version: 66.06
glider: 139
mission: 8
dive: 845
start: 11 6 110 20 27 45
data:
$ID,139
$MISSION,8
$DIVE,845
$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,-2169214.8
$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
$GPS1,202107,2106.493,-15754.887,34,1.0,34,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-71.8
$GPS2,202725,2106.461,-15754.875,12,1.8,12,9.8
$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,83.5,20694,-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,-64.38,0.000,2,0.000,0.000,426,1434,2643,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.1,-3.0,12,115,12.62,2.10,-9.52,0.000,4,0.131,0.058,2783,241,3108,0,0,0,0,0,0
$GC,125,0.05,-116.8,11.5,-19.0,18,132,1.25,2.03,0.00,0.000,6,0.076,0.020,3056,1513,3109,0,0,0,0,0,0
$GC,329,-0.52,-116.8,28.8,-9.6,64,336,0.52,2.22,0.00,0.000,4,0.046,0.042,2928,238,3110,0,0,0,0,0,0
$GC,402,-0.89,-116.8,35.1,-7.9,71,407,0.32,2.00,0.00,0.000,6,0.037,0.019,2837,1524,3110,0,0,0,0,0,0
$GC,671,-0.79,-116.8,64.9,-13.0,92,673,0.17,0.00,0.00,0.000,6,0.084,0.000,2875,1524,3110,0,0,0,0,0,0
$GC,921,-0.79,-116.8,89.4,-8.3,112,925,0.00,2.20,0.00,0.000,4,0.000,0.020,2875,2885,3111,0,0,0,0,0,0
$GC,939,-0.87,-116.8,90.9,-7.6,113,944,0.00,2.40,0.00,0.000,6,0.000,0.031,2875,1448,3111,0,0,0,0,0,0
$GC,1203,-1.00,-116.8,111.5,-8.3,133,1208,0.17,2.08,0.00,0.000,4,0.048,0.044,2815,237,3112,0,0,0,0,0,0
$GC,1278,-0.93,-116.8,120.0,-11.4,138,1283,0.15,1.95,0.00,0.000,6,0.087,0.018,2847,1519,3111,0,0,0,0,0,0
$GC,1542,-1.08,-116.8,139.5,-6.0,158,1548,0.15,2.17,0.00,0.000,4,0.053,0.043,2792,237,3112,0,0,0,0,0,0
$GC,1554,-1.18,-116.8,140.6,-5.9,158,1561,0.00,2.00,0.00,0.000,6,0.000,0.018,2793,1513,3113,0,0,0,0,0,0
$GC,1818,-1.13,-116.8,160.9,-8.6,179,1822,0.00,2.20,0.00,0.000,4,0.000,0.021,2793,2878,3113,0,0,0,0,0,0
$GC,1917,-1.13,-116.8,169.3,-8.3,186,1921,0.00,2.40,0.00,0.000,6,0.000,0.030,2793,1437,3113,0,0,0,0,0,0
$GC,2185,-1.09,-116.8,189.7,-7.1,207,2190,0.10,2.08,0.00,0.000,4,0.104,0.046,2814,231,3113,0,0,0,0,0,0
$GC,2228,-1.09,-116.8,193.7,-8.6,210,2232,0.00,2.00,0.00,0.000,6,0.000,0.019,2814,1512,3113,0,0,0,0,0,0
$GC,2494,-1.09,-116.8,215.0,-7.3,225,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1522,3113,0,0,0,0,0,0
$GC,2803,-1.09,-116.8,238.6,-8.2,240,2807,0.00,2.20,0.00,0.000,4,0.000,0.046,2814,230,3113,0,0,0,0,0,0
$GC,2845,-1.09,-116.8,242.2,-8.3,242,2849,0.00,2.03,0.00,0.000,6,0.000,0.021,2814,1530,3113,0,0,0,0,0,0
$GC,3183,-1.20,-116.8,265.8,-6.7,258,3188,0.12,2.20,0.00,0.000,4,0.062,0.024,2769,2879,3113,0,0,0,0,0,0
$GC,3211,-1.20,-116.8,268.2,-7.7,259,3216,0.00,2.40,0.00,0.000,6,0.000,0.032,2769,1446,3113,0,0,0,0,0,0
$GC,3534,-1.14,-116.8,295.2,-9.1,275,3539,0.15,2.08,0.00,0.000,4,0.089,0.049,2801,232,3111,0,0,0,0,0,0
$GC,3558,-1.14,-116.8,297.5,-8.0,276,3562,0.00,1.98,0.00,0.000,6,0.000,0.022,2801,1492,3111,0,0,0,0,0,0
$GC,3884,-1.14,-116.8,321.2,-7.3,285,3888,0.00,2.17,0.00,0.000,4,0.000,0.049,2801,240,3109,0,0,0,0,0,0
$GC,3937,-1.14,-116.8,325.8,-8.5,286,3940,0.00,1.90,0.00,0.000,6,0.000,0.023,2801,1452,3109,0,0,0,0,0,0
$GC,4264,-1.14,-116.8,351.9,-7.7,294,4268,0.00,2.25,0.00,0.000,4,0.000,0.025,2802,2832,3107,0,0,0,0,0,0
$GC,4302,-1.23,-116.8,354.5,-7.1,294,4308,0.00,2.35,0.00,0.000,6,0.000,0.035,2801,1443,3107,0,0,0,0,0,0
$GC,4635,-1.23,-116.8,378.6,-7.9,303,4639,0.00,2.28,0.00,0.000,4,0.000,0.025,2802,2829,3105,0,0,0,0,0,0
$GC,4658,-1.32,-116.8,380.8,-8.1,303,4663,0.17,2.35,0.00,0.000,6,0.051,0.038,2746,1447,3105,0,0,0,0,0,0
$GC,5001,-1.22,-116.8,414.8,-9.6,312,5006,0.17,2.33,0.00,0.000,4,0.087,0.026,2783,2836,3102,0,0,0,0,0,0
$GC,5035,-1.30,-116.8,417.8,-8.0,312,5039,0.00,2.40,0.00,0.000,6,0.000,0.038,2783,1443,3102,0,0,0,0,0,0
$GC,5367,-1.30,-116.8,442.4,-7.7,320,5369,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1443,3100,0,0,0,0,0,0
$STATE,5485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5485,begin apogee
$GC,5493,-0.31,0.0,452.4,8.1,323,5593,0.93,0.00,95.97,0.824,6,0.067,0.000,2982,1443,2630,0,0,0,0,0,0
$STATE,5593,end apogee,CONTROL_FINISHED_OK
$STATE,5593,begin climb
$GC,5596,1.18,116.8,456.1,0.0,325,5708,1.40,2.35,101.03,0.808,4,0.033,0.028,3311,2789,2153,0,0,0,0,0,0
$GC,5726,1.11,220.7,459.5,3.2,328,5825,0.00,2.40,90.15,0.801,6,0.000,0.039,3310,1413,1729,0,0,0,0,0,0
$GC,6141,0.90,220.7,424.4,9.1,338,6146,0.28,2.33,0.00,0.000,4,0.091,0.026,3251,2797,1721,0,0,0,0,0,0
$GC,6198,0.93,241.8,420.0,6.9,339,6223,0.00,2.40,18.10,0.746,6,0.000,0.042,3251,1418,1644,0,0,0,0,0,0
$GC,6556,0.87,241.8,393.2,8.1,348,6560,0.00,2.33,0.00,0.000,4,0.000,0.028,3251,2797,1638,0,0,0,0,0,0
$GC,6584,0.87,246.6,390.6,7.7,348,6598,0.00,2.42,4.82,0.549,6,0.000,0.043,3251,1417,1624,0,0,0,0,0,0
$GC,6923,0.82,246.6,362.3,8.1,357,6927,0.00,2.30,0.00,0.000,4,0.000,0.028,3251,2796,1621,0,0,0,0,0,0
$GC,6944,0.82,246.6,360.7,8.2,357,6949,0.10,2.40,0.00,0.000,6,0.108,0.042,3230,1414,1621,0,0,0,0,0,0
$GC,7290,0.84,262.1,335.3,7.2,366,7310,0.00,2.15,14.55,0.715,4,0.000,0.058,3231,238,1561,0,0,0,0,0,0
$GC,7365,0.81,263.4,329.5,7.8,367,7369,0.00,1.92,0.00,0.000,6,0.000,0.028,3231,1402,1557,0,0,0,0,0,0
$GC,7713,0.85,268.2,303.3,7.7,376,7721,0.00,0.00,6.22,0.589,6,0.000,0.000,3231,1402,1536,0,0,0,0,0,0
$GC,8020,0.92,297.5,281.4,6.6,390,8054,0.00,2.12,27.23,0.716,4,0.000,0.055,3230,232,1416,0,0,0,0,0,0
$GC,8075,0.92,297.5,277.2,8.2,392,8079,0.00,1.98,0.00,0.000,6,0.000,0.028,3230,1428,1413,0,0,0,0,0,0
$GC,8395,1.01,328.6,257.3,6.5,408,8429,0.17,2.20,27.45,0.696,4,0.057,0.055,3279,236,1289,0,0,0,0,0,0
$GC,8453,0.91,328.6,252.3,10.0,410,8457,0.15,1.95,0.00,0.000,6,0.094,0.027,3250,1427,1287,0,0,0,0,0,0
$GC,8776,0.94,328.6,223.6,8.2,426,8780,0.00,2.30,0.00,0.000,4,0.000,0.028,3250,2806,1285,0,0,0,0,0,0
$GC,8828,1.08,334.7,219.5,7.6,428,8841,0.15,2.40,6.38,0.544,6,0.060,0.038,3294,1414,1264,0,0,0,0,0,0
$GC,9156,1.03,334.7,190.2,8.8,447,9160,0.00,2.35,0.00,0.000,4,0.000,0.027,3294,2812,1262,0,0,0,0,0,0
$GC,9184,1.07,334.7,187.7,8.1,449,9188,0.00,2.42,0.00,0.000,6,0.000,0.041,3294,1420,1262,0,0,0,0,0,0
$GC,9446,1.02,334.7,166.0,8.3,469,9450,0.00,2.10,0.00,0.000,4,0.000,0.054,3293,234,1262,0,0,0,0,0,0
$GC,9497,0.94,334.7,161.0,9.4,472,9505,0.15,1.95,0.00,0.000,6,0.072,0.025,3258,1430,1260,0,0,0,0,0,0
$GC,9761,1.03,359.2,143.7,6.8,493,9789,0.00,2.33,21.98,0.593,4,0.000,0.023,3258,2813,1164,0,0,0,0,0,0
$GC,9805,1.15,359.2,140.0,8.5,496,9810,0.17,2.45,0.00,0.000,6,0.052,0.038,3310,1413,1164,0,0,0,0,0,0
$GC,10074,1.15,359.2,116.2,10.3,517,10078,0.00,2.33,0.00,0.000,4,0.000,0.024,3310,2812,1162,0,0,0,0,0,0
$GC,10113,1.24,359.2,112.1,9.6,520,10117,0.00,2.40,0.00,0.000,6,0.000,0.038,3310,1416,1162,0,0,0,0,0,0
$GC,10379,1.24,359.2,89.3,8.3,541,10383,0.00,2.05,0.00,0.000,4,0.000,0.051,3311,226,1162,0,0,0,0,0,0
$GC,10411,1.24,359.2,85.9,10.0,543,10416,0.00,1.92,0.00,0.000,6,0.000,0.023,3310,1434,1160,0,0,0,0,0,0
$GC,10675,1.31,375.6,64.9,7.2,564,10697,0.12,2.33,14.80,0.505,4,0.063,0.022,3352,2800,1097,0,0,0,0,0,0
$GC,10720,1.31,375.6,61.0,7.9,567,10725,0.00,2.40,0.00,0.000,6,0.000,0.036,3352,1416,1097,0,0,0,0,0,0
$GC,10983,1.26,375.6,38.7,9.1,587,10987,0.15,2.05,0.00,0.000,4,0.089,0.049,3321,230,1096,0,0,0,0,0,0
$GC,11024,1.26,375.6,34.8,8.5,590,11028,0.00,1.90,0.00,0.000,6,0.000,0.021,3321,1430,1094,0,0,0,0,0,0
$GC,11289,1.26,378.6,12.0,7.8,641,11302,0.00,2.28,3.70,0.308,4,0.000,0.021,3321,2799,1085,0,0,0,0,0,0
$GC,11314,1.30,378.6,9.5,8.9,645,11321,0.00,2.38,0.00,0.000,6,0.000,0.034,3321,1426,1086,0,0,0,0,0,0
$STATE,11399,end climb,SURFACE_DEPTH_REACHED
$STATE,11399,begin surface coast
$FINISH,0.9,1.023199
$STATE,11442,end surface coast,CONTROL_FINISHED_OK
$STATE,11442,begin surface
$SM_CCo,11465,26.70,0.470,0,0,958,410.14
$SM_GC,1.61,0.00,0.00,26.70,0.000,0.000,0.470,426,1421,958,-12.07,-0.82,410.14
$IRIDIUM_FIX,2059.45,-15756.04,310100,171710
$TT8_MAMPS,0.029146
$HUMID,63.82
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,20.20
$XPDR_PINGS,0
$24V_AH,23.3,82.649
$10V_AH,9.9,65.925
$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,32.375,132.300,432.375,26.700,0.000,30.387,32.910,174.210,4.500,0.000,12.379,1294.955,7568.923,491.518,1920.661,588.043,0.000,1369.901,0.000,1901.686,0.000,29.248,0.000
$DEVICE_MAMPS,131.157,57.525,823.758,470.171,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,453.179,443.438,999.678,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,38065,673
$CAP_FILE_SIZE,129336,0
$CFSIZE,260165632,166023168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061110,234028,2106.368,-15754.176,11,2.4,30,9.8