version: 66.06
glider: 139
mission: 8
dive: 867
start: 11 9 110 23 26 22
data:
$ID,139
$MISSION,8
$DIVE,867
$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,-2169739.8
$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
$GPS1,231932,2112.963,-15752.370,15,1.4,15,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-72.9
$GPS2,232604,2112.964,-15752.355,18,2.6,37,9.8
$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,72.1,481,-27.6,-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,-1.78,-43.5,0.0,0.0,0,83,0.00,0.00,-64.28,0.000,2,0.000,0.000,429,1423,2731,0,0,0,0,0,0
$GC,86,-1.83,-82.1,3.3,-3.2,12,111,11.93,2.45,-4.75,0.000,4,0.133,0.034,2645,2881,2967,0,0,0,0,0,0
$GC,173,-1.79,-82.1,20.6,-16.6,29,179,0.00,2.47,0.00,0.000,6,0.000,0.035,2645,1457,2968,0,0,0,0,0,0
$GC,377,-1.63,-82.1,58.0,-17.8,52,382,0.25,2.12,0.00,0.000,4,0.101,0.043,2696,224,2969,0,0,0,0,0,0
$GC,398,-1.49,-82.1,61.7,-17.2,53,405,0.10,2.03,0.00,0.000,6,0.093,0.019,2719,1504,2969,0,0,0,0,0,0
$GC,657,-1.53,-82.1,94.4,-10.0,74,661,0.00,2.25,0.00,0.000,4,0.000,0.021,2719,2882,2971,0,0,0,0,0,0
$GC,706,-1.70,-87.3,98.1,-7.3,77,712,0.17,2.42,0.00,0.000,6,0.052,0.031,2669,1446,2970,0,0,0,0,0,0
$GC,967,-1.70,-87.3,129.1,-11.8,98,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1445,2971,0,0,0,0,0,0
$GC,1221,-1.70,-87.3,161.1,-13.1,118,1225,0.00,2.33,0.00,0.000,4,0.000,0.021,2669,2877,2972,0,0,0,0,0,0
$GC,1249,-1.77,-87.3,165.0,-11.7,120,1253,0.00,2.42,0.00,0.000,6,0.000,0.032,2669,1448,2972,0,0,0,0,0,0
$GC,1507,-1.77,-87.3,191.8,-9.8,140,1511,0.00,2.05,0.00,0.000,4,0.000,0.044,2668,232,2973,0,0,0,0,0,0
$GC,1587,-1.77,-87.3,200.9,-11.9,146,1590,0.00,2.00,0.00,0.000,6,0.000,0.019,2669,1503,2973,0,0,0,0,0,0
$GC,1908,-1.77,-87.3,235.9,-10.5,162,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1513,2973,0,0,0,0,0,0
$GC,2219,-1.80,-87.3,268.2,-10.4,177,2223,0.00,2.25,0.00,0.000,4,0.000,0.023,2668,2880,2973,0,0,0,0,0,0
$GC,2257,-1.93,-87.3,272.7,-10.6,178,2264,0.15,2.47,0.00,0.000,6,0.034,0.036,2617,1448,2973,0,0,0,0,0,0
$GC,2594,-1.87,-87.3,310.5,-11.6,193,2599,0.12,2.38,0.00,0.000,4,0.107,0.025,2641,2876,2972,0,0,0,0,0,0
$GC,2667,-1.94,-87.3,318.0,-9.7,194,2671,0.00,2.45,0.00,0.000,6,0.000,0.036,2641,1447,2971,0,0,0,0,0,0
$GC,3007,-1.94,-87.3,357.5,-12.5,203,3011,0.00,2.35,0.00,0.000,4,0.000,0.025,2641,2873,2970,0,0,0,0,0,0
$GC,3070,-2.02,-87.3,365.1,-11.4,204,3075,0.15,2.45,0.00,0.000,6,0.061,0.039,2597,1448,2969,0,0,0,0,0,0
$GC,3420,-1.93,-87.3,411.8,-13.0,213,3425,0.15,2.40,0.00,0.000,4,0.104,0.027,2626,2878,2968,0,0,0,0,0,0
$GC,3645,-2.00,-87.3,438.7,-11.6,217,3650,0.00,2.45,0.00,0.000,6,0.000,0.041,2627,1452,2966,0,0,0,0,0,0
$STATE,3770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3770,begin apogee
$GC,3779,-0.31,0.0,454.2,12.2,221,3853,1.73,0.00,68.85,0.815,6,0.086,0.000,2981,1406,2630,0,0,0,0,0,0
$STATE,3854,end apogee,CONTROL_FINISHED_OK
$STATE,3854,begin climb
$GC,3856,1.84,87.3,457.8,0.0,223,3942,2.05,2.15,75.50,0.804,4,0.032,0.053,3460,244,2274,0,0,0,0,0,0
$GC,4033,1.50,87.6,454.5,7.9,226,4039,0.43,1.98,0.00,0.000,6,0.105,0.025,3380,1468,2266,0,0,0,0,0,0
$GC,4365,1.46,99.9,432.7,6.4,235,4382,0.00,2.30,10.48,0.713,4,0.000,0.029,3380,2795,2222,0,0,0,0,0,0
$GC,4505,1.49,123.0,423.8,5.1,238,4533,0.00,2.40,21.98,0.772,6,0.000,0.041,3379,1428,2127,0,0,0,0,0,0
$GC,4877,1.47,142.3,401.0,5.6,247,4901,0.00,2.40,17.65,0.759,4,0.000,0.028,3379,2793,2048,0,0,0,0,0,0
$GC,4940,1.50,164.8,397.4,5.2,248,4969,0.00,2.42,21.55,0.763,6,0.000,0.041,3379,1418,1958,0,0,0,0,0,0
$GC,5299,1.50,164.8,370.0,8.2,257,5303,0.00,2.33,0.00,0.000,4,0.000,0.029,3379,2798,1952,0,0,0,0,0,0
$GC,5347,1.54,164.8,365.6,9.0,258,5351,0.00,2.42,0.00,0.000,6,0.000,0.043,3379,1421,1951,0,0,0,0,0,0
$GC,5670,1.54,164.8,331.8,10.0,266,5674,0.00,2.35,0.00,0.000,4,0.000,0.030,3380,2804,1948,0,0,0,0,0,0
$GC,5703,1.59,164.8,328.6,9.4,266,5707,0.00,2.42,0.00,0.000,6,0.000,0.042,3379,1420,1948,0,0,0,0,0,0
$GC,6036,1.59,168.5,302.1,7.4,274,6040,0.00,2.35,0.00,0.000,4,0.000,0.030,3379,2806,1946,0,0,0,0,0,0
$GC,6111,1.65,168.5,295.5,9.5,276,6116,0.12,2.40,0.00,0.000,6,0.071,0.041,3413,1414,1946,0,0,0,0,0,0
$GC,6436,1.62,179.9,268.8,6.5,292,6459,0.00,2.35,12.75,0.671,4,0.000,0.028,3413,2798,1895,0,0,0,0,0,0
$GC,6469,1.64,192.6,266.2,6.4,293,6489,0.00,2.40,12.93,0.669,6,0.000,0.041,3413,1420,1844,0,0,0,0,0,0
$GC,6818,1.60,192.6,239.0,8.4,310,6822,0.00,2.35,0.00,0.000,4,0.000,0.028,3413,2808,1839,0,0,0,0,0,0
$GC,6911,1.63,192.6,230.5,8.6,314,6915,0.00,2.42,0.00,0.000,6,0.000,0.041,3413,1416,1839,0,0,0,0,0,0
$GC,7237,1.63,192.6,204.3,8.1,330,7241,0.00,2.33,0.00,0.000,4,0.000,0.028,3413,2809,1837,0,0,0,0,0,0
$GC,7283,1.63,192.6,200.2,9.0,332,7288,0.00,2.40,0.00,0.000,6,0.000,0.040,3413,1417,1837,0,0,0,0,0,0
$GC,7617,1.63,194.1,171.0,7.7,358,7618,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,1417,1836,0,0,0,0,0,0
$GC,7869,1.64,201.0,153.2,7.1,378,7884,0.00,2.38,7.40,0.535,4,0.000,0.027,3413,2799,1809,0,0,0,0,0,0
$GC,8014,1.72,207.8,143.2,7.1,388,8027,0.00,2.40,7.68,0.532,6,0.000,0.038,3413,1410,1782,0,0,0,0,0,0
$GC,8293,1.72,207.8,119.4,8.6,410,8297,0.00,2.30,0.00,0.000,4,0.000,0.025,3413,2803,1781,0,0,0,0,0,0
$GC,8352,1.80,210.1,114.7,7.6,414,8357,0.12,2.40,0.00,0.000,6,0.068,0.037,3447,1416,1781,0,0,0,0,0,0
$GC,8613,1.77,210.1,94.9,8.1,434,8617,0.00,2.03,0.00,0.000,4,0.000,0.048,3447,234,1781,0,0,0,0,0,0
$GC,8636,1.66,210.1,92.6,8.6,435,8642,0.17,1.90,0.00,0.000,6,0.107,0.023,3414,1437,1778,0,0,0,0,0,0
$GC,8900,1.72,218.9,77.5,6.8,456,8916,0.00,2.25,10.70,0.509,4,0.000,0.021,3414,2798,1737,0,0,0,0,0,0
$GC,9016,1.84,218.9,67.5,8.1,464,9021,0.17,2.38,0.00,0.000,6,0.057,0.035,3461,1414,1736,0,0,0,0,0,0
$GC,9285,1.87,241.4,53.7,5.2,485,9314,0.00,2.10,20.52,0.516,4,0.000,0.047,3461,238,1644,0,0,0,0,0,0
$GC,9415,1.77,241.4,43.2,7.9,494,9419,0.12,1.88,0.00,0.000,6,0.113,0.021,3438,1419,1641,0,0,0,0,0,0
$GC,9678,1.82,241.4,24.2,8.2,525,9685,0.00,2.08,0.00,0.000,4,0.000,0.044,3438,232,1641,0,0,0,0,0,0
$GC,9707,1.82,241.4,21.7,8.6,530,9714,0.00,1.90,0.00,0.000,6,0.000,0.020,3438,1428,1639,0,0,0,0,0,0
$GC,9910,1.86,241.4,5.4,8.4,576,9917,0.00,2.25,0.00,0.000,4,0.000,0.021,3438,2798,1639,0,0,0,0,0,0
$STATE,9939,end climb,SURFACE_DEPTH_REACHED
$STATE,9939,begin surface coast
$FINISH,0.8,1.023331
$STATE,9969,end surface coast,CONTROL_FINISHED_OK
$STATE,9970,begin surface
$SM_CCo,9998,99.57,0.480,0,0,957,410.14
$SM_GC,1.47,0.00,0.00,99.57,0.000,0.000,0.480,428,1443,957,-12.07,-0.20,410.14
$IRIDIUM_FIX,2104.07,-15750.02,030200,202016
$TT8_MAMPS,0.029146
$HUMID,61.69
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,20.20
$XPDR_PINGS,0
$24V_AH,23.3,85.334
$10V_AH,9.9,67.889
$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,31.025,114.525,287.975,99.575,0.000,28.560,33.540,164.429,4.500,0.000,38.004,1162.800,6451.173,454.702,1865.339,550.893,0.000,1269.080,0.000,1817.589,0.000,29.240,0.000
$DEVICE_MAMPS,133.458,148.798,815.321,480.142,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,396.985,384.848,880.046,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,356080
$DATA_FILE_SIZE,31734,589
$CAP_FILE_SIZE,114024,0
$CFSIZE,260165632,164634624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101110,021601,2113.304,-15752.422,42,1.4,42,9.8