version: 66.06
glider: 139
mission: 8
dive: 810
start: 11 2 110 2 43 4
data:
$ID,139
$MISSION,8
$DIVE,810
$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,-2168495.2
$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
$GPS1,023636,2100.043,-15753.353,40,0.9,45,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-74.8
$GPS2,024244,2100.035,-15753.348,14,1.5,14,9.8
$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,305.8,21516,-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,-116.8,0.0,0.0,0,76,0.00,0.00,-59.28,0.000,2,0.000,0.000,425,1416,2602,0,0,0,0,0,0
$GC,80,-1.18,-116.8,3.1,-2.8,11,110,12.62,2.42,-10.27,0.000,4,0.130,0.033,2786,2880,3108,0,0,0,0,0,0
$GC,172,-1.10,-116.8,17.8,-11.7,29,179,0.08,2.47,0.00,0.000,6,0.079,0.032,2806,1445,3110,0,0,0,0,0,0
$GC,372,-0.92,-116.8,43.4,-12.9,59,376,0.20,2.08,0.00,0.000,4,0.088,0.044,2848,228,3110,0,0,0,0,0,0
$GC,417,-0.84,-116.8,48.6,-11.3,62,421,0.00,2.00,0.00,0.000,6,0.000,0.018,2848,1502,3111,0,0,0,0,0,0
$GC,688,-0.79,-116.8,78.0,-9.8,83,692,0.15,2.22,0.00,0.000,4,0.091,0.044,2880,237,3111,0,0,0,0,0,0
$GC,751,-0.85,-116.8,83.7,-9.0,87,756,0.00,1.98,0.00,0.000,6,0.000,0.019,2880,1518,3112,0,0,0,0,0,0
$GC,1013,-0.91,-116.8,100.8,-6.1,108,1015,0.12,0.00,0.00,0.000,6,0.061,0.000,2834,1518,3112,0,0,0,0,0,0
$GC,1263,-0.91,-116.8,121.4,-9.2,128,1267,0.00,2.20,0.00,0.000,4,0.000,0.044,2834,235,3113,0,0,0,0,0,0
$GC,1318,-0.91,-116.8,126.8,-9.2,132,1322,0.00,1.98,0.00,0.000,6,0.000,0.019,2834,1509,3113,0,0,0,0,0,0
$GC,1586,-0.91,-116.8,148.4,-7.4,153,1590,0.00,2.20,0.00,0.000,4,0.000,0.044,2834,235,3114,0,0,0,0,0,0
$GC,1611,-0.91,-116.8,150.6,-7.8,155,1615,0.00,1.98,0.00,0.000,6,0.000,0.019,2834,1507,3114,0,0,0,0,0,0
$GC,1881,-0.91,-116.8,166.2,-5.3,176,1885,0.00,2.17,0.00,0.000,4,0.000,0.044,2834,235,3114,0,0,0,0,0,0
$GC,1910,-0.91,-116.8,167.9,-6.1,178,1914,0.00,2.00,0.00,0.000,6,0.000,0.019,2834,1518,3114,0,0,0,0,0,0
$GC,2179,-0.95,-116.8,184.6,-7.3,199,2183,0.00,2.20,0.00,0.000,4,0.000,0.044,2834,237,3114,0,0,0,0,0,0
$GC,2222,-0.99,-116.8,188.5,-7.9,202,2226,0.00,1.98,0.00,0.000,6,0.000,0.020,2834,1507,3114,0,0,0,0,0,0
$GC,2492,-1.03,-116.8,208.0,-7.2,220,2496,0.00,2.20,0.00,0.000,4,0.000,0.046,2834,234,3114,0,0,0,0,0,0
$GC,2518,-1.03,-116.8,210.4,-8.9,221,2522,0.00,2.00,0.00,0.000,6,0.000,0.021,2834,1505,3114,0,0,0,0,0,0
$GC,2857,-1.08,-116.8,235.9,-7.6,237,2861,0.00,2.20,0.00,0.000,4,0.000,0.047,2834,230,3114,0,0,0,0,0,0
$GC,2911,-1.14,-116.8,240.2,-7.3,239,2915,0.15,2.00,0.00,0.000,6,0.055,0.021,2783,1512,3114,0,0,0,0,0,0
$GC,3237,-1.10,-116.8,262.4,-6.4,255,3241,0.12,2.25,0.00,0.000,4,0.094,0.024,2810,2883,3113,0,0,0,0,0,0
$GC,3280,-1.18,-116.8,265.2,-5.9,256,3286,0.00,2.45,0.00,0.000,6,0.000,0.032,2810,1449,3113,0,0,0,0,0,0
$GC,3597,-1.18,-116.8,284.2,-6.1,272,3601,0.00,2.05,0.00,0.000,4,0.000,0.048,2810,238,3112,0,0,0,0,0,0
$GC,3644,-1.18,-116.8,287.1,-6.4,274,3647,0.00,2.00,0.00,0.000,6,0.000,0.022,2809,1505,3112,0,0,0,0,0,0
$GC,3973,-1.18,-116.8,305.5,-6.0,288,3977,0.00,2.20,0.00,0.000,4,0.000,0.049,2810,238,3111,0,0,0,0,0,0
$GC,4020,-1.18,-116.8,308.8,-6.9,289,4024,0.00,2.00,0.00,0.000,6,0.000,0.022,2810,1499,3110,0,0,0,0,0,0
$GC,4347,-1.18,-116.8,331.4,-6.9,297,4351,0.00,2.17,0.00,0.000,4,0.000,0.050,2810,238,3109,0,0,0,0,0,0
$GC,4372,-1.18,-116.8,333.2,-7.9,297,4376,0.00,1.95,0.00,0.000,6,0.000,0.024,2810,1454,3109,0,0,0,0,0,0
$GC,4717,-1.18,-116.8,356.0,-6.4,306,4721,0.00,2.25,0.00,0.000,4,0.000,0.025,2810,2834,3107,0,0,0,0,0,0
$GC,4736,-1.25,-116.8,357.2,-5.7,306,4742,0.15,2.35,0.00,0.000,6,0.055,0.036,2761,1444,3106,0,0,0,0,0,0
$GC,5086,-1.18,-116.8,384.2,-8.1,315,5090,0.15,2.12,0.00,0.000,4,0.089,0.053,2793,231,3104,0,0,0,0,0,0
$GC,5151,-1.18,-116.8,389.7,-7.9,316,5155,0.00,1.92,0.00,0.000,6,0.000,0.024,2793,1455,3104,0,0,0,0,0,0
$GC,5502,-1.18,-116.8,419.1,-9.0,325,5506,0.00,2.28,0.00,0.000,4,0.000,0.027,2793,2831,3102,0,0,0,0,0,0
$GC,5526,-1.24,-116.8,421.3,-8.2,325,5530,0.00,2.38,0.00,0.000,6,0.000,0.039,2793,1449,3102,0,0,0,0,0,0
$GC,5871,-1.24,-116.8,449.3,-7.8,334,5875,0.00,2.10,0.00,0.000,4,0.000,0.055,2793,232,3100,0,0,0,0,0,0
$STATE,5878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5878,begin apogee
$GC,5888,-0.31,0.0,450.0,7.8,334,5988,0.82,0.00,96.18,0.826,6,0.066,0.000,2976,1414,2629,0,0,0,0,0,0
$STATE,5989,end apogee,CONTROL_FINISHED_OK
$STATE,5989,begin climb
$GC,5992,1.18,116.8,453.2,0.0,336,6105,1.42,2.42,101.80,0.810,4,0.035,0.028,3309,2803,2153,0,0,0,0,0,0
$GC,6157,1.02,140.8,452.0,6.8,339,6187,0.17,2.42,22.15,0.762,6,0.099,0.041,3274,1422,2055,0,0,0,0,0,0
$GC,6497,0.90,164.0,428.0,6.8,348,6525,0.15,2.38,20.40,0.759,4,0.103,0.027,3245,2809,1960,0,0,0,0,0,0
$GC,6535,0.90,202.6,425.3,6.2,348,6576,0.00,2.45,35.40,0.777,6,0.000,0.041,3245,1419,1804,0,0,0,0,0,0
$GC,6911,0.84,202.6,394.1,9.0,358,6915,0.00,2.35,0.00,0.000,4,0.000,0.028,3245,2806,1797,0,0,0,0,0,0
$GC,6958,0.84,202.6,389.8,8.0,359,6962,0.00,2.42,0.00,0.000,6,0.000,0.042,3245,1416,1797,0,0,0,0,0,0
$GC,7283,0.83,227.7,367.3,6.8,367,7311,0.00,2.17,21.90,0.748,4,0.000,0.058,3245,238,1700,0,0,0,0,0,0
$GC,7329,0.76,231.4,363.8,7.7,368,7341,0.15,1.95,4.75,0.531,6,0.104,0.028,3216,1420,1686,0,0,0,0,0,0
$GC,7665,0.85,262.5,341.7,6.5,376,7698,0.00,2.38,28.25,0.746,4,0.000,0.027,3216,2806,1560,0,0,0,0,0,0
$GC,7743,1.00,262.5,335.8,7.9,377,7748,0.22,2.45,0.00,0.000,6,0.048,0.042,3276,1412,1559,0,0,0,0,0,0
$GC,8076,0.93,262.5,304.3,9.8,385,8080,0.12,2.10,0.00,0.000,4,0.101,0.058,3251,226,1555,0,0,0,0,0,0
$GC,8114,0.87,262.5,300.0,10.7,385,8121,0.00,1.92,0.00,0.000,6,0.000,0.027,3251,1423,1552,0,0,0,0,0,0
$GC,8431,0.87,262.5,272.5,8.1,401,8435,0.00,2.33,0.00,0.000,4,0.000,0.028,3251,2810,1551,0,0,0,0,0,0
$GC,8470,0.96,273.9,269.4,7.4,402,8488,0.00,2.45,10.07,0.640,6,0.000,0.041,3252,1421,1513,0,0,0,0,0,0
$GC,8811,0.96,273.9,242.3,8.5,419,8815,0.00,2.10,0.00,0.000,4,0.000,0.056,3251,231,1511,0,0,0,0,0,0
$GC,8825,0.96,273.9,240.6,8.5,419,8831,0.00,1.95,0.00,0.000,6,0.000,0.028,3251,1422,1510,0,0,0,0,0,0
$GC,9144,1.01,285.2,216.7,7.4,435,9160,0.00,2.40,10.93,0.617,4,0.000,0.028,3251,2812,1466,0,0,0,0,0,0
$GC,9217,1.12,285.2,211.2,8.0,438,9222,0.20,2.42,0.00,0.000,6,0.051,0.038,3307,1418,1466,0,0,0,0,0,0
$GC,9547,1.07,296.8,185.3,7.4,460,9565,0.12,2.40,11.45,0.594,4,0.100,0.027,3282,2804,1419,0,0,0,0,0,0
$GC,9581,1.14,326.1,182.8,6.6,462,9618,0.00,2.42,26.85,0.632,6,0.000,0.039,3282,1421,1299,0,0,0,0,0,0
$GC,9870,1.14,326.2,159.4,7.9,485,9874,0.00,2.10,0.00,0.000,4,0.000,0.054,3281,228,1295,0,0,0,0,0,0
$GC,9884,1.14,326.2,158.1,8.1,486,9888,0.00,1.92,0.00,0.000,6,0.000,0.025,3281,1426,1294,0,0,0,0,0,0
$GC,10150,1.14,326.2,134.8,9.0,507,10154,0.00,2.28,0.00,0.000,4,0.000,0.025,3281,2808,1294,0,0,0,0,0,0
$GC,10210,1.23,326.2,129.5,8.2,511,10216,0.15,2.40,0.00,0.000,6,0.058,0.036,3328,1418,1294,0,0,0,0,0,0
$GC,10474,1.17,326.2,108.0,8.0,532,10478,0.10,2.08,0.00,0.000,4,0.104,0.051,3307,234,1294,0,0,0,0,0,0
$GC,10526,1.13,326.2,103.0,9.5,536,10529,0.00,1.90,0.00,0.000,6,0.000,0.024,3308,1437,1292,0,0,0,0,0,0
$GC,10798,1.16,349.9,83.5,6.8,557,10826,0.00,2.30,20.67,0.533,4,0.000,0.022,3308,2809,1202,0,0,0,0,0,0
$GC,10846,1.27,378.7,80.0,6.6,560,10877,0.00,2.42,25.45,0.534,6,0.000,0.036,3308,1415,1086,0,0,0,0,0,0
$GC,11138,1.33,385.1,58.8,7.6,583,11153,0.15,2.10,6.55,0.428,4,0.056,0.049,3355,238,1058,0,0,0,0,0,0
$GC,11177,1.21,385.1,54.7,10.8,585,11185,0.17,1.92,0.00,0.000,6,0.067,0.021,3314,1431,1056,0,0,0,0,0,0
$GC,11441,1.29,408.9,35.8,6.8,606,11470,0.00,2.30,20.75,0.487,4,0.000,0.021,3314,2792,962,0,0,0,0,0,0
$GC,11481,1.38,417.9,32.5,7.5,608,11496,0.12,2.40,9.27,0.439,6,0.030,0.035,3363,1419,925,0,0,0,0,0,0
$GC,11758,1.30,417.9,5.2,10.7,665,11765,0.15,2.08,0.00,0.000,4,0.088,0.048,3331,241,923,0,0,0,0,0,0
$STATE,11775,end climb,SURFACE_DEPTH_REACHED
$STATE,11775,begin surface coast
$FINISH,1.9,1.023049
$STATE,11785,end surface coast,CONTROL_FINISHED_OK
$STATE,11785,begin surface
$SM_CCo,11871,0.00,0.000,0,0,918,419.95
$SM_GC,1.78,12.55,0.00,0.00,0.026,0.000,0.000,428,1459,918,-11.99,0.28,419.95
$IRIDIUM_FIX,2052.52,-15754.77,260100,232305
$TT8_MAMPS,0.028379
$HUMID,63.15
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,20.30
$XPDR_PINGS,0
$24V_AH,23.3,78.547
$10V_AH,9.9,62.899
$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,30.550,148.725,472.825,0.000,0.000,31.081,30.636,167.846,4.500,0.000,14.423,1318.053,7855.524,479.511,1984.608,592.729,0.000,1425.098,0.000,1960.747,0.000,29.241,0.000
$DEVICE_MAMPS,130.390,57.525,826.059,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,450.796,433.917,955.105,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,38088,670
$CAP_FILE_SIZE,138096,0
$CFSIZE,260165632,168177664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021110,060207,2100.692,-15753.509,35,1.0,35,9.8