version: 66.06
glider: 139
mission: 8
dive: 789
start: 10 30 110 3 55 34
data:
$ID,139
$MISSION,8
$DIVE,789
$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,-2168040.5
$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,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
$GPS1,034736,2109.118,-15747.472,41,1.7,41,9.8
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-71.0
$GPS2,035514,2109.117,-15747.511,35,2.0,35,9.8
$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,117.8,10019,-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,-116.8,0.0,0.0,0,82,0.00,0.00,-64.20,0.000,2,0.000,0.000,425,1455,2667,0,0,0,0,0,0
$GC,87,-1.18,-116.8,3.3,-3.4,12,117,12.70,2.17,-8.40,0.000,4,0.133,0.061,2785,233,3109,0,0,0,0,0,0
$GC,165,-0.93,-116.8,19.7,-14.8,27,172,0.25,2.03,0.00,0.000,6,0.078,0.020,2841,1510,3110,0,0,0,0,0,0
$GC,373,-0.85,-116.8,42.8,-11.0,57,375,0.10,0.00,0.00,0.000,6,0.115,0.000,2861,1511,3111,0,0,0,0,0,0
$GC,625,-0.85,-116.8,66.1,-8.7,77,629,0.00,2.17,0.00,0.000,4,0.000,0.044,2861,236,3111,0,0,0,0,0,0
$GC,665,-0.85,-116.8,69.5,-9.0,80,669,0.00,1.98,0.00,0.000,6,0.000,0.019,2861,1500,3112,0,0,0,0,0,0
$GC,935,-0.85,-116.8,90.0,-8.3,101,939,0.00,2.10,0.00,0.000,4,0.000,0.020,2861,2830,3112,0,0,0,0,0,0
$GC,954,-0.92,-116.8,91.8,-8.0,102,961,0.00,2.35,0.00,0.000,6,0.000,0.031,2861,1450,3112,0,0,0,0,0,0
$GC,1218,-0.97,-116.8,111.5,-7.6,123,1222,0.10,2.25,0.00,0.000,4,0.072,0.021,2822,2833,3113,0,0,0,0,0,0
$GC,1242,-0.97,-116.8,113.8,-8.2,124,1248,0.00,2.35,0.00,0.000,6,0.000,0.031,2822,1453,3113,0,0,0,0,0,0
$GC,1503,-0.97,-116.8,135.8,-8.6,145,1507,0.00,2.08,0.00,0.000,4,0.000,0.044,2822,236,3113,0,0,0,0,0,0
$GC,1562,-0.97,-116.8,141.9,-9.7,149,1567,0.00,1.90,0.00,0.000,6,0.000,0.019,2822,1471,3114,0,0,0,0,0,0
$GC,1820,-0.97,-116.8,166.4,-9.6,170,1824,0.00,2.15,0.00,0.000,4,0.000,0.021,2822,2815,3114,0,0,0,0,0,0
$GC,1846,-1.04,-116.8,168.5,-8.7,172,1850,0.00,2.33,0.00,0.000,6,0.000,0.031,2822,1437,3114,0,0,0,0,0,0
$GC,2113,-1.04,-116.8,188.0,-6.3,193,2116,0.00,2.03,0.00,0.000,4,0.000,0.045,2823,235,3114,0,0,0,0,0,0
$GC,2151,-1.04,-116.8,191.0,-7.1,195,2156,0.00,1.85,0.00,0.000,6,0.000,0.020,2822,1449,3114,0,0,0,0,0,0
$GC,2407,-1.04,-116.8,209.1,-6.8,212,2411,0.00,2.22,0.00,0.000,4,0.000,0.022,2822,2815,3114,0,0,0,0,0,0
$GC,2463,-1.12,-116.8,212.8,-6.3,214,2467,0.00,2.30,0.00,0.000,6,0.000,0.031,2822,1450,3114,0,0,0,0,0,0
$GC,2782,-1.12,-116.8,235.5,-7.6,229,2785,0.00,2.08,0.00,0.000,4,0.000,0.047,2822,238,3114,0,0,0,0,0,0
$GC,2818,-1.12,-116.8,238.9,-8.2,230,2826,0.00,1.90,0.00,0.000,6,0.000,0.021,2822,1446,3114,0,0,0,0,0,0
$GC,3136,-1.12,-116.8,261.9,-7.2,246,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1447,3114,0,0,0,0,0,0
$GC,3446,-1.16,-116.8,284.8,-7.5,261,3450,0.12,2.10,0.00,0.000,4,0.064,0.048,2779,237,3113,0,0,0,0,0,0
$GC,3484,-1.09,-116.8,288.3,-8.9,262,3491,0.12,1.92,0.00,0.000,6,0.063,0.021,2812,1449,3113,0,0,0,0,0,0
$GC,3821,-1.09,-116.8,313.2,-7.4,275,3825,0.00,2.28,0.00,0.000,4,0.000,0.025,2811,2823,3112,0,0,0,0,0,0
$GC,3896,-1.19,-116.8,318.9,-6.8,276,3900,0.00,2.30,0.00,0.000,6,0.000,0.035,2811,1451,3111,0,0,0,0,0,0
$GC,4234,-1.19,-116.8,340.5,-6.5,285,4238,0.00,2.10,0.00,0.000,4,0.000,0.050,2811,235,3110,0,0,0,0,0,0
$GC,4253,-1.19,-116.8,342.1,-7.0,285,4257,0.00,1.90,0.00,0.000,6,0.000,0.023,2811,1450,3109,0,0,0,0,0,0
$GC,4569,-1.22,-116.8,362.9,-6.9,293,4571,0.12,0.00,0.00,0.000,6,0.064,0.000,2769,1451,3108,0,0,0,0,0,0
$GC,4891,-1.16,-116.8,392.4,-9.6,301,4896,0.12,2.28,0.00,0.000,4,0.093,0.027,2796,2832,3106,0,0,0,0,0,0
$GC,4920,-1.24,-116.8,395.0,-8.5,301,4924,0.00,2.35,0.00,0.000,6,0.000,0.038,2796,1447,3106,0,0,0,0,0,0
$GC,5258,-1.24,-116.8,420.1,-6.7,310,5262,0.00,2.08,0.00,0.000,4,0.000,0.054,2796,239,3104,0,0,0,0,0,0
$GC,5277,-1.24,-116.8,421.4,-5.8,310,5281,0.00,1.92,0.00,0.000,6,0.000,0.025,2796,1447,3104,0,0,0,0,0,0
$GC,5627,-1.24,-116.8,441.4,-5.7,319,5629,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1448,3102,0,0,0,0,0,0
$STATE,5786,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5786,begin apogee
$GC,5794,-0.31,0.0,450.4,5.6,323,5893,0.85,0.00,96.32,0.831,6,0.064,0.000,2981,1448,2630,0,0,0,0,0,0
$STATE,5894,end apogee,CONTROL_FINISHED_OK
$STATE,5894,begin climb
$GC,5897,1.18,116.8,451.8,0.0,325,6009,1.40,2.17,101.10,0.815,4,0.032,0.054,3310,235,2151,0,0,0,0,0,0
$GC,6175,0.85,116.8,435.8,9.6,331,6180,0.38,1.92,0.00,0.000,6,0.092,0.025,3236,1421,2141,0,0,0,0,0,0
$GC,6496,0.90,208.0,420.9,3.8,339,6583,0.00,2.40,78.95,0.808,4,0.000,0.028,3236,2801,1780,0,0,0,0,0,0
$GC,6616,0.91,210.8,413.5,7.8,341,6626,0.00,2.45,3.95,0.483,6,0.000,0.043,3235,1420,1769,0,0,0,0,0,0
$GC,6953,0.91,210.8,386.1,8.2,350,6957,0.00,2.12,0.00,0.000,4,0.000,0.058,3235,226,1763,0,0,0,0,0,0
$GC,7013,0.82,210.8,380.3,9.1,351,7017,0.00,1.98,0.00,0.000,6,0.000,0.028,3236,1414,1760,0,0,0,0,0,0
$GC,7328,0.85,235.7,358.0,6.8,359,7352,0.00,0.00,21.65,0.755,6,0.000,0.000,3235,1415,1669,0,0,0,0,0,0
$GC,7651,0.85,235.7,331.6,8.4,367,7655,0.00,2.08,0.00,0.000,4,0.000,0.057,3235,234,1664,0,0,0,0,0,0
$GC,7726,0.80,235.7,324.7,9.2,368,7730,0.00,1.95,0.00,0.000,6,0.000,0.028,3235,1421,1661,0,0,0,0,0,0
$GC,8069,0.88,294.2,304.6,5.3,377,8126,0.00,2.20,51.08,0.750,4,0.000,0.057,3235,234,1429,0,0,0,0,0,0
$GC,8155,0.89,306.1,299.3,7.4,379,8171,0.00,1.92,11.50,0.665,6,0.000,0.028,3236,1419,1381,0,0,0,0,0,0
$GC,8492,0.93,306.1,275.4,8.2,395,8496,0.00,2.10,0.00,0.000,4,0.000,0.057,3236,230,1376,0,0,0,0,0,0
$GC,8542,0.93,306.1,270.4,9.4,397,8546,0.00,1.92,0.00,0.000,6,0.000,0.028,3235,1420,1374,0,0,0,0,0,0
$GC,8870,1.01,310.5,245.5,7.7,413,8879,0.15,2.12,3.85,0.435,4,0.061,0.056,3279,231,1364,0,0,0,0,0,0
$GC,8912,0.93,310.5,240.7,11.1,414,8920,0.10,1.98,0.00,0.000,6,0.076,0.028,3255,1425,1363,0,0,0,0,0,0
$GC,9230,0.97,314.5,214.7,7.7,430,9237,0.00,0.00,5.28,0.505,6,0.000,0.000,3255,1425,1347,0,0,0,0,0,0
$GC,9542,1.03,337.3,190.8,6.9,449,9569,0.00,2.15,20.85,0.634,4,0.000,0.053,3254,228,1254,0,0,0,0,0,0
$GC,9593,1.03,337.3,186.3,9.4,452,9600,0.00,1.98,0.00,0.000,6,0.000,0.026,3254,1421,1252,0,0,0,0,0,0
$GC,9857,1.09,339.9,166.3,7.8,473,9862,0.12,2.30,0.00,0.000,4,0.066,0.025,3294,2805,1250,0,0,0,0,0,0
$GC,9877,1.09,339.9,164.1,8.2,474,9883,0.00,2.45,0.00,0.000,6,0.000,0.039,3294,1413,1251,0,0,0,0,0,0
$GC,10138,1.09,339.9,140.2,8.8,495,10141,0.00,2.05,0.00,0.000,4,0.000,0.051,3294,235,1250,0,0,0,0,0,0
$GC,10209,1.01,339.9,133.7,9.5,500,10213,0.12,1.92,0.00,0.000,6,0.097,0.025,3269,1433,1248,0,0,0,0,0,0
$GC,10483,1.10,355.9,115.5,7.2,521,10509,0.00,2.28,16.70,0.555,4,0.000,0.023,3269,2801,1178,0,0,0,0,0,0
$GC,10529,1.28,374.5,111.5,7.1,524,10553,0.28,2.40,17.10,0.551,6,0.041,0.036,3346,1418,1102,0,0,0,0,0,0
$GC,10806,1.19,374.5,82.3,10.2,546,10810,0.17,2.08,0.00,0.000,4,0.084,0.051,3309,228,1100,0,0,0,0,0,0
$GC,10848,1.16,374.5,77.7,10.6,549,10851,0.00,1.90,0.00,0.000,6,0.000,0.022,3309,1430,1098,0,0,0,0,0,0
$GC,11116,1.20,377.1,55.9,7.8,570,11120,0.00,2.25,0.00,0.000,4,0.000,0.022,3309,2807,1098,0,0,0,0,0,0
$GC,11173,1.31,377.1,50.8,8.8,574,11178,0.12,2.38,0.00,0.000,6,0.062,0.034,3352,1409,1098,0,0,0,0,0,0
$GC,11440,1.25,377.1,25.1,10.1,600,11447,0.15,2.33,0.00,0.000,4,0.088,0.021,3321,2803,1099,0,0,0,0,0,0
$GC,11476,1.28,377.1,21.7,9.6,607,11483,0.00,2.40,0.00,0.000,6,0.000,0.035,3320,1418,1098,0,0,0,0,0,0
$GC,11680,1.28,377.1,6.5,8.0,653,11687,0.00,2.08,0.00,0.000,4,0.000,0.049,3321,231,1098,0,0,0,0,0,0
$GC,11716,1.22,377.1,3.2,8.7,660,11723,0.00,1.90,0.00,0.000,6,0.000,0.021,3320,1424,1098,0,0,0,0,0,0
$STATE,11728,end climb,SURFACE_DEPTH_REACHED
$STATE,11728,begin surface coast
$FINISH,0.9,1.014181
$STATE,11763,end surface coast,CONTROL_FINISHED_OK
$STATE,11763,begin surface
$SM_CCo,11787,29.48,0.474,0,0,958,410.14
$SM_GC,1.49,0.00,0.00,29.48,0.000,0.000,0.474,423,1424,958,-12.08,-0.74,410.14
$IRIDIUM_FIX,2101.76,-15750.89,240100,000003
$TT8_MAMPS,0.029146
$HUMID,62.83
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,20.60
$XPDR_PINGS,0
$24V_AH,23.3,76.111
$10V_AH,9.9,61.083
$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,29.825,123.600,428.325,29.475,0.000,30.281,37.317,228.606,4.500,0.000,35.255,1281.655,7909.374,496.242,1943.152,639.544,0.000,1381.999,0.000,1907.374,0.000,29.244,0.000
$DEVICE_MAMPS,132.691,60.593,831.428,474.006,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,450.657,433.149,970.326,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355772
$DATA_FILE_SIZE,37987,670
$CAP_FILE_SIZE,129489,0
$CFSIZE,260165632,169472000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301010,071415,2108.356,-15746.731,45,4.7,64,9.8