version: 66.06
glider: 139
mission: 8
dive: 767
start: 10 27 110 0 51 56
data:
$ID,139
$MISSION,8
$DIVE,767
$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,-2167494
$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
$GPS1,004030,2058.719,-15749.669,43,1.1,43,9.8
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-72.0
$GPS2,005137,2058.656,-15749.749,14,1.4,19,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$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,300.3,27817,-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,-116.8,0.0,0.0,0,78,0.00,0.00,-58.95,0.000,2,0.000,0.000,429,1459,2581,0,0,0,0,0,0
$GC,81,-1.18,-116.8,3.1,-3.2,11,111,12.52,2.12,-10.73,0.000,4,0.129,0.058,2784,232,3107,0,0,0,0,0,0
$GC,207,-0.95,-116.8,26.3,-15.3,37,213,0.22,2.12,0.00,0.000,6,0.074,0.019,2843,1559,3109,0,0,0,0,0,0
$GC,408,-0.89,-116.8,46.9,-9.8,57,412,0.00,2.25,0.00,0.000,4,0.000,0.021,2843,2926,3109,0,0,0,0,0,0
$GC,440,-0.92,-116.8,49.9,-8.1,59,447,0.00,2.42,0.00,0.000,6,0.000,0.031,2843,1506,3109,0,0,0,0,0,0
$GC,700,-0.92,-116.8,74.6,-9.3,80,704,0.00,2.17,0.00,0.000,4,0.000,0.044,2843,236,3110,0,0,0,0,0,0
$GC,753,-0.92,-116.8,79.3,-8.5,84,757,0.00,2.05,0.00,0.000,6,0.000,0.018,2843,1566,3110,0,0,0,0,0,0
$GC,1017,-0.92,-116.8,101.8,-8.0,105,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1570,3110,0,0,0,0,0,0
$GC,1271,-0.92,-116.8,125.3,-10.2,125,1275,0.00,2.30,0.00,0.000,4,0.000,0.044,2843,232,3111,0,0,0,0,0,0
$GC,1325,-0.92,-116.8,131.1,-9.5,129,1329,0.00,2.05,0.00,0.000,6,0.000,0.019,2843,1566,3111,0,0,0,0,0,0
$GC,1589,-0.95,-116.8,148.1,-5.2,149,1593,0.00,2.28,0.00,0.000,4,0.000,0.044,2844,237,3111,0,0,0,0,0,0
$GC,1647,-0.99,-116.8,152.1,-6.7,153,1651,0.00,2.05,0.00,0.000,6,0.000,0.019,2843,1565,3111,0,0,0,0,0,0
$GC,1917,-1.02,-116.8,170.6,-6.7,174,1918,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1566,3111,0,0,0,0,0,0
$GC,2169,-1.06,-116.8,188.7,-7.1,194,2174,0.12,2.30,0.00,0.000,4,0.061,0.045,2797,237,3111,0,0,0,0,0,0
$GC,2245,-1.00,-116.8,195.7,-9.2,199,2251,0.17,2.08,0.00,0.000,6,0.080,0.019,2836,1561,3111,0,0,0,0,0,0
$GC,2501,-1.00,-116.8,212.3,-6.9,214,2505,0.00,2.28,0.00,0.000,4,0.000,0.045,2836,231,3111,0,0,0,0,0,0
$GC,2538,-1.00,-116.8,215.7,-8.8,215,2544,0.00,2.08,0.00,0.000,6,0.000,0.020,2836,1563,3111,0,0,0,0,0,0
$GC,2857,-1.05,-116.8,236.5,-5.2,231,2861,0.00,2.22,0.00,0.000,4,0.000,0.023,2836,2922,3111,0,0,0,0,0,0
$GC,2872,-1.13,-116.8,237.6,-5.6,231,2878,0.15,2.40,0.00,0.000,6,0.054,0.032,2780,1502,3111,0,0,0,0,0,0
$GC,3193,-1.06,-116.8,261.8,-7.4,247,3197,0.17,2.17,0.00,0.000,4,0.082,0.047,2818,230,3110,0,0,0,0,0,0
$GC,3227,-1.09,-116.8,264.8,-7.3,248,3231,0.00,2.10,0.00,0.000,6,0.000,0.021,2819,1563,3110,0,0,0,0,0,0
$GC,3545,-1.14,-116.8,288.9,-8.2,263,3546,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1568,3109,0,0,0,0,0,0
$GC,3872,-1.18,-116.8,310.8,-6.3,275,3876,0.12,2.30,0.00,0.000,4,0.063,0.049,2775,235,3107,0,0,0,0,0,0
$GC,3935,-1.11,-116.8,317.2,-10.7,276,3939,0.15,2.08,0.00,0.000,6,0.086,0.022,2808,1547,3107,0,0,0,0,0,0
$GC,4287,-1.11,-116.8,344.3,-7.5,285,4291,0.00,2.30,0.00,0.000,4,0.000,0.051,2808,229,3105,0,0,0,0,0,0
$GC,4348,-1.11,-116.8,349.7,-8.6,286,4352,0.00,2.03,0.00,0.000,6,0.000,0.023,2808,1496,3105,0,0,0,0,0,0
$GC,4663,-1.15,-116.8,370.9,-6.6,294,4668,0.00,2.28,0.00,0.000,4,0.000,0.027,2808,2888,3103,0,0,0,0,0,0
$GC,4734,-1.24,-116.8,375.7,-6.4,295,4739,0.12,2.35,0.00,0.000,6,0.062,0.037,2766,1499,3103,0,0,0,0,0,0
$GC,5078,-1.18,-116.8,404.1,-8.6,304,5083,0.12,2.20,0.00,0.000,4,0.095,0.054,2792,234,3100,0,0,0,0,0,0
$GC,5112,-1.18,-116.8,407.3,-8.9,304,5116,0.00,2.05,0.00,0.000,6,0.000,0.025,2792,1509,3100,0,0,0,0,0,0
$GC,5444,-1.18,-116.8,432.0,-7.0,312,5449,0.00,2.28,0.00,0.000,4,0.000,0.028,2792,2881,3098,0,0,0,0,0,0
$GC,5460,-1.18,-116.8,433.0,-7.0,312,5464,0.00,2.35,0.00,0.000,6,0.000,0.039,2792,1503,3098,0,0,0,0,0,0
$STATE,5726,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5726,begin apogee
$GC,5733,-0.31,0.0,451.2,7.0,319,5831,0.88,0.00,95.47,0.831,6,0.064,0.000,2982,1434,2630,0,0,0,0,0,0
$STATE,5832,end apogee,CONTROL_FINISHED_OK
$STATE,5832,begin climb
$GC,5835,1.18,116.8,454.4,0.0,321,5944,1.40,0.00,101.32,0.815,6,0.035,0.000,3311,1434,2153,0,0,0,0,0,0
$GC,6243,1.04,187.3,442.9,4.7,331,6314,0.17,2.45,61.20,0.805,4,0.100,0.029,3277,2839,1866,0,0,0,0,0,0
$GC,6362,0.98,187.3,435.3,8.3,333,6366,0.00,2.45,0.00,0.000,6,0.000,0.044,3277,1459,1865,0,0,0,0,0,0
$GC,6698,0.86,187.3,405.6,9.7,342,6703,0.20,2.33,0.00,0.000,4,0.093,0.028,3237,2837,1858,0,0,0,0,0,0
$GC,6723,0.86,187.3,403.1,9.3,342,6728,0.00,2.45,0.00,0.000,6,0.000,0.043,3237,1446,1857,0,0,0,0,0,0
$GC,7064,0.88,208.6,376.1,6.9,351,7088,0.00,2.22,18.30,0.751,4,0.000,0.058,3236,235,1779,0,0,0,0,0,0
$GC,7122,0.84,236.7,372.4,6.6,352,7154,0.00,1.98,26.10,0.762,6,0.000,0.027,3236,1450,1664,0,0,0,0,0,0
$GC,7482,0.88,271.5,351.0,6.3,361,7519,0.00,2.40,30.62,0.762,4,0.000,0.029,3236,2827,1522,0,0,0,0,0,0
$GC,7540,0.95,279.8,346.8,7.5,362,7556,0.00,2.45,8.85,0.658,6,0.000,0.044,3236,1448,1488,0,0,0,0,0,0
$GC,7897,0.95,279.8,316.7,8.0,371,7901,0.00,2.15,0.00,0.000,4,0.000,0.058,3236,226,1483,0,0,0,0,0,0
$GC,7960,0.95,279.8,310.9,10.1,372,7963,0.00,2.00,0.00,0.000,6,0.000,0.028,3236,1449,1480,0,0,0,0,0,0
$GC,8277,1.02,305.9,289.0,6.7,384,8308,0.15,2.28,22.90,0.719,4,0.061,0.058,3279,231,1381,0,0,0,0,0,0
$GC,8327,0.89,305.9,283.8,11.0,386,8332,0.17,2.00,0.00,0.000,6,0.091,0.028,3244,1456,1379,0,0,0,0,0,0
$GC,8657,0.98,336.1,259.5,6.5,402,8690,0.00,2.28,26.73,0.703,4,0.000,0.057,3244,233,1258,0,0,0,0,0,0
$GC,8739,1.02,336.1,252.5,9.7,405,8743,0.12,1.98,0.00,0.000,6,0.068,0.028,3281,1451,1255,0,0,0,0,0,0
$GC,9056,1.02,336.1,222.4,8.8,420,9057,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1452,1253,0,0,0,0,0,0
$GC,9368,1.02,336.1,193.3,8.9,437,9372,0.00,2.12,0.00,0.000,4,0.000,0.054,3281,233,1253,0,0,0,0,0,0
$GC,9423,0.97,336.1,188.3,10.2,441,9427,0.00,2.03,0.00,0.000,6,0.000,0.026,3281,1462,1250,0,0,0,0,0,0
$GC,9691,0.99,355.9,168.3,7.0,462,9712,0.00,2.22,17.08,0.607,4,0.000,0.053,3281,227,1179,0,0,0,0,0,0
$GC,9733,0.95,355.9,165.0,8.2,464,9738,0.12,1.98,0.00,0.000,6,0.095,0.025,3256,1458,1176,0,0,0,0,0,0
$GC,9994,1.04,374.2,148.5,7.1,484,10016,0.00,2.20,16.73,0.579,4,0.000,0.052,3256,227,1104,0,0,0,0,0,0
$GC,10067,1.04,374.2,142.0,10.7,489,10070,0.00,2.00,0.00,0.000,6,0.000,0.025,3256,1456,1101,0,0,0,0,0,0
$GC,10336,1.11,374.2,115.8,9.4,510,10341,0.15,2.17,0.00,0.000,4,0.057,0.051,3302,231,1101,0,0,0,0,0,0
$GC,10413,1.04,374.2,106.7,12.1,515,10419,0.12,1.98,0.00,0.000,6,0.094,0.023,3277,1464,1100,0,0,0,0,0,0
$GC,10674,1.10,374.2,80.3,8.9,536,10678,0.00,2.12,0.00,0.000,4,0.000,0.050,3277,231,1100,0,0,0,0,0,0
$GC,10704,1.10,374.2,77.3,10.1,538,10707,0.00,1.95,0.00,0.000,6,0.000,0.024,3277,1450,1099,0,0,0,0,0,0
$GC,10976,1.18,379.4,54.9,7.7,559,10992,0.12,2.35,5.43,0.406,4,0.063,0.022,3319,2841,1082,0,0,0,0,0,0
$GC,10998,1.23,379.4,52.6,8.3,560,11002,0.00,2.42,0.00,0.000,6,0.000,0.035,3319,1438,1082,0,0,0,0,0,0
$GC,11259,1.23,379.4,30.4,8.5,580,11263,0.00,2.08,0.00,0.000,4,0.000,0.050,3319,228,1082,0,0,0,0,0,0
$GC,11275,1.23,379.4,28.9,8.3,582,11282,0.00,1.98,0.00,0.000,6,0.000,0.023,3319,1456,1082,0,0,0,0,0,0
$GC,11480,1.38,462.4,14.8,4.1,628,11559,0.15,2.20,69.22,0.494,4,0.055,0.048,3368,237,742,0,0,0,0,0,0
$GC,11570,1.30,462.4,5.8,11.9,643,11578,0.15,1.95,0.00,0.000,6,0.068,0.021,3332,1449,740,0,0,0,0,0,0
$STATE,11591,end climb,SURFACE_DEPTH_REACHED
$STATE,11591,begin surface coast
$FINISH,0.9,1.023379
$STATE,11614,end surface coast,CONTROL_FINISHED_OK
$STATE,11615,begin surface
$SM_CCo,11698,0.00,0.000,0,0,735,464.84
$SM_GC,1.69,12.55,0.00,0.00,0.023,0.000,0.000,427,1447,735,-11.99,-1.50,464.84
$IRIDIUM_FIX,2050.21,-15752.63,210100,000030
$TT8_MAMPS,0.029146
$HUMID,62.79
$INTERNAL_PRESSURE,9.21564
$TCM_TEMP,20.20
$XPDR_PINGS,0
$24V_AH,23.3,73.376
$10V_AH,10.0,59.112
$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,30.375,126.900,499.950,0.000,0.000,55.679,69.936,331.395,4.750,0.000,19.735,1258.873,7920.655,494.208,1894.896,788.846,0.000,1388.694,0.000,1865.945,0.000,32.148,0.000
$DEVICE_MAMPS,128.856,91.273,831.428,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,438.358,418.501,934.786,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355748
$DATA_FILE_SIZE,34938,652
$CAP_FILE_SIZE,134176,0
$CFSIZE,260165632,170856448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,271010,040830,2059.369,-15751.163,61,1.1,61,9.8