version: 66.06
glider: 139
mission: 8
dive: 642
start: 10 10 110 2 35 1
data:
$ID,139
$MISSION,8
$DIVE,642
$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,-2164601.8
$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,1550
$C_ROLL_CLIMB,1550
$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
$GPS1,022837,2106.714,-15750.096,71,0.8,71,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-73.4
$GPS2,023443,2106.758,-15750.213,14,1.2,19,9.8
$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,88.1,12725,-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,-116.8,0.0,0.0,0,78,0.00,0.00,-59.47,0.000,2,0.000,0.000,425,1559,2600,0,0,0,0,0,0
$GC,81,-1.18,-116.8,3.2,-3.0,11,111,12.62,2.30,-10.10,0.000,4,0.131,0.055,2785,232,3108,0,0,0,0,0,0
$GC,128,-0.35,-116.8,14.8,-24.0,19,136,0.82,2.20,0.00,0.000,6,0.078,0.019,2969,1601,3109,0,0,0,0,0,0
$GC,339,-0.56,-116.8,32.6,-7.0,61,344,0.17,2.38,0.00,0.000,4,0.048,0.045,2911,234,3111,0,0,0,0,0,0
$GC,373,-0.61,-116.8,36.0,-10.3,63,380,0.00,2.20,0.00,0.000,6,0.000,0.018,2911,1622,3111,0,0,0,0,0,0
$GC,633,-0.72,-116.8,60.4,-7.9,84,637,0.00,2.38,0.00,0.000,4,0.000,0.044,2911,234,3111,0,0,0,0,0,0
$GC,688,-0.85,-116.8,64.5,-7.5,88,693,0.20,2.12,0.00,0.000,6,0.044,0.018,2846,1610,3112,0,0,0,0,0,0
$GC,955,-0.81,-116.8,89.7,-10.0,109,959,0.12,2.22,0.00,0.000,4,0.091,0.021,2873,2973,3112,0,0,0,0,0,0
$GC,1010,-0.97,-116.8,94.5,-8.6,113,1015,0.15,2.38,0.00,0.000,6,0.053,0.030,2818,1549,3112,0,0,0,0,0,0
$GC,1274,-0.92,-116.8,122.9,-11.5,134,1279,0.15,2.25,0.00,0.000,4,0.085,0.045,2851,229,3113,0,0,0,0,0,0
$GC,1343,-0.97,-116.8,129.7,-9.3,139,1347,0.00,2.17,0.00,0.000,6,0.000,0.018,2851,1617,3113,0,0,0,0,0,0
$GC,1608,-1.04,-116.8,152.6,-8.2,160,1609,0.12,0.00,0.00,0.000,6,0.062,0.000,2805,1621,3114,0,0,0,0,0,0
$GC,1860,-1.01,-116.8,176.0,-9.0,180,1864,0.12,2.38,0.00,0.000,4,0.091,0.046,2833,237,3114,0,0,0,0,0,0
$GC,1933,-1.01,-116.8,182.8,-8.6,185,1938,0.00,2.12,0.00,0.000,6,0.000,0.018,2832,1605,3114,0,0,0,0,0,0
$GC,2198,-1.01,-116.8,203.5,-7.5,205,2202,0.00,2.35,0.00,0.000,4,0.000,0.045,2833,231,3114,0,0,0,0,0,0
$GC,2226,-1.01,-116.8,206.3,-9.3,206,2229,0.00,2.15,0.00,0.000,6,0.000,0.019,2833,1617,3114,0,0,0,0,0,0
$GC,2546,-1.06,-116.8,228.8,-6.9,222,2550,0.00,2.38,0.00,0.000,4,0.000,0.047,2833,233,3114,0,0,0,0,0,0
$GC,2617,-1.12,-116.8,234.0,-7.2,225,2622,0.12,2.15,0.00,0.000,6,0.063,0.020,2789,1611,3114,0,0,0,0,0,0
$GC,2947,-1.08,-116.8,260.4,-7.9,241,2951,0.12,2.38,0.00,0.000,4,0.093,0.048,2816,237,3114,0,0,0,0,0,0
$GC,2977,-1.08,-116.8,263.0,-8.2,242,2981,0.00,2.15,0.00,0.000,6,0.000,0.021,2816,1598,3114,0,0,0,0,0,0
$GC,3297,-1.08,-116.8,286.8,-7.3,258,3298,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1602,3113,0,0,0,0,0,0
$GC,3628,-1.08,-116.8,307.3,-5.6,271,3632,0.00,2.35,0.00,0.000,4,0.000,0.050,2816,237,3111,0,0,0,0,0,0
$GC,3718,-1.08,-116.8,313.1,-6.4,273,3722,0.00,2.08,0.00,0.000,6,0.000,0.022,2816,1557,3111,0,0,0,0,0,0
$GC,4047,-1.11,-116.8,335.2,-7.0,281,4051,0.00,2.30,0.00,0.000,4,0.000,0.051,2816,238,3109,0,0,0,0,0,0
$GC,4075,-1.11,-116.8,337.6,-8.4,281,4079,0.00,2.10,0.00,0.000,6,0.000,0.023,2816,1556,3109,0,0,0,0,0,0
$GC,4411,-1.16,-116.8,363.1,-7.7,290,4415,0.00,2.30,0.00,0.000,4,0.000,0.052,2816,230,3107,0,0,0,0,0,0
$GC,4445,-1.16,-116.8,366.0,-8.7,290,4449,0.00,2.10,0.00,0.000,6,0.000,0.023,2816,1548,3107,0,0,0,0,0,0
$GC,4776,-1.21,-116.8,393.7,-8.1,298,4781,0.12,2.33,0.00,0.000,4,0.065,0.054,2775,234,3105,0,0,0,0,0,0
$GC,4801,-1.14,-116.8,396.0,-9.7,298,4806,0.12,2.10,0.00,0.000,6,0.096,0.024,2802,1558,3105,0,0,0,0,0,0
$GC,5143,-1.14,-116.8,423.3,-7.7,307,5147,0.00,2.30,0.00,0.000,4,0.000,0.054,2801,236,3103,0,0,0,0,0,0
$GC,5176,-1.14,-116.8,425.9,-7.6,307,5180,0.00,2.08,0.00,0.000,6,0.000,0.025,2801,1547,3102,0,0,0,0,0,0
$GC,5509,-1.14,-116.8,444.8,-5.2,315,5513,0.00,2.30,0.00,0.000,4,0.000,0.056,2801,231,3100,0,0,0,0,0,0
$GC,5528,-1.14,-116.8,445.9,-5.2,315,5532,0.00,2.12,0.00,0.000,6,0.000,0.025,2801,1550,3100,0,0,0,0,0,0
$STATE,5626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5626,begin apogee
$GC,5632,-0.31,0.0,450.9,4.8,318,5731,0.82,0.00,96.25,0.830,6,0.064,0.000,2981,1553,2630,0,0,0,0,0,0
$STATE,5732,end apogee,CONTROL_FINISHED_OK
$STATE,5732,begin climb
$GC,5735,1.18,116.8,450.9,0.0,320,5847,1.45,2.38,101.40,0.812,4,0.035,0.031,3315,2931,2153,0,0,0,0,0,0
$GC,5947,0.99,116.8,439.5,10.4,325,5953,0.25,2.40,0.00,0.000,6,0.094,0.041,3266,1552,2149,0,0,0,0,0,0
$GC,6294,0.93,162.9,415.8,5.8,334,6339,0.00,2.40,40.12,0.793,4,0.000,0.029,3266,2934,1964,0,0,0,0,0,0
$GC,6384,0.91,184.0,410.5,6.9,336,6409,0.00,2.42,20.02,0.757,6,0.000,0.043,3266,1547,1879,0,0,0,0,0,0
$GC,6747,0.83,184.0,380.6,8.8,345,6752,0.17,2.33,0.00,0.000,4,0.100,0.059,3231,230,1871,0,0,0,0,0,0
$GC,6767,0.74,184.0,378.5,9.5,345,6771,0.00,2.15,0.00,0.000,6,0.000,0.028,3231,1543,1869,0,0,0,0,0,0
$GC,7113,0.74,184.0,348.2,8.9,354,7117,0.00,2.33,0.00,0.000,4,0.000,0.031,3231,2940,1867,0,0,0,0,0,0
$GC,7146,0.80,184.0,345.3,8.0,354,7150,0.00,2.45,0.00,0.000,6,0.000,0.043,3231,1541,1867,0,0,0,0,0,0
$GC,7477,0.82,206.1,321.4,6.9,362,7502,0.00,2.40,18.65,0.733,4,0.000,0.058,3231,235,1789,0,0,0,0,0,0
$GC,7558,0.79,214.2,315.7,7.5,363,7572,0.00,2.17,8.48,0.648,6,0.000,0.028,3231,1553,1756,0,0,0,0,0,0
$GC,7880,0.83,242.6,293.8,6.6,373,7912,0.00,2.45,26.00,0.726,4,0.000,0.058,3231,232,1639,0,0,0,0,0,0
$GC,7942,0.78,242.6,288.6,9.6,375,7947,0.00,2.15,0.00,0.000,6,0.000,0.028,3232,1548,1636,0,0,0,0,0,0
$GC,8259,0.84,260.2,263.3,7.1,391,8281,0.00,2.38,15.95,0.680,4,0.000,0.058,3231,233,1569,0,0,0,0,0,0
$GC,8369,0.84,260.2,254.5,8.1,395,8375,0.00,2.15,0.00,0.000,6,0.000,0.027,3231,1553,1564,0,0,0,0,0,0
$GC,8686,0.91,260.2,229.8,9.2,411,8690,0.00,2.35,0.00,0.000,4,0.000,0.055,3231,231,1563,0,0,0,0,0,0
$GC,8711,0.91,260.2,227.2,10.5,412,8715,0.00,2.17,0.00,0.000,6,0.000,0.027,3232,1557,1562,0,0,0,0,0,0
$GC,9036,1.03,299.8,203.1,6.1,428,9080,0.17,2.45,34.67,0.663,4,0.056,0.054,3282,233,1406,0,0,0,0,0,0
$GC,9113,0.92,299.8,196.8,9.9,432,9117,0.15,2.15,0.00,0.000,6,0.096,0.025,3252,1553,1403,0,0,0,0,0,0
$GC,9373,0.99,299.8,174.4,8.4,452,9377,0.00,2.35,0.00,0.000,4,0.000,0.053,3251,227,1402,0,0,0,0,0,0
$GC,9418,0.99,299.8,170.2,10.1,455,9422,0.00,2.17,0.00,0.000,6,0.000,0.025,3251,1562,1399,0,0,0,0,0,0
$GC,9683,1.12,325.2,152.0,6.7,476,9709,0.20,0.00,22.12,0.597,6,0.050,0.000,3310,1566,1303,0,0,0,0,0,0
$GC,9965,1.12,325.2,125.7,9.4,498,9969,0.00,2.35,0.00,0.000,4,0.000,0.051,3309,231,1301,0,0,0,0,0,0
$GC,9998,1.04,325.2,122.5,8.9,500,10005,0.12,2.17,0.00,0.000,6,0.071,0.022,3279,1560,1298,0,0,0,0,0,0
$GC,10261,1.17,366.0,107.4,6.1,521,10304,0.12,2.42,35.22,0.562,4,0.064,0.049,3319,232,1136,0,0,0,0,0,0
$GC,10320,1.10,366.0,102.4,11.2,525,10325,0.15,2.12,0.00,0.000,6,0.092,0.021,3289,1567,1134,0,0,0,0,0,0
$GC,10584,1.15,366.0,80.1,8.2,545,10588,0.00,2.35,0.00,0.000,4,0.000,0.048,3289,228,1134,0,0,0,0,0,0
$GC,10623,1.15,366.0,76.1,9.7,548,10627,0.00,2.10,0.00,0.000,6,0.000,0.021,3289,1566,1132,0,0,0,0,0,0
$GC,10891,1.22,366.0,52.2,8.7,569,10895,0.12,2.35,0.00,0.000,4,0.062,0.058,3333,232,1131,0,0,0,0,0,0
$GC,10950,1.11,366.0,44.5,13.6,573,10957,0.17,2.10,0.00,0.000,6,0.067,0.019,3292,1548,1131,0,0,0,0,0,0
$GC,11215,1.20,366.0,20.8,8.5,608,11222,0.00,2.30,0.00,0.000,4,0.000,0.047,3292,233,1131,0,0,0,0,0,0
$GC,11238,1.28,366.0,18.7,8.2,612,11245,0.12,2.10,0.00,0.000,6,0.029,0.019,3345,1554,1131,0,0,0,0,0,0
$STATE,11370,end climb,SURFACE_DEPTH_REACHED
$STATE,11370,begin surface coast
$FINISH,0.8,1.009930
$STATE,11393,end surface coast,CONTROL_FINISHED_OK
$STATE,11393,begin surface
$SM_CCo,11417,28.23,0.460,0,0,957,410.14
$SM_GC,1.47,0.00,0.00,28.23,0.000,0.000,0.460,425,1553,957,-12.07,0.11,410.14
$IRIDIUM_FIX,2059.45,-15750.89,030100,232321
$TT8_MAMPS,0.029146
$HUMID,59.05
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,1
$24V_AH,23.3,59.373
$10V_AH,10.0,48.486
$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,31.450,135.675,418.900,28.225,0.000,23.407,33.333,161.623,4.750,0.000,19.145,1260.702,7615.007,486.707,1896.164,546.077,0.000,1355.842,0.000,1872.260,0.000,30.982,0.000
$DEVICE_MAMPS,131.157,59.059,829.894,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,435.056,414.821,934.888,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,34880,647
$CAP_FILE_SIZE,129529,0
$CFSIZE,260165632,178429952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101010,054658,2106.873,-15750.701,13,3.1,32,9.8