version: 66.06
glider: 139
mission: 8
dive: 869
start: 11 10 110 5 11 22
data:
$ID,139
$MISSION,8
$DIVE,869
$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,-2169774.5
$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
$GPS1,050504,2113.256,-15752.835,13,2.3,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-73.9
$GPS2,051102,2113.289,-15752.936,16,1.1,16,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,HOME
$TGT_LATLONG,2114.600,-15752.080
$TGT_RADIUS,1000.000
$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,21.5,2843,-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,-64.18,0.000,2,0.000,0.000,427,1416,2751,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.6,-4.0,12,110,12.65,2.50,-6.88,0.000,4,0.131,0.034,2784,2878,3110,0,0,0,0,0,0
$GC,137,-0.59,-116.8,15.2,-20.8,21,144,0.57,2.47,0.00,0.000,6,0.066,0.032,2920,1457,3111,0,0,0,0,0,0
$GC,343,-0.69,-116.8,33.4,-8.6,62,347,0.00,2.10,0.00,0.000,4,0.000,0.044,2920,234,3112,0,0,0,0,0,0
$GC,391,-0.83,-116.8,37.9,-9.0,65,398,0.20,2.00,0.00,0.000,6,0.026,0.019,2849,1507,3113,0,0,0,0,0,0
$GC,651,-0.78,-116.8,67.8,-11.5,86,656,0.15,2.22,0.00,0.000,4,0.086,0.044,2882,226,3113,0,0,0,0,0,0
$GC,676,-0.78,-116.8,70.7,-11.1,87,682,0.00,2.03,0.00,0.000,6,0.000,0.019,2882,1518,3113,0,0,0,0,0,0
$GC,936,-0.95,-116.8,91.5,-6.4,108,940,0.17,2.22,0.00,0.000,4,0.048,0.021,2820,2876,3114,0,0,0,0,0,0
$GC,980,-0.95,-116.8,94.6,-7.8,111,985,0.12,2.40,0.00,0.000,6,0.094,0.028,2847,1441,3114,0,0,0,0,0,0
$GC,1248,-1.06,-116.8,115.7,-9.3,132,1253,0.12,2.38,0.00,0.000,4,0.061,0.021,2799,2881,3114,0,0,0,0,0,0
$GC,1301,-1.06,-116.8,121.8,-11.0,136,1305,0.00,2.40,0.00,0.000,6,0.000,0.028,2799,1446,3114,0,0,0,0,0,0
$GC,1572,-0.99,-116.8,145.6,-7.7,157,1577,0.17,0.00,0.00,0.000,6,0.084,0.000,2837,1446,3115,0,0,0,0,0,0
$GC,1834,-1.04,-116.8,164.4,-8.3,178,1835,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1446,3115,0,0,0,0,0,0
$GC,2083,-1.20,-116.8,187.6,-8.0,198,2088,0.22,2.33,0.00,0.000,4,0.041,0.020,2767,2878,3116,0,0,0,0,0,0
$GC,2136,-1.17,-116.8,191.9,-7.7,202,2141,0.12,2.40,0.00,0.000,6,0.094,0.029,2793,1439,3115,0,0,0,0,0,0
$GC,2397,-1.13,-116.8,213.0,-9.1,218,2400,0.00,2.05,0.00,0.000,4,0.000,0.045,2793,230,3116,0,0,0,0,0,0
$GC,2452,-1.09,-116.8,219.3,-10.7,220,2456,0.00,2.00,0.00,0.000,6,0.000,0.019,2793,1506,3116,0,0,0,0,0,0
$GC,2778,-1.09,-116.8,249.3,-8.7,236,2782,0.00,2.17,0.00,0.000,4,0.000,0.046,2793,238,3116,0,0,0,0,0,0
$GC,2816,-1.04,-116.8,252.8,-9.3,237,2822,0.15,1.98,0.00,0.000,6,0.086,0.020,2826,1511,3116,0,0,0,0,0,0
$GC,3137,-1.19,-116.8,273.7,-6.9,253,3142,0.17,2.25,0.00,0.000,4,0.049,0.024,2768,2884,3115,0,0,0,0,0,0
$GC,3193,-1.19,-116.8,279.0,-8.3,255,3198,0.10,2.42,0.00,0.000,6,0.101,0.032,2789,1444,3115,0,0,0,0,0,0
$GC,3510,-1.19,-116.8,305.1,-8.6,269,3514,0.00,2.35,0.00,0.000,4,0.000,0.023,2789,2879,3114,0,0,0,0,0,0
$GC,3535,-1.23,-116.8,307.5,-9.2,269,3540,0.00,2.42,0.00,0.000,6,0.000,0.033,2789,1440,3114,0,0,0,0,0,0
$GC,3876,-1.19,-116.8,337.7,-8.3,278,3880,0.00,2.05,0.00,0.000,4,0.000,0.049,2789,237,3113,0,0,0,0,0,0
$GC,3901,-1.19,-116.8,339.8,-9.0,278,3906,0.00,2.00,0.00,0.000,6,0.000,0.022,2788,1487,3113,0,0,0,0,0,0
$GC,4248,-1.19,-116.8,361.6,-5.2,287,4252,0.00,2.17,0.00,0.000,4,0.000,0.024,2789,2826,3111,0,0,0,0,0,0
$GC,4272,-1.23,-116.8,362.9,-5.2,287,4276,0.00,2.38,0.00,0.000,6,0.000,0.035,2788,1434,3111,0,0,0,0,0,0
$GC,4619,-1.23,-116.8,385.9,-7.6,296,4623,0.00,2.08,0.00,0.000,4,0.000,0.051,2789,234,3109,0,0,0,0,0,0
$GC,4675,-1.20,-116.8,390.5,-8.0,297,4678,0.00,1.92,0.00,0.000,6,0.000,0.023,2789,1448,3109,0,0,0,0,0,0
$GC,4995,-1.20,-116.8,414.3,-7.4,305,4999,0.00,2.28,0.00,0.000,4,0.000,0.025,2789,2825,3107,0,0,0,0,0,0
$GC,5057,-1.28,-116.8,418.4,-5.9,306,5062,0.00,2.35,0.00,0.000,6,0.000,0.037,2789,1443,3106,0,0,0,0,0,0
$GC,5407,-1.28,-116.8,438.0,-5.7,315,5409,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1443,3104,0,0,0,0,0,0
$STATE,5609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5609,begin apogee
$GC,5617,-0.31,0.0,451.8,6.9,320,5717,0.88,0.00,96.40,0.815,6,0.064,0.000,2980,1443,2630,0,0,0,0,0,0
$STATE,5717,end apogee,CONTROL_FINISHED_OK
$STATE,5718,begin climb
$GC,5720,1.18,116.8,454.5,0.0,322,5828,1.40,0.00,100.97,0.800,6,0.030,0.000,3316,1443,2153,0,0,0,0,0,0
$GC,6131,0.95,124.8,435.2,7.5,332,6144,0.28,2.33,6.47,0.617,4,0.094,0.027,3257,2788,2121,0,0,0,0,0,0
$GC,6173,0.90,136.6,432.0,7.4,332,6191,0.00,2.38,12.60,0.716,6,0.000,0.040,3257,1423,2071,0,0,0,0,0,0
$GC,6514,0.84,168.3,409.5,6.5,341,6551,0.12,2.38,28.62,0.767,4,0.107,0.026,3233,2800,1942,0,0,0,0,0,0
$GC,6591,0.87,194.8,404.3,6.7,342,6622,0.00,2.42,24.55,0.752,6,0.000,0.040,3233,1419,1835,0,0,0,0,0,0
$GC,6936,0.92,236.7,382.5,6.0,351,6978,0.00,2.35,36.92,0.762,4,0.000,0.026,3233,2795,1665,0,0,0,0,0,0
$GC,7019,0.97,236.7,376.8,8.3,352,7024,0.12,2.42,0.00,0.000,6,0.067,0.039,3269,1416,1664,0,0,0,0,0,0
$GC,7352,0.90,236.7,345.6,9.7,360,7356,0.12,2.12,0.00,0.000,4,0.101,0.058,3244,230,1659,0,0,0,0,0,0
$GC,7404,0.82,236.7,340.7,9.2,361,7408,0.00,1.95,0.00,0.000,6,0.000,0.027,3244,1408,1656,0,0,0,0,0,0
$GC,7728,0.87,278.8,320.5,6.0,369,7771,0.00,2.38,36.62,0.735,4,0.000,0.027,3244,2808,1492,0,0,0,0,0,0
$GC,7823,0.96,278.8,313.4,8.1,371,7827,0.00,2.45,0.00,0.000,6,0.000,0.041,3244,1414,1491,0,0,0,0,0,0
$GC,8156,0.96,278.8,284.1,8.8,383,8160,0.00,2.08,0.00,0.000,4,0.000,0.055,3244,228,1487,0,0,0,0,0,0
$GC,8193,0.91,278.8,280.3,9.6,384,8200,0.00,1.98,0.00,0.000,6,0.000,0.027,3244,1428,1484,0,0,0,0,0,0
$GC,8510,1.04,344.3,259.7,4.9,400,8576,0.15,2.38,56.08,0.700,4,0.061,0.028,3287,2796,1226,0,0,0,0,0,0
$GC,8618,1.12,358.8,252.2,7.2,404,8638,0.00,2.42,13.77,0.634,6,0.000,0.040,3287,1418,1166,0,0,0,0,0,0
$GC,8964,1.12,358.8,221.9,9.8,421,8968,0.00,2.08,0.00,0.000,4,0.000,0.055,3287,232,1161,0,0,0,0,0,0
$GC,8984,1.06,358.8,219.4,10.2,422,8988,0.00,1.98,0.00,0.000,6,0.000,0.026,3287,1425,1160,0,0,0,0,0,0
$GC,9303,1.06,358.8,189.8,10.2,440,9307,0.00,2.33,0.00,0.000,4,0.000,0.026,3287,2813,1159,0,0,0,0,0,0
$GC,9323,1.06,358.8,188.2,9.2,441,9328,0.00,2.45,0.00,0.000,6,0.000,0.040,3287,1410,1159,0,0,0,0,0,0
$GC,9582,1.08,370.5,168.3,7.4,462,9597,0.00,2.08,10.00,0.550,4,0.000,0.051,3287,233,1119,0,0,0,0,0,0
$GC,9657,1.04,370.5,162.0,8.7,467,9661,0.00,1.92,0.00,0.000,6,0.000,0.025,3286,1426,1116,0,0,0,0,0,0
$GC,9924,1.04,370.5,138.9,8.9,488,9928,0.00,2.28,0.00,0.000,4,0.000,0.024,3287,2812,1116,0,0,0,0,0,0
$GC,9966,1.14,370.5,135.6,8.3,491,9970,0.00,2.40,0.00,0.000,6,0.000,0.035,3287,1414,1116,0,0,0,0,0,0
$GC,10237,1.19,370.5,111.1,9.1,512,10241,0.00,2.30,0.00,0.000,4,0.000,0.024,3287,2804,1116,0,0,0,0,0,0
$GC,10256,1.27,370.5,109.0,9.5,513,10261,0.17,2.38,0.00,0.000,6,0.051,0.035,3342,1420,1116,0,0,0,0,0,0
$GC,10521,1.22,373.6,86.2,7.8,533,10530,0.12,2.30,4.15,0.363,4,0.095,0.021,3316,2814,1105,0,0,0,0,0,0
$GC,10562,1.34,397.7,82.8,6.8,535,10590,0.12,2.38,21.48,0.518,6,0.063,0.034,3358,1419,1008,0,0,0,0,0,0
$GC,10842,1.26,397.7,57.4,9.1,557,10847,0.15,2.05,0.00,0.000,4,0.090,0.048,3326,236,1005,0,0,0,0,0,0
$GC,10902,1.21,397.7,51.3,9.8,561,10906,0.00,1.88,0.00,0.000,6,0.000,0.021,3326,1430,1004,0,0,0,0,0,0
$GC,11168,1.21,397.7,29.2,8.0,582,11174,0.00,2.10,0.00,0.000,4,0.000,0.048,3326,242,1004,0,0,0,0,0,0
$GC,11208,1.18,397.7,25.7,8.2,590,11214,0.00,1.88,0.00,0.000,6,0.000,0.021,3326,1426,1003,0,0,0,0,0,0
$GC,11413,1.18,397.7,8.4,8.4,636,11419,0.00,2.25,0.00,0.000,4,0.000,0.021,3326,2788,1003,0,0,0,0,0,0
$GC,11436,1.22,397.7,6.4,8.4,640,11443,0.00,2.35,0.00,0.000,6,0.000,0.033,3326,1425,1003,0,0,0,0,0,0
$STATE,11477,end climb,SURFACE_DEPTH_REACHED
$STATE,11477,begin surface coast
$FINISH,0.8,1.009381
$STATE,11516,end surface coast,CONTROL_FINISHED_OK
$STATE,11516,begin surface
$SM_CCo,11540,10.57,0.423,0,0,958,410.14
$SM_GC,1.49,0.00,0.00,10.57,0.000,0.000,0.423,429,1422,958,-12.06,-0.79,410.14
$IRIDIUM_FIX,2104.07,-15753.03,040200,020203
$TT8_MAMPS,0.029146
$HUMID,64.17
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,20.50
$XPDR_PINGS,2
$24V_AH,23.3,85.526
$10V_AH,9.9,68.057
$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,31.075,133.700,448.650,10.575,0.000,25.977,32.075,151.176,5.000,0.000,16.989,1280.216,7628.943,485.833,1928.518,580.869,0.000,1377.924,0.000,1906.630,0.000,29.268,0.000
$DEVICE_MAMPS,131.157,57.525,815.321,423.384,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,441.324,422.341,954.642,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,356032
$DATA_FILE_SIZE,38176,657
$CAP_FILE_SIZE,129740,0
$CFSIZE,260165632,164495360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101110,082506,2114.095,-15752.984,34,1.0,34,9.8