version: 66.06
glider: 139
mission: 8
dive: 755
start: 10 25 110 7 29 4
data:
$ID,139
$MISSION,8
$DIVE,755
$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,-2167207
$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
$GPS1,072207,2106.452,-15742.367,30,2.0,35,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-72.8
$GPS2,072844,2106.518,-15742.312,16,1.9,16,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$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,209.5,20594,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.18,-116.8,0.0,0.0,0,79,0.00,0.00,-59.25,0.000,2,0.000,0.000,425,1445,2593,0,0,0,0,0,0
$GC,82,-1.18,-116.8,3.1,-2.6,11,112,12.70,2.10,-10.38,0.000,4,0.133,0.061,2786,238,3108,0,0,0,0,0,0
$GC,186,-0.93,-116.8,21.8,-15.4,32,193,0.25,2.10,0.00,0.000,6,0.071,0.019,2843,1557,3109,0,0,0,0,0,0
$GC,400,-0.87,-116.8,45.2,-10.7,58,404,0.00,2.25,0.00,0.000,4,0.000,0.021,2843,2929,3110,0,0,0,0,0,0
$GC,440,-0.95,-116.8,49.9,-10.3,61,444,0.00,2.42,0.00,0.000,6,0.000,0.031,2844,1500,3110,0,0,0,0,0,0
$GC,705,-0.95,-116.8,74.7,-8.9,82,709,0.00,2.17,0.00,0.000,4,0.000,0.046,2844,237,3111,0,0,0,0,0,0
$GC,779,-0.95,-116.8,81.3,-8.3,87,782,0.00,2.05,0.00,0.000,6,0.000,0.018,2843,1570,3112,0,0,0,0,0,0
$GC,1039,-0.95,-116.8,99.5,-6.4,107,1043,0.00,2.28,0.00,0.000,4,0.000,0.044,2844,237,3112,0,0,0,0,0,0
$GC,1073,-0.95,-116.8,102.0,-7.4,109,1078,0.00,2.05,0.00,0.000,6,0.000,0.018,2844,1566,3112,0,0,0,0,0,0
$GC,1334,-0.98,-116.8,121.2,-7.7,130,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1566,3113,0,0,0,0,0,0
$GC,1587,-1.02,-116.8,140.8,-7.9,150,1591,0.00,2.28,0.00,0.000,4,0.000,0.044,2844,231,3113,0,0,0,0,0,0
$GC,1638,-1.06,-116.8,145.3,-8.3,154,1643,0.12,2.08,0.00,0.000,6,0.061,0.019,2798,1563,3113,0,0,0,0,0,0
$GC,1907,-1.00,-116.8,170.7,-10.5,175,1911,0.15,2.25,0.00,0.000,4,0.086,0.022,2831,2926,3113,0,0,0,0,0,0
$GC,1933,-1.04,-116.8,173.6,-8.7,177,1937,0.00,2.40,0.00,0.000,6,0.000,0.032,2831,1496,3113,0,0,0,0,0,0
$GC,2196,-1.04,-116.8,195.8,-8.0,198,2197,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1495,3113,0,0,0,0,0,0
$GC,2447,-1.08,-116.8,215.6,-7.7,212,2451,0.00,2.15,0.00,0.000,4,0.000,0.048,2831,230,3113,0,0,0,0,0,0
$GC,2488,-1.08,-116.8,219.4,-8.7,213,2493,0.00,2.08,0.00,0.000,6,0.000,0.020,2831,1563,3113,0,0,0,0,0,0
$GC,2807,-1.12,-116.8,242.1,-6.6,229,2812,0.12,2.30,0.00,0.000,4,0.063,0.048,2787,228,3113,0,0,0,0,0,0
$GC,2868,-1.04,-116.8,247.5,-9.1,231,2874,0.17,2.10,0.00,0.000,6,0.082,0.021,2825,1559,3112,0,0,0,0,0,0
$GC,3188,-1.08,-116.8,271.1,-7.1,247,3193,0.00,2.30,0.00,0.000,4,0.000,0.048,2825,231,3112,0,0,0,0,0,0
$GC,3258,-1.14,-116.8,276.6,-7.9,250,3262,0.10,2.08,0.00,0.000,6,0.072,0.021,2788,1557,3111,0,0,0,0,0,0
$GC,3586,-1.10,-116.8,304.1,-9.2,265,3590,0.10,2.25,0.00,0.000,4,0.102,0.025,2809,2919,3110,0,0,0,0,0,0
$GC,3610,-1.16,-116.8,306.4,-8.1,265,3615,0.00,2.38,0.00,0.000,6,0.000,0.035,2809,1501,3110,0,0,0,0,0,0
$GC,3951,-1.16,-116.8,332.8,-7.8,274,3955,0.00,2.17,0.00,0.000,4,0.000,0.051,2809,228,3108,0,0,0,0,0,0
$GC,4008,-1.16,-116.8,337.1,-8.0,275,4012,0.00,2.10,0.00,0.000,6,0.000,0.022,2809,1547,3108,0,0,0,0,0,0
$GC,4321,-1.16,-116.8,358.7,-6.8,283,4325,0.00,2.17,0.00,0.000,4,0.000,0.026,2809,2875,3107,0,0,0,0,0,0
$GC,4336,-1.21,-116.8,359.7,-6.9,283,4341,0.10,2.33,0.00,0.000,6,0.071,0.037,2770,1502,3106,0,0,0,0,0,0
$GC,4690,-1.15,-116.8,388.8,-8.2,292,4694,0.12,2.30,0.00,0.000,4,0.093,0.026,2797,2874,3105,0,0,0,0,0,0
$GC,4709,-1.15,-116.8,390.6,-7.8,292,4713,0.00,2.35,0.00,0.000,6,0.000,0.038,2797,1493,3105,0,0,0,0,0,0
$GC,5056,-1.15,-116.8,411.9,-5.8,301,5060,0.00,2.20,0.00,0.000,4,0.000,0.054,2796,230,3103,0,0,0,0,0,0
$GC,5093,-1.15,-116.8,414.4,-6.9,301,5098,0.00,2.03,0.00,0.000,6,0.000,0.025,2796,1499,3103,0,0,0,0,0,0
$GC,5424,-1.15,-116.8,436.1,-7.2,310,5428,0.00,2.25,0.00,0.000,4,0.000,0.054,2797,227,3101,0,0,0,0,0,0
$GC,5458,-1.15,-116.8,439.1,-9.3,310,5462,0.00,2.03,0.00,0.000,6,0.000,0.025,2797,1493,3100,0,0,0,0,0,0
$STATE,5587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5588,begin apogee
$GC,5594,-0.31,0.0,450.5,8.6,314,5694,0.85,0.00,96.38,0.832,6,0.064,0.000,2981,1439,2629,0,0,0,0,0,0
$STATE,5695,end apogee,CONTROL_FINISHED_OK
$STATE,5695,begin climb
$GC,5697,1.18,116.8,453.6,0.0,316,5811,1.40,2.20,101.47,0.817,4,0.033,0.054,3311,243,2151,0,0,0,0,0,0
$GC,5892,0.90,144.1,452.0,6.7,320,5923,0.32,1.95,24.33,0.775,6,0.095,0.025,3247,1461,2042,0,0,0,0,0,0
$GC,6246,0.86,185.1,432.0,6.0,329,6289,0.00,2.35,36.62,0.797,4,0.000,0.028,3247,2830,1874,0,0,0,0,0,0
$GC,6314,0.91,226.5,427.8,6.0,330,6359,0.00,2.42,37.80,0.789,6,0.000,0.042,3246,1461,1705,0,0,0,0,0,0
$GC,6705,0.87,226.5,397.9,8.4,340,6709,0.00,2.17,0.00,0.000,4,0.000,0.058,3246,235,1697,0,0,0,0,0,0
$GC,6776,0.77,226.5,390.8,10.1,341,6781,0.15,1.95,0.00,0.000,6,0.104,0.027,3218,1441,1695,0,0,0,0,0,0
$GC,7122,0.81,235.1,364.3,7.5,350,7130,0.00,0.00,6.82,0.632,6,0.000,0.000,3217,1443,1671,0,0,0,0,0,0
$GC,7447,0.88,251.5,340.5,7.2,358,7468,0.12,2.17,15.93,0.727,4,0.070,0.056,3253,232,1604,0,0,0,0,0,0
$GC,7494,0.79,251.5,336.4,9.1,359,7499,0.17,1.98,0.00,0.000,6,0.097,0.028,3219,1443,1601,0,0,0,0,0,0
$GC,7819,0.87,266.5,313.2,7.2,367,7839,0.00,2.22,13.95,0.700,4,0.000,0.057,3219,236,1542,0,0,0,0,0,0
$GC,7902,0.87,266.5,306.2,8.8,368,7906,0.00,1.98,0.00,0.000,6,0.000,0.028,3219,1455,1540,0,0,0,0,0,0
$GC,8221,1.00,317.0,285.3,5.6,382,8272,0.22,2.38,44.92,0.729,4,0.051,0.029,3280,2838,1337,0,0,0,0,0,0
$GC,8299,1.03,317.0,278.8,8.6,385,8303,0.00,2.47,0.00,0.000,6,0.000,0.043,3280,1443,1337,0,0,0,0,0,0
$GC,8615,0.99,317.0,248.4,10.3,400,8619,0.00,2.15,0.00,0.000,4,0.000,0.058,3280,232,1332,0,0,0,0,0,0
$GC,8690,0.89,317.0,238.9,12.9,403,8695,0.17,1.98,0.00,0.000,6,0.091,0.026,3245,1455,1329,0,0,0,0,0,0
$GC,9014,0.94,317.0,211.1,8.0,419,9018,0.00,2.17,0.00,0.000,4,0.000,0.054,3244,228,1329,0,0,0,0,0,0
$GC,9052,0.94,317.0,207.7,8.7,420,9059,0.00,2.00,0.00,0.000,6,0.000,0.026,3244,1443,1327,0,0,0,0,0,0
$GC,9374,1.05,344.0,186.8,6.7,442,9405,0.15,2.22,23.12,0.634,4,0.059,0.054,3289,234,1226,0,0,0,0,0,0
$GC,9433,0.94,344.0,181.5,11.1,446,9437,0.17,2.03,0.00,0.000,6,0.088,0.025,3253,1455,1224,0,0,0,0,0,0
$GC,9704,1.00,344.0,157.6,8.8,467,9705,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1457,1223,0,0,0,0,0,0
$GC,9957,1.07,355.7,138.3,7.4,487,9974,0.12,2.22,11.05,0.549,4,0.066,0.054,3292,234,1178,0,0,0,0,0,0
$GC,10002,0.99,355.7,133.5,10.5,490,10007,0.12,1.98,0.00,0.000,6,0.097,0.025,3266,1462,1176,0,0,0,0,0,0
$GC,10271,1.05,360.7,112.5,7.7,511,10285,0.00,2.28,5.62,0.449,4,0.000,0.022,3267,2830,1158,0,0,0,0,0,0
$GC,10296,1.17,376.0,110.3,7.2,512,10316,0.12,2.42,14.48,0.542,6,0.033,0.037,3313,1449,1096,0,0,0,0,0,0
$GC,10568,1.17,377.2,86.5,7.8,534,10572,0.00,2.12,0.00,0.000,4,0.000,0.051,3313,232,1094,0,0,0,0,0,0
$GC,10634,1.13,377.2,80.8,8.6,539,10638,0.00,1.98,0.00,0.000,6,0.000,0.022,3313,1455,1092,0,0,0,0,0,0
$GC,10907,1.16,379.4,60.4,7.8,560,10916,0.00,2.15,3.92,0.346,4,0.000,0.050,3313,232,1083,0,0,0,0,0,0
$GC,10925,1.16,379.4,58.2,8.5,560,10932,0.00,1.98,0.00,0.000,6,0.000,0.022,3313,1454,1082,0,0,0,0,0,0
$GC,11189,1.20,379.4,34.9,9.2,581,11193,0.00,2.10,0.00,0.000,4,0.000,0.045,3313,226,1082,0,0,0,0,0,0
$GC,11211,1.20,379.4,32.4,9.1,582,11218,0.00,1.98,0.00,0.000,6,0.000,0.021,3313,1463,1082,0,0,0,0,0,0
$GC,11476,1.23,406.6,13.2,6.7,639,11505,0.00,2.17,24.23,0.476,4,0.000,0.048,3313,230,970,0,0,0,0,0,0
$GC,11551,1.23,406.6,8.5,8.3,654,11559,0.00,1.95,0.00,0.000,6,0.000,0.021,3313,1454,968,0,0,0,0,0,0
$STATE,11623,end climb,SURFACE_DEPTH_REACHED
$STATE,11623,begin surface coast
$FINISH,1.0,1.022571
$STATE,11666,end surface coast,CONTROL_FINISHED_OK
$STATE,11666,begin surface
$SM_CCo,11688,3.40,0.283,0,0,957,410.14
$SM_GC,2.57,0.00,0.00,3.40,0.000,0.000,0.283,427,1454,957,-12.07,-1.30,410.14
$IRIDIUM_FIX,2059.45,-15743.60,190100,040406
$TT8_MAMPS,0.029146
$HUMID,63.19
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.3,71.888
$10V_AH,10.0,58.040
$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,30.450,130.200,460.650,3.400,0.000,25.950,31.375,190.637,4.500,0.000,16.824,1309.413,7717.008,477.392,1985.630,595.629,0.000,1388.743,0.000,1958.092,0.000,29.241,0.000
$DEVICE_MAMPS,133.458,91.273,832.195,283.023,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,456.842,436.437,995.277,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355760
$DATA_FILE_SIZE,38123,679
$CAP_FILE_SIZE,133918,0
$CFSIZE,260165632,171601920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,251010,104524,2106.201,-15741.860,32,1.8,49,9.8