version: 66.06
glider: 139
mission: 8
dive: 750
start: 10 24 110 14 36 4
data:
$ID,139
$MISSION,8
$DIVE,750
$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,-2167121.5
$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,1450
$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
$GPS1,142936,2107.973,-15747.221,26,1.8,26,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-72.9
$GPS2,143544,2107.996,-15747.343,11,1.8,11,9.8
$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,108.1,8648,-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,-64.15,0.000,2,0.000,0.000,425,1437,2715,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.4,-3.2,12,116,12.62,2.12,-7.68,0.000,4,0.132,0.062,2783,238,3109,0,0,0,0,0,0
$GC,142,-0.66,-116.8,15.9,-19.5,22,149,0.55,2.10,0.00,0.000,6,0.077,0.019,2902,1549,3110,0,0,0,0,0,0
$GC,344,-0.72,-116.8,33.4,-8.7,62,348,0.00,2.17,0.00,0.000,4,0.000,0.021,2903,2884,3111,0,0,0,0,0,0
$GC,359,-0.81,-116.8,34.8,-8.1,63,364,0.12,2.35,0.00,0.000,6,0.060,0.031,2855,1492,3111,0,0,0,0,0,0
$GC,621,-0.78,-116.8,61.2,-10.6,83,626,0.10,2.15,0.00,0.000,4,0.101,0.045,2878,234,3111,0,0,0,0,0,0
$GC,676,-0.83,-116.8,66.7,-9.3,87,679,0.00,2.00,0.00,0.000,6,0.000,0.018,2878,1509,3111,0,0,0,0,0,0
$GC,943,-0.89,-116.8,89.8,-8.6,108,947,0.00,2.20,0.00,0.000,4,0.000,0.044,2878,231,3112,0,0,0,0,0,0
$GC,977,-0.95,-116.8,92.9,-9.9,110,983,0.12,2.00,0.00,0.000,6,0.029,0.018,2827,1513,3112,0,0,0,0,0,0
$GC,1239,-0.91,-116.8,117.8,-8.8,131,1243,0.12,2.20,0.00,0.000,4,0.091,0.043,2854,237,3113,0,0,0,0,0,0
$GC,1293,-0.91,-116.8,122.3,-8.5,135,1297,0.00,1.95,0.00,0.000,6,0.000,0.019,2854,1495,3113,0,0,0,0,0,0
$GC,1563,-0.96,-116.8,145.3,-8.7,156,1567,0.00,2.20,0.00,0.000,4,0.000,0.021,2854,2872,3113,0,0,0,0,0,0
$GC,1604,-1.09,-116.8,148.8,-7.5,159,1609,0.20,2.28,0.00,0.000,6,0.044,0.029,2786,1500,3113,0,0,0,0,0,0
$GC,1868,-1.01,-116.8,174.0,-9.9,179,1873,0.20,2.15,0.00,0.000,4,0.080,0.043,2829,238,3114,0,0,0,0,0,0
$GC,1915,-1.01,-116.8,178.9,-8.8,182,1922,0.00,1.98,0.00,0.000,6,0.000,0.019,2829,1503,3114,0,0,0,0,0,0
$GC,2179,-1.05,-116.8,197.8,-7.0,203,2183,0.00,2.15,0.00,0.000,4,0.000,0.045,2829,235,3114,0,0,0,0,0,0
$GC,2258,-1.09,-116.8,204.6,-8.4,207,2262,0.00,1.95,0.00,0.000,6,0.000,0.019,2829,1495,3114,0,0,0,0,0,0
$GC,2580,-1.13,-116.8,231.3,-8.0,223,2585,0.12,2.15,0.00,0.000,4,0.062,0.046,2785,238,3114,0,0,0,0,0,0
$GC,2605,-1.07,-116.8,233.8,-9.5,224,2609,0.15,1.98,0.00,0.000,6,0.085,0.020,2817,1504,3114,0,0,0,0,0,0
$GC,2933,-1.07,-116.8,254.3,-5.8,240,2937,0.00,2.17,0.00,0.000,4,0.000,0.047,2818,240,3114,0,0,0,0,0,0
$GC,3016,-1.07,-116.8,259.9,-6.7,243,3022,0.00,1.98,0.00,0.000,6,0.000,0.021,2818,1507,3114,0,0,0,0,0,0
$GC,3337,-1.10,-116.8,281.1,-6.9,259,3341,0.00,2.17,0.00,0.000,4,0.000,0.048,2818,240,3113,0,0,0,0,0,0
$GC,3369,-1.10,-116.8,284.2,-8.1,260,3373,0.00,1.98,0.00,0.000,6,0.000,0.021,2818,1498,3113,0,0,0,0,0,0
$GC,3713,-1.14,-116.8,309.8,-7.7,274,3717,0.00,2.17,0.00,0.000,4,0.000,0.049,2818,240,3111,0,0,0,0,0,0
$GC,3771,-1.18,-116.8,314.4,-7.5,275,3775,0.12,2.00,0.00,0.000,6,0.063,0.022,2776,1508,3111,0,0,0,0,0,0
$GC,4092,-1.15,-116.8,339.3,-7.3,283,4096,0.10,2.20,0.00,0.000,4,0.103,0.051,2798,240,3109,0,0,0,0,0,0
$GC,4113,-1.11,-116.8,340.9,-7.2,283,4117,0.00,2.00,0.00,0.000,6,0.000,0.023,2798,1497,3109,0,0,0,0,0,0
$GC,4463,-1.11,-116.8,365.3,-7.5,292,4467,0.00,2.17,0.00,0.000,4,0.000,0.051,2798,240,3107,0,0,0,0,0,0
$GC,4486,-1.11,-116.8,367.4,-8.6,292,4489,0.00,2.00,0.00,0.000,6,0.000,0.024,2798,1498,3107,0,0,0,0,0,0
$GC,4836,-1.11,-116.8,396.8,-8.4,301,4840,0.00,2.28,0.00,0.000,4,0.000,0.027,2799,2884,3105,0,0,0,0,0,0
$GC,4887,-1.18,-116.8,400.8,-7.4,302,4892,0.00,2.35,0.00,0.000,6,0.000,0.036,2798,1493,3104,0,0,0,0,0,0
$GC,5212,-1.18,-116.8,422.9,-6.7,310,5216,0.00,2.17,0.00,0.000,4,0.000,0.054,2798,232,3103,0,0,0,0,0,0
$GC,5268,-1.18,-116.8,427.1,-7.2,311,5272,0.00,2.03,0.00,0.000,6,0.000,0.025,2798,1504,3102,0,0,0,0,0,0
$STATE,5583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5583,begin apogee
$GC,5591,-0.31,0.0,451.0,7.7,319,5691,0.85,0.00,96.30,0.828,6,0.064,0.000,2983,1442,2629,0,0,0,0,0,0
$STATE,5692,end apogee,CONTROL_FINISHED_OK
$STATE,5692,begin climb
$GC,5694,1.18,116.8,454.1,0.0,321,5806,1.40,2.15,101.00,0.813,4,0.034,0.054,3310,241,2151,0,0,0,0,0,0
$GC,5846,0.86,125.0,453.6,7.5,324,5859,0.35,1.95,7.85,0.661,6,0.095,0.025,3240,1455,2120,0,0,0,0,0,0
$GC,6193,0.83,158.8,431.9,6.4,333,6230,0.00,2.38,30.15,0.785,4,0.000,0.028,3240,2819,1982,0,0,0,0,0,0
$GC,6310,0.84,163.1,423.4,7.7,335,6322,0.00,2.40,5.12,0.572,6,0.000,0.041,3240,1454,1964,0,0,0,0,0,0
$GC,6654,0.83,189.2,399.2,6.7,344,6683,0.00,2.20,24.02,0.772,4,0.000,0.055,3240,236,1857,0,0,0,0,0,0
$GC,6748,0.73,196.2,392.8,7.6,346,6761,0.15,1.95,7.40,0.647,6,0.104,0.027,3212,1444,1829,0,0,0,0,0,0
$GC,7079,0.85,260.6,376.5,5.0,354,7144,0.10,2.42,57.60,0.786,4,0.083,0.028,3241,2833,1565,0,0,0,0,0,0
$GC,7175,0.91,260.6,368.7,8.5,356,7179,0.00,2.45,0.00,0.000,6,0.000,0.042,3241,1450,1565,0,0,0,0,0,0
$GC,7495,0.91,260.6,338.5,9.6,364,7498,0.00,2.17,0.00,0.000,4,0.000,0.058,3241,236,1560,0,0,0,0,0,0
$GC,7543,0.86,260.6,333.2,11.2,365,7546,0.00,2.00,0.00,0.000,6,0.000,0.028,3241,1453,1556,0,0,0,0,0,0
$GC,7869,0.86,260.6,303.6,9.2,373,7873,0.00,2.17,0.00,0.000,4,0.000,0.058,3241,232,1556,0,0,0,0,0,0
$GC,7905,0.79,260.6,300.2,10.4,373,7909,0.00,2.00,0.00,0.000,6,0.000,0.028,3241,1450,1554,0,0,0,0,0,0
$GC,8227,0.82,284.3,275.4,6.8,389,8249,0.00,0.00,19.62,0.701,6,0.000,0.000,3241,1451,1470,0,0,0,0,0,0
$GC,8564,0.87,293.7,251.8,7.5,405,8580,0.00,2.20,9.43,0.624,4,0.000,0.054,3241,229,1431,0,0,0,0,0,0
$GC,8611,0.87,293.7,247.6,8.9,407,8615,0.00,2.03,0.00,0.000,6,0.000,0.028,3241,1445,1429,0,0,0,0,0,0
$GC,8948,0.99,337.9,225.4,5.9,423,8993,0.10,2.22,39.05,0.682,4,0.077,0.055,3274,238,1251,0,0,0,0,0,0
$GC,9009,0.93,337.9,220.5,8.6,426,9013,0.00,2.00,0.00,0.000,6,0.000,0.028,3274,1455,1249,0,0,0,0,0,0
$GC,9338,0.94,344.2,193.9,7.6,444,9353,0.00,2.22,6.35,0.522,4,0.000,0.054,3274,235,1225,0,0,0,0,0,0
$GC,9417,0.94,344.2,186.3,9.6,449,9423,0.00,1.98,0.00,0.000,6,0.000,0.025,3274,1460,1222,0,0,0,0,0,0
$GC,9677,0.96,360.1,167.1,7.2,470,9698,0.00,2.17,14.62,0.590,4,0.000,0.053,3273,235,1161,0,0,0,0,0,0
$GC,9720,0.96,360.1,163.9,8.4,473,9724,0.00,1.98,0.00,0.000,6,0.000,0.025,3274,1454,1159,0,0,0,0,0,0
$GC,9987,0.97,366.3,142.3,7.6,494,10003,0.00,2.20,6.57,0.490,4,0.000,0.052,3273,241,1135,0,0,0,0,0,0
$GC,10037,0.97,366.3,137.9,9.8,497,10041,0.00,2.00,0.00,0.000,6,0.000,0.024,3274,1462,1134,0,0,0,0,0,0
$GC,10302,1.00,366.3,115.3,8.2,518,10306,0.00,2.15,0.00,0.000,4,0.000,0.051,3274,235,1134,0,0,0,0,0,0
$GC,10336,1.00,366.3,112.1,9.4,520,10343,0.00,1.98,0.00,0.000,6,0.000,0.024,3274,1447,1133,0,0,0,0,0,0
$GC,10598,1.13,397.6,94.0,6.5,541,10632,0.00,2.38,27.45,0.547,4,0.000,0.022,3274,2836,1008,0,0,0,0,0,0
$GC,10655,1.31,415.2,89.9,7.1,545,10683,0.28,2.40,16.45,0.523,6,0.040,0.034,3353,1445,936,0,0,0,0,0,0
$GC,10935,1.25,415.2,58.0,11.4,567,10939,0.15,2.10,0.00,0.000,4,0.087,0.050,3320,235,934,0,0,0,0,0,0
$GC,10995,1.25,415.2,51.3,10.1,571,11002,0.00,1.98,0.00,0.000,6,0.000,0.021,3321,1463,932,0,0,0,0,0,0
$GC,11259,1.25,415.2,26.2,11.4,596,11266,0.00,2.25,0.00,0.000,4,0.000,0.021,3321,2825,932,0,0,0,0,0,0
$GC,11281,1.29,415.2,24.1,11.2,599,11287,0.00,2.40,0.00,0.000,6,0.000,0.037,3320,1448,932,0,0,0,0,0,0
$GC,11482,1.29,415.2,5.6,10.0,645,11488,0.00,2.12,0.00,0.000,4,0.000,0.049,3321,232,932,0,0,0,0,0,0
$STATE,11502,end climb,SURFACE_DEPTH_REACHED
$STATE,11502,begin surface coast
$FINISH,1.0,1.001942
$STATE,11531,end surface coast,CONTROL_FINISHED_OK
$STATE,11531,begin surface
$SM_CCo,11617,0.00,0.000,0,0,929,417.26
$SM_GC,1.85,12.43,0.00,0.00,0.024,0.000,0.000,427,1501,929,-12.00,0.03,417.26
$IRIDIUM_FIX,2101.76,-15750.89,180100,111134
$TT8_MAMPS,0.028379
$HUMID,63.58
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.10
$XPDR_PINGS,0
$24V_AH,23.3,71.303
$10V_AH,9.9,57.595
$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,30.350,136.900,469.000,0.000,0.000,29.209,33.628,172.151,4.750,0.000,11.200,1287.194,7647.721,489.563,1981.488,572.759,0.000,1424.686,0.000,1959.449,0.000,32.082,0.000
$DEVICE_MAMPS,131.924,91.273,828.360,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,440.700,419.536,942.166,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,37991,655
$CAP_FILE_SIZE,133322,0
$CFSIZE,260165632,171925504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,241010,175124,2107.829,-15746.786,68,1.7,68,9.8