version: 66.06
glider: 139
mission: 8
dive: 817
start: 11 3 110 0 3 14
data:
$ID,139
$MISSION,8
$DIVE,817
$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,-2168653
$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
$GPS1,235632,2102.034,-15755.272,13,1.3,13,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-72.9
$GPS2,000255,2102.036,-15755.294,42,1.2,42,9.8
$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,305.1,16517,-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,-64.28,0.000,2,0.000,0.000,429,1412,2688,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.3,-3.4,12,116,12.62,2.08,-8.23,0.000,4,0.132,0.062,2784,238,3110,0,0,0,0,0,0
$GC,236,-0.96,-116.8,29.4,-14.3,44,243,0.20,2.03,0.00,0.000,6,0.074,0.019,2838,1516,3111,0,0,0,0,0,0
$GC,433,-0.85,-116.8,50.9,-10.5,60,438,0.12,2.22,0.00,0.000,4,0.100,0.045,2864,229,3112,0,0,0,0,0,0
$GC,462,-0.78,-116.8,53.6,-9.6,62,466,0.00,2.00,0.00,0.000,6,0.000,0.019,2864,1502,3112,0,0,0,0,0,0
$GC,732,-0.78,-116.8,77.6,-8.3,83,736,0.00,2.20,0.00,0.000,4,0.000,0.044,2864,235,3113,0,0,0,0,0,0
$GC,784,-0.78,-116.8,81.9,-8.1,86,791,0.00,2.00,0.00,0.000,6,0.000,0.019,2864,1515,3113,0,0,0,0,0,0
$GC,1046,-0.81,-116.8,101.6,-6.6,107,1050,0.00,2.20,0.00,0.000,4,0.000,0.044,2863,234,3113,0,0,0,0,0,0
$GC,1083,-0.86,-116.8,105.2,-9.4,109,1089,0.00,2.00,0.00,0.000,6,0.000,0.018,2864,1528,3114,0,0,0,0,0,0
$GC,1346,-0.97,-116.8,124.0,-6.4,130,1351,0.12,2.22,0.00,0.000,4,0.061,0.044,2818,227,3114,0,0,0,0,0,0
$GC,1436,-0.93,-116.8,131.4,-8.4,136,1443,0.10,2.03,0.00,0.000,6,0.064,0.018,2844,1520,3114,0,0,0,0,0,0
$GC,1700,-0.97,-116.8,148.6,-6.5,157,1703,0.00,2.20,0.00,0.000,4,0.000,0.043,2845,230,3115,0,0,0,0,0,0
$GC,1770,-1.01,-116.8,153.7,-6.7,162,1773,0.00,2.00,0.00,0.000,6,0.000,0.019,2844,1511,3115,0,0,0,0,0,0
$GC,2043,-1.06,-116.8,172.5,-7.5,183,2048,0.12,0.00,0.00,0.000,6,0.062,0.000,2799,1523,3115,0,0,0,0,0,0
$GC,2305,-1.00,-116.8,195.4,-9.0,204,2310,0.15,2.22,0.00,0.000,4,0.085,0.045,2833,234,3115,0,0,0,0,0,0
$GC,2338,-1.00,-116.8,198.7,-8.8,206,2342,0.00,2.00,0.00,0.000,6,0.000,0.019,2833,1513,3116,0,0,0,0,0,0
$GC,2610,-1.04,-116.8,219.8,-7.1,220,2614,0.00,2.20,0.00,0.000,4,0.000,0.045,2833,229,3115,0,0,0,0,0,0
$GC,2644,-1.08,-116.8,222.6,-8.1,221,2648,0.00,2.00,0.00,0.000,6,0.000,0.020,2833,1505,3116,0,0,0,0,0,0
$GC,2970,-1.13,-116.8,246.7,-8.0,237,2975,0.12,2.22,0.00,0.000,4,0.063,0.047,2789,234,3115,0,0,0,0,0,0
$GC,3017,-1.07,-116.8,251.0,-9.8,239,3022,0.08,2.03,0.00,0.000,6,0.067,0.021,2819,1510,3115,0,0,0,0,0,0
$GC,3356,-1.13,-116.8,277.0,-6.8,255,3360,0.00,2.20,0.00,0.000,4,0.000,0.046,2819,236,3115,0,0,0,0,0,0
$GC,3416,-1.13,-116.8,282.3,-8.3,257,3421,0.00,2.00,0.00,0.000,6,0.000,0.021,2819,1514,3115,0,0,0,0,0,0
$GC,3732,-1.17,-116.8,307.4,-8.0,271,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1514,3114,0,0,0,0,0,0
$GC,4056,-1.20,-116.8,331.2,-6.9,279,4060,0.15,2.20,0.00,0.000,4,0.056,0.050,2770,238,3112,0,0,0,0,0,0
$GC,4128,-1.13,-116.8,337.4,-8.6,280,4133,0.17,1.98,0.00,0.000,6,0.082,0.022,2808,1500,3112,0,0,0,0,0,0
$GC,4471,-1.13,-116.8,362.3,-7.0,289,4475,0.00,2.15,0.00,0.000,4,0.000,0.025,2808,2824,3110,0,0,0,0,0,0
$GC,4502,-1.21,-116.8,364.3,-6.1,289,4506,0.00,2.35,0.00,0.000,6,0.000,0.036,2808,1449,3109,0,0,0,0,0,0
$GC,4844,-1.25,-116.8,383.9,-5.5,298,4849,0.12,2.10,0.00,0.000,4,0.064,0.052,2766,234,3108,0,0,0,0,0,0
$GC,4971,-1.18,-116.8,395.4,-9.5,300,4975,0.12,1.90,0.00,0.000,6,0.094,0.023,2793,1445,3107,0,0,0,0,0,0
$GC,5307,-1.18,-116.8,424.2,-8.3,309,5311,0.00,2.28,0.00,0.000,4,0.000,0.027,2793,2834,3105,0,0,0,0,0,0
$GC,5321,-1.18,-116.8,425.4,-7.7,309,5326,0.00,2.38,0.00,0.000,6,0.000,0.038,2793,1452,3105,0,0,0,0,0,0
$GC,5637,-1.18,-116.8,446.7,-6.4,317,5641,0.00,2.10,0.00,0.000,4,0.000,0.054,2792,234,3103,0,0,0,0,0,0
$GC,5660,-1.18,-116.8,448.5,-7.4,317,5664,0.00,1.95,0.00,0.000,6,0.000,0.025,2793,1451,3103,0,0,0,0,0,0
$STATE,5718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5718,begin apogee
$GC,5725,-0.31,0.0,452.1,6.1,319,5825,0.88,0.00,97.00,0.822,6,0.064,0.000,2982,1411,2629,0,0,0,0,0,0
$STATE,5826,end apogee,CONTROL_FINISHED_OK
$STATE,5826,begin climb
$GC,5830,1.18,116.8,453.7,0.0,321,5942,1.40,2.08,101.68,0.806,4,0.033,0.054,3312,249,2152,0,0,0,0,0,0
$GC,5977,0.84,116.8,450.4,8.6,324,5982,0.40,1.90,0.00,0.000,6,0.091,0.025,3233,1420,2147,0,0,0,0,0,0
$GC,6330,0.86,178.0,429.9,5.1,333,6391,0.00,2.35,53.38,0.794,4,0.000,0.027,3233,2802,1903,0,0,0,0,0,0
$GC,6457,0.89,208.6,422.3,6.5,335,6490,0.00,2.42,27.98,0.769,6,0.000,0.042,3233,1427,1778,0,0,0,0,0,0
$GC,6829,0.86,208.6,392.4,8.7,345,6833,0.00,2.33,0.00,0.000,4,0.000,0.028,3233,2801,1771,0,0,0,0,0,0
$GC,6868,0.90,208.6,389.0,7.9,345,6873,0.00,2.42,0.00,0.000,6,0.000,0.042,3233,1419,1771,0,0,0,0,0,0
$GC,7199,0.95,247.4,367.0,6.1,354,7242,0.10,2.40,33.53,0.765,4,0.079,0.028,3263,2792,1620,0,0,0,0,0,0
$GC,7252,0.94,286.2,363.8,6.1,355,7292,0.00,2.45,35.10,0.756,6,0.000,0.043,3263,1412,1461,0,0,0,0,0,0
$GC,7621,0.90,286.2,330.1,9.5,364,7625,0.00,2.35,0.00,0.000,4,0.000,0.028,3263,2801,1455,0,0,0,0,0,0
$GC,7667,0.94,286.2,326.2,8.3,365,7671,0.00,2.42,0.00,0.000,6,0.000,0.043,3263,1419,1455,0,0,0,0,0,0
$GC,7995,0.91,286.2,294.3,9.7,374,7999,0.00,2.10,0.00,0.000,4,0.000,0.058,3262,232,1453,0,0,0,0,0,0
$GC,8028,0.81,286.2,290.7,11.1,375,8033,0.17,1.90,0.00,0.000,6,0.096,0.028,3228,1413,1450,0,0,0,0,0,0
$GC,8355,0.91,312.3,266.9,6.7,391,8379,0.00,0.00,22.00,0.691,6,0.000,0.000,3228,1415,1356,0,0,0,0,0,0
$GC,8680,1.02,342.3,248.0,6.5,407,8713,0.20,2.17,26.85,0.683,4,0.052,0.056,3282,236,1234,0,0,0,0,0,0
$GC,8797,0.96,342.3,235.1,10.9,412,8802,0.12,1.92,0.00,0.000,6,0.100,0.026,3258,1431,1229,0,0,0,0,0,0
$GC,9124,1.00,342.3,204.8,10.4,428,9128,0.00,2.28,0.00,0.000,4,0.000,0.027,3258,2806,1228,0,0,0,0,0,0
$GC,9154,1.12,342.3,201.7,10.1,429,9159,0.15,2.40,0.00,0.000,6,0.059,0.039,3302,1418,1228,0,0,0,0,0,0
$GC,9481,1.07,342.3,168.5,9.4,454,9485,0.00,2.05,0.00,0.000,4,0.000,0.053,3302,236,1227,0,0,0,0,0,0
$GC,9499,1.01,342.3,166.9,9.7,455,9504,0.17,1.92,0.00,0.000,6,0.091,0.026,3267,1427,1226,0,0,0,0,0,0
$GC,9765,1.06,342.3,144.5,8.2,476,9769,0.00,2.10,0.00,0.000,4,0.000,0.051,3266,228,1226,0,0,0,0,0,0
$GC,9808,1.06,342.3,140.5,9.4,479,9812,0.00,1.90,0.00,0.000,6,0.000,0.025,3266,1425,1225,0,0,0,0,0,0
$GC,10073,1.20,382.6,121.1,6.1,500,10115,0.20,2.12,34.08,0.580,4,0.049,0.050,3325,233,1069,0,0,0,0,0,0
$GC,10142,1.13,382.6,115.2,9.6,504,10150,0.12,1.95,0.00,0.000,6,0.067,0.024,3295,1425,1066,0,0,0,0,0,0
$GC,10405,1.22,400.2,96.6,7.1,525,10425,0.00,2.33,15.57,0.529,4,0.000,0.023,3295,2806,998,0,0,0,0,0,0
$GC,10480,1.39,407.4,91.4,7.6,530,10495,0.25,2.38,7.93,0.469,6,0.041,0.033,3367,1415,968,0,0,0,0,0,0
$GC,10760,1.31,407.4,63.7,9.8,552,10765,0.15,2.05,0.00,0.000,4,0.088,0.049,3334,230,967,0,0,0,0,0,0
$GC,10788,1.25,407.4,61.0,10.2,554,10792,0.00,1.88,0.00,0.000,6,0.000,0.021,3334,1429,964,0,0,0,0,0,0
$GC,11057,1.25,407.4,38.8,8.0,575,11061,0.00,2.22,0.00,0.000,4,0.000,0.021,3335,2798,964,0,0,0,0,0,0
$GC,11098,1.35,408.5,35.8,7.8,578,11102,0.00,2.35,0.00,0.000,6,0.000,0.033,3335,1420,964,0,0,0,0,0,0
$GC,11362,1.35,408.5,13.8,8.6,628,11368,0.00,2.08,0.00,0.000,4,0.000,0.046,3335,237,964,0,0,0,0,0,0
$GC,11382,1.35,408.5,12.2,8.0,631,11388,0.00,1.88,0.00,0.000,6,0.000,0.021,3335,1422,965,0,0,0,0,0,0
$STATE,11487,end climb,SURFACE_DEPTH_REACHED
$STATE,11489,begin surface coast
$FINISH,0.9,1.015490
$STATE,11537,end surface coast,CONTROL_FINISHED_OK
$STATE,11538,begin surface
$SM_CCo,11562,2.60,0.210,0,0,957,410.14
$SM_GC,2.06,0.00,0.00,2.60,0.000,0.000,0.210,428,1421,957,-12.06,-0.82,410.14
$IRIDIUM_FIX,2054.83,-15753.90,270100,202009
$TT8_MAMPS,0.029146
$HUMID,62.83
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,20.90
$XPDR_PINGS,0
$24V_AH,23.3,79.319
$10V_AH,10.0,63.475
$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,31.025,128.575,455.075,2.600,0.000,23.920,30.661,158.539,4.500,0.000,43.093,1299.602,7580.025,477.872,2003.992,579.163,0.000,1387.289,0.000,1953.172,0.000,29.250,0.000
$DEVICE_MAMPS,131.924,149.565,822.224,210.158,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,447.863,431.787,967.208,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355772
$DATA_FILE_SIZE,38138,666
$CAP_FILE_SIZE,132421,0
$CFSIZE,260165632,167776256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031110,031724,2102.105,-15755.764,29,1.0,46,9.8