version: 66.06
glider: 139
mission: 8
dive: 859
start: 11 8 110 20 39 4
data:
$ID,139
$MISSION,8
$DIVE,859
$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,-2169535.8
$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
$GPS1,203136,2106.790,-15746.215,46,0.8,51,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-69.9
$GPS2,203844,2106.792,-15746.154,11,2.0,11,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,CLOSE
$TGT_LATLONG,2113.000,-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,308.5,15390,-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,14,begin dive
$GC,17,-1.18,-116.8,0.0,0.0,0,89,0.00,0.00,-69.62,0.000,2,0.000,0.000,421,1436,2651,0,0,0,0,0,0
$GC,93,-1.18,-116.8,3.2,-3.0,13,123,12.65,2.42,-9.18,0.000,4,0.130,0.035,2785,2870,3110,0,0,0,0,0,0
$GC,189,-1.10,-116.8,19.3,-12.0,32,196,0.08,2.47,0.00,0.000,6,0.083,0.035,2805,1449,3111,0,0,0,0,0,0
$GC,398,-0.92,-116.8,45.4,-11.4,60,400,0.20,0.00,0.00,0.000,6,0.088,0.000,2846,1449,3112,0,0,0,0,0,0
$GC,650,-0.88,-116.8,68.4,-9.8,80,654,0.00,2.08,0.00,0.000,4,0.000,0.045,2846,230,3112,0,0,0,0,0,0
$GC,679,-0.83,-116.8,71.1,-10.9,82,683,0.10,2.00,0.00,0.000,6,0.106,0.019,2868,1516,3112,0,0,0,0,0,0
$GC,948,-0.88,-116.8,90.8,-5.9,103,952,0.00,2.22,0.00,0.000,4,0.000,0.044,2867,225,3113,0,0,0,0,0,0
$GC,1018,-0.94,-116.8,96.3,-7.8,108,1021,0.00,2.00,0.00,0.000,6,0.000,0.018,2868,1502,3113,0,0,0,0,0,0
$GC,1286,-1.02,-116.8,115.7,-5.9,129,1291,0.17,2.20,0.00,0.000,4,0.050,0.020,2808,2880,3114,0,0,0,0,0,0
$GC,1306,-1.02,-116.8,117.3,-6.2,130,1313,0.00,2.45,0.00,0.000,6,0.000,0.030,2807,1444,3114,0,0,0,0,0,0
$GC,1570,-0.96,-116.8,138.5,-7.7,151,1575,0.15,2.05,0.00,0.000,4,0.087,0.044,2841,238,3114,0,0,0,0,0,0
$GC,1603,-0.96,-116.8,141.4,-6.8,153,1608,0.00,1.95,0.00,0.000,6,0.000,0.019,2841,1515,3114,0,0,0,0,0,0
$GC,1864,-0.96,-116.8,158.7,-7.6,174,1867,0.00,2.20,0.00,0.000,4,0.000,0.044,2841,236,3114,0,0,0,0,0,0
$GC,1896,-0.96,-116.8,161.7,-8.8,176,1903,0.00,2.00,0.00,0.000,6,0.000,0.019,2841,1512,3114,0,0,0,0,0,0
$GC,2160,-1.02,-116.8,180.9,-6.5,197,2164,0.00,2.17,0.00,0.000,4,0.000,0.044,2841,239,3114,0,0,0,0,0,0
$GC,2193,-1.08,-116.8,183.3,-7.7,199,2197,0.12,1.98,0.00,0.000,6,0.061,0.019,2796,1522,3115,0,0,0,0,0,0
$GC,2465,-1.03,-116.8,203.9,-8.6,219,2470,0.12,2.22,0.00,0.000,4,0.092,0.021,2824,2876,3114,0,0,0,0,0,0
$GC,2505,-1.13,-116.8,207.8,-8.4,220,2512,0.00,2.42,0.00,0.000,6,0.000,0.031,2824,1453,3115,0,0,0,0,0,0
$GC,2822,-1.24,-116.8,233.9,-7.1,236,2827,0.20,2.33,0.00,0.000,4,0.046,0.021,2761,2874,3115,0,0,0,0,0,0
$GC,2852,-1.24,-116.8,236.6,-9.4,237,2857,0.00,2.42,0.00,0.000,6,0.000,0.031,2760,1442,3115,0,0,0,0,0,0
$GC,3176,-1.14,-116.8,264.0,-9.3,253,3181,0.20,2.08,0.00,0.000,4,0.083,0.045,2803,232,3115,0,0,0,0,0,0
$GC,3222,-1.14,-116.8,268.3,-9.0,255,3226,0.00,2.03,0.00,0.000,6,0.000,0.021,2803,1510,3114,0,0,0,0,0,0
$GC,3558,-1.14,-116.8,295.5,-7.5,271,3562,0.00,2.20,0.00,0.000,4,0.000,0.048,2803,236,3113,0,0,0,0,0,0
$GC,3603,-1.14,-116.8,299.5,-9.4,273,3610,0.00,2.00,0.00,0.000,6,0.000,0.021,2803,1511,3114,0,0,0,0,0,0
$GC,3957,-1.14,-116.8,324.1,-6.1,282,3961,0.00,2.25,0.00,0.000,4,0.000,0.025,2803,2876,3112,0,0,0,0,0,0
$GC,3976,-1.19,-116.8,325.5,-6.6,282,3981,0.00,2.42,0.00,0.000,6,0.000,0.035,2803,1449,3112,0,0,0,0,0,0
$GC,4323,-1.19,-116.8,350.8,-7.3,291,4327,0.00,2.08,0.00,0.000,4,0.000,0.051,2803,236,3110,0,0,0,0,0,0
$GC,4366,-1.19,-116.8,353.9,-6.5,292,4370,0.00,1.98,0.00,0.000,6,0.000,0.023,2803,1494,3110,0,0,0,0,0,0
$GC,4699,-1.19,-116.8,375.9,-6.9,300,4700,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1500,3108,0,0,0,0,0,0
$GC,5025,-1.19,-116.8,396.8,-6.2,308,5029,0.00,2.20,0.00,0.000,4,0.000,0.051,2803,238,3106,0,0,0,0,0,0
$GC,5079,-1.19,-116.8,400.3,-6.5,309,5083,0.00,1.90,0.00,0.000,6,0.000,0.024,2803,1446,3105,0,0,0,0,0,0
$GC,5402,-1.19,-116.8,418.9,-5.6,317,5406,0.00,2.28,0.00,0.000,4,0.000,0.027,2803,2828,3103,0,0,0,0,0,0
$GC,5447,-1.29,-116.8,421.4,-5.5,318,5451,0.15,2.35,0.00,0.000,6,0.058,0.038,2756,1447,3103,0,0,0,0,0,0
$GC,5778,-1.21,-116.8,443.0,-6.5,326,5782,0.15,2.15,0.00,0.000,4,0.091,0.056,2787,230,3101,0,0,0,0,0,0
$GC,5840,-1.21,-116.8,446.9,-6.2,327,5845,0.00,1.98,0.00,0.000,6,0.000,0.025,2788,1445,3101,0,0,0,0,0,0
$STATE,5907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5908,begin apogee
$GC,5914,-0.31,0.0,450.5,5.2,329,6013,0.90,0.00,96.12,0.826,6,0.065,0.000,2983,1448,2630,0,0,0,0,0,0
$STATE,6014,end apogee,CONTROL_FINISHED_OK
$STATE,6014,begin climb
$GC,6017,1.18,116.8,452.0,0.0,331,6131,1.40,2.22,101.18,0.808,4,0.033,0.054,3310,240,2151,0,0,0,0,0,0
$GC,6165,0.85,117.7,449.3,7.9,334,6170,0.38,1.92,0.00,0.000,6,0.093,0.025,3236,1422,2147,0,0,0,0,0,0
$GC,6518,0.86,181.8,430.1,5.0,343,6580,0.00,2.38,56.28,0.799,4,0.000,0.027,3236,2806,1888,0,0,0,0,0,0
$GC,6619,0.90,211.7,424.1,6.5,345,6651,0.00,2.45,27.33,0.769,6,0.000,0.041,3236,1418,1767,0,0,0,0,0,0
$GC,6975,0.86,215.2,397.0,7.7,354,6979,0.00,2.35,0.00,0.000,4,0.000,0.028,3236,2805,1759,0,0,0,0,0,0
$GC,7008,0.86,215.2,394.3,8.0,354,7012,0.00,2.45,0.00,0.000,6,0.000,0.042,3236,1413,1758,0,0,0,0,0,0
$GC,7341,0.88,226.1,368.7,7.4,362,7358,0.00,2.40,12.30,0.714,4,0.000,0.028,3236,2805,1707,0,0,0,0,0,0
$GC,7375,0.90,248.1,366.1,6.9,362,7403,0.00,2.45,20.83,0.746,6,0.000,0.041,3236,1417,1617,0,0,0,0,0,0
$GC,7716,0.91,255.5,341.0,7.6,371,7728,0.00,2.15,7.15,0.628,4,0.000,0.057,3236,240,1587,0,0,0,0,0,0
$GC,7775,0.86,255.5,335.8,8.5,372,7779,0.00,1.95,0.00,0.000,6,0.000,0.028,3236,1414,1585,0,0,0,0,0,0
$GC,8095,0.90,288.1,314.8,6.4,380,8131,0.00,2.45,29.42,0.739,4,0.000,0.028,3236,2810,1454,0,0,0,0,0,0
$GC,8158,1.05,341.1,311.3,5.5,381,8211,0.20,2.45,46.90,0.739,6,0.053,0.041,3290,1421,1239,0,0,0,0,0,0
$GC,8537,0.97,341.1,276.6,10.0,396,8541,0.15,2.12,0.00,0.000,4,0.095,0.058,3259,235,1232,0,0,0,0,0,0
$GC,8574,0.91,341.1,272.4,10.9,397,8578,0.00,1.92,0.00,0.000,6,0.000,0.028,3260,1424,1230,0,0,0,0,0,0
$GC,8897,0.91,341.1,242.4,8.2,413,8900,0.00,2.12,0.00,0.000,4,0.000,0.055,3259,228,1229,0,0,0,0,0,0
$GC,8947,0.85,341.1,237.6,8.9,415,8952,0.12,1.92,0.00,0.000,6,0.104,0.028,3236,1419,1228,0,0,0,0,0,0
$GC,9273,0.95,352.3,212.3,7.4,431,9287,0.00,0.00,9.55,0.597,6,0.000,0.000,3235,1420,1192,0,0,0,0,0,0
$GC,9610,1.08,393.6,192.1,6.0,451,9649,0.22,0.00,36.42,0.650,6,0.049,0.000,3298,1419,1025,0,0,0,0,0,0
$GC,9899,1.08,393.6,162.9,10.7,474,9903,0.00,2.35,0.00,0.000,4,0.000,0.026,3298,2813,1020,0,0,0,0,0,0
$GC,9924,1.12,393.6,160.1,10.0,476,9928,0.00,2.45,0.00,0.000,6,0.000,0.040,3298,1414,1020,0,0,0,0,0,0
$GC,10188,1.12,393.6,133.5,8.9,497,10192,0.00,2.05,0.00,0.000,4,0.000,0.052,3298,231,1019,0,0,0,0,0,0
$GC,10199,1.12,393.6,132.4,9.4,497,10204,0.00,1.95,0.00,0.000,6,0.000,0.026,3298,1426,1019,0,0,0,0,0,0
$GC,10458,1.12,393.6,106.7,10.0,518,10462,0.00,2.30,0.00,0.000,4,0.000,0.024,3298,2810,1019,0,0,0,0,0,0
$GC,10540,1.23,393.6,98.8,8.8,524,10545,0.00,2.40,0.00,0.000,6,0.000,0.035,3298,1417,1019,0,0,0,0,0,0
$GC,10805,1.30,411.3,77.8,7.1,544,10827,0.15,2.15,15.00,0.520,4,0.058,0.050,3344,232,952,0,0,0,0,0,0
$GC,10872,1.23,411.3,71.1,10.9,548,10878,0.10,1.95,0.00,0.000,6,0.070,0.022,3318,1435,951,0,0,0,0,0,0
$GC,11135,1.28,417.0,49.7,7.6,569,11150,0.00,2.30,6.25,0.422,4,0.000,0.022,3318,2798,928,0,0,0,0,0,0
$GC,11225,1.39,417.0,43.0,8.1,575,11230,0.15,2.38,0.00,0.000,6,0.055,0.033,3366,1411,929,0,0,0,0,0,0
$GC,11490,1.30,417.0,16.7,9.5,615,11497,0.15,2.08,0.00,0.000,4,0.088,0.050,3335,240,928,0,0,0,0,0,0
$GC,11557,1.24,417.0,9.9,10.5,629,11564,0.00,1.90,0.00,0.000,6,0.000,0.021,3335,1434,927,0,0,0,0,0,0
$STATE,11659,end climb,SURFACE_DEPTH_REACHED
$STATE,11659,begin surface coast
$FINISH,0.9,1.022442
$STATE,11721,end surface coast,CONTROL_FINISHED_OK
$STATE,11722,begin surface
$SM_CCo,11807,0.00,0.000,0,0,924,418.24
$SM_GC,1.62,12.52,0.00,0.00,0.025,0.000,0.000,425,1434,924,-12.00,-0.45,418.24
$IRIDIUM_FIX,2059.45,-15748.75,020200,171705
$TT8_MAMPS,0.028379
$HUMID,64.53
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,19.50
$XPDR_PINGS,0
$24V_AH,23.3,84.413
$10V_AH,9.9,67.188
$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,30.750,131.450,464.725,0.000,0.000,29.728,40.095,212.872,4.500,0.000,11.962,1299.825,7819.723,491.960,1960.643,652.809,0.000,1406.071,0.000,1939.075,0.000,29.252,0.000
$DEVICE_MAMPS,130.390,58.292,826.059,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,448.434,427.557,959.429,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355960
$DATA_FILE_SIZE,38110,666
$CAP_FILE_SIZE,132787,0
$CFSIZE,260165632,165117952
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081110,235658,2107.310,-15746.841,11,2.6,30,9.8