version: 66.06
glider: 139
mission: 8
dive: 808
start: 11 1 110 20 4 25
data:
$ID,139
$MISSION,8
$DIVE,808
$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,-2168466.8
$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
$GPS1,195726,2059.634,-15751.990,13,1.8,13,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-73.7
$GPS2,200407,2059.629,-15751.986,34,0.8,34,9.8
$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,303.0,23727,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.12,0.000,2,0.000,0.000,426,1423,2748,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.5,-3.3,12,116,12.62,2.47,-6.88,0.000,4,0.132,0.034,2784,2881,3110,0,0,0,0,0,0
$GC,187,-1.10,-116.8,21.7,-12.4,32,194,0.08,2.47,0.00,0.000,6,0.087,0.035,2803,1449,3112,0,0,0,0,0,0
$GC,394,-0.91,-116.8,48.6,-13.0,57,398,0.22,2.10,0.00,0.000,4,0.089,0.044,2850,231,3112,0,0,0,0,0,0
$GC,435,-0.82,-116.8,53.5,-11.1,60,440,0.10,2.00,0.00,0.000,6,0.109,0.019,2870,1518,3113,0,0,0,0,0,0
$GC,702,-0.82,-116.8,78.2,-8.9,81,705,0.00,2.22,0.00,0.000,4,0.000,0.044,2870,228,3114,0,0,0,0,0,0
$GC,726,-0.82,-116.8,80.4,-8.8,82,732,0.00,2.03,0.00,0.000,6,0.000,0.019,2870,1522,3114,0,0,0,0,0,0
$GC,989,-0.86,-116.8,100.2,-7.2,103,993,0.00,2.20,0.00,0.000,4,0.000,0.044,2870,235,3114,0,0,0,0,0,0
$GC,1022,-0.92,-116.8,103.2,-7.9,105,1025,0.00,1.95,0.00,0.000,6,0.000,0.019,2870,1505,3115,0,0,0,0,0,0
$GC,1290,-1.00,-116.8,122.7,-7.1,126,1297,0.17,0.00,0.00,0.000,6,0.049,0.000,2809,1519,3115,0,0,0,0,0,0
$GC,1554,-0.96,-116.8,144.8,-9.4,147,1558,0.15,2.20,0.00,0.000,4,0.086,0.045,2842,235,3116,0,0,0,0,0,0
$GC,1608,-1.01,-116.8,150.2,-9.6,151,1611,0.00,1.98,0.00,0.000,6,0.000,0.019,2842,1514,3116,0,0,0,0,0,0
$GC,1879,-1.15,-116.8,169.4,-5.7,172,1884,0.17,2.22,0.00,0.000,4,0.048,0.022,2781,2882,3117,0,0,0,0,0,0
$GC,1953,-1.15,-116.8,174.6,-6.6,177,1957,0.00,2.40,0.00,0.000,6,0.000,0.030,2781,1443,3116,0,0,0,0,0,0
$GC,2217,-1.07,-116.8,196.8,-9.6,197,2221,0.17,2.05,0.00,0.000,4,0.084,0.047,2819,238,3117,0,0,0,0,0,0
$GC,2261,-1.07,-116.8,201.2,-9.1,201,2265,0.00,1.98,0.00,0.000,6,0.000,0.019,2818,1506,3117,0,0,0,0,0,0
$GC,2598,-1.07,-116.8,227.1,-7.8,217,2602,0.00,2.20,0.00,0.000,4,0.000,0.022,2819,2875,3117,0,0,0,0,0,0
$GC,2628,-1.17,-116.8,229.5,-7.3,218,2633,0.10,2.40,0.00,0.000,6,0.070,0.031,2775,1449,3117,0,0,0,0,0,0
$GC,2951,-1.10,-116.8,256.1,-8.1,234,2956,0.15,2.10,0.00,0.000,4,0.087,0.048,2809,232,3116,0,0,0,0,0,0
$GC,2981,-1.10,-116.8,258.7,-7.7,235,2985,0.00,2.00,0.00,0.000,6,0.000,0.021,2808,1508,3116,0,0,0,0,0,0
$GC,3302,-1.10,-116.8,279.8,-6.1,251,3309,0.00,2.17,0.00,0.000,4,0.000,0.048,2808,237,3115,0,0,0,0,0,0
$GC,3333,-1.10,-116.8,282.0,-7.4,252,3337,0.00,1.98,0.00,0.000,6,0.000,0.022,2808,1500,3115,0,0,0,0,0,0
$GC,3683,-1.10,-116.8,306.5,-7.5,267,3687,0.00,2.20,0.00,0.000,4,0.000,0.049,2808,238,3115,0,0,0,0,0,0
$GC,3726,-1.10,-116.8,310.3,-9.2,268,3730,0.00,1.92,0.00,0.000,6,0.000,0.023,2808,1458,3114,0,0,0,0,0,0
$GC,4060,-1.10,-116.8,334.5,-6.8,276,4064,0.00,2.25,0.00,0.000,4,0.000,0.025,2808,2829,3113,0,0,0,0,0,0
$GC,4079,-1.16,-116.8,335.9,-6.5,276,4083,0.00,2.35,0.00,0.000,6,0.000,0.036,2808,1452,3113,0,0,0,0,0,0
$GC,4427,-1.16,-116.8,362.6,-7.8,285,4431,0.00,2.25,0.00,0.000,4,0.000,0.025,2809,2823,3110,0,0,0,0,0,0
$GC,4475,-1.27,-116.8,366.0,-6.6,286,4480,0.15,2.35,0.00,0.000,6,0.054,0.036,2758,1446,3110,0,0,0,0,0,0
$GC,4799,-1.19,-116.8,393.6,-8.9,294,4804,0.15,2.30,0.00,0.000,4,0.088,0.026,2790,2823,3108,0,0,0,0,0,0
$GC,4820,-1.19,-116.8,395.4,-8.2,294,4825,0.00,2.35,0.00,0.000,6,0.000,0.038,2790,1445,3108,0,0,0,0,0,0
$GC,5166,-1.19,-116.8,420.2,-7.4,303,5167,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1445,3106,0,0,0,0,0,0
$GC,5491,-1.19,-116.8,444.6,-7.0,311,5495,0.00,2.28,0.00,0.000,4,0.000,0.028,2790,2820,3104,0,0,0,0,0,0
$GC,5553,-1.26,-116.8,449.0,-6.9,312,5557,0.00,2.38,0.00,0.000,6,0.000,0.039,2790,1439,3104,0,0,0,0,0,0
$STATE,5564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5565,begin apogee
$GC,5571,-0.31,0.0,450.1,6.9,312,5671,0.85,0.00,96.57,0.829,6,0.067,0.000,2977,1439,2630,0,0,0,0,0,0
$STATE,5672,end apogee,CONTROL_FINISHED_OK
$STATE,5672,begin climb
$GC,5674,1.18,116.8,453.5,0.0,315,5788,1.42,2.38,101.15,0.811,4,0.032,0.028,3311,2797,2152,0,0,0,0,0,0
$GC,5822,1.04,166.9,452.8,5.6,318,5874,0.17,2.42,44.55,0.791,6,0.099,0.041,3277,1420,1949,0,0,0,0,0,0
$GC,6216,0.90,166.9,421.1,8.0,328,6221,0.15,2.33,0.00,0.000,4,0.101,0.028,3247,2795,1939,0,0,0,0,0,0
$GC,6254,0.93,190.1,418.3,6.9,328,6279,0.00,2.40,19.90,0.756,6,0.000,0.042,3247,1422,1855,0,0,0,0,0,0
$GC,6595,0.88,207.6,394.7,7.1,337,6616,0.00,2.15,16.62,0.744,4,0.000,0.058,3247,235,1781,0,0,0,0,0,0
$GC,6678,0.76,207.6,387.6,9.0,338,6682,0.17,1.88,0.00,0.000,6,0.099,0.027,3214,1404,1778,0,0,0,0,0,0
$GC,7009,0.85,257.5,366.9,5.6,346,7060,0.10,2.40,44.25,0.775,4,0.081,0.027,3243,2816,1579,0,0,0,0,0,0
$GC,7074,0.88,283.0,362.7,6.7,347,7102,0.00,2.47,23.35,0.740,6,0.000,0.041,3243,1419,1476,0,0,0,0,0,0
$GC,7427,0.88,283.0,331.1,9.5,356,7431,0.00,2.10,0.00,0.000,4,0.000,0.058,3243,233,1469,0,0,0,0,0,0
$GC,7511,0.83,283.0,321.4,12.6,357,7514,0.00,1.95,0.00,0.000,6,0.000,0.028,3244,1421,1466,0,0,0,0,0,0
$GC,7827,0.84,295.0,296.3,7.4,366,7844,0.00,2.17,10.27,0.658,4,0.000,0.057,3243,235,1427,0,0,0,0,0,0
$GC,7891,0.81,295.0,290.0,11.0,368,7897,0.00,1.98,0.00,0.000,6,0.000,0.028,3243,1421,1424,0,0,0,0,0,0
$GC,8208,0.85,298.7,264.2,7.7,384,8217,0.00,2.10,4.45,0.489,4,0.000,0.054,3243,234,1411,0,0,0,0,0,0
$GC,8270,0.85,298.7,258.4,9.3,386,8277,0.00,1.98,0.00,0.000,6,0.000,0.028,3243,1421,1409,0,0,0,0,0,0
$GC,8588,0.91,305.7,234.6,7.6,402,8600,0.00,2.38,7.25,0.578,4,0.000,0.028,3244,2820,1383,0,0,0,0,0,0
$GC,8613,0.99,305.7,232.6,8.5,403,8617,0.00,2.45,0.00,0.000,6,0.000,0.041,3244,1419,1383,0,0,0,0,0,0
$GC,8944,1.05,312.0,207.1,7.6,419,8957,0.15,2.12,7.28,0.561,4,0.061,0.055,3287,231,1357,0,0,0,0,0,0
$GC,8978,0.96,312.0,203.8,9.5,420,8983,0.15,1.95,0.00,0.000,6,0.093,0.026,3258,1430,1355,0,0,0,0,0,0
$GC,9312,1.02,330.5,178.0,7.1,445,9339,0.00,2.12,17.23,0.615,4,0.000,0.051,3257,233,1280,0,0,0,0,0,0
$GC,9358,1.03,338.1,174.4,7.6,448,9373,0.00,1.92,7.93,0.542,6,0.000,0.025,3258,1422,1250,0,0,0,0,0,0
$GC,9638,1.10,361.3,157.4,6.8,470,9667,0.15,2.15,21.12,0.600,4,0.058,0.053,3302,229,1156,0,0,0,0,0,0
$GC,9686,0.99,361.3,152.9,9.9,473,9691,0.17,1.95,0.00,0.000,6,0.090,0.025,3267,1431,1154,0,0,0,0,0,0
$GC,9950,1.05,361.3,129.1,9.6,493,9954,0.00,2.10,0.00,0.000,4,0.000,0.051,3268,226,1153,0,0,0,0,0,0
$GC,9988,1.05,361.3,124.7,10.4,496,9992,0.00,1.90,0.00,0.000,6,0.000,0.025,3267,1419,1152,0,0,0,0,0,0
$GC,10259,1.28,457.2,107.7,3.6,517,10349,0.25,2.12,80.10,0.575,4,0.043,0.051,3343,228,765,0,0,0,0,0,0
$GC,10374,1.18,457.2,98.3,11.0,524,10381,0.15,1.95,0.00,0.000,6,0.066,0.022,3308,1425,762,0,0,0,0,0,0
$GC,10637,1.24,457.2,75.6,9.8,545,10641,0.00,2.08,0.00,0.000,4,0.000,0.051,3307,232,760,0,0,0,0,0,0
$GC,10664,1.24,457.2,72.7,10.9,547,10667,0.00,1.90,0.00,0.000,6,0.000,0.023,3307,1420,759,0,0,0,0,0,0
$GC,10936,1.31,457.2,48.8,8.6,568,10941,0.12,2.10,0.00,0.000,4,0.062,0.049,3350,229,759,0,0,0,0,0,0
$GC,10969,1.23,457.2,44.7,12.8,570,10973,0.15,1.90,0.00,0.000,6,0.089,0.021,3318,1429,758,0,0,0,0,0,0
$GC,11235,1.27,457.2,21.2,9.1,604,11242,0.00,2.10,0.00,0.000,4,0.000,0.048,3318,235,758,0,0,0,0,0,0
$GC,11263,1.27,457.2,18.4,9.5,609,11269,0.00,1.90,0.00,0.000,6,0.000,0.021,3318,1425,758,0,0,0,0,0,0
$STATE,11432,end climb,SURFACE_DEPTH_REACHED
$STATE,11432,begin surface coast
$FINISH,0.9,1.021565
$STATE,11466,end surface coast,CONTROL_FINISHED_OK
$STATE,11466,begin surface
$SM_CCo,11550,0.00,0.000,0,0,755,459.94
$SM_GC,1.72,12.45,0.00,0.00,0.025,0.000,0.000,428,1426,755,-11.99,-0.68,459.94
$IRIDIUM_FIX,2052.52,-15749.62,260100,161634
$TT8_MAMPS,0.028379
$HUMID,63.78
$INTERNAL_PRESSURE,9.22541
$TCM_TEMP,20.70
$XPDR_PINGS,0
$24V_AH,23.3,78.327
$10V_AH,9.9,62.726
$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,30.875,133.550,502.025,0.000,0.000,28.164,37.680,176.014,4.500,0.000,34.539,1280.401,7604.271,494.638,1958.308,603.339,0.000,1420.264,0.000,1919.411,0.000,29.256,0.000
$DEVICE_MAMPS,131.924,57.525,829.127,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,440.272,422.365,937.668,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,38088,655
$CAP_FILE_SIZE,133407,0
$CFSIZE,260165632,168304640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011110,231804,2059.828,-15752.772,13,2.5,32,9.8