version: 66.06
glider: 139
mission: 8
dive: 863
start: 11 9 110 10 23 24
data:
$ID,139
$MISSION,8
$DIVE,863
$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,-2169652.2
$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
$GPS1,101107,2109.662,-15749.673,42,1.1,42,9.8
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-71.0
$GPS2,102302,2109.732,-15749.591,16,1.3,16,9.8
$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,314.8,7424,-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,-116.8,0.0,0.0,0,98,0.00,0.00,-80.53,0.000,2,0.000,0.000,427,1433,2726,0,0,0,0,0,0
$GC,103,-1.18,-116.8,3.3,-3.3,15,133,12.68,2.42,-7.55,0.000,4,0.133,0.033,2784,2874,3110,0,0,0,0,0,0
$GC,204,-1.09,-116.8,19.2,-11.2,35,211,0.10,2.45,0.00,0.000,6,0.078,0.031,2809,1447,3110,0,0,0,0,0,0
$GC,404,-0.93,-116.8,40.9,-10.7,65,409,0.17,2.08,0.00,0.000,4,0.092,0.044,2846,230,3111,0,0,0,0,0,0
$GC,459,-0.87,-116.8,47.3,-11.1,69,463,0.00,2.00,0.00,0.000,6,0.000,0.018,2845,1505,3111,0,0,0,0,0,0
$GC,726,-0.82,-116.8,73.8,-10.5,90,731,0.12,2.22,0.00,0.000,4,0.094,0.044,2872,231,3111,0,0,0,0,0,0
$GC,750,-0.82,-116.8,76.6,-9.5,91,756,0.00,2.00,0.00,0.000,6,0.000,0.019,2872,1515,3111,0,0,0,0,0,0
$GC,1011,-0.95,-116.8,94.5,-5.4,112,1015,0.12,2.22,0.00,0.000,4,0.060,0.042,2824,226,3112,0,0,0,0,0,0
$GC,1055,-0.90,-116.8,98.1,-8.4,115,1059,0.15,2.00,0.00,0.000,6,0.084,0.018,2857,1517,3112,0,0,0,0,0,0
$GC,1317,-1.05,-116.8,119.4,-9.0,135,1325,0.15,2.20,0.00,0.000,4,0.053,0.043,2804,229,3112,0,0,0,0,0,0
$GC,1411,-1.01,-116.8,128.9,-10.1,141,1416,0.12,2.03,0.00,0.000,6,0.091,0.018,2831,1535,3112,0,0,0,0,0,0
$GC,1679,-1.01,-116.8,147.0,-6.3,162,1683,0.00,2.17,0.00,0.000,4,0.000,0.020,2831,2881,3112,0,0,0,0,0,0
$GC,1725,-1.10,-116.8,149.8,-5.4,165,1729,0.00,2.42,0.00,0.000,6,0.000,0.028,2831,1438,3112,0,0,0,0,0,0
$GC,1989,-1.20,-116.8,166.2,-7.1,185,1994,0.20,2.35,0.00,0.000,4,0.046,0.019,2767,2878,3112,0,0,0,0,0,0
$GC,2018,-1.20,-116.8,169.0,-8.4,187,2022,0.00,2.42,0.00,0.000,6,0.000,0.029,2767,1439,3112,0,0,0,0,0,0
$GC,2280,-1.09,-116.8,193.3,-9.3,207,2285,0.20,2.05,0.00,0.000,4,0.083,0.044,2810,239,3112,0,0,0,0,0,0
$GC,2297,-1.00,-116.8,195.1,-9.2,208,2301,0.10,1.98,0.00,0.000,6,0.103,0.019,2832,1510,3112,0,0,0,0,0,0
$GC,2554,-1.04,-116.8,211.7,-6.1,222,2558,0.00,2.20,0.00,0.000,4,0.000,0.044,2831,233,3113,0,0,0,0,0,0
$GC,2604,-1.08,-116.8,214.5,-5.9,224,2607,0.00,1.98,0.00,0.000,6,0.000,0.020,2832,1507,3112,0,0,0,0,0,0
$GC,2940,-1.23,-116.8,231.6,-6.4,240,2945,0.22,2.22,0.00,0.000,4,0.042,0.021,2762,2876,3111,0,0,0,0,0,0
$GC,3009,-1.23,-116.8,237.1,-8.0,243,3013,0.00,2.42,0.00,0.000,6,0.000,0.031,2761,1441,3111,0,0,0,0,0,0
$GC,3344,-1.14,-116.8,270.2,-10.5,259,3348,0.17,2.08,0.00,0.000,4,0.085,0.048,2799,238,3110,0,0,0,0,0,0
$GC,3381,-1.14,-116.8,274.4,-9.6,260,3388,0.00,2.00,0.00,0.000,6,0.000,0.021,2799,1497,3110,0,0,0,0,0,0
$GC,3699,-1.14,-116.8,295.3,-5.9,276,3703,0.00,2.17,0.00,0.000,4,0.000,0.048,2799,235,3109,0,0,0,0,0,0
$GC,3740,-1.14,-116.8,298.2,-6.9,277,3746,0.00,1.90,0.00,0.000,6,0.000,0.022,2799,1443,3109,0,0,0,0,0,0
$GC,4074,-1.14,-116.8,318.7,-6.3,287,4078,0.00,2.25,0.00,0.000,4,0.000,0.024,2799,2826,3107,0,0,0,0,0,0
$GC,4108,-1.24,-116.8,320.9,-5.9,287,4112,0.00,2.35,0.00,0.000,6,0.000,0.034,2799,1447,3107,0,0,0,0,0,0
$GC,4439,-1.24,-116.8,339.3,-5.6,295,4443,0.00,2.08,0.00,0.000,4,0.000,0.051,2799,234,3105,0,0,0,0,0,0
$GC,4473,-1.24,-116.8,341.7,-7.0,295,4477,0.00,1.90,0.00,0.000,6,0.000,0.024,2799,1442,3104,0,0,0,0,0,0
$GC,4808,-1.24,-116.8,365.8,-7.4,304,4813,0.00,2.28,0.00,0.000,4,0.000,0.025,2799,2832,3102,0,0,0,0,0,0
$GC,4842,-1.35,-116.8,368.3,-7.7,304,4847,0.20,2.38,0.00,0.000,6,0.048,0.037,2739,1447,3102,0,0,0,0,0,0
$GC,5175,-1.25,-116.8,398.2,-8.8,312,5180,0.17,2.12,0.00,0.000,4,0.087,0.054,2776,237,3100,0,0,0,0,0,0
$GC,5204,-1.20,-116.8,400.9,-8.1,312,5208,0.00,1.92,0.00,0.000,6,0.000,0.025,2775,1442,3100,0,0,0,0,0,0
$GC,5546,-1.20,-116.8,424.2,-6.9,321,5550,0.00,2.30,0.00,0.000,4,0.000,0.028,2776,2832,3097,0,0,0,0,0,0
$GC,5570,-1.24,-116.8,426.2,-7.0,321,5574,0.00,2.40,0.00,0.000,6,0.000,0.040,2775,1444,3097,0,0,0,0,0,0
$STATE,5873,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5873,begin apogee
$GC,5880,-0.31,0.0,453.8,9.6,329,5979,0.95,0.00,95.40,0.835,6,0.069,0.000,2980,1444,2629,0,0,0,0,0,0
$STATE,5979,end apogee,CONTROL_FINISHED_OK
$STATE,5980,begin climb
$GC,5984,1.18,116.8,458.1,0.0,331,6096,1.45,2.17,102.22,0.819,4,0.033,0.056,3315,234,2152,0,0,0,0,0,0
$GC,6122,0.88,169.4,461.3,5.5,335,6175,0.38,1.95,46.38,0.800,6,0.095,0.025,3241,1427,1938,0,0,0,0,0,0
$GC,6495,0.85,204.5,439.1,6.3,344,6531,0.00,2.40,30.45,0.792,4,0.000,0.029,3241,2799,1795,0,0,0,0,0,0
$GC,6594,0.85,207.5,431.9,7.8,346,6603,0.00,2.42,3.92,0.486,6,0.000,0.042,3242,1413,1784,0,0,0,0,0,0
$GC,6913,0.83,230.2,409.0,6.9,354,6941,0.00,2.40,21.10,0.772,4,0.000,0.028,3241,2798,1690,0,0,0,0,0,0
$GC,6971,0.84,240.9,404.8,7.4,355,6987,0.00,2.45,11.00,0.712,6,0.000,0.043,3241,1416,1646,0,0,0,0,0,0
$GC,7329,0.80,240.9,373.9,9.1,364,7333,0.00,2.10,0.00,0.000,4,0.000,0.059,3241,232,1640,0,0,0,0,0,0
$GC,7360,0.70,240.9,370.8,10.3,364,7365,0.20,1.92,0.00,0.000,6,0.099,0.028,3203,1408,1638,0,0,0,0,0,0
$GC,7697,0.82,285.5,350.0,5.9,373,7742,0.12,2.17,38.20,0.775,4,0.072,0.058,3237,237,1465,0,0,0,0,0,0
$GC,7787,0.79,285.5,342.2,10.4,375,7791,0.00,1.98,0.00,0.000,6,0.000,0.028,3237,1420,1461,0,0,0,0,0,0
$GC,8119,0.79,285.5,314.6,8.1,383,8123,0.00,2.15,0.00,0.000,4,0.000,0.058,3237,229,1459,0,0,0,0,0,0
$GC,8133,0.79,285.5,313.3,8.2,383,8137,0.00,1.98,0.00,0.000,6,0.000,0.029,3237,1411,1458,0,0,0,0,0,0
$GC,8450,0.79,285.5,288.9,8.4,394,8454,0.00,2.10,0.00,0.000,4,0.000,0.058,3237,231,1458,0,0,0,0,0,0
$GC,8464,0.79,285.5,287.3,8.7,394,8470,0.00,1.98,0.00,0.000,6,0.000,0.029,3237,1417,1456,0,0,0,0,0,0
$GC,8779,0.79,285.5,257.9,8.6,410,8783,0.00,2.35,0.00,0.000,4,0.000,0.028,3237,2820,1456,0,0,0,0,0,0
$GC,8814,0.91,294.1,255.2,7.5,411,8826,0.00,2.42,7.25,0.595,6,0.000,0.041,3237,1417,1431,0,0,0,0,0,0
$GC,9159,0.98,301.8,233.3,7.5,428,9173,0.12,2.10,8.52,0.604,4,0.069,0.054,3273,232,1398,0,0,0,0,0,0
$GC,9232,0.94,301.8,226.1,10.8,431,9236,0.00,1.98,0.00,0.000,6,0.000,0.027,3273,1426,1394,0,0,0,0,0,0
$GC,9558,0.94,301.8,195.1,9.1,448,9562,0.00,2.30,0.00,0.000,4,0.000,0.027,3273,2816,1395,0,0,0,0,0,0
$GC,9597,1.02,301.8,191.7,8.7,450,9603,0.00,2.45,0.00,0.000,6,0.000,0.040,3273,1426,1395,0,0,0,0,0,0
$GC,9857,1.03,309.8,171.2,7.5,471,9867,0.00,0.00,7.68,0.546,6,0.000,0.000,3273,1426,1367,0,0,0,0,0,0
$GC,10120,1.05,327.7,151.8,7.1,492,10142,0.00,2.38,16.95,0.595,4,0.000,0.025,3273,2816,1293,0,0,0,0,0,0
$GC,10166,1.15,352.3,148.7,6.8,495,10197,0.12,2.45,22.80,0.600,6,0.066,0.038,3311,1414,1193,0,0,0,0,0,0
$GC,10462,1.09,352.3,122.3,8.4,518,10467,0.12,2.08,0.00,0.000,4,0.097,0.052,3285,231,1189,0,0,0,0,0,0
$GC,10488,1.04,352.3,120.0,8.8,520,10491,0.00,1.95,0.00,0.000,6,0.000,0.025,3285,1435,1188,0,0,0,0,0,0
$GC,10761,1.08,362.3,100.2,7.4,541,10772,0.00,0.00,9.07,0.503,6,0.000,0.000,3285,1438,1153,0,0,0,0,0,0
$GC,11022,1.17,391.2,79.6,6.6,562,11054,0.00,2.35,25.58,0.540,4,0.000,0.023,3285,2808,1034,0,0,0,0,0,0
$GC,11104,1.32,393.0,73.1,7.8,567,11111,0.20,2.42,0.00,0.000,6,0.029,0.034,3350,1418,1033,0,0,0,0,0,0
$GC,11366,1.27,393.0,49.2,8.7,588,11371,0.12,2.05,0.00,0.000,4,0.096,0.049,3324,236,1032,0,0,0,0,0,0
$GC,11416,1.22,393.0,45.2,8.2,591,11423,0.00,1.92,0.00,0.000,6,0.000,0.022,3324,1429,1031,0,0,0,0,0,0
$GC,11678,1.22,393.0,25.0,8.2,620,11684,0.00,2.10,0.00,0.000,4,0.000,0.048,3325,235,1031,0,0,0,0,0,0
$GC,11697,1.22,393.0,23.4,8.4,623,11703,0.00,1.90,0.00,0.000,6,0.000,0.022,3325,1416,1030,0,0,0,0,0,0
$GC,11901,1.23,402.4,7.4,7.5,669,11920,0.00,2.33,10.15,0.436,4,0.000,0.020,3325,2807,988,0,0,0,0,0,0
$GC,11950,1.31,402.4,3.4,8.2,678,11957,0.00,2.42,0.00,0.000,6,0.000,0.036,3325,1417,989,0,0,0,0,0,0
$STATE,11962,end climb,SURFACE_DEPTH_REACHED
$STATE,11962,begin surface coast
$FINISH,0.8,1.010960
$STATE,11997,end surface coast,CONTROL_FINISHED_OK
$STATE,11998,begin surface
$SM_CCo,12021,6.38,0.390,0,0,958,410.14
$SM_GC,1.49,0.00,0.00,6.38,0.000,0.000,0.390,429,1413,958,-12.06,-1.05,410.14
$IRIDIUM_FIX,2104.07,-15750.02,030200,101013
$TT8_MAMPS,0.029146
$HUMID,64.96
$INTERNAL_PRESSURE,9.22541
$TCM_TEMP,19.90
$XPDR_PINGS,0
$24V_AH,23.3,84.928
$10V_AH,9.9,67.553
$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,31.250,144.100,456.675,6.375,0.000,55.709,72.907,371.819,4.500,0.000,16.679,1333.523,8014.170,510.989,1990.608,888.889,0.000,1436.805,0.000,1963.332,0.000,29.262,0.000
$DEVICE_MAMPS,132.691,59.059,835.263,389.636,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,462.421,445.080,1000.124,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,356020
$DATA_FILE_SIZE,38047,688
$CAP_FILE_SIZE,142865,0
$CFSIZE,260165632,164843520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091110,134536,2110.536,-15750.332,64,0.9,64,9.8