version: 66.06
glider: 139
mission: 8
dive: 826
start: 11 4 110 5 36 9
data:
$ID,139
$MISSION,8
$DIVE,826
$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,-2168803.5
$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
$GPS1,052937,2103.774,-15757.910,37,1.1,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-73.7
$GPS2,053549,2103.770,-15757.901,10,1.1,15,9.8
$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,309.8,11097,-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,-58.75,0.000,2,0.000,0.000,427,1413,2518,0,0,0,0,0,0
$GC,80,-1.18,-116.8,3.1,-2.8,11,110,12.60,2.42,-12.07,0.000,4,0.130,0.031,2786,2880,3108,0,0,0,0,0,0
$GC,153,-1.08,-116.8,17.3,-16.7,25,161,0.10,2.47,0.00,0.000,6,0.081,0.033,2811,1452,3109,0,0,0,0,0,0
$GC,354,-0.91,-116.8,42.4,-13.6,55,358,0.20,2.10,0.00,0.000,4,0.087,0.043,2853,231,3109,0,0,0,0,0,0
$GC,400,-0.83,-116.8,48.1,-13.0,58,403,0.00,1.98,0.00,0.000,6,0.000,0.018,2853,1502,3110,0,0,0,0,0,0
$GC,670,-0.78,-116.8,76.4,-9.0,79,675,0.12,2.22,0.00,0.000,4,0.094,0.044,2879,228,3111,0,0,0,0,0,0
$GC,699,-0.78,-116.8,78.9,-8.7,81,702,0.00,2.00,0.00,0.000,6,0.000,0.018,2879,1504,3111,0,0,0,0,0,0
$GC,968,-0.96,-116.8,101.2,-9.0,102,973,0.17,2.22,0.00,0.000,4,0.048,0.044,2819,233,3111,0,0,0,0,0,0
$GC,1024,-0.91,-116.8,107.4,-12.1,106,1029,0.15,2.00,0.00,0.000,6,0.082,0.018,2852,1524,3111,0,0,0,0,0,0
$GC,1287,-0.97,-116.8,128.6,-6.6,126,1291,0.00,2.17,0.00,0.000,4,0.000,0.021,2852,2877,3112,0,0,0,0,0,0
$GC,1312,-1.10,-116.8,130.5,-6.9,128,1317,0.17,2.40,0.00,0.000,6,0.048,0.029,2791,1438,3112,0,0,0,0,0,0
$GC,1578,-1.02,-116.8,152.1,-8.0,149,1583,0.17,2.08,0.00,0.000,4,0.083,0.044,2829,230,3112,0,0,0,0,0,0
$GC,1638,-1.02,-116.8,156.8,-7.8,153,1642,0.00,1.98,0.00,0.000,6,0.000,0.019,2829,1521,3113,0,0,0,0,0,0
$GC,1905,-1.02,-116.8,175.2,-7.7,174,1909,0.00,2.20,0.00,0.000,4,0.000,0.044,2829,234,3113,0,0,0,0,0,0
$GC,1949,-1.02,-116.8,179.2,-8.9,177,1952,0.00,2.00,0.00,0.000,6,0.000,0.019,2830,1513,3113,0,0,0,0,0,0
$GC,2219,-1.06,-116.8,198.9,-7.3,198,2223,0.00,2.17,0.00,0.000,4,0.000,0.044,2829,240,3113,0,0,0,0,0,0
$GC,2257,-1.09,-116.8,202.2,-8.2,200,2264,0.00,2.00,0.00,0.000,6,0.000,0.020,2829,1516,3114,0,0,0,0,0,0
$GC,2574,-1.14,-116.8,227.7,-8.6,216,2579,0.12,2.22,0.00,0.000,4,0.062,0.046,2783,234,3113,0,0,0,0,0,0
$GC,2623,-1.07,-116.8,233.0,-10.4,218,2628,0.15,2.00,0.00,0.000,6,0.087,0.020,2815,1514,3113,0,0,0,0,0,0
$GC,2952,-1.11,-116.8,254.7,-4.5,234,2956,0.00,2.20,0.00,0.000,4,0.000,0.048,2816,232,3113,0,0,0,0,0,0
$GC,3026,-1.11,-116.8,258.6,-4.9,237,3030,0.00,2.00,0.00,0.000,6,0.000,0.021,2816,1504,3113,0,0,0,0,0,0
$GC,3354,-1.15,-116.8,276.9,-7.2,253,3358,0.00,2.20,0.00,0.000,4,0.000,0.048,2816,240,3112,0,0,0,0,0,0
$GC,3392,-1.19,-116.8,280.3,-8.3,254,3399,0.08,2.00,0.00,0.000,6,0.037,0.022,2779,1500,3112,0,0,0,0,0,0
$GC,3707,-1.15,-116.8,307.3,-8.1,268,3711,0.10,2.20,0.00,0.000,4,0.102,0.050,2800,241,3111,0,0,0,0,0,0
$GC,3755,-1.15,-116.8,311.0,-7.5,269,3759,0.00,1.88,0.00,0.000,6,0.000,0.023,2801,1447,3110,0,0,0,0,0,0
$GC,4083,-1.15,-116.8,330.9,-6.0,277,4087,0.00,2.25,0.00,0.000,4,0.000,0.025,2801,2826,3108,0,0,0,0,0,0
$GC,4155,-1.23,-116.8,335.9,-7.1,278,4159,0.00,2.35,0.00,0.000,6,0.000,0.036,2801,1450,3108,0,0,0,0,0,0
$GC,4496,-1.23,-116.8,364.5,-8.4,287,4500,0.00,2.12,0.00,0.000,4,0.000,0.053,2801,230,3106,0,0,0,0,0,0
$GC,4556,-1.23,-116.8,370.0,-9.0,288,4560,0.00,1.95,0.00,0.000,6,0.000,0.024,2801,1453,3106,0,0,0,0,0,0
$GC,4872,-1.26,-116.8,389.0,-5.5,296,4877,0.12,2.28,0.00,0.000,4,0.065,0.027,2761,2831,3104,0,0,0,0,0,0
$GC,4901,-1.26,-116.8,391.1,-6.8,296,4905,0.00,2.38,0.00,0.000,6,0.000,0.039,2760,1453,3104,0,0,0,0,0,0
$GC,5239,-1.20,-116.8,415.9,-7.5,305,5244,0.12,2.30,0.00,0.000,4,0.094,0.027,2786,2834,3101,0,0,0,0,0,0
$GC,5284,-1.27,-116.8,419.2,-6.9,306,5288,0.00,2.40,0.00,0.000,6,0.000,0.039,2786,1444,3101,0,0,0,0,0,0
$GC,5614,-1.27,-116.8,442.6,-7.4,314,5618,0.00,2.10,0.00,0.000,4,0.000,0.057,2786,232,3099,0,0,0,0,0,0
$GC,5660,-1.27,-116.8,446.9,-9.1,315,5664,0.00,1.95,0.00,0.000,6,0.000,0.025,2786,1447,3099,0,0,0,0,0,0
$STATE,5700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5700,begin apogee
$GC,5706,-0.31,0.0,450.2,7.8,316,5806,0.90,0.00,96.03,0.834,6,0.065,0.000,2981,1450,2630,0,0,0,0,0,0
$STATE,5806,end apogee,CONTROL_FINISHED_OK
$STATE,5806,begin climb
$GC,5811,1.18,116.8,453.0,0.0,318,5923,1.40,2.17,101.62,0.817,4,0.033,0.055,3312,241,2152,0,0,0,0,0,0
$GC,5943,0.92,175.2,454.1,5.3,321,6000,0.30,1.92,51.33,0.800,6,0.095,0.025,3253,1423,1914,0,0,0,0,0,0
$GC,6314,0.83,185.6,426.4,7.4,330,6330,0.12,2.35,9.02,0.688,4,0.106,0.027,3228,2799,1873,0,0,0,0,0,0
$GC,6365,0.87,217.3,423.0,6.5,331,6403,0.00,2.40,29.27,0.780,6,0.000,0.042,3229,1421,1744,0,0,0,0,0,0
$GC,6731,0.90,248.1,399.6,6.5,340,6764,0.00,2.40,27.70,0.778,4,0.000,0.029,3228,2801,1618,0,0,0,0,0,0
$GC,6815,1.00,285.2,393.5,6.2,341,6856,0.17,2.45,33.47,0.777,6,0.055,0.044,3277,1420,1467,0,0,0,0,0,0
$GC,7188,0.89,285.2,355.7,9.9,351,7193,0.15,2.12,0.00,0.000,4,0.097,0.060,3245,236,1460,0,0,0,0,0,0
$GC,7261,0.81,285.2,348.7,10.0,352,7265,0.00,1.90,0.00,0.000,6,0.000,0.028,3246,1414,1456,0,0,0,0,0,0
$GC,7606,0.82,295.0,321.8,7.5,361,7616,0.00,0.00,8.35,0.651,6,0.000,0.000,3246,1415,1427,0,0,0,0,0,0
$GC,7914,0.82,295.0,297.0,8.3,369,7917,0.00,2.10,0.00,0.000,4,0.000,0.058,3246,228,1425,0,0,0,0,0,0
$GC,7937,0.77,295.0,294.7,8.7,370,7942,0.12,1.95,0.00,0.000,6,0.106,0.029,3221,1419,1424,0,0,0,0,0,0
$GC,8263,0.85,295.0,271.2,8.0,386,8266,0.00,2.12,0.00,0.000,4,0.000,0.058,3221,228,1423,0,0,0,0,0,0
$GC,8319,0.85,295.0,266.2,9.0,388,8323,0.00,1.95,0.00,0.000,6,0.000,0.028,3221,1417,1421,0,0,0,0,0,0
$GC,8644,0.99,337.7,243.5,6.0,404,8688,0.20,2.17,38.10,0.706,4,0.054,0.058,3275,238,1252,0,0,0,0,0,0
$GC,8712,0.91,337.7,238.0,10.2,407,8716,0.12,1.95,0.00,0.000,6,0.098,0.028,3250,1424,1249,0,0,0,0,0,0
$GC,9045,0.98,337.7,209.8,8.1,423,9049,0.00,2.10,0.00,0.000,4,0.000,0.055,3249,228,1248,0,0,0,0,0,0
$GC,9080,0.98,337.7,206.6,9.2,424,9083,0.00,1.92,0.00,0.000,6,0.000,0.027,3249,1422,1245,0,0,0,0,0,0
$GC,9403,1.05,345.5,182.1,7.5,447,9418,0.12,2.35,7.00,0.538,4,0.067,0.027,3288,2812,1221,0,0,0,0,0,0
$GC,9466,1.13,345.5,176.2,9.2,451,9470,0.00,2.42,0.00,0.000,6,0.000,0.038,3288,1419,1221,0,0,0,0,0,0
$GC,9726,1.14,353.3,153.7,7.5,471,9740,0.00,2.08,8.73,0.545,4,0.000,0.052,3288,235,1187,0,0,0,0,0,0
$GC,9780,1.09,353.3,148.9,9.6,474,9786,0.00,1.95,0.00,0.000,6,0.000,0.025,3288,1419,1186,0,0,0,0,0,0
$GC,10041,1.09,353.3,128.4,8.7,495,10044,0.00,2.10,0.00,0.000,4,0.000,0.051,3288,234,1185,0,0,0,0,0,0
$GC,10071,1.04,353.3,125.3,10.5,497,10075,0.00,1.92,0.00,0.000,6,0.000,0.025,3288,1427,1184,0,0,0,0,0,0
$GC,10342,1.05,359.7,103.8,7.6,518,10358,0.00,2.33,6.38,0.463,4,0.000,0.024,3288,2803,1163,0,0,0,0,0,0
$GC,10397,1.17,371.0,99.3,7.4,521,10418,0.00,2.40,11.32,0.518,6,0.000,0.035,3288,1411,1117,0,0,0,0,0,0
$GC,10670,1.30,421.8,82.5,5.6,543,10724,0.20,2.12,43.60,0.550,4,0.048,0.050,3348,237,909,0,0,0,0,0,0
$GC,10786,1.21,421.8,71.9,10.1,551,10790,0.17,1.90,0.00,0.000,6,0.086,0.022,3312,1435,906,0,0,0,0,0,0
$GC,11054,1.26,421.8,51.1,8.3,572,11058,0.00,2.25,0.00,0.000,4,0.000,0.021,3311,2806,905,0,0,0,0,0,0
$GC,11095,1.42,421.8,47.6,8.3,575,11100,0.20,2.38,0.00,0.000,6,0.046,0.034,3373,1411,905,0,0,0,0,0,0
$GC,11361,1.32,421.8,22.5,10.3,607,11368,0.17,2.08,0.00,0.000,4,0.085,0.047,3336,232,905,0,0,0,0,0,0
$GC,11403,1.27,421.8,17.7,11.5,615,11410,0.00,1.90,0.00,0.000,6,0.000,0.021,3336,1430,904,0,0,0,0,0,0
$STATE,11551,end climb,SURFACE_DEPTH_REACHED
$STATE,11551,begin surface coast
$FINISH,0.9,0.998860
$STATE,11582,end surface coast,CONTROL_FINISHED_OK
$STATE,11582,begin surface
$SM_CCo,11665,0.00,0.000,0,0,900,424.12
$SM_GC,1.74,12.57,0.00,0.00,0.028,0.000,0.000,429,1429,900,-11.98,-0.59,424.12
$IRIDIUM_FIX,2054.83,-15756.91,290100,020205
$TT8_MAMPS,0.029146
$HUMID,63.34
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,20.30
$XPDR_PINGS,0
$24V_AH,23.3,80.339
$10V_AH,9.9,64.247
$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,31.350,137.375,471.925,0.000,0.000,29.221,33.613,166.104,4.500,0.000,15.484,1301.786,7672.522,492.607,1976.384,586.140,0.000,1417.023,0.000,1951.908,0.000,29.243,0.000
$DEVICE_MAMPS,129.623,59.826,833.729,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,441.217,421.951,929.510,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,38127,655
$CAP_FILE_SIZE,135548,0
$CFSIZE,260165632,167215104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041110,085154,2104.064,-15757.813,26,1.0,43,9.8