version: 66.06
glider: 139
mission: 8
dive: 825
start: 11 4 110 2 14 57
data:
$ID,139
$MISSION,8
$DIVE,825
$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,-2168787.2
$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
$GPS1,020807,2103.341,-15757.777,41,1.2,41,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-71.9
$GPS2,021437,2103.331,-15757.801,10,1.3,15,9.8
$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,311.7,11836,-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,-64.57,0.000,2,0.000,0.000,425,1435,2680,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.0,-3.0,12,115,12.68,2.42,-8.50,0.000,4,0.132,0.035,2787,2875,3109,0,0,0,0,0,0
$GC,165,-1.12,-116.8,17.9,-13.9,27,171,0.00,2.47,0.00,0.000,6,0.000,0.034,2787,1448,3110,0,0,0,0,0,0
$GC,366,-0.89,-116.8,46.4,-13.9,55,371,0.30,2.08,0.00,0.000,4,0.084,0.044,2853,231,3111,0,0,0,0,0,0
$GC,421,-0.83,-116.8,53.4,-11.8,59,425,0.00,1.98,0.00,0.000,6,0.000,0.018,2853,1501,3111,0,0,0,0,0,0
$GC,690,-0.78,-116.8,83.2,-9.6,80,695,0.12,2.22,0.00,0.000,4,0.096,0.021,2880,2886,3112,0,0,0,0,0,0
$GC,711,-0.82,-116.8,85.0,-8.8,81,717,0.00,2.42,0.00,0.000,6,0.000,0.030,2879,1446,3112,0,0,0,0,0,0
$GC,974,-0.99,-116.8,103.4,-6.8,102,978,0.20,2.05,0.00,0.000,4,0.044,0.041,2813,230,3112,0,0,0,0,0,0
$GC,1072,-0.94,-116.8,113.0,-10.6,109,1076,0.15,1.98,0.00,0.000,6,0.087,0.018,2845,1524,3112,0,0,0,0,0,0
$GC,1338,-0.99,-116.8,133.5,-6.5,130,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1525,3113,0,0,0,0,0,0
$GC,1590,-1.03,-116.8,152.1,-7.5,150,1594,0.00,2.20,0.00,0.000,4,0.000,0.043,2845,236,3113,0,0,0,0,0,0
$GC,1697,-1.08,-116.8,160.7,-7.4,157,1703,0.15,1.95,0.00,0.000,6,0.054,0.019,2793,1516,3114,0,0,0,0,0,0
$GC,1961,-1.02,-116.8,182.7,-8.3,178,1966,0.15,2.20,0.00,0.000,4,0.088,0.045,2826,233,3114,0,0,0,0,0,0
$GC,1986,-1.02,-116.8,185.3,-8.8,180,1990,0.00,1.98,0.00,0.000,6,0.000,0.019,2826,1511,3114,0,0,0,0,0,0
$GC,2249,-1.02,-116.8,207.6,-8.9,198,2253,0.00,2.20,0.00,0.000,4,0.000,0.044,2826,239,3114,0,0,0,0,0,0
$GC,2299,-1.02,-116.8,212.7,-9.9,200,2303,0.00,1.98,0.00,0.000,6,0.000,0.019,2826,1509,3114,0,0,0,0,0,0
$GC,2626,-1.07,-116.8,240.2,-8.2,216,2630,0.00,2.17,0.00,0.000,4,0.000,0.046,2826,240,3114,0,0,0,0,0,0
$GC,2720,-1.10,-116.8,248.0,-7.6,220,2724,0.00,1.98,0.00,0.000,6,0.000,0.020,2826,1503,3114,0,0,0,0,0,0
$GC,3054,-1.23,-116.8,269.4,-6.5,236,3058,0.20,2.22,0.00,0.000,4,0.045,0.021,2761,2880,3114,0,0,0,0,0,0
$GC,3110,-1.23,-116.8,274.1,-8.0,238,3114,0.00,2.42,0.00,0.000,6,0.000,0.031,2761,1445,3114,0,0,0,0,0,0
$GC,3430,-1.14,-116.8,300.5,-7.9,253,3435,0.17,2.38,0.00,0.000,4,0.085,0.024,2799,2877,3113,0,0,0,0,0,0
$GC,3457,-1.18,-116.8,302.7,-6.9,253,3461,0.00,2.42,0.00,0.000,6,0.000,0.033,2798,1449,3113,0,0,0,0,0,0
$GC,3797,-1.18,-116.8,323.7,-6.4,262,3801,0.00,2.08,0.00,0.000,4,0.000,0.049,2800,234,3112,0,0,0,0,0,0
$GC,3836,-1.18,-116.8,326.7,-8.2,262,3840,0.00,2.03,0.00,0.000,6,0.000,0.022,2799,1503,3112,0,0,0,0,0,0
$GC,4172,-1.18,-116.8,349.0,-6.3,271,4176,0.00,2.20,0.00,0.000,4,0.000,0.051,2799,234,3109,0,0,0,0,0,0
$GC,4191,-1.18,-116.8,350.3,-6.3,271,4195,0.00,2.00,0.00,0.000,6,0.000,0.022,2799,1494,3110,0,0,0,0,0,0
$GC,4506,-1.18,-116.8,368.8,-5.9,279,4510,0.00,2.17,0.00,0.000,4,0.000,0.025,2799,2837,3108,0,0,0,0,0,0
$GC,4539,-1.26,-116.8,371.0,-6.2,279,4544,0.12,2.38,0.00,0.000,6,0.062,0.035,2756,1445,3107,0,0,0,0,0,0
$GC,4871,-1.19,-116.8,395.6,-7.7,287,4876,0.15,2.30,0.00,0.000,4,0.090,0.026,2788,2832,3106,0,0,0,0,0,0
$GC,4912,-1.27,-116.8,398.4,-7.1,287,4917,0.00,2.38,0.00,0.000,6,0.000,0.037,2788,1447,3106,0,0,0,0,0,0
$GC,5244,-1.27,-116.8,421.7,-6.9,296,5245,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1446,3104,0,0,0,0,0,0
$GC,5570,-1.27,-116.8,444.1,-6.9,304,5573,0.00,2.10,0.00,0.000,4,0.000,0.055,2788,228,3101,0,0,0,0,0,0
$GC,5584,-1.27,-116.8,445.2,-7.1,304,5588,0.00,1.95,0.00,0.000,6,0.000,0.025,2788,1447,3101,0,0,0,0,0,0
$STATE,5691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5692,begin apogee
$GC,5698,-0.31,0.0,452.8,6.8,307,5798,0.90,0.00,96.38,0.831,6,0.064,0.000,2983,1449,2630,0,0,0,0,0,0
$STATE,5798,end apogee,CONTROL_FINISHED_OK
$STATE,5798,begin climb
$GC,5801,1.18,116.8,455.0,0.0,309,5914,1.42,2.17,102.03,0.813,4,0.031,0.052,3315,234,2152,0,0,0,0,0,0
$GC,5934,0.92,185.0,455.4,4.8,312,6000,0.32,1.92,59.78,0.798,6,0.093,0.025,3252,1422,1875,0,0,0,0,0,0
$GC,6313,0.88,221.9,430.6,6.2,322,6351,0.00,0.00,32.60,0.783,6,0.000,0.000,3252,1422,1725,0,0,0,0,0,0
$GC,6678,0.81,221.9,403.3,8.0,331,6683,0.12,2.35,0.00,0.000,4,0.103,0.028,3227,2802,1718,0,0,0,0,0,0
$GC,6704,0.83,240.8,401.3,7.0,331,6728,0.00,2.42,17.02,0.748,6,0.000,0.042,3227,1421,1647,0,0,0,0,0,0
$GC,7055,0.85,256.4,375.1,7.2,340,7075,0.00,2.17,14.62,0.734,4,0.000,0.058,3226,239,1583,0,0,0,0,0,0
$GC,7110,0.79,256.4,370.5,9.0,341,7114,0.00,1.92,0.00,0.000,6,0.000,0.028,3226,1408,1581,0,0,0,0,0,0
$GC,7433,0.80,260.4,345.9,7.7,349,7442,0.00,2.35,4.40,0.518,4,0.000,0.028,3226,2809,1567,0,0,0,0,0,0
$GC,7453,0.85,276.5,344.5,7.2,349,7475,0.00,2.45,15.93,0.729,6,0.000,0.042,3226,1416,1502,0,0,0,0,0,0
$GC,7802,0.89,276.5,317.5,8.1,358,7806,0.00,2.10,0.00,0.000,4,0.000,0.058,3226,234,1497,0,0,0,0,0,0
$GC,7820,0.89,276.5,315.7,8.6,358,7824,0.00,1.95,0.00,0.000,6,0.000,0.028,3226,1423,1496,0,0,0,0,0,0
$GC,8155,0.95,292.0,289.7,7.2,369,8178,0.15,2.17,14.12,0.693,4,0.061,0.058,3269,244,1438,0,0,0,0,0,0
$GC,8258,0.87,292.0,280.3,9.2,373,8263,0.15,1.92,0.00,0.000,6,0.096,0.028,3239,1431,1435,0,0,0,0,0,0
$GC,8586,0.96,331.3,260.5,6.1,389,8623,0.00,0.00,35.38,0.713,6,0.000,0.000,3239,1432,1279,0,0,0,0,0,0
$GC,8929,1.03,331.3,231.9,8.6,406,8933,0.15,2.15,0.00,0.000,4,0.061,0.056,3282,231,1274,0,0,0,0,0,0
$GC,8964,0.95,331.3,228.5,10.3,407,8968,0.12,1.95,0.00,0.000,6,0.097,0.027,3257,1428,1272,0,0,0,0,0,0
$GC,9288,1.06,381.9,206.8,5.6,423,9340,0.10,2.17,44.30,0.667,4,0.077,0.053,3289,228,1072,0,0,0,0,0,0
$GC,9346,1.06,381.9,202.0,8.8,426,9350,0.00,1.98,0.00,0.000,6,0.000,0.027,3289,1421,1070,0,0,0,0,0,0
$GC,9678,1.06,381.9,170.7,9.5,451,9682,0.00,2.33,0.00,0.000,4,0.000,0.025,3289,2813,1067,0,0,0,0,0,0
$GC,9692,1.06,381.9,168.8,9.6,452,9697,0.00,2.42,0.00,0.000,6,0.000,0.038,3289,1419,1067,0,0,0,0,0,0
$GC,9953,1.06,381.9,144.4,9.4,472,9956,0.00,2.05,0.00,0.000,4,0.000,0.052,3289,234,1066,0,0,0,0,0,0
$GC,9981,1.01,381.9,141.5,10.2,474,9985,0.00,1.95,0.00,0.000,6,0.000,0.025,3290,1439,1065,0,0,0,0,0,0
$GC,10254,1.04,381.9,116.8,8.9,495,10258,0.00,2.28,0.00,0.000,4,0.000,0.024,3289,2813,1064,0,0,0,0,0,0
$GC,10297,1.15,381.9,112.4,9.1,498,10301,0.00,2.40,0.00,0.000,6,0.000,0.035,3289,1417,1064,0,0,0,0,0,0
$GC,10558,1.28,428.1,93.0,5.8,518,10602,0.17,2.12,38.58,0.558,4,0.052,0.051,3342,232,884,0,0,0,0,0,0
$GC,10663,1.21,428.1,84.4,9.5,525,10669,0.15,1.90,0.00,0.000,6,0.088,0.022,3312,1435,881,0,0,0,0,0,0
$GC,10929,1.27,428.1,62.4,10.2,546,10933,0.00,2.22,0.00,0.000,4,0.000,0.021,3312,2803,880,0,0,0,0,0,0
$GC,10956,1.42,428.1,58.8,10.0,548,10961,0.20,2.35,0.00,0.000,6,0.046,0.034,3372,1419,880,0,0,0,0,0,0
$GC,11220,1.34,428.1,26.8,11.7,572,11227,0.15,2.10,0.00,0.000,4,0.091,0.050,3341,234,880,0,0,0,0,0,0
$GC,11239,1.25,428.1,24.8,10.2,575,11246,0.00,1.90,0.00,0.000,6,0.000,0.021,3341,1427,879,0,0,0,0,0,0
$GC,11444,1.25,428.1,7.0,10.0,621,11451,0.00,2.25,0.00,0.000,4,0.000,0.021,3342,2795,880,0,0,0,0,0,0
$GC,11467,1.25,428.1,5.1,8.0,625,11474,0.00,2.38,0.00,0.000,6,0.000,0.034,3342,1418,879,0,0,0,0,0,0
$STATE,11487,end climb,SURFACE_DEPTH_REACHED
$STATE,11487,begin surface coast
$FINISH,0.9,1.004121
$STATE,11522,end surface coast,CONTROL_FINISHED_OK
$STATE,11523,begin surface
$SM_CCo,11607,0.00,0.000,0,0,876,430.26
$SM_GC,1.70,12.55,0.00,0.00,0.025,0.000,0.000,427,1416,876,-11.99,-0.93,430.26
$IRIDIUM_FIX,2057.14,-15756.91,280100,232357
$TT8_MAMPS,0.029146
$HUMID,64.17
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,20.30
$XPDR_PINGS,0
$24V_AH,23.3,80.225
$10V_AH,9.9,64.160
$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,31.075,130.125,475.125,0.000,0.000,26.030,32.550,187.176,4.500,0.000,15.609,1245.411,7790.812,530.297,1812.880,608.548,0.000,1365.419,0.000,1799.375,0.000,29.246,0.000
$DEVICE_MAMPS,131.924,58.292,830.661,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,428.276,407.759,890.294,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355772
$DATA_FILE_SIZE,34938,637
$CAP_FILE_SIZE,127574,0
$CFSIZE,260165632,167288832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041110,052937,2103.774,-15757.910,37,1.1,37,9.8