version: 66.06
glider: 139
mission: 8
dive: 683
start: 10 15 110 16 2 55
data:
$ID,139
$MISSION,8
$DIVE,683
$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,-2165581.2
$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,1530
$C_ROLL_CLIMB,1500
$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
$GPS1,155558,2105.805,-15801.638,13,3.8,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-73.2
$GPS2,160237,2105.826,-15801.688,43,0.9,43,9.8
$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,342.2,4690,-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,-116.8,0.0,0.0,0,82,0.00,0.00,-64.28,0.000,2,0.000,0.000,427,1513,2744,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.4,-3.6,12,116,12.65,2.45,-6.95,0.000,4,0.132,0.034,2786,2961,3110,0,0,0,0,0,0
$GC,206,-1.12,-116.8,25.1,-12.5,37,213,0.00,2.47,0.00,0.000,6,0.000,0.035,2786,1535,3111,0,0,0,0,0,0
$GC,410,-0.90,-116.8,56.5,-15.2,58,415,0.28,2.22,0.00,0.000,4,0.087,0.044,2847,232,3112,0,0,0,0,0,0
$GC,458,-0.84,-116.8,62.1,-10.2,61,464,0.00,2.15,0.00,0.000,6,0.000,0.018,2848,1588,3112,0,0,0,0,0,0
$GC,716,-0.84,-116.8,85.6,-8.7,82,720,0.00,2.20,0.00,0.000,4,0.000,0.021,2848,2953,3113,0,0,0,0,0,0
$GC,730,-0.84,-116.8,86.8,-8.8,83,734,0.00,2.42,0.00,0.000,6,0.000,0.031,2848,1516,3113,0,0,0,0,0,0
$GC,991,-0.84,-116.8,110.0,-8.6,103,995,0.00,2.20,0.00,0.000,4,0.000,0.045,2847,232,3114,0,0,0,0,0,0
$GC,1077,-0.84,-116.8,117.5,-7.6,109,1083,0.00,2.10,0.00,0.000,6,0.000,0.018,2848,1594,3114,0,0,0,0,0,0
$GC,1340,-0.90,-116.8,136.1,-6.7,130,1344,0.00,2.33,0.00,0.000,4,0.000,0.044,2848,235,3115,0,0,0,0,0,0
$GC,1380,-0.96,-116.8,139.1,-7.1,133,1384,0.00,2.12,0.00,0.000,6,0.000,0.018,2848,1597,3115,0,0,0,0,0,0
$GC,1651,-1.03,-116.8,156.4,-7.7,154,1655,0.10,2.35,0.00,0.000,4,0.071,0.045,2808,235,3115,0,0,0,0,0,0
$GC,1708,-1.03,-116.8,162.8,-11.5,158,1712,0.00,2.10,0.00,0.000,6,0.000,0.019,2808,1592,3115,0,0,0,0,0,0
$GC,1974,-1.03,-116.8,191.1,-11.2,179,1978,0.00,2.20,0.00,0.000,4,0.000,0.022,2808,2955,3115,0,0,0,0,0,0
$GC,2000,-1.07,-116.8,194.1,-10.9,181,2004,0.00,2.40,0.00,0.000,6,0.000,0.033,2808,1528,3115,0,0,0,0,0,0
$GC,2268,-1.07,-116.8,219.3,-8.2,196,2272,0.00,2.20,0.00,0.000,4,0.000,0.047,2808,231,3115,0,0,0,0,0,0
$GC,2296,-1.01,-116.8,221.9,-9.3,197,2301,0.10,2.12,0.00,0.000,6,0.101,0.020,2829,1585,3115,0,0,0,0,0,0
$GC,2620,-1.05,-116.8,244.6,-7.4,213,2624,0.00,2.33,0.00,0.000,4,0.000,0.048,2829,232,3115,0,0,0,0,0,0
$GC,2691,-1.05,-116.8,250.9,-8.2,216,2695,0.00,2.12,0.00,0.000,6,0.000,0.020,2829,1591,3115,0,0,0,0,0,0
$GC,3017,-1.09,-116.8,276.3,-7.2,232,3021,0.00,2.35,0.00,0.000,4,0.000,0.048,2830,228,3114,0,0,0,0,0,0
$GC,3060,-1.09,-116.8,279.8,-7.9,233,3066,0.00,2.12,0.00,0.000,6,0.000,0.021,2829,1586,3114,0,0,0,0,0,0
$GC,3375,-1.15,-116.8,304.6,-8.5,248,3380,0.15,2.35,0.00,0.000,4,0.055,0.048,2780,229,3113,0,0,0,0,0,0
$GC,3395,-1.12,-116.8,306.6,-9.6,248,3400,0.12,2.12,0.00,0.000,6,0.093,0.022,2806,1580,3113,0,0,0,0,0,0
$GC,3742,-1.12,-116.8,332.3,-6.5,257,3746,0.00,2.35,0.00,0.000,4,0.000,0.049,2806,231,3112,0,0,0,0,0,0
$GC,3766,-1.12,-116.8,334.2,-7.9,257,3770,0.00,2.05,0.00,0.000,6,0.000,0.022,2806,1534,3111,0,0,0,0,0,0
$GC,4109,-1.12,-116.8,360.9,-7.8,266,4113,0.00,2.25,0.00,0.000,4,0.000,0.051,2806,232,3110,0,0,0,0,0,0
$GC,4137,-1.12,-116.8,363.2,-7.6,266,4141,0.00,2.05,0.00,0.000,6,0.000,0.023,2806,1533,3110,0,0,0,0,0,0
$GC,4472,-1.12,-116.8,389.3,-8.3,275,4476,0.00,2.25,0.00,0.000,4,0.000,0.052,2807,234,3107,0,0,0,0,0,0
$GC,4529,-1.12,-116.8,394.3,-9.1,276,4533,0.00,2.05,0.00,0.000,6,0.000,0.024,2806,1535,3107,0,0,0,0,0,0
$GC,4843,-1.15,-116.8,417.7,-7.3,284,4847,0.00,2.28,0.00,0.000,4,0.000,0.054,2806,236,3105,0,0,0,0,0,0
$GC,4885,-1.15,-116.8,421.3,-9.4,284,4891,0.00,2.05,0.00,0.000,6,0.000,0.025,2806,1529,3105,0,0,0,0,0,0
$GC,5220,-1.18,-116.8,446.3,-7.6,293,5224,0.00,2.28,0.00,0.000,4,0.000,0.029,2806,2910,3103,0,0,0,0,0,0
$GC,5258,-1.29,-116.8,449.2,-7.3,293,5264,0.17,2.38,0.00,0.000,6,0.053,0.041,2753,1534,3103,0,0,0,0,0,0
$STATE,5302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5302,begin apogee
$GC,5310,-0.31,0.0,453.4,8.6,295,5411,1.08,0.00,97.53,0.831,6,0.070,0.000,2983,1483,2630,0,0,0,0,0,0
$STATE,5412,end apogee,CONTROL_FINISHED_OK
$STATE,5412,begin climb
$GC,5415,1.18,116.8,456.3,0.0,297,5524,1.40,0.00,102.38,0.817,6,0.034,0.000,3310,1483,2154,0,0,0,0,0,0
$GC,5825,0.97,130.3,438.1,7.3,307,5842,0.22,2.40,11.73,0.726,4,0.095,0.029,3265,2876,2098,0,0,0,0,0,0
$GC,6020,0.98,199.6,425.4,4.8,311,6091,0.00,2.40,62.47,0.806,6,0.000,0.042,3264,1512,1815,0,0,0,0,0,0
$GC,6416,0.89,199.6,391.4,9.1,321,6420,0.00,2.33,0.00,0.000,4,0.000,0.029,3265,2883,1807,0,0,0,0,0,0
$GC,6437,0.83,199.6,389.6,9.0,321,6442,0.15,2.42,0.00,0.000,6,0.098,0.044,3234,1495,1807,0,0,0,0,0,0
$GC,6785,0.87,230.2,366.3,6.5,330,6817,0.00,2.33,26.45,0.767,4,0.000,0.059,3234,240,1691,0,0,0,0,0,0
$GC,6841,0.80,230.2,361.6,9.3,331,6845,0.00,2.08,0.00,0.000,6,0.000,0.028,3234,1493,1687,0,0,0,0,0,0
$GC,7156,0.80,230.2,334.2,8.8,339,7160,0.00,2.33,0.00,0.000,4,0.000,0.029,3234,2887,1685,0,0,0,0,0,0
$GC,7189,0.89,244.4,331.6,7.3,339,7209,0.00,2.45,13.07,0.706,6,0.000,0.044,3234,1496,1633,0,0,0,0,0,0
$GC,7532,0.92,269.0,307.6,6.8,348,7560,0.00,2.33,22.30,0.723,4,0.000,0.058,3234,235,1533,0,0,0,0,0,0
$GC,7594,0.89,269.0,302.8,8.5,349,7598,0.00,2.08,0.00,0.000,6,0.000,0.028,3234,1505,1529,0,0,0,0,0,0
$GC,7929,0.96,289.6,281.1,7.0,364,7953,0.10,2.38,18.67,0.696,4,0.077,0.057,3265,230,1449,0,0,0,0,0,0
$GC,7963,0.90,289.6,277.7,8.9,365,7967,0.00,2.10,0.00,0.000,6,0.000,0.028,3265,1501,1447,0,0,0,0,0,0
$GC,8286,0.90,290.8,247.9,7.8,381,8290,0.00,2.25,0.00,0.000,4,0.000,0.056,3265,226,1445,0,0,0,0,0,0
$GC,8351,0.84,290.8,242.0,9.2,384,8356,0.15,2.10,0.00,0.000,6,0.097,0.026,3236,1512,1442,0,0,0,0,0,0
$GC,8684,0.91,292.8,219.8,7.8,400,8688,0.00,2.25,0.00,0.000,4,0.000,0.054,3236,231,1442,0,0,0,0,0,0
$GC,8740,0.91,292.8,214.7,10.2,402,8744,0.00,2.08,0.00,0.000,6,0.000,0.025,3236,1508,1440,0,0,0,0,0,0
$GC,9063,0.98,292.8,188.3,8.7,422,9068,0.12,2.30,0.00,0.000,4,0.065,0.025,3276,2887,1441,0,0,0,0,0,0
$GC,9078,1.03,292.8,187.3,8.3,423,9083,0.00,2.40,0.00,0.000,6,0.000,0.039,3276,1490,1440,0,0,0,0,0,0
$GC,9342,1.03,292.8,161.7,9.2,444,9346,0.00,2.17,0.00,0.000,4,0.000,0.053,3276,232,1440,0,0,0,0,0,0
$GC,9383,0.95,292.8,157.4,10.2,447,9387,0.00,2.05,0.00,0.000,6,0.000,0.024,3277,1507,1439,0,0,0,0,0,0
$GC,9644,0.95,292.8,134.6,10.3,467,9648,0.00,2.22,0.00,0.000,4,0.000,0.051,3276,234,1439,0,0,0,0,0,0
$GC,9686,0.90,292.8,129.6,12.2,470,9690,0.15,2.03,0.00,0.000,6,0.091,0.023,3245,1501,1439,0,0,0,0,0,0
$GC,9948,1.13,389.9,114.3,3.5,490,10043,0.22,2.30,84.65,0.586,4,0.045,0.051,3310,235,1039,0,0,0,0,0,0
$GC,10088,1.01,389.9,103.4,11.0,500,10093,0.20,2.05,0.00,0.000,6,0.086,0.022,3270,1507,1035,0,0,0,0,0,0
$GC,10356,1.11,395.6,82.7,7.6,521,10370,0.10,2.30,5.45,0.416,4,0.073,0.049,3306,234,1015,0,0,0,0,0,0
$GC,10444,1.11,395.6,72.1,13.1,527,10448,0.00,2.03,0.00,0.000,6,0.000,0.021,3306,1490,1012,0,0,0,0,0,0
$GC,10715,1.16,395.6,43.8,9.3,548,10719,0.00,2.20,0.00,0.000,4,0.000,0.048,3305,234,1012,0,0,0,0,0,0
$GC,10747,1.16,395.6,40.7,9.2,550,10754,0.00,2.05,0.00,0.000,6,0.000,0.021,3306,1522,1012,0,0,0,0,0,0
$GC,11009,1.20,395.6,19.4,8.1,589,11016,0.00,2.28,0.00,0.000,4,0.000,0.049,3305,231,1012,0,0,0,0,0,0
$GC,11055,1.20,395.6,15.2,9.3,598,11062,0.00,2.03,0.00,0.000,6,0.000,0.021,3306,1507,1011,0,0,0,0,0,0
$STATE,11195,end climb,SURFACE_DEPTH_REACHED
$STATE,11195,begin surface coast
$FINISH,0.9,1.011401
$STATE,11235,end surface coast,CONTROL_FINISHED_OK
$STATE,11235,begin surface
$SM_CCo,11258,12.00,0.443,0,0,958,410.14
$SM_GC,1.71,0.00,0.00,12.00,0.000,0.000,0.443,427,1506,958,-12.07,-0.68,410.14
$IRIDIUM_FIX,2057.14,-15759.05,090100,121219
$TT8_MAMPS,0.029913
$HUMID,60.71
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.3,63.968
$10V_AH,10.0,51.942
$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,29.850,138.150,444.700,12.000,0.000,30.487,36.042,169.834,4.500,0.000,43.841,1248.536,7442.277,490.171,1927.448,556.832,0.000,1372.488,0.000,1874.678,0.000,29.259,0.000
$DEVICE_MAMPS,131.924,152.633,831.428,442.559,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,430.013,407.394,910.290,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,34897,639
$CAP_FILE_SIZE,128446,0
$CFSIZE,260165632,175976448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151010,191158,2107.242,-15803.031,14,7.0,33,9.8