version: 66.06
glider: 139
mission: 8
dive: 829
start: 11 4 110 15 41 4
data:
$ID,139
$MISSION,8
$DIVE,829
$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,-2168875.5
$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
$GPS1,152606,2104.447,-15758.718,10,2.0,26,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-71.2
$GPS2,154046,2104.414,-15758.688,17,2.2,36,9.8
$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,311.4,9313,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.18,-116.8,0.0,0.0,0,95,0.00,0.00,-74.97,0.000,2,0.000,0.000,418,1409,2747,0,0,0,0,0,0
$GC,100,-1.18,-116.8,3.7,-4.4,14,125,12.68,2.42,-6.72,0.000,4,0.131,0.030,2783,2883,3108,0,0,0,0,0,0
$GC,190,-1.10,-116.8,20.1,-12.7,32,197,0.10,2.47,0.00,0.000,6,0.082,0.031,2808,1444,3110,0,0,0,0,0,0
$GC,395,-0.94,-116.8,43.5,-12.2,61,399,0.17,2.08,0.00,0.000,4,0.092,0.047,2844,237,3110,0,0,0,0,0,0
$GC,445,-0.87,-116.8,49.3,-9.6,64,452,0.00,2.00,0.00,0.000,6,0.000,0.018,2844,1517,3110,0,0,0,0,0,0
$GC,707,-0.80,-116.8,73.7,-9.4,85,712,0.15,2.20,0.00,0.000,4,0.090,0.044,2876,235,3110,0,0,0,0,0,0
$GC,746,-0.80,-116.8,77.6,-9.3,88,750,0.00,1.98,0.00,0.000,6,0.000,0.018,2876,1503,3110,0,0,0,0,0,0
$GC,1018,-0.98,-116.8,98.7,-7.9,109,1022,0.17,2.22,0.00,0.000,4,0.048,0.042,2815,229,3111,0,0,0,0,0,0
$GC,1065,-0.88,-116.8,103.3,-8.3,112,1072,0.17,2.03,0.00,0.000,6,0.061,0.018,2858,1518,3111,0,0,0,0,0,0
$GC,1328,-0.94,-116.8,120.6,-6.9,133,1332,0.00,2.17,0.00,0.000,4,0.000,0.043,2858,234,3111,0,0,0,0,0,0
$GC,1417,-1.00,-116.8,127.4,-7.0,139,1424,0.12,1.98,0.00,0.000,6,0.061,0.018,2809,1516,3111,0,0,0,0,0,0
$GC,1679,-0.96,-116.8,147.7,-7.3,160,1684,0.15,2.20,0.00,0.000,4,0.086,0.044,2842,230,3111,0,0,0,0,0,0
$GC,1705,-0.96,-116.8,149.7,-6.8,162,1709,0.00,2.00,0.00,0.000,6,0.000,0.018,2842,1511,3111,0,0,0,0,0,0
$GC,1977,-1.00,-116.8,166.1,-6.1,183,1981,0.00,2.22,0.00,0.000,4,0.000,0.044,2843,227,3111,0,0,0,0,0,0
$GC,2018,-1.05,-116.8,168.9,-7.0,186,2022,0.00,1.98,0.00,0.000,6,0.000,0.019,2842,1505,3111,0,0,0,0,0,0
$GC,2290,-1.20,-116.8,185.3,-5.7,207,2295,0.22,2.22,0.00,0.000,4,0.041,0.020,2769,2879,3111,0,0,0,0,0,0
$GC,2362,-1.16,-116.8,190.7,-7.6,212,2367,0.12,2.40,0.00,0.000,6,0.092,0.031,2795,1443,3111,0,0,0,0,0,0
$GC,2621,-1.12,-116.8,211.1,-8.5,228,2625,0.00,2.08,0.00,0.000,4,0.000,0.046,2795,225,3111,0,0,0,0,0,0
$GC,2682,-1.09,-116.8,217.1,-9.4,230,2686,0.00,2.00,0.00,0.000,6,0.000,0.019,2795,1499,3111,0,0,0,0,0,0
$GC,3002,-1.09,-116.8,241.9,-7.8,246,3006,0.00,2.15,0.00,0.000,4,0.000,0.021,2795,2836,3110,0,0,0,0,0,0
$GC,3024,-1.09,-116.8,243.6,-8.3,247,3028,0.00,2.35,0.00,0.000,6,0.000,0.032,2795,1447,3110,0,0,0,0,0,0
$GC,3356,-1.09,-116.8,270.8,-7.9,263,3360,0.00,2.08,0.00,0.000,4,0.000,0.048,2796,234,3109,0,0,0,0,0,0
$GC,3400,-1.09,-116.8,274.5,-8.0,265,3404,0.00,1.90,0.00,0.000,6,0.000,0.021,2796,1452,3109,0,0,0,0,0,0
$GC,3737,-1.09,-116.8,296.3,-6.9,281,3741,0.00,2.08,0.00,0.000,4,0.000,0.048,2796,237,3108,0,0,0,0,0,0
$GC,3751,-1.09,-116.8,297.7,-7.0,281,3757,0.00,1.90,0.00,0.000,6,0.000,0.022,2796,1444,3108,0,0,0,0,0,0
$GC,4084,-1.09,-116.8,320.3,-6.9,291,4088,0.00,2.28,0.00,0.000,4,0.000,0.025,2796,2831,3106,0,0,0,0,0,0
$GC,4105,-1.14,-116.8,321.9,-7.2,291,4110,0.00,2.38,0.00,0.000,6,0.000,0.035,2796,1442,3106,0,0,0,0,0,0
$GC,4455,-1.14,-116.8,346.7,-6.8,300,4459,0.00,2.10,0.00,0.000,4,0.000,0.051,2796,225,3103,0,0,0,0,0,0
$GC,4513,-1.14,-116.8,350.2,-5.8,301,4517,0.00,1.92,0.00,0.000,6,0.000,0.024,2797,1448,3103,0,0,0,0,0,0
$GC,4836,-1.14,-116.8,370.8,-6.8,309,4840,0.00,2.25,0.00,0.000,4,0.000,0.025,2797,2828,3102,0,0,0,0,0,0
$GC,4869,-1.23,-116.8,373.2,-8.0,309,4873,0.00,2.38,0.00,0.000,6,0.000,0.037,2797,1443,3101,0,0,0,0,0,0
$GC,5202,-1.23,-116.8,402.0,-8.8,317,5206,0.00,2.30,0.00,0.000,4,0.000,0.027,2797,2836,3099,0,0,0,0,0,0
$GC,5259,-1.31,-116.8,406.7,-7.8,318,5264,0.15,2.38,0.00,0.000,6,0.056,0.037,2749,1442,3098,0,0,0,0,0,0
$GC,5575,-1.23,-116.8,434.6,-9.0,326,5580,0.15,2.30,0.00,0.000,4,0.090,0.028,2781,2826,3096,0,0,0,0,0,0
$GC,5632,-1.30,-116.8,439.4,-7.6,327,5636,0.00,2.38,0.00,0.000,6,0.000,0.039,2781,1449,3096,0,0,0,0,0,0
$STATE,5780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5780,begin apogee
$GC,5787,-0.31,0.0,452.1,8.5,331,5885,0.93,0.00,95.40,0.827,6,0.065,0.000,2982,1449,2629,0,0,0,0,0,0
$STATE,5886,end apogee,CONTROL_FINISHED_OK
$STATE,5886,begin climb
$GC,5891,1.18,116.8,456.0,0.0,333,6003,1.40,2.17,101.53,0.814,4,0.031,0.055,3314,231,2151,0,0,0,0,0,0
$GC,6111,0.84,116.8,452.3,8.8,337,6117,0.40,1.92,0.00,0.000,6,0.091,0.025,3234,1417,2142,0,0,0,0,0,0
$GC,6442,0.82,151.0,431.3,6.4,346,6479,0.00,2.42,29.45,0.785,4,0.000,0.028,3235,2799,2012,0,0,0,0,0,0
$GC,6504,0.84,168.0,427.1,7.1,347,6529,0.00,2.42,16.42,0.746,6,0.000,0.041,3235,1419,1945,0,0,0,0,0,0
$GC,6856,0.84,201.8,403.4,6.4,356,6892,0.00,2.42,30.25,0.779,4,0.000,0.028,3234,2800,1806,0,0,0,0,0,0
$GC,6929,0.86,215.9,398.7,7.3,357,6949,0.00,2.42,14.20,0.728,6,0.000,0.042,3234,1421,1748,0,0,0,0,0,0
$GC,7279,0.87,226.0,373.6,7.4,366,7295,0.00,2.35,9.38,0.680,4,0.000,0.027,3234,2803,1707,0,0,0,0,0,0
$GC,7328,0.93,226.0,369.8,7.9,367,7332,0.00,2.45,0.00,0.000,6,0.000,0.043,3234,1416,1707,0,0,0,0,0,0
$GC,7657,0.93,229.1,344.8,7.8,375,7661,0.00,2.10,0.00,0.000,4,0.000,0.058,3234,232,1704,0,0,0,0,0,0
$GC,7742,0.86,229.1,336.6,9.9,376,7748,0.00,1.95,0.00,0.000,6,0.000,0.028,3233,1423,1701,0,0,0,0,0,0
$GC,8076,0.87,236.9,310.5,7.5,385,8092,0.00,2.20,9.73,0.666,4,0.000,0.056,3234,231,1664,0,0,0,0,0,0
$GC,8125,0.83,236.9,306.1,9.3,386,8129,0.00,1.95,0.00,0.000,6,0.000,0.028,3234,1418,1662,0,0,0,0,0,0
$GC,8458,0.87,274.5,283.8,6.2,400,8501,0.00,2.38,34.25,0.727,4,0.000,0.027,3234,2814,1510,0,0,0,0,0,0
$GC,8512,0.99,316.0,280.0,6.0,402,8555,0.15,2.47,37.42,0.716,6,0.060,0.041,3276,1415,1341,0,0,0,0,0,0
$GC,8876,0.99,316.0,245.3,9.9,420,8880,0.00,2.10,0.00,0.000,4,0.000,0.056,3276,229,1334,0,0,0,0,0,0
$GC,8936,0.92,316.0,238.9,10.8,422,8941,0.12,1.95,0.00,0.000,6,0.100,0.027,3252,1423,1331,0,0,0,0,0,0
$GC,9257,1.00,344.3,216.4,6.6,437,9283,0.00,0.00,24.12,0.663,6,0.000,0.000,3251,1424,1226,0,0,0,0,0,0
$GC,9598,1.09,370.3,193.1,6.7,456,9629,0.15,2.40,23.20,0.637,4,0.059,0.026,3296,2809,1119,0,0,0,0,0,0
$GC,9641,1.09,370.3,189.3,8.7,459,9645,0.00,2.42,0.00,0.000,6,0.000,0.040,3296,1419,1119,0,0,0,0,0,0
$GC,9908,1.05,370.3,164.0,10.4,480,9912,0.00,2.05,0.00,0.000,4,0.000,0.053,3296,233,1117,0,0,0,0,0,0
$GC,9954,0.99,370.3,158.3,11.7,483,9960,0.15,1.92,0.00,0.000,6,0.092,0.025,3265,1429,1115,0,0,0,0,0,0
$GC,10215,1.09,415.0,140.8,5.9,504,10260,0.10,2.33,38.33,0.601,4,0.074,0.025,3299,2802,937,0,0,0,0,0,0
$GC,10278,1.13,415.0,135.8,8.5,508,10283,0.00,2.40,0.00,0.000,6,0.000,0.038,3298,1418,937,0,0,0,0,0,0
$GC,10537,1.13,415.0,111.5,10.0,528,10541,0.00,2.05,0.00,0.000,4,0.000,0.051,3298,232,935,0,0,0,0,0,0
$GC,10571,1.08,415.0,107.8,11.5,530,10577,0.00,1.95,0.00,0.000,6,0.000,0.024,3298,1426,933,0,0,0,0,0,0
$GC,10830,1.08,415.0,82.8,9.4,551,10832,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,1427,933,0,0,0,0,0,0
$GC,11085,1.18,444.8,63.6,6.5,571,11117,0.00,2.35,25.48,0.524,4,0.000,0.023,3298,2802,815,0,0,0,0,0,0
$GC,11123,1.32,482.5,61.0,6.2,573,11162,0.15,2.42,32.08,0.521,6,0.028,0.035,3355,1422,662,0,0,0,0,0,0
$GC,11422,1.28,482.5,31.8,10.7,597,11427,0.12,2.08,0.00,0.000,4,0.091,0.050,3328,235,657,0,0,0,0,0,0
$GC,11481,1.28,482.5,25.2,11.2,608,11488,0.00,1.92,0.00,0.000,6,0.000,0.021,3328,1432,656,0,0,0,0,0,0
$GC,11685,1.28,482.5,6.3,10.2,654,11692,0.00,2.25,0.00,0.000,4,0.000,0.021,3329,2794,656,0,0,0,0,0,0
$GC,11700,1.28,482.5,4.9,8.9,656,11706,0.00,2.38,0.00,0.000,6,0.000,0.035,3328,1426,656,0,0,0,0,0,0
$STATE,11715,end climb,SURFACE_DEPTH_REACHED
$STATE,11715,begin surface coast
$FINISH,1.0,1.023177
$STATE,11751,end surface coast,CONTROL_FINISHED_OK
$STATE,11751,begin surface
$SM_CCo,11836,0.00,0.000,0,0,653,484.96
$SM_GC,1.76,12.57,0.00,0.00,0.028,0.000,0.000,428,1421,653,-11.98,-0.85,484.96
$IRIDIUM_FIX,2059.45,-15759.05,290100,151549
$TT8_MAMPS,0.029146
$HUMID,64.64
$INTERNAL_PRESSURE,9.20588
$TCM_TEMP,19.90
$XPDR_PINGS,0
$24V_AH,23.3,80.718
$10V_AH,9.9,64.515
$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,30.625,140.375,521.225,0.000,0.000,83.907,106.848,380.601,4.500,0.000,37.519,1298.885,7891.495,523.134,2034.385,957.581,0.000,1485.494,0.000,1986.171,0.000,29.257,0.000
$DEVICE_MAMPS,131.157,58.292,826.826,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,447.972,432.671,957.626,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355748
$DATA_FILE_SIZE,38097,667
$CAP_FILE_SIZE,141467,0
$CFSIZE,260165632,167018496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041110,190007,2105.017,-15758.407,71,1.2,71,9.8