version: 66.06
glider: 139
mission: 8
dive: 856
start: 11 8 110 10 10 1
data:
$ID,139
$MISSION,8
$DIVE,856
$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,-2169461.5
$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
$GPS1,100237,2105.933,-15747.840,37,1.3,37,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-70.3
$GPS2,100943,2105.927,-15747.764,14,1.2,31,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$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,81.6,8376,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.18,-116.8,0.0,0.0,0,94,0.00,0.00,-75.20,0.000,2,0.000,0.000,424,1412,2776,0,0,0,0,0,0
$GC,98,-1.18,-116.8,3.3,-3.4,14,122,12.70,2.42,-6.57,0.000,4,0.133,0.032,2785,2876,3108,0,0,0,0,0,0
$GC,206,-1.10,-116.8,21.2,-10.9,36,213,0.08,2.45,0.00,0.000,6,0.087,0.032,2804,1458,3110,0,0,0,0,0,0
$GC,414,-0.93,-116.8,47.6,-14.1,63,418,0.20,2.08,0.00,0.000,4,0.087,0.043,2846,234,3110,0,0,0,0,0,0
$GC,446,-0.85,-116.8,52.0,-10.4,65,453,0.00,2.00,0.00,0.000,6,0.000,0.018,2846,1507,3111,0,0,0,0,0,0
$GC,706,-0.79,-116.8,80.4,-10.9,86,711,0.15,2.25,0.00,0.000,4,0.088,0.020,2879,2888,3111,0,0,0,0,0,0
$GC,722,-0.79,-116.8,82.1,-10.1,87,727,0.00,2.45,0.00,0.000,6,0.000,0.031,2878,1440,3111,0,0,0,0,0,0
$GC,985,-0.88,-116.8,101.8,-7.1,107,989,0.00,2.05,0.00,0.000,4,0.000,0.044,2878,229,3112,0,0,0,0,0,0
$GC,1040,-0.96,-116.8,106.5,-9.2,111,1044,0.17,1.98,0.00,0.000,6,0.049,0.018,2821,1520,3112,0,0,0,0,0,0
$GC,1306,-0.93,-116.8,133.1,-9.0,132,1310,0.12,2.22,0.00,0.000,4,0.091,0.020,2847,2884,3112,0,0,0,0,0,0
$GC,1323,-0.93,-116.8,134.6,-8.2,133,1327,0.00,2.40,0.00,0.000,6,0.000,0.030,2848,1447,3112,0,0,0,0,0,0
$GC,1592,-1.08,-116.8,153.9,-7.9,154,1597,0.15,2.35,0.00,0.000,4,0.054,0.021,2793,2887,3113,0,0,0,0,0,0
$GC,1662,-1.08,-116.8,160.9,-10.1,159,1667,0.00,2.42,0.00,0.000,6,0.000,0.029,2793,1446,3113,0,0,0,0,0,0
$GC,1925,-1.03,-116.8,181.4,-6.6,179,1930,0.15,2.08,0.00,0.000,4,0.088,0.045,2826,239,3113,0,0,0,0,0,0
$GC,1996,-1.03,-116.8,186.5,-7.1,184,2000,0.00,2.00,0.00,0.000,6,0.000,0.019,2826,1511,3113,0,0,0,0,0,0
$GC,2273,-1.12,-116.8,204.1,-6.5,204,2277,0.00,2.20,0.00,0.000,4,0.000,0.022,2826,2875,3113,0,0,0,0,0,0
$GC,2320,-1.22,-116.8,207.2,-6.2,206,2325,0.17,2.40,0.00,0.000,6,0.048,0.028,2766,1446,3113,0,0,0,0,0,0
$GC,2650,-1.13,-116.8,239.9,-11.2,222,2658,0.17,2.33,0.00,0.000,4,0.085,0.021,2803,2878,3113,0,0,0,0,0,0
$GC,2680,-1.17,-116.8,243.1,-9.8,223,2684,0.00,2.40,0.00,0.000,6,0.000,0.031,2803,1447,3113,0,0,0,0,0,0
$GC,3014,-1.17,-116.8,268.1,-7.3,239,3018,0.00,2.05,0.00,0.000,4,0.000,0.048,2803,238,3113,0,0,0,0,0,0
$GC,3069,-1.17,-116.8,273.3,-8.6,241,3073,0.00,1.98,0.00,0.000,6,0.000,0.021,2803,1496,3113,0,0,0,0,0,0
$GC,3394,-1.23,-116.8,296.3,-6.8,257,3398,0.00,2.15,0.00,0.000,4,0.000,0.024,2803,2826,3112,0,0,0,0,0,0
$GC,3469,-1.31,-116.8,301.5,-6.8,260,3474,0.17,2.35,0.00,0.000,6,0.050,0.032,2748,1441,3111,0,0,0,0,0,0
$GC,3812,-1.21,-116.8,330.5,-8.6,269,3817,0.17,2.10,0.00,0.000,4,0.086,0.050,2785,233,3110,0,0,0,0,0,0
$GC,3851,-1.18,-116.8,333.7,-7.7,269,3854,0.00,1.90,0.00,0.000,6,0.000,0.022,2785,1452,3110,0,0,0,0,0,0
$GC,4186,-1.18,-116.8,356.9,-6.9,278,4190,0.00,2.22,0.00,0.000,4,0.000,0.025,2785,2822,3108,0,0,0,0,0,0
$GC,4202,-1.18,-116.8,358.0,-6.9,278,4207,0.00,2.35,0.00,0.000,6,0.000,0.038,2785,1439,3108,0,0,0,0,0,0
$GC,4553,-1.18,-116.8,382.2,-6.9,287,4557,0.00,2.08,0.00,0.000,4,0.000,0.053,2785,234,3105,0,0,0,0,0,0
$GC,4620,-1.18,-116.8,387.6,-8.2,288,4623,0.00,1.92,0.00,0.000,6,0.000,0.024,2785,1442,3105,0,0,0,0,0,0
$GC,4969,-1.18,-116.8,416.8,-8.5,297,4970,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1445,3103,0,0,0,0,0,0
$GC,5294,-1.18,-116.8,444.9,-8.7,305,5298,0.00,2.28,0.00,0.000,4,0.000,0.028,2785,2829,3100,0,0,0,0,0,0
$GC,5329,-1.26,-116.8,447.9,-9.5,305,5333,0.00,2.38,0.00,0.000,6,0.000,0.041,2785,1446,3100,0,0,0,0,0,0
$STATE,5373,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5373,begin apogee
$GC,5379,-0.31,0.0,452.3,9.1,306,5479,0.90,0.00,96.15,0.827,6,0.065,0.000,2980,1446,2630,0,0,0,0,0,0
$STATE,5480,end apogee,CONTROL_FINISHED_OK
$STATE,5480,begin climb
$GC,5483,1.18,116.8,457.7,0.0,308,5596,1.45,2.20,101.45,0.815,4,0.032,0.055,3316,234,2153,0,0,0,0,0,0
$GC,5648,0.93,184.9,463.2,4.8,312,5717,0.32,1.95,59.30,0.805,6,0.094,0.025,3253,1415,1876,0,0,0,0,0,0
$GC,6041,0.84,184.9,437.5,8.3,322,6045,0.00,2.33,0.00,0.000,4,0.000,0.029,3252,2805,1866,0,0,0,0,0,0
$GC,6152,0.84,184.9,427.8,8.3,324,6156,0.00,2.45,0.00,0.000,6,0.000,0.043,3252,1414,1866,0,0,0,0,0,0
$GC,6499,0.76,184.9,401.1,8.0,333,6504,0.17,2.33,0.00,0.000,4,0.096,0.028,3218,2801,1863,0,0,0,0,0,0
$GC,6529,0.83,200.1,398.7,7.2,333,6546,0.00,2.42,12.48,0.729,6,0.000,0.042,3218,1419,1814,0,0,0,0,0,0
$GC,6873,0.87,231.9,375.6,6.5,342,6910,0.10,2.45,29.35,0.775,4,0.080,0.028,3247,2805,1682,0,0,0,0,0,0
$GC,6932,0.90,256.7,371.4,6.8,343,6962,0.00,2.42,22.98,0.752,6,0.000,0.042,3247,1420,1583,0,0,0,0,0,0
$GC,7289,0.91,265.3,344.6,7.5,352,7299,0.00,0.00,8.02,0.650,6,0.000,0.000,3247,1420,1548,0,0,0,0,0,0
$GC,7612,0.91,265.3,318.8,8.2,360,7616,0.00,2.38,0.00,0.000,4,0.000,0.029,3247,2810,1544,0,0,0,0,0,0
$GC,7632,0.91,265.3,317.0,8.4,360,7637,0.00,2.42,0.00,0.000,6,0.000,0.043,3247,1417,1544,0,0,0,0,0,0
$GC,7960,0.93,279.3,293.0,7.3,370,7982,0.00,2.12,12.95,0.687,4,0.000,0.058,3246,231,1489,0,0,0,0,0,0
$GC,8002,0.88,279.3,289.5,8.7,371,8007,0.00,1.95,0.00,0.000,6,0.000,0.028,3246,1414,1487,0,0,0,0,0,0
$GC,8320,0.88,279.3,264.2,8.7,387,8324,0.00,2.35,0.00,0.000,4,0.000,0.028,3246,2815,1486,0,0,0,0,0,0
$GC,8355,0.97,279.3,261.0,8.0,388,8359,0.00,2.45,0.00,0.000,6,0.000,0.041,3246,1415,1486,0,0,0,0,0,0
$GC,8672,1.01,306.6,237.9,6.7,403,8704,0.10,2.38,24.52,0.686,4,0.078,0.027,3277,2809,1379,0,0,0,0,0,0
$GC,8742,1.08,306.6,232.4,8.8,406,8746,0.00,2.45,0.00,0.000,6,0.000,0.041,3277,1413,1378,0,0,0,0,0,0
$GC,9071,1.08,306.6,205.2,8.6,422,9075,0.00,2.35,0.00,0.000,4,0.000,0.027,3277,2809,1375,0,0,0,0,0,0
$GC,9099,1.11,306.6,202.8,9.7,423,9103,0.00,2.42,0.00,0.000,6,0.000,0.041,3277,1418,1375,0,0,0,0,0,0
$GC,9432,1.15,335.3,173.3,6.6,448,9462,0.10,2.12,24.98,0.630,4,0.077,0.054,3308,227,1262,0,0,0,0,0,0
$GC,9491,1.03,335.3,168.7,9.0,452,9495,0.17,1.98,0.00,0.000,6,0.092,0.025,3273,1427,1260,0,0,0,0,0,0
$GC,9763,1.03,337.2,147.7,7.8,473,9764,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1428,1259,0,0,0,0,0,0
$GC,10015,1.10,350.0,128.8,7.3,493,10035,0.00,2.30,13.55,0.555,4,0.000,0.023,3273,2808,1201,0,0,0,0,0,0
$GC,10078,1.24,353.1,123.8,7.8,497,10088,0.20,2.42,4.43,0.410,6,0.048,0.035,3332,1411,1189,0,0,0,0,0,0
$GC,10351,1.18,353.1,100.0,8.6,519,10355,0.12,2.08,0.00,0.000,4,0.094,0.051,3306,234,1188,0,0,0,0,0,0
$GC,10397,1.18,353.1,95.5,9.1,522,10404,0.00,1.92,0.00,0.000,6,0.000,0.023,3306,1427,1186,0,0,0,0,0,0
$GC,10661,1.25,364.0,76.0,7.4,543,10673,0.00,0.00,10.00,0.487,6,0.000,0.000,3306,1426,1146,0,0,0,0,0,0
$GC,10924,1.31,364.0,54.3,8.5,564,10925,0.12,0.00,0.00,0.000,6,0.064,0.000,3348,1427,1145,0,0,0,0,0,0
$GC,11175,1.28,364.0,30.4,9.0,584,11179,0.00,2.05,0.00,0.000,4,0.000,0.046,3348,235,1145,0,0,0,0,0,0
$GC,11192,1.22,364.0,28.7,9.0,585,11199,0.12,1.90,0.00,0.000,6,0.066,0.021,3316,1437,1144,0,0,0,0,0,0
$GC,11398,1.31,406.9,13.5,6.0,631,11444,0.00,2.28,36.58,0.482,4,0.000,0.021,3316,2788,970,0,0,0,0,0,0
$GC,11461,1.44,473.9,10.7,4.9,642,11525,0.17,2.38,55.47,0.479,6,0.028,0.032,3377,1419,695,0,0,0,0,0,0
$STATE,11538,end climb,SURFACE_DEPTH_REACHED
$STATE,11538,begin surface coast
$FINISH,0.9,1.014416
$STATE,11565,end surface coast,CONTROL_FINISHED_OK
$STATE,11565,begin surface
$SM_CCo,11649,0.00,0.000,0,0,690,475.88
$SM_GC,1.90,12.75,0.00,0.00,0.022,0.000,0.000,425,1419,690,-11.99,-0.88,475.88
$IRIDIUM_FIX,2057.14,-15751.76,020200,060647
$TT8_MAMPS,0.029146
$HUMID,63.30
$INTERNAL_PRESSURE,9.22541
$TCM_TEMP,20.60
$XPDR_PINGS,0
$24V_AH,23.3,84.042
$10V_AH,9.9,66.916
$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,31.250,129.475,512.200,0.000,0.000,39.641,33.526,186.050,4.500,0.000,31.749,1256.160,7757.290,506.558,1922.944,620.141,0.000,1422.193,0.000,1881.906,0.000,29.254,0.000
$DEVICE_MAMPS,133.458,57.525,826.826,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,442.904,425.189,952.815,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,38082,661
$CAP_FILE_SIZE,129924,0
$CFSIZE,260165632,165318656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081110,132516,2106.077,-15747.307,10,6.5,29,9.8