version: 66.06
glider: 139
mission: 8
dive: 837
start: 11 5 110 18 52 53
data:
$ID,139
$MISSION,8
$DIVE,837
$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,-2169041
$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
$GPS1,184500,2107.535,-15801.148,39,0.9,44,9.8
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-71.0
$GPS2,185232,2107.504,-15801.157,15,1.4,15,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$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,304.6,2195,-19.4,-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,-1.32,-86.8,0.0,0.0,0,82,0.00,0.00,-63.88,0.000,2,0.000,0.000,426,1423,2696,0,0,0,0,0,0
$GC,87,-1.36,-116.8,3.5,-3.3,12,117,12.48,2.45,-7.80,0.000,4,0.133,0.034,2747,2880,3109,0,0,0,0,0,0
$GC,146,-1.14,-116.8,16.8,-15.9,23,153,0.20,2.47,0.00,0.000,6,0.073,0.035,2800,1458,3111,0,0,0,0,0,0
$GC,346,-1.05,-116.8,41.4,-12.5,55,351,0.10,2.10,0.00,0.000,4,0.113,0.046,2820,233,3112,0,0,0,0,0,0
$GC,393,-1.01,-116.8,47.8,-13.2,58,400,0.00,2.03,0.00,0.000,6,0.000,0.019,2820,1516,3112,0,0,0,0,0,0
$GC,654,-1.01,-116.8,79.6,-11.2,79,658,0.00,2.22,0.00,0.000,4,0.000,0.044,2820,226,3112,0,0,0,0,0,0
$GC,741,-1.01,-116.8,89.9,-10.9,85,745,0.00,2.03,0.00,0.000,6,0.000,0.019,2820,1509,3113,0,0,0,0,0,0
$GC,1004,-1.05,-116.8,112.5,-8.0,106,1008,0.00,2.22,0.00,0.000,4,0.000,0.021,2820,2882,3113,0,0,0,0,0,0
$GC,1029,-1.16,-116.8,114.2,-7.3,107,1035,0.10,2.42,0.00,0.000,6,0.071,0.031,2780,1445,3113,0,0,0,0,0,0
$GC,1290,-1.16,-116.8,136.3,-9.2,128,1294,0.00,2.05,0.00,0.000,4,0.000,0.044,2780,231,3113,0,0,0,0,0,0
$GC,1308,-1.13,-116.8,138.1,-10.4,129,1313,0.12,2.00,0.00,0.000,6,0.094,0.018,2806,1522,3114,0,0,0,0,0,0
$GC,1572,-1.18,-116.8,164.5,-9.4,150,1576,0.00,2.20,0.00,0.000,4,0.000,0.044,2806,231,3114,0,0,0,0,0,0
$GC,1596,-1.18,-116.8,166.9,-10.2,152,1600,0.00,2.00,0.00,0.000,6,0.000,0.019,2806,1511,3114,0,0,0,0,0,0
$GC,1869,-1.24,-116.8,190.8,-8.6,173,1873,0.12,2.22,0.00,0.000,4,0.062,0.021,2763,2881,3115,0,0,0,0,0,0
$GC,1906,-1.30,-116.8,194.7,-9.3,175,1912,0.00,2.42,0.00,0.000,6,0.000,0.031,2763,1444,3115,0,0,0,0,0,0
$GC,2163,-1.30,-116.8,216.0,-8.3,190,2167,0.00,2.05,0.00,0.000,4,0.000,0.045,2762,230,3114,0,0,0,0,0,0
$GC,2190,-1.24,-116.8,218.6,-9.6,191,2194,0.00,2.00,0.00,0.000,6,0.000,0.019,2763,1503,3114,0,0,0,0,0,0
$GC,2518,-1.24,-116.8,246.3,-8.7,207,2522,0.00,2.20,0.00,0.000,4,0.000,0.045,2763,235,3114,0,0,0,0,0,0
$GC,2562,-1.24,-116.8,251.0,-10.4,209,2565,0.00,2.00,0.00,0.000,6,0.000,0.020,2763,1504,3114,0,0,0,0,0,0
$GC,2896,-1.24,-116.8,282.8,-9.4,225,2900,0.00,2.20,0.00,0.000,4,0.000,0.048,2762,237,3114,0,0,0,0,0,0
$GC,2917,-1.24,-116.8,284.9,-9.6,225,2922,0.00,2.00,0.00,0.000,6,0.000,0.021,2763,1513,3114,0,0,0,0,0,0
$GC,3230,-1.24,-116.8,312.4,-8.9,238,3234,0.00,2.20,0.00,0.000,4,0.000,0.048,2762,237,3113,0,0,0,0,0,0
$GC,3263,-1.24,-116.8,315.6,-9.9,238,3266,0.00,2.00,0.00,0.000,6,0.000,0.021,2763,1493,3113,0,0,0,0,0,0
$GC,3606,-1.24,-116.8,345.1,-8.6,247,3610,0.00,2.17,0.00,0.000,4,0.000,0.050,2763,235,3112,0,0,0,0,0,0
$GC,3624,-1.24,-116.8,347.2,-9.2,247,3628,0.00,1.95,0.00,0.000,6,0.000,0.023,2762,1461,3111,0,0,0,0,0,0
$GC,3974,-1.24,-116.8,378.6,-9.0,256,3978,0.00,2.12,0.00,0.000,4,0.000,0.051,2763,232,3109,0,0,0,0,0,0
$GC,4008,-1.24,-116.8,381.7,-9.3,256,4012,0.00,1.92,0.00,0.000,6,0.000,0.024,2763,1449,3109,0,0,0,0,0,0
$GC,4344,-1.24,-116.8,408.0,-7.4,265,4348,0.00,2.28,0.00,0.000,4,0.000,0.027,2763,2834,3107,0,0,0,0,0,0
$GC,4428,-1.34,-116.8,413.8,-6.7,266,4434,0.00,2.35,0.00,0.000,6,0.000,0.039,2763,1453,3106,0,0,0,0,0,0
$GC,4761,-1.37,-116.8,439.0,-8.1,275,4765,0.00,2.12,0.00,0.000,4,0.000,0.056,2762,237,3104,0,0,0,0,0,0
$GC,4809,-1.37,-116.8,443.4,-9.2,276,4812,0.00,1.95,0.00,0.000,6,0.000,0.025,2763,1450,3104,0,0,0,0,0,0
$STATE,4894,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4894,begin apogee
$GC,4902,-0.31,0.0,450.7,8.4,278,5003,1.00,0.00,97.05,0.825,6,0.067,0.000,2979,1411,2630,0,0,0,0,0,0
$STATE,5004,end apogee,CONTROL_FINISHED_OK
$STATE,5004,begin climb
$GC,5007,1.36,116.8,453.7,0.0,280,5118,1.58,2.42,101.68,0.809,4,0.033,0.028,3347,2798,2153,0,0,0,0,0,0
$GC,5149,1.18,135.2,453.9,6.8,283,5174,0.20,2.42,17.50,0.746,6,0.104,0.040,3309,1423,2077,0,0,0,0,0,0
$GC,5509,1.06,152.5,428.7,6.8,292,5529,0.15,2.40,14.75,0.741,4,0.109,0.028,3281,2793,2008,0,0,0,0,0,0
$GC,5599,1.06,158.6,422.3,7.5,293,5611,0.00,2.40,7.18,0.645,6,0.000,0.041,3282,1417,1983,0,0,0,0,0,0
$GC,5937,1.01,170.4,398.7,7.2,302,5953,0.00,2.42,11.02,0.713,4,0.000,0.029,3281,2802,1935,0,0,0,0,0,0
$GC,6007,1.01,172.0,393.3,7.8,303,6011,0.00,2.42,0.00,0.000,6,0.000,0.042,3281,1420,1935,0,0,0,0,0,0
$GC,6357,0.97,177.3,367.8,7.6,312,6369,0.00,2.40,7.10,0.642,4,0.000,0.030,3281,2798,1908,0,0,0,0,0,0
$GC,6477,0.97,179.9,358.5,7.7,314,6486,0.00,2.42,4.20,0.506,6,0.000,0.043,3281,1419,1896,0,0,0,0,0,0
$GC,6822,0.97,179.9,330.2,7.9,323,6824,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1419,1893,0,0,0,0,0,0
$GC,7148,1.00,200.4,306.2,6.7,331,7172,0.00,2.40,19.25,0.720,4,0.000,0.029,3281,2806,1812,0,0,0,0,0,0
$GC,7212,1.06,206.8,301.9,7.5,332,7224,0.00,2.45,7.30,0.614,6,0.000,0.041,3281,1415,1786,0,0,0,0,0,0
$GC,7553,1.07,211.3,275.8,7.6,348,7565,0.00,2.38,5.15,0.533,4,0.000,0.028,3281,2807,1767,0,0,0,0,0,0
$GC,7638,1.14,214.6,269.5,7.7,351,7648,0.00,2.42,4.32,0.482,6,0.000,0.041,3281,1420,1755,0,0,0,0,0,0
$GC,7959,1.14,214.6,245.3,7.9,367,7963,0.00,2.33,0.00,0.000,4,0.000,0.028,3281,2803,1753,0,0,0,0,0,0
$GC,7999,1.23,218.0,242.1,7.7,368,8009,0.12,2.42,4.45,0.479,6,0.037,0.041,3324,1422,1741,0,0,0,0,0,0
$GC,8341,1.19,235.4,215.8,6.8,385,8360,0.00,0.00,16.67,0.647,6,0.000,0.000,3323,1422,1670,0,0,0,0,0,0
$GC,8685,1.17,248.7,190.9,7.1,405,8702,0.00,2.12,12.75,0.607,4,0.000,0.052,3323,232,1615,0,0,0,0,0,0
$GC,8710,1.14,262.0,188.7,7.1,407,8731,0.12,1.95,13.10,0.598,6,0.104,0.025,3299,1430,1561,0,0,0,0,0,0
$GC,8992,1.15,266.2,167.3,7.6,429,9007,0.00,2.30,4.68,0.448,4,0.000,0.024,3300,2813,1543,0,0,0,0,0,0
$GC,9024,1.24,275.7,164.9,7.3,431,9041,0.00,2.42,9.75,0.558,6,0.000,0.037,3300,1419,1506,0,0,0,0,0,0
$GC,9306,1.30,283.1,144.0,7.4,453,9321,0.15,2.33,7.75,0.517,4,0.059,0.025,3344,2806,1475,0,0,0,0,0,0
$GC,9354,1.30,283.1,139.8,9.2,456,9358,0.00,2.42,0.00,0.000,6,0.000,0.038,3343,1412,1474,0,0,0,0,0,0
$GC,9620,1.26,283.1,116.8,7.9,477,9624,0.00,2.33,0.00,0.000,4,0.000,0.024,3343,2809,1474,0,0,0,0,0,0
$GC,9638,1.26,283.1,114.9,8.1,478,9645,0.00,2.42,0.00,0.000,6,0.000,0.037,3343,1423,1473,0,0,0,0,0,0
$GC,9900,1.26,283.1,93.2,9.4,499,9904,0.00,2.05,0.00,0.000,4,0.000,0.050,3343,229,1473,0,0,0,0,0,0
$GC,9919,1.22,283.1,90.9,9.8,500,9926,0.10,1.92,0.00,0.000,6,0.074,0.022,3319,1424,1471,0,0,0,0,0,0
$GC,10183,1.37,326.7,73.0,5.3,521,10226,0.12,0.00,37.72,0.538,6,0.064,0.000,3359,1425,1297,0,0,0,0,0,0
$GC,10478,1.37,326.7,50.7,7.9,544,10482,0.00,2.08,0.00,0.000,4,0.000,0.047,3359,231,1294,0,0,0,0,0,0
$GC,10492,1.37,326.7,49.3,8.2,545,10496,0.00,1.92,0.00,0.000,6,0.000,0.021,3359,1427,1292,0,0,0,0,0,0
$GC,10757,1.37,326.7,28.1,8.0,569,10764,0.00,2.28,0.00,0.000,4,0.000,0.021,3359,2802,1292,0,0,0,0,0,0
$GC,10806,1.45,326.7,23.8,8.6,579,10812,0.00,2.40,0.00,0.000,6,0.000,0.034,3359,1418,1292,0,0,0,0,0,0
$GC,11010,1.45,326.7,7.0,8.4,625,11017,0.00,2.28,0.00,0.000,4,0.000,0.021,3359,2796,1292,0,0,0,0,0,0
$GC,11038,1.48,326.7,4.5,8.9,630,11044,0.00,2.38,0.00,0.000,6,0.000,0.033,3359,1419,1292,0,0,0,0,0,0
$STATE,11062,end climb,SURFACE_DEPTH_REACHED
$STATE,11062,begin surface coast
$FINISH,0.8,1.010756
$STATE,11114,end surface coast,CONTROL_FINISHED_OK
$STATE,11114,begin surface
$SM_CCo,11139,67.65,0.478,0,0,958,410.14
$SM_GC,1.65,0.00,0.00,67.65,0.000,0.000,0.478,424,1415,958,-12.08,-0.99,410.14
$IRIDIUM_FIX,2101.76,-15801.19,300100,151550
$TT8_MAMPS,0.029146
$HUMID,61.85
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,20.80
$XPDR_PINGS,0
$24V_AH,23.3,81.665
$10V_AH,9.9,65.220
$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,29.275,133.750,403.375,67.650,0.000,26.021,35.345,244.413,4.500,0.000,15.427,1250.738,7336.222,525.656,1868.919,671.842,0.000,1380.409,0.000,1856.703,0.000,31.135,0.000
$DEVICE_MAMPS,132.691,148.798,824.525,477.841,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,434.784,425.469,954.917,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,34878,647
$CAP_FILE_SIZE,126289,0
$CFSIZE,260165632,166522880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051110,220106,2107.625,-15801.290,42,1.3,47,9.8