version: 66.06
glider: 139
mission: 8
dive: 865
start: 11 9 110 17 11 10
data:
$ID,139
$MISSION,8
$DIVE,865
$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,-2169684.2
$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
$GPS1,170437,2111.329,-15751.657,43,1.0,43,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-73.0
$GPS2,171050,2111.399,-15751.709,14,1.5,14,9.8
$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,338.0,3034,-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,-116.8,0.0,0.0,0,87,0.00,0.00,-69.55,0.000,2,0.000,0.000,426,1413,2740,0,0,0,0,0,0
$GC,91,-1.18,-116.8,3.8,-4.2,13,121,12.73,2.50,-6.90,0.000,4,0.134,0.033,2785,2887,3109,0,0,0,0,0,0
$GC,183,-1.10,-116.8,20.3,-13.0,31,190,0.08,2.47,0.00,0.000,6,0.084,0.033,2804,1454,3111,0,0,0,0,0,0
$GC,387,-0.94,-116.8,46.5,-12.7,58,392,0.17,2.12,0.00,0.000,4,0.095,0.046,2841,234,3111,0,0,0,0,0,0
$GC,458,-0.84,-116.8,55.2,-11.4,63,462,0.12,1.98,0.00,0.000,6,0.097,0.019,2867,1519,3112,0,0,0,0,0,0
$GC,718,-0.84,-116.8,75.8,-9.3,83,721,0.00,2.22,0.00,0.000,4,0.000,0.044,2867,232,3112,0,0,0,0,0,0
$GC,784,-0.84,-116.8,82.5,-10.3,88,787,0.00,2.00,0.00,0.000,6,0.000,0.019,2867,1517,3113,0,0,0,0,0,0
$GC,1057,-0.90,-116.8,104.1,-7.0,109,1061,0.00,2.20,0.00,0.000,4,0.000,0.044,2867,226,3113,0,0,0,0,0,0
$GC,1073,-0.95,-116.8,105.4,-6.9,110,1077,0.12,1.98,0.00,0.000,6,0.061,0.018,2822,1517,3113,0,0,0,0,0,0
$GC,1334,-0.95,-116.8,126.1,-7.1,130,1338,0.00,2.20,0.00,0.000,4,0.000,0.020,2822,2885,3114,0,0,0,0,0,0
$GC,1351,-0.95,-116.8,127.3,-7.0,131,1355,0.00,2.42,0.00,0.000,6,0.000,0.031,2822,1439,3113,0,0,0,0,0,0
$GC,1617,-0.95,-116.8,149.5,-8.8,152,1621,0.00,2.05,0.00,0.000,4,0.000,0.044,2822,237,3114,0,0,0,0,0,0
$GC,1700,-0.95,-116.8,157.3,-9.3,158,1704,0.00,1.95,0.00,0.000,6,0.000,0.018,2822,1510,3115,0,0,0,0,0,0
$GC,1970,-0.95,-116.8,179.9,-8.2,179,1977,0.00,2.20,0.00,0.000,4,0.000,0.044,2822,237,3115,0,0,0,0,0,0
$GC,1997,-0.95,-116.8,182.5,-8.3,180,2004,0.00,2.00,0.00,0.000,6,0.000,0.019,2822,1513,3115,0,0,0,0,0,0
$GC,2275,-0.95,-116.8,204.0,-7.8,201,2279,0.00,2.20,0.00,0.000,4,0.000,0.045,2822,231,3115,0,0,0,0,0,0
$GC,2299,-0.95,-116.8,206.3,-8.3,202,2303,0.00,1.98,0.00,0.000,6,0.000,0.019,2822,1505,3115,0,0,0,0,0,0
$GC,2634,-0.95,-116.8,231.1,-8.5,218,2638,0.00,2.20,0.00,0.000,4,0.000,0.045,2822,238,3115,0,0,0,0,0,0
$GC,2709,-0.95,-116.8,238.1,-8.7,221,2713,0.00,2.00,0.00,0.000,6,0.000,0.020,2822,1507,3115,0,0,0,0,0,0
$GC,3043,-1.08,-116.8,261.9,-6.5,237,3047,0.00,2.20,0.00,0.000,4,0.000,0.023,2822,2874,3114,0,0,0,0,0,0
$GC,3091,-1.18,-116.8,265.3,-7.6,239,3096,0.12,2.40,0.00,0.000,6,0.061,0.031,2775,1447,3115,0,0,0,0,0,0
$GC,3425,-1.12,-116.8,295.4,-9.5,255,3430,0.15,2.08,0.00,0.000,4,0.088,0.048,2808,238,3114,0,0,0,0,0,0
$GC,3460,-1.12,-116.8,298.8,-8.9,256,3464,0.00,1.98,0.00,0.000,6,0.000,0.021,2807,1495,3114,0,0,0,0,0,0
$GC,3777,-1.20,-116.8,322.1,-7.1,265,3781,0.00,2.17,0.00,0.000,4,0.000,0.024,2808,2833,3113,0,0,0,0,0,0
$GC,3810,-1.29,-116.8,325.0,-8.0,265,3815,0.17,2.33,0.00,0.000,6,0.049,0.032,2751,1447,3113,0,0,0,0,0,0
$GC,4149,-1.20,-116.8,358.8,-10.1,274,4153,0.17,2.30,0.00,0.000,4,0.085,0.024,2788,2838,3111,0,0,0,0,0,0
$GC,4178,-1.28,-116.8,361.3,-7.7,274,4183,0.00,2.38,0.00,0.000,6,0.000,0.035,2788,1448,3111,0,0,0,0,0,0
$GC,4516,-1.28,-116.8,385.0,-7.2,283,4520,0.00,2.10,0.00,0.000,4,0.000,0.051,2788,234,3109,0,0,0,0,0,0
$GC,4585,-1.28,-116.8,391.1,-8.9,284,4589,0.00,1.92,0.00,0.000,6,0.000,0.023,2788,1456,3109,0,0,0,0,0,0
$GC,4935,-1.28,-116.8,417.6,-7.3,293,4939,0.00,2.25,0.00,0.000,4,0.000,0.026,2788,2829,3107,0,0,0,0,0,0
$GC,4951,-1.28,-116.8,418.7,-7.2,293,4955,0.00,2.38,0.00,0.000,6,0.000,0.038,2788,1448,3107,0,0,0,0,0,0
$GC,5300,-1.28,-116.8,445.4,-8.0,302,5301,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1448,3105,0,0,0,0,0,0
$STATE,5378,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5379,begin apogee
$GC,5385,-0.31,0.0,452.6,8.7,304,5485,0.90,0.00,96.72,0.819,6,0.064,0.000,2984,1448,2630,0,0,0,0,0,0
$STATE,5486,end apogee,CONTROL_FINISHED_OK
$STATE,5486,begin climb
$GC,5490,1.18,116.8,456.5,0.0,306,5602,1.40,2.35,101.35,0.805,4,0.030,0.026,3317,2795,2153,0,0,0,0,0,0
$GC,5632,1.04,182.8,458.4,4.9,309,5700,0.20,2.38,57.88,0.790,6,0.097,0.039,3278,1422,1883,0,0,0,0,0,0
$GC,6033,0.90,182.8,426.6,8.2,319,6037,0.17,2.33,0.00,0.000,4,0.098,0.027,3244,2801,1874,0,0,0,0,0,0
$GC,6085,0.91,195.3,422.9,7.3,320,6101,0.00,2.42,10.73,0.700,6,0.000,0.041,3243,1417,1832,0,0,0,0,0,0
$GC,6449,0.89,219.2,397.9,6.8,329,6477,0.00,2.20,21.65,0.756,4,0.000,0.057,3242,234,1736,0,0,0,0,0,0
$GC,6516,0.78,219.2,392.5,9.1,330,6520,0.12,1.95,0.00,0.000,6,0.110,0.026,3220,1421,1733,0,0,0,0,0,0
$GC,6863,0.83,265.6,370.6,5.8,339,6911,0.00,2.17,41.42,0.769,4,0.000,0.055,3219,228,1546,0,0,0,0,0,0
$GC,6926,0.88,305.8,366.9,6.1,340,6967,0.10,1.98,35.90,0.754,6,0.081,0.028,3248,1423,1383,0,0,0,0,0,0
$GC,7308,0.91,324.3,340.3,7.1,350,7332,0.00,2.35,16.45,0.712,4,0.000,0.027,3247,2808,1306,0,0,0,0,0,0
$GC,7342,0.91,327.8,337.5,7.7,350,7352,0.00,2.45,4.62,0.512,6,0.000,0.042,3247,1421,1293,0,0,0,0,0,0
$GC,7679,0.91,327.8,304.2,11.8,359,7683,0.00,2.08,0.00,0.000,4,0.000,0.057,3248,235,1288,0,0,0,0,0,0
$GC,7716,0.87,327.8,299.5,12.3,359,7722,0.00,1.95,0.00,0.000,6,0.000,0.027,3248,1428,1286,0,0,0,0,0,0
$GC,8033,0.91,327.8,270.4,8.2,375,8037,0.00,2.33,0.00,0.000,4,0.000,0.028,3248,2816,1285,0,0,0,0,0,0
$GC,8081,1.04,327.8,266.8,8.4,377,8086,0.12,2.42,0.00,0.000,6,0.067,0.039,3285,1412,1285,0,0,0,0,0,0
$GC,8415,1.00,327.8,237.0,8.9,393,8418,0.00,2.05,0.00,0.000,4,0.000,0.056,3285,235,1284,0,0,0,0,0,0
$GC,8476,0.92,327.8,230.4,9.8,395,8481,0.17,1.95,0.00,0.000,6,0.091,0.025,3250,1422,1282,0,0,0,0,0,0
$GC,8801,1.00,343.6,205.9,7.2,411,8823,0.00,2.33,13.32,0.619,4,0.000,0.025,3250,2807,1229,0,0,0,0,0,0
$GC,8851,1.19,369.6,202.3,6.7,413,8881,0.25,2.40,23.88,0.638,6,0.045,0.037,3318,1413,1123,0,0,0,0,0,0
$GC,9208,1.11,369.6,169.4,8.4,440,9213,0.12,2.08,0.00,0.000,4,0.097,0.054,3292,233,1118,0,0,0,0,0,0
$GC,9250,1.04,369.6,165.7,10.1,443,9254,0.00,1.95,0.00,0.000,6,0.000,0.025,3293,1425,1116,0,0,0,0,0,0
$GC,9517,1.04,369.6,139.6,9.7,464,9521,0.00,2.08,0.00,0.000,4,0.000,0.051,3292,232,1116,0,0,0,0,0,0
$GC,9560,0.98,369.6,135.4,9.6,467,9565,0.15,1.90,0.00,0.000,6,0.091,0.024,3261,1424,1115,0,0,0,0,0,0
$GC,9826,1.11,385.2,116.1,7.2,488,9848,0.12,2.30,13.85,0.541,4,0.064,0.022,3302,2805,1057,0,0,0,0,0,0
$GC,9864,1.15,385.2,112.6,8.4,490,9871,0.00,2.42,0.00,0.000,6,0.000,0.036,3302,1423,1057,0,0,0,0,0,0
$GC,10125,1.15,388.0,90.9,7.8,511,10129,0.00,2.30,0.00,0.000,4,0.000,0.022,3302,2813,1056,0,0,0,0,0,0
$GC,10168,1.27,388.0,86.9,9.4,514,10173,0.12,2.38,0.00,0.000,6,0.062,0.035,3345,1417,1056,0,0,0,0,0,0
$GC,10432,1.22,388.0,62.4,9.8,534,10437,0.15,2.05,0.00,0.000,4,0.088,0.050,3313,233,1057,0,0,0,0,0,0
$GC,10527,1.22,388.0,53.9,8.4,541,10531,0.00,1.88,0.00,0.000,6,0.000,0.021,3313,1437,1055,0,0,0,0,0,0
$GC,10798,1.28,407.4,36.4,7.0,562,10827,0.00,2.15,19.25,0.484,4,0.000,0.047,3313,244,967,0,0,0,0,0,0
$GC,10839,1.28,407.4,33.0,8.2,564,10845,0.00,1.90,0.00,0.000,6,0.000,0.021,3313,1422,966,0,0,0,0,0,0
$GC,11102,1.33,407.4,12.0,8.4,619,11110,0.12,2.30,0.00,0.000,4,0.062,0.021,3356,2800,966,0,0,0,0,0,0
$GC,11124,1.36,407.4,10.2,8.8,622,11130,0.00,2.40,0.00,0.000,6,0.000,0.035,3356,1419,966,0,0,0,0,0,0
$STATE,11194,end climb,SURFACE_DEPTH_REACHED
$STATE,11194,begin surface coast
$FINISH,0.9,1.000291
$STATE,11227,end surface coast,CONTROL_FINISHED_OK
$STATE,11227,begin surface
$SM_CCo,11251,2.85,0.236,0,0,958,410.14
$SM_GC,1.73,0.00,0.00,2.85,0.000,0.000,0.236,428,1416,958,-12.07,-0.96,410.14
$IRIDIUM_FIX,2101.76,-15745.74,030200,131356
$TT8_MAMPS,0.029146
$HUMID,64.17
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,20.50
$XPDR_PINGS,1
$24V_AH,23.3,85.156
$10V_AH,9.9,67.727
$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,30.700,135.300,457.025,2.850,0.000,24.027,33.514,169.036,4.750,0.000,14.431,1261.394,7388.805,506.479,1887.661,577.545,0.000,1374.341,0.000,1862.031,0.000,29.248,0.000
$DEVICE_MAMPS,134.225,56.758,819.156,236.236,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,434.129,416.223,945.226,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,356052
$DATA_FILE_SIZE,34875,645
$CAP_FILE_SIZE,127715,0
$CFSIZE,260165632,164732928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091110,202007,2112.184,-15752.297,42,0.9,42,9.8