version: 66.06
glider: 139
mission: 8
dive: 804
start: 11 1 110 6 34 10
data:
$ID,139
$MISSION,8
$DIVE,804
$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,-2168386.2
$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
$GPS1,062737,2058.300,-15749.770,33,0.9,33,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-73.6
$GPS2,063350,2058.297,-15749.773,16,1.6,16,9.8
$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,301.4,28219,-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,-64.53,0.000,2,0.000,0.000,425,1432,2665,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.3,-3.1,12,115,12.70,2.42,-8.65,0.000,4,0.133,0.036,2786,2870,3109,0,0,0,0,0,0
$GC,181,-1.12,-116.8,21.9,-15.3,31,188,0.00,2.45,0.00,0.000,6,0.000,0.035,2785,1454,3110,0,0,0,0,0,0
$GC,381,-0.89,-116.8,54.5,-16.1,53,386,0.30,2.10,0.00,0.000,4,0.087,0.043,2851,234,3111,0,0,0,0,0,0
$GC,443,-0.81,-116.8,62.8,-12.6,57,449,0.08,2.00,0.00,0.000,6,0.076,0.019,2871,1510,3111,0,0,0,0,0,0
$GC,701,-0.81,-116.8,86.2,-8.2,78,705,0.00,2.20,0.00,0.000,4,0.000,0.044,2871,235,3112,0,0,0,0,0,0
$GC,744,-0.87,-116.8,89.6,-8.6,81,748,0.00,2.00,0.00,0.000,6,0.000,0.019,2871,1533,3112,0,0,0,0,0,0
$GC,1009,-0.95,-116.8,108.7,-6.5,102,1014,0.12,2.20,0.00,0.000,4,0.061,0.021,2822,2878,3112,0,0,0,0,0,0
$GC,1030,-0.99,-116.8,110.2,-6.5,103,1035,0.00,2.40,0.00,0.000,6,0.000,0.030,2822,1441,3112,0,0,0,0,0,0
$GC,1292,-0.96,-116.8,132.8,-10.0,123,1296,0.00,2.05,0.00,0.000,4,0.000,0.044,2823,238,3113,0,0,0,0,0,0
$GC,1338,-0.96,-116.8,138.1,-10.7,126,1342,0.00,1.98,0.00,0.000,6,0.000,0.018,2823,1509,3113,0,0,0,0,0,0
$GC,1606,-0.96,-116.8,161.1,-7.1,147,1610,0.00,2.20,0.00,0.000,4,0.000,0.044,2823,237,3113,0,0,0,0,0,0
$GC,1648,-0.96,-116.8,164.6,-7.8,150,1651,0.00,1.98,0.00,0.000,6,0.000,0.019,2823,1508,3113,0,0,0,0,0,0
$GC,1915,-0.96,-116.8,182.8,-6.9,171,1919,0.00,2.20,0.00,0.000,4,0.000,0.021,2823,2886,3113,0,0,0,0,0,0
$GC,1963,-1.05,-116.8,186.2,-6.6,174,1970,0.00,2.45,0.00,0.000,6,0.000,0.031,2823,1446,3113,0,0,0,0,0,0
$GC,2237,-1.05,-116.8,205.6,-7.7,194,2240,0.00,2.05,0.00,0.000,4,0.000,0.045,2823,231,3113,0,0,0,0,0,0
$GC,2279,-1.05,-116.8,209.5,-8.3,196,2282,0.00,2.00,0.00,0.000,6,0.000,0.020,2822,1508,3114,0,0,0,0,0,0
$GC,2613,-1.05,-116.8,234.4,-7.5,212,2616,0.00,2.17,0.00,0.000,4,0.000,0.046,2823,240,3113,0,0,0,0,0,0
$GC,2651,-1.05,-116.8,237.9,-9.9,213,2656,0.00,1.98,0.00,0.000,6,0.000,0.020,2823,1512,3113,0,0,0,0,0,0
$GC,2968,-1.09,-116.8,259.8,-6.0,229,2969,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1513,3113,0,0,0,0,0,0
$GC,3280,-1.14,-116.8,280.5,-5.8,244,3284,0.00,2.20,0.00,0.000,4,0.000,0.048,2823,238,3112,0,0,0,0,0,0
$GC,3313,-1.17,-116.8,283.1,-7.3,245,3317,0.12,2.00,0.00,0.000,6,0.062,0.021,2779,1512,3112,0,0,0,0,0,0
$GC,3631,-1.12,-116.8,305.9,-7.3,258,3636,0.12,2.25,0.00,0.000,4,0.094,0.025,2806,2877,3111,0,0,0,0,0,0
$GC,3674,-1.21,-116.8,308.9,-6.1,258,3680,0.00,2.40,0.00,0.000,6,0.000,0.034,2805,1443,3111,0,0,0,0,0,0
$GC,4006,-1.21,-116.8,331.8,-7.8,267,4010,0.00,2.08,0.00,0.000,4,0.000,0.050,2805,235,3109,0,0,0,0,0,0
$GC,4040,-1.21,-116.8,334.3,-7.6,267,4044,0.00,2.00,0.00,0.000,6,0.000,0.022,2806,1498,3109,0,0,0,0,0,0
$GC,4381,-1.24,-116.8,353.8,-5.2,276,4385,0.12,2.17,0.00,0.000,4,0.064,0.026,2764,2830,3107,0,0,0,0,0,0
$GC,4423,-1.24,-116.8,356.7,-6.0,276,4429,0.00,2.33,0.00,0.000,6,0.000,0.036,2764,1453,3107,0,0,0,0,0,0
$GC,4759,-1.17,-116.8,383.4,-8.8,285,4763,0.15,2.28,0.00,0.000,4,0.090,0.025,2795,2830,3105,0,0,0,0,0,0
$GC,4811,-1.23,-116.8,388.1,-8.0,286,4815,0.00,2.35,0.00,0.000,6,0.000,0.037,2795,1446,3104,0,0,0,0,0,0
$GC,5131,-1.23,-116.8,413.5,-7.8,294,5135,0.00,2.08,0.00,0.000,4,0.000,0.054,2795,236,3103,0,0,0,0,0,0
$GC,5186,-1.23,-116.8,418.1,-8.3,295,5190,0.00,1.95,0.00,0.000,6,0.000,0.025,2795,1457,3103,0,0,0,0,0,0
$GC,5512,-1.23,-116.8,441.0,-7.4,303,5516,0.00,2.28,0.00,0.000,4,0.000,0.028,2795,2836,3100,0,0,0,0,0,0
$GC,5556,-1.32,-116.8,444.5,-7.7,303,5562,0.15,2.38,0.00,0.000,6,0.058,0.039,2748,1444,3100,0,0,0,0,0,0
$STATE,5640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5640,begin apogee
$GC,5647,-0.31,0.0,452.4,8.9,306,5746,1.08,0.00,96.05,0.828,6,0.069,0.000,2979,1444,2630,0,0,0,0,0,0
$STATE,5747,end apogee,CONTROL_FINISHED_OK
$STATE,5747,begin climb
$GC,5750,1.18,116.8,455.6,0.0,308,5863,1.42,2.38,101.32,0.815,4,0.034,0.028,3313,2801,2153,0,0,0,0,0,0
$GC,5902,1.02,153.2,455.1,6.3,311,5942,0.20,2.42,32.53,0.783,6,0.097,0.041,3274,1422,2005,0,0,0,0,0,0
$GC,6252,0.88,153.2,427.4,8.4,320,6257,0.15,2.33,0.00,0.000,4,0.104,0.028,3244,2798,1996,0,0,0,0,0,0
$GC,6272,0.81,153.2,425.7,8.2,320,6276,0.00,2.42,0.00,0.000,6,0.000,0.043,3244,1415,1996,0,0,0,0,0,0
$GC,6619,0.75,167.4,400.3,7.3,329,6636,0.15,2.10,12.00,0.721,4,0.100,0.057,3214,234,1946,0,0,0,0,0,0
$GC,6692,0.70,179.4,395.0,7.4,330,6710,0.00,1.90,11.88,0.716,6,0.000,0.027,3214,1412,1897,0,0,0,0,0,0
$GC,7037,0.73,202.3,371.1,6.9,339,7065,0.00,2.38,21.35,0.754,4,0.000,0.028,3214,2808,1804,0,0,0,0,0,0
$GC,7115,0.82,205.8,365.7,7.7,340,7128,0.00,2.45,4.85,0.545,6,0.000,0.042,3214,1415,1790,0,0,0,0,0,0
$GC,7455,0.93,261.7,345.4,5.4,349,7513,0.17,2.17,49.65,0.769,4,0.059,0.058,3261,236,1562,0,0,0,0,0,0
$GC,7539,0.81,261.7,338.5,9.9,350,7545,0.17,1.95,0.00,0.000,6,0.098,0.028,3227,1418,1559,0,0,0,0,0,0
$GC,7872,0.88,283.2,314.5,6.9,359,7896,0.00,2.20,18.83,0.714,4,0.000,0.058,3227,231,1475,0,0,0,0,0,0
$GC,7943,0.88,283.2,308.6,9.0,360,7947,0.00,1.95,0.00,0.000,6,0.000,0.028,3228,1428,1470,0,0,0,0,0,0
$GC,8274,0.99,330.4,286.2,5.8,373,8321,0.17,2.17,41.53,0.724,4,0.056,0.057,3276,227,1282,0,0,0,0,0,0
$GC,8341,0.88,330.4,280.5,9.3,376,8346,0.17,1.98,0.00,0.000,6,0.093,0.028,3241,1419,1279,0,0,0,0,0,0
$GC,8670,0.94,343.5,257.5,7.3,392,8687,0.00,2.12,12.05,0.644,4,0.000,0.054,3241,232,1228,0,0,0,0,0,0
$GC,8733,0.94,343.5,251.8,8.6,394,8740,0.00,1.98,0.00,0.000,6,0.000,0.028,3241,1421,1225,0,0,0,0,0,0
$GC,9051,1.07,387.6,233.2,5.9,410,9092,0.17,0.00,38.78,0.678,6,0.056,0.000,3291,1421,1049,0,0,0,0,0,0
$GC,9405,1.04,387.6,196.1,11.0,428,9409,0.00,2.08,0.00,0.000,4,0.000,0.054,3291,233,1044,0,0,0,0,0,0
$GC,9452,0.95,387.6,190.3,11.8,431,9458,0.17,1.92,0.00,0.000,6,0.090,0.025,3255,1432,1043,0,0,0,0,0,0
$GC,9713,1.00,387.6,165.7,9.1,452,9717,0.00,2.12,0.00,0.000,4,0.000,0.053,3255,226,1043,0,0,0,0,0,0
$GC,9731,1.00,387.6,163.5,11.5,453,9735,0.00,1.92,0.00,0.000,6,0.000,0.026,3255,1425,1042,0,0,0,0,0,0
$GC,9996,1.08,387.6,139.7,9.5,474,10000,0.12,2.10,0.00,0.000,4,0.065,0.052,3294,229,1042,0,0,0,0,0,0
$GC,10024,1.01,387.6,136.3,11.5,476,10029,0.12,1.92,0.00,0.000,6,0.096,0.025,3269,1432,1041,0,0,0,0,0,0
$GC,10293,1.07,387.6,111.6,8.5,497,10297,0.00,2.08,0.00,0.000,4,0.000,0.051,3269,233,1041,0,0,0,0,0,0
$GC,10334,1.07,387.6,107.7,8.1,500,10338,0.00,1.90,0.00,0.000,6,0.000,0.024,3269,1416,1041,0,0,0,0,0,0
$GC,10602,1.27,442.4,90.8,5.4,521,10654,0.25,2.12,45.85,0.558,4,0.043,0.052,3342,229,826,0,0,0,0,0,0
$GC,10687,1.18,442.4,83.5,9.1,527,10692,0.17,1.95,0.00,0.000,6,0.085,0.023,3306,1425,823,0,0,0,0,0,0
$GC,10961,1.27,442.4,61.4,8.3,548,10965,0.00,2.05,0.00,0.000,4,0.000,0.048,3305,233,822,0,0,0,0,0,0
$GC,11001,1.31,442.4,57.0,10.0,551,11006,0.12,1.90,0.00,0.000,6,0.062,0.022,3347,1425,821,0,0,0,0,0,0
$GC,11271,1.31,442.4,30.2,10.3,572,11275,0.00,2.08,0.00,0.000,4,0.000,0.048,3348,232,821,0,0,0,0,0,0
$GC,11296,1.24,442.4,26.8,11.0,576,11303,0.10,1.90,0.00,0.000,6,0.070,0.022,3322,1417,821,0,0,0,0,0,0
$GC,11501,1.27,442.4,7.5,10.0,622,11507,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,1418,820,0,0,0,0,0,0
$STATE,11545,end climb,SURFACE_DEPTH_REACHED
$STATE,11546,begin surface coast
$FINISH,0.9,1.023208
$STATE,11577,end surface coast,CONTROL_FINISHED_OK
$STATE,11577,begin surface
$SM_CCo,11661,0.00,0.000,0,0,818,444.24
$SM_GC,1.77,12.43,0.00,0.00,0.024,0.000,0.000,424,1417,818,-12.00,-0.90,444.24
$IRIDIUM_FIX,2050.21,-15747.49,260100,030340
$TT8_MAMPS,0.028379
$HUMID,63.97
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,20.50
$XPDR_PINGS,0
$24V_AH,23.3,77.857
$10V_AH,10.0,62.381
$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,31.250,132.500,486.650,0.000,0.000,25.540,31.274,173.842,4.750,0.000,16.388,1261.208,7809.358,508.332,1873.811,573.164,0.000,1394.623,0.000,1843.515,0.000,32.136,0.000
$DEVICE_MAMPS,133.458,57.525,828.360,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,429.500,404.720,889.691,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355772
$DATA_FILE_SIZE,34920,639
$CAP_FILE_SIZE,131719,0
$CFSIZE,260165632,168554496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,011110,094920,2058.481,-15750.648,13,1.5,13,9.8