version: 66.06
glider: 139
mission: 8
dive: 781
start: 10 29 110 0 58 28
data:
$ID,139
$MISSION,8
$DIVE,781
$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,534.75397
$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,-2167856.8
$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,1450
$C_ROLL_CLIMB,1420
$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
$GPS1,004424,2110.221,-15757.818,46,1.0,64,9.8
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-70.6
$GPS2,005808,2110.244,-15757.856,14,1.6,14,9.8
$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,97.8,27085,-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,-116.8,0.0,0.0,0,87,0.00,0.00,-69.80,0.000,2,0.000,0.000,425,1460,2838,0,0,0,0,0,0
$GC,92,-1.18,-116.8,3.6,-3.8,13,116,12.62,2.12,-4.93,0.000,4,0.131,0.057,2783,235,3108,0,0,0,0,0,0
$GC,133,-0.16,-116.8,16.3,-27.8,20,140,1.05,2.03,0.00,0.000,6,0.078,0.020,3013,1513,3109,0,0,0,0,0,0
$GC,341,-0.73,-116.8,32.4,-8.8,63,346,0.52,2.22,0.00,0.000,4,0.046,0.020,2886,2881,3111,0,0,0,0,0,0
$GC,361,-1.12,-116.8,34.5,-9.6,64,368,0.28,2.45,0.00,0.000,6,0.024,0.029,2788,1444,3111,0,0,0,0,0,0
$GC,624,-0.94,-116.8,66.7,-12.5,85,629,0.25,2.05,0.00,0.000,4,0.082,0.042,2844,235,3111,0,0,0,0,0,0
$GC,655,-0.86,-116.8,70.5,-10.6,87,658,0.00,1.98,0.00,0.000,6,0.000,0.018,2844,1502,3111,0,0,0,0,0,0
$GC,924,-0.86,-116.8,93.2,-7.3,108,928,0.00,2.20,0.00,0.000,4,0.000,0.044,2844,235,3111,0,0,0,0,0,0
$GC,952,-0.86,-116.8,95.7,-8.4,110,956,0.00,2.00,0.00,0.000,6,0.000,0.018,2844,1514,3111,0,0,0,0,0,0
$GC,1221,-0.86,-116.8,119.2,-8.8,131,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1518,3111,0,0,0,0,0,0
$GC,1475,-0.90,-116.8,139.7,-8.3,151,1482,0.00,2.17,0.00,0.000,4,0.000,0.044,2844,235,3112,0,0,0,0,0,0
$GC,1544,-0.94,-116.8,145.5,-8.3,155,1549,0.00,1.98,0.00,0.000,6,0.000,0.018,2844,1517,3112,0,0,0,0,0,0
$GC,1806,-0.99,-116.8,167.0,-8.5,176,1807,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1517,3112,0,0,0,0,0,0
$GC,2055,-1.06,-116.8,184.8,-6.4,196,2060,0.12,2.22,0.00,0.000,4,0.061,0.045,2799,230,3113,0,0,0,0,0,0
$GC,2112,-1.01,-116.8,189.5,-8.9,200,2117,0.15,1.98,0.00,0.000,6,0.086,0.019,2832,1511,3113,0,0,0,0,0,0
$GC,2377,-1.05,-116.8,207.2,-6.6,217,2381,0.00,2.17,0.00,0.000,4,0.000,0.045,2832,234,3112,0,0,0,0,0,0
$GC,2425,-1.08,-116.8,210.8,-6.9,219,2429,0.00,1.98,0.00,0.000,6,0.000,0.020,2832,1512,3112,0,0,0,0,0,0
$GC,2756,-1.13,-116.8,236.1,-8.1,235,2760,0.12,2.22,0.00,0.000,4,0.063,0.023,2788,2875,3112,0,0,0,0,0,0
$GC,2781,-1.13,-116.8,238.6,-9.3,236,2785,0.00,2.42,0.00,0.000,6,0.000,0.032,2787,1442,3112,0,0,0,0,0,0
$GC,3110,-1.13,-116.8,268.3,-8.1,252,3114,0.00,2.05,0.00,0.000,4,0.000,0.048,2787,232,3111,0,0,0,0,0,0
$GC,3170,-1.09,-116.8,273.5,-8.3,254,3178,0.08,2.03,0.00,0.000,6,0.071,0.021,2810,1510,3111,0,0,0,0,0,0
$GC,3490,-1.12,-116.8,294.0,-6.5,270,3494,0.00,2.20,0.00,0.000,4,0.000,0.049,2809,238,3110,0,0,0,0,0,0
$GC,3564,-1.12,-116.8,300.2,-8.0,273,3568,0.00,1.98,0.00,0.000,6,0.000,0.022,2810,1500,3109,0,0,0,0,0,0
$GC,3910,-1.16,-116.8,328.0,-8.1,282,3914,0.00,2.17,0.00,0.000,4,0.000,0.025,2810,2834,3108,0,0,0,0,0,0
$GC,3925,-1.23,-116.8,329.3,-8.1,282,3930,0.12,2.38,0.00,0.000,6,0.062,0.036,2765,1444,3107,0,0,0,0,0,0
$GC,4277,-1.17,-116.8,359.0,-7.9,291,4282,0.15,2.12,0.00,0.000,4,0.088,0.053,2797,230,3105,0,0,0,0,0,0
$GC,4315,-1.17,-116.8,362.0,-7.3,291,4321,0.00,1.92,0.00,0.000,6,0.000,0.024,2797,1459,3105,0,0,0,0,0,0
$GC,4646,-1.17,-116.8,385.8,-7.5,300,4650,0.00,2.25,0.00,0.000,4,0.000,0.027,2797,2832,3103,0,0,0,0,0,0
$GC,4672,-1.23,-116.8,387.8,-7.7,300,4676,0.00,2.35,0.00,0.000,6,0.000,0.039,2797,1451,3103,0,0,0,0,0,0
$GC,5012,-1.23,-116.8,418.9,-9.6,309,5016,0.00,2.12,0.00,0.000,4,0.000,0.054,2797,231,3100,0,0,0,0,0,0
$GC,5035,-1.23,-116.8,421.2,-9.5,309,5038,0.00,1.95,0.00,0.000,6,0.000,0.025,2797,1450,3100,0,0,0,0,0,0
$STATE,5376,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5377,begin apogee
$GC,5384,-0.31,0.0,451.6,8.8,318,5483,0.85,0.00,95.15,0.831,6,0.060,0.000,2984,1451,2630,0,0,0,0,0,0
$STATE,5483,end apogee,CONTROL_FINISHED_OK
$STATE,5483,begin climb
$GC,5486,1.18,116.8,454.1,0.0,320,5599,1.40,2.35,100.78,0.814,4,0.034,0.029,3311,2796,2152,0,0,0,0,0,0
$GC,5658,1.00,125.8,453.1,7.5,323,5674,0.22,2.40,8.85,0.680,6,0.097,0.040,3268,1417,2117,0,0,0,0,0,0
$GC,5998,0.87,125.8,428.3,8.0,332,6003,0.15,2.35,0.00,0.000,4,0.106,0.029,3239,2804,2109,0,0,0,0,0,0
$GC,6044,0.91,158.6,425.0,6.4,333,6080,0.00,2.40,28.92,0.784,6,0.000,0.041,3239,1420,1982,0,0,0,0,0,0
$GC,6415,0.92,208.2,403.4,5.7,342,6461,0.00,0.00,44.55,0.792,6,0.000,0.000,3239,1420,1781,0,0,0,0,0,0
$GC,6776,0.89,208.2,374.2,8.7,351,6780,0.00,2.35,0.00,0.000,4,0.000,0.028,3239,2807,1775,0,0,0,0,0,0
$GC,6823,0.93,208.2,370.0,8.4,352,6827,0.00,2.45,0.00,0.000,6,0.000,0.042,3239,1415,1774,0,0,0,0,0,0
$GC,7147,0.93,208.2,342.0,8.4,360,7151,0.00,2.10,0.00,0.000,4,0.000,0.058,3238,231,1772,0,0,0,0,0,0
$GC,7166,0.87,208.2,340.2,8.8,360,7170,0.00,1.90,0.00,0.000,6,0.000,0.028,3239,1407,1770,0,0,0,0,0,0
$GC,7479,0.90,231.6,317.9,6.8,368,7505,0.00,2.40,20.15,0.730,4,0.000,0.028,3239,2819,1685,0,0,0,0,0,0
$GC,7535,1.00,286.3,314.4,5.4,369,7592,0.12,2.45,48.75,0.748,6,0.067,0.041,3275,1416,1461,0,0,0,0,0,0
$GC,7919,0.93,289.4,282.7,7.8,383,7924,0.10,2.10,0.00,0.000,4,0.113,0.058,3255,233,1455,0,0,0,0,0,0
$GC,7966,0.87,289.4,278.5,8.9,385,7970,0.00,1.95,0.00,0.000,6,0.000,0.028,3255,1431,1452,0,0,0,0,0,0
$GC,8301,0.88,294.3,253.7,7.7,401,8313,0.00,2.20,6.55,0.575,4,0.000,0.057,3255,232,1430,0,0,0,0,0,0
$GC,8351,0.84,294.3,249.7,9.5,403,8355,0.05,1.98,0.00,0.000,6,0.067,0.028,3235,1422,1428,0,0,0,0,0,0
$GC,8689,0.91,300.1,224.2,7.6,419,8701,0.00,2.38,6.25,0.551,4,0.000,0.028,3235,2808,1406,0,0,0,0,0,0
$GC,8731,1.08,300.1,220.8,8.1,420,8738,0.17,2.42,0.00,0.000,6,0.033,0.039,3291,1427,1406,0,0,0,0,0,0
$GC,9056,1.03,300.1,190.8,9.9,439,9060,0.00,2.08,0.00,0.000,4,0.000,0.054,3291,231,1406,0,0,0,0,0,0
$GC,9081,0.93,300.1,188.0,10.7,440,9087,0.15,1.95,0.00,0.000,6,0.076,0.026,3256,1419,1403,0,0,0,0,0,0
$GC,9343,0.97,309.5,166.8,7.5,461,9357,0.00,2.35,9.45,0.571,4,0.000,0.025,3255,2813,1367,0,0,0,0,0,0
$GC,9369,1.06,330.7,164.7,6.9,462,9396,0.08,2.45,19.65,0.614,6,0.041,0.039,3288,1427,1281,0,0,0,0,0,0
$GC,9656,1.06,330.7,136.7,11.0,485,9660,0.00,2.10,0.00,0.000,4,0.000,0.053,3288,231,1278,0,0,0,0,0,0
$GC,9683,0.99,330.7,133.8,11.6,487,9687,0.12,1.92,0.00,0.000,6,0.097,0.025,3263,1433,1276,0,0,0,0,0,0
$GC,9949,1.04,330.7,109.8,8.5,508,9953,0.00,2.25,0.00,0.000,4,0.000,0.024,3262,2802,1276,0,0,0,0,0,0
$GC,10000,1.18,330.7,105.1,8.3,512,10005,0.20,2.38,0.00,0.000,6,0.049,0.035,3322,1417,1276,0,0,0,0,0,0
$GC,10269,1.15,330.7,80.0,9.5,533,10273,0.00,2.28,0.00,0.000,4,0.000,0.024,3322,2805,1276,0,0,0,0,0,0
$GC,10295,1.15,330.7,77.4,9.0,535,10300,0.00,2.38,0.00,0.000,6,0.000,0.037,3321,1416,1276,0,0,0,0,0,0
$GC,10563,1.19,361.0,57.5,6.5,556,10594,0.00,2.12,25.98,0.528,4,0.000,0.050,3322,233,1157,0,0,0,0,0,0
$GC,10613,1.19,361.0,53.4,8.5,559,10620,0.00,1.95,0.00,0.000,6,0.000,0.022,3321,1433,1155,0,0,0,0,0,0
$GC,10874,1.19,361.0,31.6,9.0,580,10878,0.00,2.22,0.00,0.000,4,0.000,0.021,3322,2805,1154,0,0,0,0,0,0
$GC,10900,1.26,361.0,29.4,8.7,582,10907,0.00,2.40,0.00,0.000,6,0.000,0.035,3321,1420,1154,0,0,0,0,0,0
$GC,11105,1.30,395.0,11.5,6.4,628,11140,0.00,2.08,29.05,0.485,4,0.000,0.044,3321,231,1017,0,0,0,0,0,0
$GC,11160,1.30,395.0,7.2,8.9,638,11167,0.00,1.92,0.00,0.000,6,0.000,0.021,3322,1427,1015,0,0,0,0,0,0
$STATE,11197,end climb,SURFACE_DEPTH_REACHED
$STATE,11197,begin surface coast
$FINISH,0.9,1.023377
$STATE,11224,end surface coast,CONTROL_FINISHED_OK
$STATE,11224,begin surface
$SM_CCo,11249,110.22,0.486,0,0,449,534.75
$SM_GC,1.47,0.00,0.00,110.22,0.000,0.000,0.486,427,1426,449,-12.07,-0.68,534.75
$IRIDIUM_FIX,2101.76,-15801.19,220100,212147
$TT8_MAMPS,0.029146
$HUMID,62.71
$INTERNAL_PRESSURE,9.18635
$TCM_TEMP,19.90
$XPDR_PINGS,0
$24V_AH,23.3,75.171
$10V_AH,9.9,60.378
$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,31.650,130.725,444.075,110.225,0.000,153.527,152.095,128.962,4.750,0.000,14.987,1256.602,7689.890,586.787,1867.143,778.859,0.000,1453.690,0.000,1846.273,0.000,32.103,0.000
$DEVICE_MAMPS,131.157,58.292,830.661,485.511,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,438.259,420.335,954.211,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,34972,652
$CAP_FILE_SIZE,129785,0
$CFSIZE,260165632,169963520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291010,040907,2110.482,-15757.141,41,1.0,41,9.8