version: 66.06
glider: 139
mission: 8
dive: 760
start: 10 26 110 0 32 49
data:
$ID,139
$MISSION,8
$DIVE,760
$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,-2167322.8
$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
$GPS1,001906,2103.480,-15744.436,90,1.0,90,9.8
$_CALLS,2
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-70.8
$GPS2,003231,2103.502,-15744.491,15,1.1,32,9.8
$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,212.1,13899,-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,-64.15,0.000,2,0.000,0.000,431,1449,2767,0,0,0,0,0,0
$GC,87,-1.18,-116.8,3.7,-4.1,12,112,12.65,2.10,-6.30,0.000,4,0.133,0.055,2784,230,3108,0,0,0,0,0,0
$GC,227,-0.98,-116.8,28.6,-12.5,42,234,0.20,2.12,0.00,0.000,6,0.073,0.018,2831,1551,3110,0,0,0,0,0,0
$GC,433,-0.89,-116.8,50.0,-10.2,59,437,0.12,2.30,0.00,0.000,4,0.100,0.044,2857,236,3110,0,0,0,0,0,0
$GC,492,-0.89,-116.8,56.8,-10.5,63,499,0.00,2.08,0.00,0.000,6,0.000,0.018,2857,1560,3111,0,0,0,0,0,0
$GC,754,-0.93,-116.8,80.1,-7.4,84,758,0.00,2.22,0.00,0.000,4,0.000,0.020,2857,2927,3111,0,0,0,0,0,0
$GC,783,-1.03,-116.8,82.4,-7.7,86,788,0.15,2.38,0.00,0.000,6,0.053,0.029,2805,1498,3111,0,0,0,0,0,0
$GC,1045,-0.97,-116.8,106.4,-9.2,106,1050,0.15,2.15,0.00,0.000,4,0.087,0.044,2837,236,3112,0,0,0,0,0,0
$GC,1093,-0.97,-116.8,110.7,-7.8,109,1098,0.00,2.08,0.00,0.000,6,0.000,0.018,2837,1577,3112,0,0,0,0,0,0
$GC,1353,-0.97,-116.8,131.6,-9.2,130,1357,0.00,2.28,0.00,0.000,4,0.000,0.044,2837,239,3112,0,0,0,0,0,0
$GC,1385,-0.97,-116.8,135.2,-10.6,132,1392,0.00,2.08,0.00,0.000,6,0.000,0.019,2837,1563,3112,0,0,0,0,0,0
$GC,1645,-0.97,-116.8,158.7,-8.8,153,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1565,3112,0,0,0,0,0,0
$GC,1899,-0.97,-116.8,178.7,-7.4,173,1904,0.00,2.25,0.00,0.000,4,0.000,0.044,2837,240,3112,0,0,0,0,0,0
$GC,1954,-0.97,-116.8,183.4,-7.9,177,1958,0.00,2.03,0.00,0.000,6,0.000,0.020,2837,1560,3112,0,0,0,0,0,0
$GC,2220,-1.01,-116.8,204.9,-9.2,196,2224,0.00,2.22,0.00,0.000,4,0.000,0.022,2837,2931,3112,0,0,0,0,0,0
$GC,2248,-1.11,-116.8,208.1,-10.1,197,2253,0.15,2.40,0.00,0.000,6,0.053,0.031,2789,1499,3112,0,0,0,0,0,0
$GC,2578,-1.05,-116.8,237.7,-7.4,213,2583,0.15,2.17,0.00,0.000,4,0.086,0.047,2822,237,3111,0,0,0,0,0,0
$GC,2649,-1.05,-116.8,242.4,-5.5,216,2653,0.00,2.08,0.00,0.000,6,0.000,0.020,2821,1563,3111,0,0,0,0,0,0
$GC,2985,-1.05,-116.8,263.1,-7.5,232,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1567,3111,0,0,0,0,0,0
$GC,3295,-1.05,-116.8,284.1,-7.2,247,3299,0.00,2.28,0.00,0.000,4,0.000,0.047,2821,237,3110,0,0,0,0,0,0
$GC,3340,-1.05,-116.8,287.1,-6.4,249,3344,0.00,2.10,0.00,0.000,6,0.000,0.021,2821,1567,3109,0,0,0,0,0,0
$GC,3674,-1.09,-116.8,307.7,-6.2,262,3678,0.00,2.33,0.00,0.000,4,0.000,0.048,2821,229,3108,0,0,0,0,0,0
$GC,3730,-1.09,-116.8,311.9,-7.9,263,3733,0.00,2.10,0.00,0.000,6,0.000,0.021,2821,1552,3108,0,0,0,0,0,0
$GC,4050,-1.12,-116.8,331.6,-5.8,271,4054,0.00,2.28,0.00,0.000,4,0.000,0.049,2821,235,3106,0,0,0,0,0,0
$GC,4093,-1.12,-116.8,334.6,-6.6,272,4097,0.00,2.10,0.00,0.000,6,0.000,0.022,2821,1555,3106,0,0,0,0,0,0
$GC,4421,-1.17,-116.8,353.3,-5.4,280,4425,0.12,2.33,0.00,0.000,4,0.064,0.051,2778,233,3103,0,0,0,0,0,0
$GC,4484,-1.10,-116.8,357.9,-7.6,281,4488,0.15,2.10,0.00,0.000,6,0.086,0.023,2811,1552,3104,0,0,0,0,0,0
$GC,4798,-1.15,-116.8,378.7,-7.0,289,4802,0.00,2.28,0.00,0.000,4,0.000,0.051,2811,237,3102,0,0,0,0,0,0
$GC,4847,-1.19,-116.8,382.8,-8.5,290,4851,0.00,2.10,0.00,0.000,6,0.000,0.023,2811,1552,3102,0,0,0,0,0,0
$GC,5174,-1.23,-116.8,405.9,-6.2,298,5179,0.12,2.30,0.00,0.000,4,0.064,0.053,2769,238,3100,0,0,0,0,0,0
$GC,5210,-1.15,-116.8,408.5,-8.0,298,5214,0.12,2.08,0.00,0.000,6,0.094,0.024,2798,1540,3100,0,0,0,0,0,0
$GC,5541,-1.15,-116.8,429.5,-6.4,306,5545,0.00,2.28,0.00,0.000,4,0.000,0.054,2797,233,3098,0,0,0,0,0,0
$GC,5565,-1.15,-116.8,431.3,-7.9,306,5568,0.00,2.03,0.00,0.000,6,0.000,0.025,2796,1500,3098,0,0,0,0,0,0
$STATE,5861,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5861,begin apogee
$GC,5869,-0.31,0.0,452.0,7.0,314,5968,0.85,0.00,95.55,0.832,6,0.064,0.000,2981,1439,2629,0,0,0,0,0,0
$STATE,5969,end apogee,CONTROL_FINISHED_OK
$STATE,5969,begin climb
$GC,5972,1.18,116.8,454.8,0.0,316,6086,1.42,2.40,101.30,0.816,4,0.032,0.027,3312,2837,2152,0,0,0,0,0,0
$GC,6093,1.06,188.5,455.8,4.7,319,6164,0.15,2.42,62.97,0.802,6,0.107,0.040,3284,1459,1860,0,0,0,0,0,0
$GC,6485,0.91,188.5,419.1,9.9,329,6487,0.17,0.00,0.00,0.000,6,0.102,0.000,3250,1459,1851,0,0,0,0,0,0
$GC,6809,0.85,198.9,393.7,7.4,337,6822,0.00,2.17,8.38,0.674,4,0.000,0.056,3250,236,1818,0,0,0,0,0,0
$GC,6832,0.76,202.5,391.7,7.7,337,6842,0.17,2.00,4.65,0.537,6,0.102,0.028,3216,1445,1804,0,0,0,0,0,0
$GC,7178,0.80,202.7,366.3,7.9,346,7179,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1445,1801,0,0,0,0,0,0
$GC,7500,0.88,238.3,342.9,6.3,354,7542,0.12,2.20,32.65,0.765,4,0.071,0.056,3253,237,1657,0,0,0,0,0,0
$GC,7569,0.79,238.3,338.1,8.3,355,7574,0.15,2.00,0.00,0.000,6,0.102,0.028,3224,1450,1654,0,0,0,0,0,0
$GC,7915,0.91,293.6,318.9,5.4,364,7972,0.10,2.22,48.88,0.755,4,0.079,0.055,3255,231,1431,0,0,0,0,0,0
$GC,8005,0.85,293.6,310.8,9.9,366,8009,0.00,2.03,0.00,0.000,6,0.000,0.028,3254,1451,1427,0,0,0,0,0,0
$GC,8341,0.85,293.6,282.7,8.1,379,8345,0.00,2.17,0.00,0.000,4,0.000,0.057,3255,235,1424,0,0,0,0,0,0
$GC,8380,0.78,293.6,279.0,9.8,380,8387,0.12,2.03,0.00,0.000,6,0.081,0.028,3225,1457,1422,0,0,0,0,0,0
$GC,8696,0.90,312.4,255.6,7.0,396,8719,0.00,2.22,15.80,0.672,4,0.000,0.056,3225,242,1355,0,0,0,0,0,0
$GC,8746,0.94,312.4,251.6,8.9,398,8750,0.12,2.00,0.00,0.000,6,0.070,0.027,3262,1460,1353,0,0,0,0,0,0
$GC,9075,0.94,312.4,222.7,8.5,414,9076,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1460,1352,0,0,0,0,0,0
$GC,9388,1.00,334.5,201.1,6.9,429,9415,0.00,2.25,19.92,0.638,4,0.000,0.054,3262,231,1265,0,0,0,0,0,0
$GC,9435,1.00,334.5,196.6,10.0,432,9438,0.00,2.00,0.00,0.000,6,0.000,0.026,3262,1449,1263,0,0,0,0,0,0
$GC,9703,1.05,341.7,174.3,7.6,453,9712,0.00,0.00,7.18,0.529,6,0.000,0.000,3262,1454,1237,0,0,0,0,0,0
$GC,9964,1.12,350.8,155.1,7.5,474,9980,0.15,2.17,9.57,0.548,4,0.058,0.051,3307,228,1199,0,0,0,0,0,0
$GC,10012,1.02,350.8,150.0,11.5,477,10016,0.17,2.03,0.00,0.000,6,0.090,0.024,3272,1464,1197,0,0,0,0,0,0
$GC,10285,1.07,350.8,129.0,8.3,498,10291,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1469,1196,0,0,0,0,0,0
$GC,10547,1.12,350.8,103.0,10.0,519,10551,0.10,2.17,0.00,0.000,4,0.074,0.051,3306,235,1196,0,0,0,0,0,0
$GC,10573,1.07,350.8,99.7,12.3,521,10578,0.10,1.92,0.00,0.000,6,0.106,0.023,3285,1456,1195,0,0,0,0,0,0
$GC,10844,1.19,394.7,82.0,5.9,542,10888,0.10,2.35,37.92,0.545,4,0.074,0.023,3321,2831,1019,0,0,0,0,0,0
$GC,10904,1.19,394.7,77.5,8.4,546,10908,0.00,2.40,0.00,0.000,6,0.000,0.035,3321,1448,1019,0,0,0,0,0,0
$GC,11168,1.19,394.7,53.0,9.3,567,11172,0.00,2.10,0.00,0.000,4,0.000,0.050,3321,229,1017,0,0,0,0,0,0
$GC,11224,1.14,394.7,47.5,9.3,571,11229,0.10,1.95,0.00,0.000,6,0.104,0.021,3300,1457,1015,0,0,0,0,0,0
$GC,11490,1.19,394.7,24.0,9.7,601,11497,0.00,2.15,0.00,0.000,4,0.000,0.048,3300,239,1015,0,0,0,0,0,0
$GC,11555,1.19,394.7,16.9,9.6,615,11561,0.00,1.92,0.00,0.000,6,0.000,0.020,3300,1448,1014,0,0,0,0,0,0
$GC,11759,1.34,461.6,3.4,4.9,661,11768,0.17,0.00,5.53,0.370,2,0.050,0.000,3356,1449,997,0,0,0,0,0,0
$STATE,11768,end climb,SURFACE_DEPTH_REACHED
$STATE,11768,begin surface coast
$FINISH,0.8,1.022153
$STATE,11833,end surface coast,CONTROL_FINISHED_OK
$STATE,11833,begin surface
$SM_CCo,11856,7.93,0.407,0,0,957,410.14
$SM_GC,1.68,0.00,0.00,7.93,0.000,0.000,0.407,427,1447,957,-12.07,-1.50,410.14
$IRIDIUM_FIX,2054.83,-15746.61,200100,000005
$TT8_MAMPS,0.029146
$HUMID,62.40
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,21.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,421.5,69.9
$24V_AH,23.3,72.510
$10V_AH,10.0,58.485
$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,31.050,116.975,450.300,7.925,0.000,59.780,74.880,443.239,5.000,0.000,33.096,1297.678,8021.737,471.590,1950.024,924.061,0.000,1356.552,0.000,1915.075,0.000,30.729,0.000
$DEVICE_MAMPS,132.691,90.506,832.195,407.277,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,455.725,436.378,980.324,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355808
$DATA_FILE_SIZE,38115,677
$CAP_FILE_SIZE,135637,0
$CFSIZE,260165632,171286528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261010,035146,2101.836,-15746.071,13,7.4,32,9.8