version: 66.06
glider: 139
mission: 8
dive: 722
start: 10 20 110 18 5 54
data:
$ID,139
$MISSION,8
$DIVE,722
$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,-2166385.2
$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
$GPS1,175850,2112.026,-15757.302,14,2.0,14,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-74.2
$GPS2,180536,2112.007,-15757.334,40,0.8,40,9.8
$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,104.9,27422,-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,-64.30,0.000,2,0.000,0.000,430,1528,2761,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.7,-3.9,12,111,12.65,2.25,-6.45,0.000,4,0.133,0.056,2787,231,3109,0,0,0,0,0,0
$GC,234,-0.95,-116.8,34.1,-15.6,40,241,0.22,2.15,0.00,0.000,6,0.077,0.019,2838,1581,3111,0,0,0,0,0,0
$GC,495,-0.88,-116.8,65.1,-12.4,61,499,0.00,2.35,0.00,0.000,4,0.000,0.046,2838,228,3112,0,0,0,0,0,0
$GC,568,-0.81,-116.8,74.4,-11.5,66,574,0.12,2.15,0.00,0.000,6,0.068,0.018,2870,1584,3112,0,0,0,0,0,0
$GC,829,-0.86,-116.8,98.3,-9.3,87,833,0.00,2.30,0.00,0.000,4,0.000,0.044,2870,238,3113,0,0,0,0,0,0
$GC,869,-0.91,-116.8,102.1,-9.2,90,873,0.00,2.12,0.00,0.000,6,0.000,0.018,2870,1595,3113,0,0,0,0,0,0
$GC,1135,-0.99,-116.8,123.6,-7.0,111,1140,0.17,2.35,0.00,0.000,4,0.049,0.045,2808,232,3113,0,0,0,0,0,0
$GC,1203,-0.93,-116.8,129.7,-9.3,116,1207,0.17,2.12,0.00,0.000,6,0.081,0.018,2846,1587,3114,0,0,0,0,0,0
$GC,1470,-0.98,-116.8,148.3,-7.3,137,1474,0.00,2.30,0.00,0.000,4,0.000,0.044,2846,237,3114,0,0,0,0,0,0
$GC,1537,-1.03,-116.8,154.3,-9.1,142,1541,0.00,2.12,0.00,0.000,6,0.000,0.018,2846,1596,3114,0,0,0,0,0,0
$GC,1803,-1.09,-116.8,177.1,-8.1,163,1808,0.15,2.35,0.00,0.000,4,0.053,0.047,2792,234,3114,0,0,0,0,0,0
$GC,1880,-1.01,-116.8,185.0,-9.8,168,1887,0.12,2.15,0.00,0.000,6,0.064,0.019,2825,1589,3114,0,0,0,0,0,0
$GC,2146,-1.01,-116.8,203.8,-7.2,188,2150,0.00,2.30,0.00,0.000,4,0.000,0.046,2824,237,3114,0,0,0,0,0,0
$GC,2198,-1.01,-116.8,208.3,-8.8,190,2202,0.00,2.12,0.00,0.000,6,0.000,0.019,2824,1589,3114,0,0,0,0,0,0
$GC,2518,-1.01,-116.8,233.9,-8.3,206,2522,0.00,2.33,0.00,0.000,4,0.000,0.047,2825,234,3114,0,0,0,0,0,0
$GC,2541,-1.01,-116.8,236.0,-9.1,207,2544,0.00,2.12,0.00,0.000,6,0.000,0.020,2824,1583,3114,0,0,0,0,0,0
$GC,2871,-1.04,-116.8,259.2,-6.6,223,2876,0.00,2.35,0.00,0.000,4,0.000,0.048,2824,229,3113,0,0,0,0,0,0
$GC,2909,-1.04,-116.8,262.6,-7.6,224,2913,0.00,2.15,0.00,0.000,6,0.000,0.021,2825,1585,3113,0,0,0,0,0,0
$GC,3228,-1.09,-116.8,284.3,-7.2,239,3232,0.00,2.35,0.00,0.000,4,0.000,0.048,2825,230,3112,0,0,0,0,0,0
$GC,3279,-1.12,-116.8,288.6,-8.1,241,3283,0.00,2.15,0.00,0.000,6,0.000,0.021,2824,1584,3112,0,0,0,0,0,0
$GC,3603,-1.17,-116.8,311.9,-7.2,253,3608,0.12,2.35,0.00,0.000,4,0.063,0.049,2780,230,3111,0,0,0,0,0,0
$GC,3679,-1.09,-116.8,319.0,-8.9,254,3683,0.15,2.15,0.00,0.000,6,0.087,0.021,2813,1579,3111,0,0,0,0,0,0
$GC,4018,-1.13,-116.8,342.5,-6.7,263,4022,0.00,2.33,0.00,0.000,4,0.000,0.051,2813,232,3109,0,0,0,0,0,0
$GC,4074,-1.17,-116.8,346.7,-6.8,264,4078,0.00,2.08,0.00,0.000,6,0.000,0.022,2813,1525,3109,0,0,0,0,0,0
$GC,4393,-1.20,-116.8,366.8,-6.3,272,4398,0.12,2.25,0.00,0.000,4,0.064,0.053,2771,238,3107,0,0,0,0,0,0
$GC,4433,-1.13,-116.8,369.9,-9.0,272,4439,0.15,2.08,0.00,0.000,6,0.088,0.023,2803,1538,3107,0,0,0,0,0,0
$GC,4764,-1.13,-116.8,392.9,-6.9,281,4768,0.00,2.25,0.00,0.000,4,0.000,0.027,2803,2904,3105,0,0,0,0,0,0
$GC,4805,-1.23,-116.8,395.5,-5.9,281,4811,0.00,2.35,0.00,0.000,6,0.000,0.038,2802,1527,3104,0,0,0,0,0,0
$GC,5136,-1.23,-116.8,415.4,-5.9,290,5140,0.00,2.22,0.00,0.000,4,0.000,0.054,2802,235,3103,0,0,0,0,0,0
$GC,5174,-1.23,-116.8,417.9,-6.2,290,5179,0.00,2.08,0.00,0.000,6,0.000,0.025,2802,1529,3102,0,0,0,0,0,0
$GC,5506,-1.23,-116.8,434.5,-5.1,299,5510,0.00,2.25,0.00,0.000,4,0.000,0.055,2802,237,3100,0,0,0,0,0,0
$GC,5530,-1.23,-116.8,435.9,-5.8,299,5534,0.00,2.08,0.00,0.000,6,0.000,0.025,2803,1526,3100,0,0,0,0,0,0
$STATE,5786,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5787,begin apogee
$GC,5793,-0.31,0.0,450.5,5.8,306,5892,0.82,0.00,96.20,0.833,6,0.067,0.000,2980,1530,2630,0,0,0,0,0,0
$STATE,5893,end apogee,CONTROL_FINISHED_OK
$STATE,5893,begin climb
$GC,5897,1.18,116.8,451.8,0.0,308,6009,1.42,2.35,101.47,0.817,4,0.035,0.030,3312,2877,2152,0,0,0,0,0,0
$GC,6081,1.02,141.5,448.3,6.8,312,6110,0.20,2.40,22.45,0.772,6,0.097,0.041,3273,1501,2052,0,0,0,0,0,0
$GC,6444,0.94,183.9,424.4,6.0,321,6486,0.00,2.35,37.40,0.793,4,0.000,0.058,3273,237,1879,0,0,0,0,0,0
$GC,6538,0.75,183.9,418.0,8.5,323,6543,0.30,2.08,0.00,0.000,6,0.093,0.027,3214,1497,1874,0,0,0,0,0,0
$GC,6868,0.75,184.3,392.2,7.9,331,6872,0.00,2.35,0.00,0.000,4,0.000,0.030,3214,2893,1871,0,0,0,0,0,0
$GC,6893,0.83,184.3,390.1,8.4,331,6897,0.00,2.45,0.00,0.000,6,0.000,0.043,3214,1501,1870,0,0,0,0,0,0
$GC,7234,0.87,184.3,362.7,8.0,340,7238,0.12,2.25,0.00,0.000,4,0.070,0.060,3249,233,1868,0,0,0,0,0,0
$GC,7249,0.83,190.5,361.4,7.6,340,7260,0.00,2.08,4.90,0.554,6,0.000,0.028,3250,1502,1853,0,0,0,0,0,0
$GC,7603,0.82,210.1,335.2,7.0,349,7627,0.00,2.38,19.27,0.739,4,0.000,0.030,3250,2890,1772,0,0,0,0,0,0
$GC,7643,0.84,221.2,332.1,7.4,349,7660,0.00,2.47,11.55,0.688,6,0.000,0.043,3250,1493,1728,0,0,0,0,0,0
$GC,7980,0.87,250.3,307.8,6.6,358,8013,0.00,2.33,26.12,0.729,4,0.000,0.058,3249,235,1608,0,0,0,0,0,0
$GC,8083,0.81,250.3,300.1,8.2,360,8088,0.12,2.10,0.00,0.000,6,0.105,0.028,3226,1506,1604,0,0,0,0,0,0
$GC,8407,0.89,267.5,280.4,7.1,375,8429,0.00,2.30,15.48,0.686,4,0.000,0.057,3225,231,1538,0,0,0,0,0,0
$GC,8477,0.89,270.3,274.3,7.8,378,8481,0.00,2.10,0.00,0.000,6,0.000,0.028,3226,1507,1535,0,0,0,0,0,0
$GC,8808,1.02,323.0,252.8,5.5,394,8863,0.20,2.33,48.85,0.705,4,0.052,0.058,3282,227,1313,0,0,0,0,0,0
$GC,8926,0.92,323.0,242.6,10.3,399,8931,0.15,2.08,0.00,0.000,6,0.098,0.027,3251,1499,1307,0,0,0,0,0,0
$GC,9255,0.97,337.6,219.5,7.2,415,9277,0.00,2.28,13.25,0.625,4,0.000,0.054,3251,232,1251,0,0,0,0,0,0
$GC,9311,0.97,337.6,214.6,9.1,417,9315,0.00,2.08,0.00,0.000,6,0.000,0.026,3252,1513,1249,0,0,0,0,0,0
$GC,9641,1.01,337.6,187.3,8.9,437,9645,0.00,2.25,0.00,0.000,4,0.000,0.054,3251,234,1248,0,0,0,0,0,0
$GC,9698,1.01,337.6,181.3,11.0,441,9702,0.00,2.05,0.00,0.000,6,0.000,0.025,3252,1504,1246,0,0,0,0,0,0
$GC,9969,1.09,355.7,158.6,7.1,462,9992,0.15,2.33,16.23,0.592,4,0.059,0.054,3297,230,1178,0,0,0,0,0,0
$GC,10061,0.99,355.7,148.6,12.9,468,10066,0.15,2.08,0.00,0.000,6,0.094,0.024,3266,1507,1175,0,0,0,0,0,0
$GC,10322,1.03,362.6,127.4,7.6,488,10337,0.00,2.30,6.80,0.479,4,0.000,0.052,3266,239,1150,0,0,0,0,0,0
$GC,10397,1.03,362.6,120.7,10.0,493,10401,0.00,2.03,0.00,0.000,6,0.000,0.024,3266,1510,1149,0,0,0,0,0,0
$GC,10662,1.09,362.6,98.4,8.4,514,10666,0.00,2.25,0.00,0.000,4,0.000,0.023,3266,2881,1149,0,0,0,0,0,0
$GC,10676,1.17,362.6,96.9,8.6,515,10681,0.17,2.40,0.00,0.000,6,0.051,0.036,3319,1488,1149,0,0,0,0,0,0
$GC,10940,1.17,362.6,69.9,9.6,535,10944,0.00,2.17,0.00,0.000,4,0.000,0.051,3319,236,1149,0,0,0,0,0,0
$GC,11067,1.14,362.6,54.6,10.8,544,11072,0.12,2.03,0.00,0.000,6,0.096,0.021,3294,1514,1147,0,0,0,0,0,0
$GC,11329,1.22,376.3,34.4,7.3,564,11347,0.00,2.25,12.95,0.475,4,0.000,0.050,3294,235,1094,0,0,0,0,0,0
$GC,11404,1.22,376.3,28.3,8.3,572,11411,0.00,2.03,0.00,0.000,6,0.000,0.021,3294,1500,1092,0,0,0,0,0,0
$GC,11608,1.30,384.2,12.6,7.5,618,11622,0.17,2.22,7.88,0.419,4,0.050,0.047,3349,228,1062,0,0,0,0,0,0
$GC,11661,1.18,384.2,7.2,11.2,628,11668,0.17,2.03,0.00,0.000,6,0.065,0.021,3308,1503,1061,0,0,0,0,0,0
$STATE,11703,end climb,SURFACE_DEPTH_REACHED
$STATE,11703,begin surface coast
$FINISH,0.9,0.998211
$STATE,11740,end surface coast,CONTROL_FINISHED_OK
$STATE,11740,begin surface
$SM_CCo,11764,21.15,0.466,0,0,957,410.14
$SM_GC,1.69,0.00,0.00,21.15,0.000,0.000,0.466,428,1503,957,-12.06,-0.76,410.14
$IRIDIUM_FIX,2101.76,-15758.18,140100,141458
$TT8_MAMPS,0.029146
$HUMID,62.56
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,21.00
$XPDR_PINGS,0
$24V_AH,23.3,68.179
$10V_AH,10.1,55.191
$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,30.900,142.175,440.800,21.150,0.000,27.636,36.567,178.421,4.500,0.000,40.277,1293.780,7812.065,485.221,2006.756,588.111,0.000,1413.069,0.000,1955.534,0.000,29.254,0.000
$DEVICE_MAMPS,132.691,59.826,832.962,465.569,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,434.526,410.908,904.834,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355760
$DATA_FILE_SIZE,34917,645
$CAP_FILE_SIZE,136364,0
$CFSIZE,260165632,173633536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201010,212328,2112.179,-15756.353,10,2.4,29,9.8