version: 66.06
glider: 139
mission: 8
dive: 724
start: 10 21 110 0 52 46
data:
$ID,139
$MISSION,8
$DIVE,724
$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,-2166441.5
$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,1500
$C_ROLL_CLIMB,1480
$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
$GPS1,004137,2111.966,-15756.116,39,1.0,39,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-72.6
$GPS2,005226,2111.969,-15756.154,17,1.3,17,9.8
$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,106.7,25553,-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,-64.38,0.000,2,0.000,0.000,428,1483,2767,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.6,-3.8,12,110,12.62,2.17,-6.47,0.000,4,0.131,0.058,2785,230,3108,0,0,0,0,0,0
$GC,124,0.04,-116.8,14.1,-25.1,18,130,1.25,2.12,0.00,0.000,6,0.078,0.020,3056,1561,3110,0,0,0,0,0,0
$GC,327,-0.52,-116.8,31.4,-9.6,62,332,0.52,2.22,0.00,0.000,4,0.044,0.018,2929,2927,3111,0,0,0,0,0,0
$GC,360,-0.89,-116.8,34.7,-8.3,64,367,0.30,2.42,0.00,0.000,6,0.025,0.028,2839,1498,3111,0,0,0,0,0,0
$GC,622,-0.82,-116.8,61.8,-12.2,85,626,0.15,2.15,0.00,0.000,4,0.087,0.044,2871,240,3111,0,0,0,0,0,0
$GC,694,-0.86,-116.8,70.0,-10.5,90,698,0.00,2.08,0.00,0.000,6,0.000,0.018,2871,1570,3112,0,0,0,0,0,0
$GC,961,-0.90,-116.8,93.6,-7.6,111,965,0.00,2.22,0.00,0.000,4,0.000,0.021,2871,2928,3112,0,0,0,0,0,0
$GC,977,-0.98,-116.8,95.1,-7.9,112,982,0.15,2.38,0.00,0.000,6,0.053,0.031,2815,1502,3112,0,0,0,0,0,0
$GC,1238,-0.94,-116.8,120.5,-10.0,132,1243,0.12,2.15,0.00,0.000,4,0.091,0.045,2843,237,3113,0,0,0,0,0,0
$GC,1258,-0.94,-116.8,122.8,-9.7,133,1264,0.00,2.08,0.00,0.000,6,0.000,0.018,2843,1573,3112,0,0,0,0,0,0
$GC,1521,-0.99,-116.8,142.5,-7.4,154,1522,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1578,3113,0,0,0,0,0,0
$GC,1772,-1.03,-116.8,160.1,-6.5,174,1776,0.00,2.28,0.00,0.000,4,0.000,0.044,2843,236,3113,0,0,0,0,0,0
$GC,1839,-1.08,-116.8,165.5,-8.4,179,1843,0.12,2.08,0.00,0.000,6,0.062,0.019,2799,1573,3113,0,0,0,0,0,0
$GC,2110,-1.04,-116.8,189.3,-9.0,200,2115,0.12,2.22,0.00,0.000,4,0.092,0.022,2826,2929,3113,0,0,0,0,0,0
$GC,2125,-1.04,-116.8,191.1,-9.1,201,2129,0.00,2.40,0.00,0.000,6,0.000,0.031,2826,1495,3113,0,0,0,0,0,0
$GC,2390,-1.04,-116.8,212.3,-8.1,217,2391,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1495,3113,0,0,0,0,0,0
$GC,2700,-1.04,-116.8,236.5,-7.5,232,2704,0.00,2.12,0.00,0.000,4,0.000,0.047,2826,237,3113,0,0,0,0,0,0
$GC,2736,-1.04,-116.8,239.7,-8.4,233,2743,0.00,2.08,0.00,0.000,6,0.000,0.020,2826,1562,3113,0,0,0,0,0,0
$GC,3055,-1.09,-116.8,262.6,-7.6,249,3059,0.00,2.30,0.00,0.000,4,0.000,0.047,2826,230,3112,0,0,0,0,0,0
$GC,3101,-1.14,-116.8,266.6,-8.6,251,3106,0.10,2.10,0.00,0.000,6,0.073,0.021,2789,1558,3112,0,0,0,0,0,0
$GC,3435,-1.11,-116.8,300.6,-10.0,267,3439,0.00,2.22,0.00,0.000,4,0.000,0.025,2789,2923,3111,0,0,0,0,0,0
$GC,3455,-1.11,-116.8,302.9,-9.5,267,3459,0.00,2.42,0.00,0.000,6,0.000,0.035,2789,1498,3111,0,0,0,0,0,0
$GC,3805,-1.07,-116.8,330.9,-7.4,276,3810,0.12,2.17,0.00,0.000,4,0.093,0.050,2816,234,3109,0,0,0,0,0,0
$GC,3842,-1.11,-116.8,333.1,-6.6,276,3846,0.00,2.10,0.00,0.000,6,0.000,0.022,2816,1556,3109,0,0,0,0,0,0
$GC,4175,-1.16,-116.8,350.3,-5.3,284,4179,0.00,2.25,0.00,0.000,4,0.000,0.025,2816,2927,3107,0,0,0,0,0,0
$GC,4199,-1.27,-116.8,352.1,-7.1,284,4204,0.20,2.42,0.00,0.000,6,0.047,0.035,2753,1503,3107,0,0,0,0,0,0
$GC,4545,-1.18,-116.8,381.7,-8.4,293,4549,0.20,2.17,0.00,0.000,4,0.083,0.050,2795,235,3104,0,0,0,0,0,0
$GC,4569,-1.13,-116.8,384.0,-7.7,293,4573,0.00,2.10,0.00,0.000,6,0.000,0.023,2795,1553,3104,0,0,0,0,0,0
$GC,4917,-1.13,-116.8,409.8,-7.8,302,4921,0.00,2.30,0.00,0.000,4,0.000,0.052,2795,228,3102,0,0,0,0,0,0
$GC,4940,-1.13,-116.8,411.9,-8.6,302,4944,0.00,2.10,0.00,0.000,6,0.000,0.024,2795,1550,3102,0,0,0,0,0,0
$GC,5281,-1.13,-116.8,438.9,-7.9,311,5285,0.00,2.20,0.00,0.000,4,0.000,0.028,2795,2885,3100,0,0,0,0,0,0
$GC,5301,-1.18,-116.8,440.5,-8.3,311,5305,0.00,2.38,0.00,0.000,6,0.000,0.039,2795,1494,3100,0,0,0,0,0,0
$STATE,5445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5445,begin apogee
$GC,5451,-0.31,0.0,452.0,7.7,315,5551,0.85,0.00,96.70,0.822,6,0.066,0.000,2980,1493,2629,0,0,0,0,0,0
$STATE,5551,end apogee,CONTROL_FINISHED_OK
$STATE,5552,begin climb
$GC,5554,1.18,116.8,454.0,0.0,317,5667,1.42,2.38,101.65,0.808,4,0.035,0.028,3313,2864,2152,0,0,0,0,0,0
$GC,5715,1.02,155.0,451.8,6.2,320,5756,0.20,2.42,34.75,0.782,6,0.094,0.040,3274,1478,1996,0,0,0,0,0,0
$GC,6097,0.89,155.0,420.6,8.1,330,6102,0.15,2.33,0.00,0.000,4,0.104,0.029,3244,2863,1987,0,0,0,0,0,0
$GC,6217,0.89,155.0,411.4,8.3,332,6221,0.00,2.42,0.00,0.000,6,0.000,0.042,3244,1481,1986,0,0,0,0,0,0
$GC,6559,0.88,184.3,387.9,6.6,341,6591,0.00,2.25,24.80,0.766,4,0.000,0.057,3244,230,1877,0,0,0,0,0,0
$GC,6624,0.77,184.3,382.7,8.8,342,6629,0.12,2.05,0.00,0.000,6,0.108,0.028,3221,1471,1874,0,0,0,0,0,0
$GC,6971,0.83,234.0,362.2,5.7,351,7023,0.00,2.25,44.78,0.775,4,0.000,0.056,3220,236,1674,0,0,0,0,0,0
$GC,7116,0.83,234.0,351.5,7.9,354,7120,0.00,2.03,0.00,0.000,6,0.000,0.028,3220,1480,1668,0,0,0,0,0,0
$GC,7431,0.89,238.2,329.1,7.7,362,7436,0.10,2.35,0.00,0.000,4,0.078,0.029,3252,2866,1667,0,0,0,0,0,0
$GC,7470,0.94,238.2,325.6,8.0,362,7476,0.00,2.42,0.00,0.000,6,0.000,0.042,3251,1479,1666,0,0,0,0,0,0
$GC,7803,0.96,261.1,302.5,6.9,371,7831,0.00,2.28,23.33,0.720,4,0.000,0.058,3252,230,1564,0,0,0,0,0,0
$GC,7890,0.93,271.0,296.3,7.4,373,7906,0.00,2.08,9.55,0.643,6,0.000,0.028,3252,1493,1525,0,0,0,0,0,0
$GC,8230,1.00,327.0,276.1,5.4,390,8287,0.00,2.28,50.17,0.716,4,0.000,0.055,3252,232,1294,0,0,0,0,0,0
$GC,8328,1.00,327.0,269.3,8.5,394,8332,0.00,2.05,0.00,0.000,6,0.000,0.027,3252,1477,1291,0,0,0,0,0,0
$GC,8647,1.04,327.0,240.9,9.6,409,8651,0.10,2.20,0.00,0.000,4,0.077,0.056,3283,236,1289,0,0,0,0,0,0
$GC,8713,0.96,327.0,232.5,12.5,412,8718,0.12,2.05,0.00,0.000,6,0.099,0.026,3259,1492,1286,0,0,0,0,0,0
$GC,9047,1.00,331.1,205.5,7.7,428,9048,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1496,1286,0,0,0,0,0,0
$GC,9367,1.05,331.1,177.9,8.8,451,9371,0.00,2.20,0.00,0.000,4,0.000,0.053,3258,232,1286,0,0,0,0,0,0
$GC,9410,1.05,331.1,173.4,11.5,454,9413,0.00,2.00,0.00,0.000,6,0.000,0.025,3258,1482,1284,0,0,0,0,0,0
$GC,9676,1.10,334.8,151.6,7.7,475,9691,0.12,2.25,6.35,0.487,4,0.064,0.051,3299,238,1264,0,0,0,0,0,0
$GC,9724,1.00,334.8,146.6,11.3,478,9728,0.15,2.00,0.00,0.000,6,0.093,0.023,3268,1492,1262,0,0,0,0,0,0
$GC,9992,1.06,343.0,126.9,7.5,499,10007,0.00,2.22,8.75,0.513,4,0.000,0.050,3268,228,1230,0,0,0,0,0,0
$GC,10046,1.08,355.7,122.8,7.3,502,10065,0.00,2.03,12.45,0.531,6,0.000,0.022,3268,1485,1178,0,0,0,0,0,0
$GC,10318,1.23,396.2,106.2,6.1,524,10360,0.22,2.22,35.15,0.555,4,0.044,0.048,3334,234,1013,0,0,0,0,0,0
$GC,10398,1.10,396.2,98.8,12.4,529,10403,0.22,1.98,0.00,0.000,6,0.081,0.022,3288,1483,1010,0,0,0,0,0,0
$GC,10660,1.19,396.2,75.1,8.5,549,10664,0.00,2.17,0.00,0.000,4,0.000,0.049,3287,231,1009,0,0,0,0,0,0
$GC,10689,1.23,396.2,72.1,9.7,551,10693,0.12,2.00,0.00,0.000,6,0.062,0.021,3331,1492,1008,0,0,0,0,0,0
$GC,10952,1.23,396.2,46.2,9.8,571,10956,0.00,2.20,0.00,0.000,4,0.000,0.048,3331,227,1007,0,0,0,0,0,0
$GC,10992,1.15,396.2,41.7,12.2,574,10997,0.15,1.95,0.00,0.000,6,0.089,0.021,3299,1484,1007,0,0,0,0,0,0
$GC,11258,1.23,396.2,19.0,8.5,614,11265,0.00,2.20,0.00,0.000,4,0.000,0.048,3299,233,1007,0,0,0,0,0,0
$GC,11320,1.23,396.2,13.0,10.3,627,11327,0.00,1.98,0.00,0.000,6,0.000,0.021,3299,1484,1007,0,0,0,0,0,0
$STATE,11448,end climb,SURFACE_DEPTH_REACHED
$STATE,11448,begin surface coast
$FINISH,0.8,1.000199
$STATE,11479,end surface coast,CONTROL_FINISHED_OK
$STATE,11479,begin surface
$SM_CCo,11502,11.25,0.428,0,0,958,410.14
$SM_GC,1.75,0.00,0.00,11.25,0.000,0.000,0.428,428,1484,958,-12.07,-0.45,410.14
$IRIDIUM_FIX,2104.07,-15758.18,150100,000033
$TT8_MAMPS,0.029146
$HUMID,62.20
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.3,68.407
$10V_AH,10.0,55.369
$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,32.400,131.650,448.425,11.250,0.000,57.910,64.163,316.107,4.500,0.000,17.901,1301.468,7641.953,476.409,1952.926,785.613,0.000,1372.649,0.000,1927.079,0.000,29.266,0.000
$DEVICE_MAMPS,131.157,58.292,822.224,427.986,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,445.906,424.201,969.804,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,38057,663
$CAP_FILE_SIZE,136159,0
$CFSIZE,260165632,173502464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211010,040601,2111.790,-15755.679,42,1.2,42,9.8