version: 66.06
glider: 139
mission: 8
dive: 864
start: 11 9 110 13 52 52
data:
$ID,139
$MISSION,8
$DIVE,864
$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,-2169669
$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
$GPS1,134536,2110.536,-15750.332,64,0.9,64,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-74.1
$GPS2,135232,2110.583,-15750.376,15,1.4,15,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,CLOSE
$TGT_LATLONG,2113.000,-15752.080
$TGT_RADIUS,1000.000
$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,316.9,5356,-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,12,begin dive
$GC,15,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.30,0.000,2,0.000,0.000,429,1412,2762,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.7,-4.2,12,110,12.68,2.45,-6.60,0.000,4,0.133,0.033,2783,2883,3109,0,0,0,0,0,0
$GC,158,-1.11,-116.8,18.4,-13.0,26,165,0.08,2.47,0.00,0.000,6,0.087,0.034,2802,1455,3111,0,0,0,0,0,0
$GC,362,-0.93,-116.8,44.3,-12.6,55,367,0.20,2.10,0.00,0.000,4,0.091,0.044,2844,234,3112,0,0,0,0,0,0
$GC,435,-0.85,-116.8,52.7,-10.9,60,440,0.10,1.98,0.00,0.000,6,0.104,0.019,2865,1514,3112,0,0,0,0,0,0
$GC,704,-0.85,-116.8,78.2,-7.8,81,708,0.00,2.22,0.00,0.000,4,0.000,0.044,2865,228,3113,0,0,0,0,0,0
$GC,759,-0.89,-116.8,81.6,-6.3,85,762,0.00,1.98,0.00,0.000,6,0.000,0.019,2865,1500,3113,0,0,0,0,0,0
$GC,1029,-1.05,-116.8,99.9,-8.7,106,1034,0.20,2.12,0.00,0.000,4,0.044,0.019,2798,2832,3114,0,0,0,0,0,0
$GC,1077,-1.05,-116.8,105.3,-10.9,109,1082,0.10,2.35,0.00,0.000,6,0.103,0.028,2819,1437,3114,0,0,0,0,0,0
$GC,1340,-1.05,-116.8,128.8,-7.1,129,1343,0.00,2.03,0.00,0.000,4,0.000,0.044,2819,237,3114,0,0,0,0,0,0
$GC,1427,-1.05,-116.8,135.5,-7.6,135,1431,0.00,1.92,0.00,0.000,6,0.000,0.019,2819,1469,3114,0,0,0,0,0,0
$GC,1697,-1.05,-116.8,154.6,-6.7,156,1700,0.00,2.17,0.00,0.000,4,0.000,0.020,2819,2814,3114,0,0,0,0,0,0
$GC,1713,-1.05,-116.8,155.8,-6.8,157,1717,0.00,2.30,0.00,0.000,6,0.000,0.031,2819,1450,3115,0,0,0,0,0,0
$GC,1982,-1.05,-116.8,176.6,-7.9,178,1985,0.00,2.10,0.00,0.000,4,0.000,0.045,2820,237,3115,0,0,0,0,0,0
$GC,2045,-1.05,-116.8,182.5,-8.7,182,2052,0.00,1.90,0.00,0.000,6,0.000,0.019,2819,1445,3115,0,0,0,0,0,0
$GC,2311,-1.05,-116.8,203.7,-8.2,202,2315,0.00,2.22,0.00,0.000,4,0.000,0.021,2820,2825,3115,0,0,0,0,0,0
$GC,2325,-1.05,-116.8,205.1,-8.0,202,2332,0.00,2.35,0.00,0.000,6,0.000,0.033,2819,1456,3115,0,0,0,0,0,0
$GC,2643,-1.17,-116.8,229.2,-7.7,218,2648,0.10,2.22,0.00,0.000,4,0.073,0.022,2780,2818,3115,0,0,0,0,0,0
$GC,2726,-1.17,-116.8,236.4,-8.5,221,2732,0.00,2.33,0.00,0.000,6,0.000,0.031,2780,1443,3115,0,0,0,0,0,0
$GC,3045,-1.12,-116.8,264.2,-9.3,237,3050,0.12,2.10,0.00,0.000,4,0.093,0.048,2806,234,3115,0,0,0,0,0,0
$GC,3106,-1.12,-116.8,270.3,-9.1,239,3111,0.00,1.88,0.00,0.000,6,0.000,0.021,2806,1443,3114,0,0,0,0,0,0
$GC,3423,-1.12,-116.8,296.4,-7.7,255,3427,0.00,2.25,0.00,0.000,4,0.000,0.023,2807,2825,3114,0,0,0,0,0,0
$GC,3453,-1.20,-116.8,298.7,-7.3,256,3457,0.00,2.35,0.00,0.000,6,0.000,0.034,2806,1439,3114,0,0,0,0,0,0
$GC,3775,-1.20,-116.8,321.3,-6.8,265,3779,0.00,2.08,0.00,0.000,4,0.000,0.049,2806,234,3113,0,0,0,0,0,0
$GC,3819,-1.20,-116.8,324.5,-7.6,266,3823,0.00,1.92,0.00,0.000,6,0.000,0.023,2807,1450,3113,0,0,0,0,0,0
$GC,4151,-1.20,-116.8,346.2,-5.7,274,4155,0.00,2.10,0.00,0.000,4,0.000,0.050,2806,240,3111,0,0,0,0,0,0
$GC,4212,-1.20,-116.8,349.1,-4.8,275,4216,0.00,1.90,0.00,0.000,6,0.000,0.023,2807,1449,3110,0,0,0,0,0,0
$GC,4527,-1.20,-116.8,362.8,-4.9,283,4528,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1449,3108,0,0,0,0,0,0
$GC,4851,-1.20,-116.8,380.5,-5.2,291,4855,0.00,2.30,0.00,0.000,4,0.000,0.026,2807,2837,3107,0,0,0,0,0,0
$GC,4898,-1.32,-116.8,383.1,-5.9,292,4903,0.20,2.38,0.00,0.000,6,0.047,0.035,2746,1449,3107,0,0,0,0,0,0
$GC,5226,-1.22,-116.8,412.2,-9.9,300,5230,0.17,2.10,0.00,0.000,4,0.087,0.054,2783,240,3105,0,0,0,0,0,0
$GC,5273,-1.22,-116.8,417.6,-9.7,301,5276,0.00,1.92,0.00,0.000,6,0.000,0.024,2782,1447,3105,0,0,0,0,0,0
$GC,5603,-1.22,-116.8,446.3,-8.7,309,5607,0.00,2.28,0.00,0.000,4,0.000,0.027,2783,2832,3103,0,0,0,0,0,0
$GC,5636,-1.29,-116.8,449.4,-8.9,309,5640,0.00,2.38,0.00,0.000,6,0.000,0.039,2783,1451,3102,0,0,0,0,0,0
$STATE,5644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5644,begin apogee
$GC,5650,-0.31,0.0,450.2,9.0,310,5750,0.93,0.00,96.43,0.824,6,0.065,0.000,2984,1451,2630,0,0,0,0,0,0
$STATE,5751,end apogee,CONTROL_FINISHED_OK
$STATE,5751,begin climb
$GC,5755,1.18,116.8,454.3,0.0,312,5867,1.40,2.30,101.22,0.810,4,0.032,0.027,3313,2799,2152,0,0,0,0,0,0
$GC,5889,1.10,217.7,457.6,3.3,315,5985,0.12,2.42,87.38,0.799,6,0.108,0.039,3290,1421,1742,0,0,0,0,0,0
$GC,6297,0.94,217.7,422.5,10.1,325,6302,0.17,2.33,0.00,0.000,4,0.099,0.026,3255,2801,1732,0,0,0,0,0,0
$GC,6349,0.94,217.7,417.0,10.6,326,6353,0.00,2.42,0.00,0.000,6,0.000,0.042,3256,1415,1732,0,0,0,0,0,0
$GC,6672,0.87,217.7,384.6,9.9,334,6673,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1415,1730,0,0,0,0,0,0
$GC,6999,0.83,240.9,360.4,6.9,342,7024,0.12,2.40,19.02,0.739,4,0.106,0.028,3231,2802,1647,0,0,0,0,0,0
$GC,7045,0.90,250.0,356.7,7.5,343,7061,0.00,2.45,9.77,0.673,6,0.000,0.041,3231,1416,1609,0,0,0,0,0,0
$GC,7377,0.90,250.0,329.6,8.2,351,7381,0.00,2.35,0.00,0.000,4,0.000,0.028,3231,2802,1605,0,0,0,0,0,0
$GC,7398,0.95,252.4,327.8,7.8,351,7403,0.12,2.42,0.00,0.000,6,0.067,0.041,3267,1419,1605,0,0,0,0,0,0
$GC,7749,0.91,261.8,300.9,7.5,360,7763,0.00,0.00,10.82,0.667,6,0.000,0.000,3267,1419,1561,0,0,0,0,0,0
$GC,8088,0.90,292.2,276.3,6.5,375,8120,0.00,2.40,27.25,0.710,4,0.000,0.028,3267,2805,1438,0,0,0,0,0,0
$GC,8135,0.93,321.9,272.7,6.6,377,8167,0.00,2.45,27.20,0.698,6,0.000,0.042,3268,1420,1317,0,0,0,0,0,0
$GC,8483,0.93,321.9,243.6,8.2,394,8487,0.00,2.12,0.00,0.000,4,0.000,0.058,3266,227,1311,0,0,0,0,0,0
$GC,8516,0.87,321.9,240.4,9.4,395,8520,0.12,1.92,0.00,0.000,6,0.100,0.027,3242,1416,1309,0,0,0,0,0,0
$GC,8836,0.96,347.3,218.4,6.7,410,8862,0.00,2.38,21.83,0.657,4,0.000,0.026,3242,2807,1213,0,0,0,0,0,0
$GC,8916,1.12,347.3,212.1,8.3,413,8921,0.22,2.42,0.00,0.000,6,0.048,0.038,3303,1417,1212,0,0,0,0,0,0
$GC,9249,1.07,347.3,181.1,10.2,434,9253,0.00,2.08,0.00,0.000,4,0.000,0.054,3303,228,1211,0,0,0,0,0,0
$GC,9268,0.98,347.3,178.4,10.9,435,9274,0.20,1.95,0.00,0.000,6,0.087,0.025,3262,1428,1209,0,0,0,0,0,0
$GC,9531,1.05,374.0,159.7,6.7,456,9561,0.00,2.40,23.15,0.610,4,0.000,0.025,3262,2807,1105,0,0,0,0,0,0
$GC,9601,1.20,374.0,154.2,8.4,461,9606,0.22,2.40,0.00,0.000,6,0.047,0.037,3325,1418,1104,0,0,0,0,0,0
$GC,9869,1.12,374.0,127.4,10.2,482,9874,0.15,2.08,0.00,0.000,4,0.092,0.052,3294,233,1103,0,0,0,0,0,0
$GC,9897,1.05,374.0,124.5,10.3,484,9900,0.00,1.92,0.00,0.000,6,0.000,0.024,3294,1425,1101,0,0,0,0,0,0
$GC,10167,1.05,374.0,100.6,8.3,505,10171,0.00,2.28,0.00,0.000,4,0.000,0.024,3294,2804,1101,0,0,0,0,0,0
$GC,10194,1.12,374.0,98.3,8.6,507,10198,0.00,2.38,0.00,0.000,6,0.000,0.037,3295,1417,1101,0,0,0,0,0,0
$GC,10461,1.17,394.5,76.6,7.0,528,10489,0.00,2.33,18.20,0.525,4,0.000,0.021,3295,2809,1020,0,0,0,0,0,0
$GC,10515,1.35,398.3,72.2,7.7,531,10525,0.17,2.42,4.70,0.387,6,0.029,0.035,3354,1422,1005,0,0,0,0,0,0
$GC,10792,1.28,398.3,46.7,9.0,553,10797,0.12,2.08,0.00,0.000,4,0.094,0.049,3328,232,1003,0,0,0,0,0,0
$GC,10857,1.22,398.3,40.2,10.3,557,10864,0.00,1.92,0.00,0.000,6,0.000,0.021,3328,1428,1001,0,0,0,0,0,0
$GC,11123,1.22,401.4,19.6,7.8,598,11130,0.00,2.28,0.00,0.000,4,0.000,0.021,3329,2802,1001,0,0,0,0,0,0
$GC,11159,1.33,452.1,17.5,5.6,605,11211,0.00,2.40,44.60,0.489,6,0.000,0.035,3329,1417,786,0,0,0,0,0,0
$STATE,11312,end climb,SURFACE_DEPTH_REACHED
$STATE,11312,begin surface coast
$FINISH,0.9,1.010468
$STATE,11343,end surface coast,CONTROL_FINISHED_OK
$STATE,11343,begin surface
$SM_CCo,11426,0.00,0.000,0,0,780,453.80
$SM_GC,1.69,12.52,0.00,0.00,0.023,0.000,0.000,426,1417,780,-12.00,-0.93,453.80
$IRIDIUM_FIX,2101.76,-15747.88,030200,101025
$TT8_MAMPS,0.028379
$HUMID,63.58
$INTERNAL_PRESSURE,9.21564
$TCM_TEMP,19.90
$XPDR_PINGS,1
$24V_AH,23.3,85.045
$10V_AH,9.9,67.641
$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,30.575,132.850,491.575,0.000,0.000,29.543,48.929,186.728,4.750,0.000,16.036,1253.684,7535.771,480.959,1931.859,627.904,0.000,1399.285,0.000,1911.294,0.000,29.253,0.000
$DEVICE_MAMPS,133.458,57.525,823.758,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,432.744,416.382,930.301,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,356032
$DATA_FILE_SIZE,35009,644
$CAP_FILE_SIZE,130054,0
$CFSIZE,260165632,164794368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091110,170437,2111.329,-15751.657,43,1.0,43,9.8