,265,3841,0.00,2.17,0.00,0.000,4,0.000,0.049,2798,238,3106,0,0,0,0,0,0
$GC,3918,-1.16,-116.8,328.0,-7.8,266,3921,0.00,1.90,0.00,0.000,6,0.000,0.023,2798,1451,3106,0,0,0,0,0,0
$GC,4253,-1.16,-116.8,350.2,-6.3,275,4257,0.00,2.25,0.00,0.000,4,0.000,0.025,2798,2827,3103,0,0,0,0,0,0
$GC,4319,-1.23,-116.8,353.9,-5.6,276,4323,0.00,2.35,0.00,0.000,6,0.000,0.035,2798,1450,3103,0,0,0,0,0,0
$GC,4668,-1.23,-116.8,374.2,-6.2,285,4672,0.00,2.30,0.00,0.000,4,0.000,0.026,2798,2832,3101,0,0,0,0,0,0
$GC,4696,-1.31,-116.8,376.2,-6.5,285,4701,0.15,2.38,0.00,0.000,6,0.057,0.036,2751,1443,3101,0,0,0,0,0,0
$GC,5036,-1.21,-116.8,403.4,-8.1,294,5040,0.15,2.33,0.00,0.000,4,0.091,0.026,2782,2829,3098,0,0,0,0,0,0
$GC,5070,-1.29,-116.8,405.8,-6.1,294,5074,0.00,2.38,0.00,0.000,6,0.000,0.038,2782,1447,3098,0,0,0,0,0,0
$GC,5401,-1.29,-116.8,430.3,-8.0,302,5405,0.00,2.28,0.00,0.000,4,0.000,0.027,2783,2824,3096,0,0,0,0,0,0
$GC,5422,-1.29,-116.8,431.8,-7.7,302,5426,0.00,2.38,0.00,0.000,6,0.000,0.040,2782,1449,3096,0,0,0,0,0,0
$STATE,5683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5683,begin apogee
$GC,5689,-0.31,0.0,452.3,7.5,309,5787,0.93,0.00,94.65,0.831,6,0.067,0.000,2982,1449,2630,0,0,0,0,0,0
$STATE,5788,end apogee,CONTROL_FINISHED_OK
$STATE,5788,begin climb
$GC,5791,1.18,116.8,455.0,0.0,311,5897,1.42,0.00,102.05,0.814,6,0.033,0.000,3312,1449,2153,0,0,0,0,0,0
$GC,6213,0.97,150.5,435.7,6.4,322,6250,0.25,2.38,29.12,0.785,4,0.096,0.028,3259,2796,2015,0,0,0,0,0,0
$GC,6338,0.95,193.8,428.1,5.9,324,6383,0.00,2.40,38.95,0.791,6,0.000,0.043,3259,1422,1839,0,0,0,0,0,0
$GC,6715,0.85,193.8,398.6,8.6,334,6720,0.12,2.33,0.00,0.000,4,0.107,0.028,3235,2804,1831,0,0,0,0,0,0
$GC,6764,0.88,193.8,394.0,9.7,335,6768,0.00,2.42,0.00,0.000,6,0.000,0.042,3236,1420,1831,0,0,0,0,0,0
$GC,7087,0.89,200.7,367.0,7.6,343,7099,0.00,2.40,5.53,0.588,4,0.000,0.028,3235,2795,1810,0,0,0,0,0,0
$GC,7134,0.95,219.8,363.8,7.0,344,7159,0.00,2.42,18.48,0.746,6,0.000,0.043,3236,1419,1733,0,0,0,0,0,0
$GC,7508,0.97,237.6,338.3,7.1,353,7530,0.12,2.12,16.33,0.727,4,0.071,0.058,3270,235,1660,0,0,0,0,0,0
$GC,7545,0.85,237.6,334.6,9.1,353,7551,0.17,1.92,0.00,0.000,6,0.097,0.028,3236,1414,1658,0,0,0,0,0,0
$GC,7878,0.92,296.6,314.3,5.2,362,7935,0.00,2.40,51.78,0.752,4,0.000,0.029,3236,2807,1420,0,0,0,0,0,0
$GC,7960,1.05,336.5,309.6,6.1,364,8003,0.20,2.47,35.25,0.730,6,0.053,0.043,3289,1415,1258,0,0,0,0,0,0
$GC,8311,0.97,336.5,276.2,10.2,378,8316,0.15,2.12,0.00,0.000,4,0.097,0.059,3259,234,1252,0,0,0,0,0,0
$GC,8380,0.93,336.5,269.0,11.3,381,8383,0.00,1.95,0.00,0.000,6,0.000,0.028,3259,1421,1248,0,0,0,0,0,0
$GC,8716,0.94,344.2,241.7,7.5,397,8728,0.00,2.17,6.47,0.562,4,0.000,0.058,3259,235,1226,0,0,0,0,0,0
$GC,8785,0.94,344.2,235.1,9.5,400,8789,0.00,1.92,0.00,0.000,6,0.000,0.028,3259,1421,1223,0,0,0,0,0,0
$GC,9121,0.95,352.8,208.7,7.5,416,9136,0.00,2.33,8.82,0.589,4,0.000,0.026,3259,2810,1190,0,0,0,0,0,0
$GC,9151,1.04,356.0,206.2,7.8,417,9164,0.00,2.45,4.47,0.460,6,0.000,0.042,3259,1419,1178,0,0,0,0,0,0
$GC,9488,1.09,356.0,180.3,9.8,441,9493,0.12,2.08,0.00,0.000,4,0.069,0.055,3296,234,1176,0,0,0,0,0,0
$GC,9527,0.98,356.0,175.6,12.4,444,9532,0.10,1.95,0.00,0.000,6,0.075,0.026,3265,1419,1174,0,0,0,0,0,0
$GC,9801,1.03,358.8,152.1,7.8,465,9805,0.00,2.33,0.00,0.000,4,0.000,0.026,3265,2810,1174,0,0,0,0,0,0
$GC,9832,1.17,366.3,149.3,7.6,467,9849,0.17,2.40,9.70,0.553,6,0.053,0.038,3317,1417,1136,0,0,0,0,0,0
$GC,10115,1.14,381.1,126.8,7.2,489,10135,0.00,2.15,14.00,0.555,4,0.000,0.051,3317,227,1075,0,0,0,0,0,0
$GC,10202,1.04,381.1,118.7,10.9,495,10207,0.20,1.95,0.00,0.000,6,0.087,0.024,3276,1438,1072,0,0,0,0,0,0
$GC,10466,1.14,381.1,95.8,8.9,515,10470,0.00,2.10,0.00,0.000,4,0.000,0.050,3276,236,1072,0,0,0,0,0,0
$GC,10498,1.20,381.1,92.5,9.4,517,10502,0.15,1.90,0.00,0.000,6,0.058,0.024,3322,1421,1071,0,0,0,0,0,0
$GC,10766,1.20,381.4,70.2,7.9,538,10770,0.00,2.05,0.00,0.000,4,0.000,0.049,3322,230,1071,0,0,0,0,0,0
$GC,10819,1.17,381.4,65.1,10.1,542,10823,0.00,1.88,0.00,0.000,6,0.000,0.023,3322,1422,1071,0,0,0,0,0,0
$GC,11089,1.17,381.4,40.4,10.5,563,11093,0.00,2.25,0.00,0.000,4,0.000,0.021,3322,2808,1070,0,0,0,0,0,0
$GC,11112,1.25,381.4,37.8,10.8,564,11118,0.00,2.40,0.00,0.000,6,0.000,0.035,3322,1419,1070,0,0,0,0,0,0
$GC,11377,1.25,381.4,8.6,10.0,615,11384,0.00,2.08,0.00,0.000,4,0.000,0.048,3322,232,1070,0,0,0,0,0,0
$GC,11422,1.18,381.4,4.1,10.3,624,11428,0.00,1.90,0.00,0.000,6,0.000,0.022,3322,1424,1070,0,0,0,0,0,0
$STATE,11433,end climb,SURFACE_DEPTH_REACHED
$STATE,11433,begin surface coast
$FINISH,1.4,1.023188
$STATE,11465,end surface coast,CONTROL_FINISHED_OK
$STATE,11465,begin surface
$SM_CCo,11490,24.05,0.469,0,0,957,410.14
$SM_GC,1.60,0.00,0.00,24.05,0.000,0.000,0.469,428,1423,957,-12.07,-0.74,410.14
$IRIDIUM_FIX,2059.45,-15750.89,020200,030344
$TT8_MAMPS,0.029146
$HUMID,64.92
$INTERNAL_PRESSURE,9.22541
$TCM_TEMP,19.40
$XPDR_PINGS,0
$24V_AH,23.3,83.794
$10V_AH,9.9,66.740
$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,30.600,131.200,435.600,24.050,0.000,111.369,153.510,574.312,4.500,0.000,16.368,1247.885,7907.735,513.558,1826.106,1208.161,0.000,1350.069,0.000,1801.468,0.000,29.263,0.000
$DEVICE_MAMPS,133.458,59.059,830.661,469.404,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,426.854,404.178,882.243,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,34977,633
$CAP_FILE_SIZE,136710,0
$CFSIZE,260165632,165437440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081110,064037,2105.612,-15749.214,42,0.9,42,9.8