version: 66.06
glider: 139
mission: 8
dive: 799
start: 10 31 110 13 47 40
data:
$ID,139
$MISSION,8
$DIVE,799
$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,-2168288
$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
$GPS1,133614,2101.350,-15745.404,17,1.7,17,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-73.3
$GPS2,134720,2101.377,-15745.326,16,2.0,16,9.8
$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,221.0,10127,-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,-64.35,0.000,2,0.000,0.000,428,1422,2756,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.7,-4.3,12,110,12.62,2.08,-6.60,0.000,4,0.131,0.059,2786,231,3108,0,0,0,0,0,0
$GC,231,-0.97,-116.8,29.5,-13.0,43,238,0.20,2.03,0.00,0.000,6,0.074,0.019,2833,1511,3109,0,0,0,0,0,0
$GC,428,-0.85,-116.8,51.4,-10.2,59,433,0.15,2.22,0.00,0.000,4,0.095,0.045,2864,234,3110,0,0,0,0,0,0
$GC,448,-0.76,-116.8,53.7,-10.3,60,455,0.00,2.00,0.00,0.000,6,0.000,0.019,2864,1509,3111,0,0,0,0,0,0
$GC,709,-0.72,-116.8,78.5,-10.2,81,710,0.12,0.00,0.00,0.000,6,0.093,0.000,2892,1509,3111,0,0,0,0,0,0
$GC,963,-0.79,-116.8,99.3,-8.3,101,968,0.00,2.17,0.00,0.000,4,0.000,0.044,2892,231,3111,0,0,0,0,0,0
$GC,1022,-0.87,-116.8,104.2,-7.4,105,1026,0.15,1.98,0.00,0.000,6,0.053,0.019,2840,1517,3111,0,0,0,0,0,0
$GC,1291,-0.87,-116.8,122.9,-7.1,126,1295,0.10,2.20,0.00,0.000,4,0.099,0.044,2862,231,3111,0,0,0,0,0,0
$GC,1316,-0.91,-116.8,125.1,-7.0,128,1319,0.00,2.00,0.00,0.000,6,0.000,0.019,2862,1512,3112,0,0,0,0,0,0
$GC,1588,-0.98,-116.8,142.6,-7.3,149,1593,0.10,2.20,0.00,0.000,4,0.072,0.044,2822,235,3112,0,0,0,0,0,0
$GC,1617,-0.93,-116.8,145.7,-10.0,151,1621,0.12,1.98,0.00,0.000,6,0.089,0.019,2849,1517,3112,0,0,0,0,0,0
$GC,1881,-0.96,-116.8,165.7,-7.7,171,1885,0.00,2.20,0.00,0.000,4,0.000,0.044,2849,227,3112,0,0,0,0,0,0
$GC,1914,-1.01,-116.8,168.5,-6.9,173,1918,0.00,2.00,0.00,0.000,6,0.000,0.019,2848,1508,3112,0,0,0,0,0,0
$GC,2179,-1.07,-116.8,187.4,-6.9,194,2184,0.15,2.20,0.00,0.000,4,0.054,0.045,2797,232,3112,0,0,0,0,0,0
$GC,2201,-1.04,-116.8,189.2,-7.9,195,2207,0.12,2.00,0.00,0.000,6,0.090,0.019,2825,1524,3112,0,0,0,0,0,0
$GC,2473,-1.04,-116.8,209.4,-7.6,213,2477,0.00,2.20,0.00,0.000,4,0.000,0.045,2824,230,3113,0,0,0,0,0,0
$GC,2511,-1.04,-116.8,212.9,-8.5,214,2518,0.00,2.03,0.00,0.000,6,0.000,0.020,2824,1518,3112,0,0,0,0,0,0
$GC,2827,-1.04,-116.8,236.2,-7.0,230,2828,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1518,3113,0,0,0,0,0,0
$GC,3139,-1.09,-116.8,261.4,-7.2,245,3143,0.00,2.20,0.00,0.000,4,0.000,0.047,2825,237,3113,0,0,0,0,0,0
$GC,3174,-1.14,-116.8,264.0,-7.7,246,3178,0.10,2.00,0.00,0.000,6,0.072,0.021,2786,1516,3112,0,0,0,0,0,0
$GC,3497,-1.09,-116.8,286.2,-6.9,262,3502,0.12,2.25,0.00,0.000,4,0.093,0.024,2813,2882,3111,0,0,0,0,0,0
$GC,3560,-1.20,-116.8,290.6,-6.0,264,3566,0.08,2.45,0.00,0.000,6,0.037,0.034,2773,1451,3111,0,0,0,0,0,0
$GC,3893,-1.13,-116.8,317.8,-8.2,276,3898,0.15,2.10,0.00,0.000,4,0.086,0.050,2806,237,3109,0,0,0,0,0,0
$GC,3928,-1.13,-116.8,320.6,-8.1,276,3932,0.00,2.00,0.00,0.000,6,0.000,0.022,2806,1491,3110,0,0,0,0,0,0
$GC,4269,-1.13,-116.8,348.5,-8.9,285,4270,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1495,3108,0,0,0,0,0,0
$GC,4593,-1.13,-116.8,376.1,-8.5,293,4597,0.00,2.17,0.00,0.000,4,0.000,0.051,2806,238,3106,0,0,0,0,0,0
$GC,4627,-1.13,-116.8,378.6,-7.3,293,4631,0.00,1.92,0.00,0.000,6,0.000,0.023,2806,1456,3105,0,0,0,0,0,0
$GC,4967,-1.13,-116.8,395.9,-4.5,302,4971,0.00,2.12,0.00,0.000,4,0.000,0.052,2806,237,3103,0,0,0,0,0,0
$GC,4991,-1.13,-116.8,397.3,-6.4,302,4994,0.00,1.92,0.00,0.000,6,0.000,0.024,2806,1449,3103,0,0,0,0,0,0
$GC,5342,-1.16,-116.8,419.5,-7.1,311,5347,0.00,2.30,0.00,0.000,4,0.000,0.027,2806,2830,3102,0,0,0,0,0,0
$GC,5380,-1.28,-116.8,423.0,-8.1,311,5385,0.17,2.35,0.00,0.000,6,0.050,0.038,2751,1450,3101,0,0,0,0,0,0
$STATE,5668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5668,begin apogee
$GC,5676,-0.31,0.0,450.6,9.4,318,5775,1.08,0.00,95.57,0.817,6,0.067,0.000,2982,1450,2630,0,0,0,0,0,0
$STATE,5776,end apogee,CONTROL_FINISHED_OK
$STATE,5776,begin climb
$GC,5779,1.18,116.8,453.4,0.0,320,5884,1.42,0.00,101.38,0.802,6,0.032,0.000,3315,1450,2153,0,0,0,0,0,0
$GC,6197,0.95,122.6,433.1,7.6,331,6209,0.25,2.15,4.75,0.540,4,0.092,0.053,3261,231,2129,0,0,0,0,0,0
$GC,6253,0.76,122.6,428.6,7.9,332,6258,0.22,1.92,0.00,0.000,6,0.095,0.025,3217,1418,2126,0,0,0,0,0,0
$GC,6572,0.84,191.7,410.8,4.8,340,6641,0.00,2.42,61.40,0.790,4,0.000,0.028,3217,2802,1848,0,0,0,0,0,0
$GC,6664,0.96,228.9,405.7,6.2,342,6705,0.20,2.45,33.92,0.765,6,0.050,0.042,3272,1415,1696,0,0,0,0,0,0
$GC,7034,0.87,228.9,374.6,8.2,351,7036,0.15,0.00,0.00,0.000,6,0.093,0.000,3241,1415,1688,0,0,0,0,0,0
$GC,7358,0.89,248.6,350.9,7.0,359,7381,0.00,2.10,16.73,0.719,4,0.000,0.055,3240,234,1615,0,0,0,0,0,0
$GC,7424,0.84,248.6,345.1,9.2,360,7428,0.00,1.95,0.00,0.000,6,0.000,0.027,3240,1422,1611,0,0,0,0,0,0
$GC,7775,0.88,283.3,321.6,6.3,369,7811,0.00,2.20,30.58,0.734,4,0.000,0.056,3240,232,1474,0,0,0,0,0,0
$GC,7826,0.91,309.7,318.2,6.7,370,7855,0.00,1.95,24.25,0.714,6,0.000,0.028,3240,1417,1367,0,0,0,0,0,0
$GC,8167,0.95,316.1,293.9,7.6,379,8180,0.00,2.15,6.15,0.567,4,0.000,0.056,3240,241,1340,0,0,0,0,0,0
$GC,8194,0.95,316.1,291.3,8.4,380,8198,0.00,1.92,0.00,0.000,6,0.000,0.028,3240,1422,1339,0,0,0,0,0,0
$GC,8525,1.02,322.8,264.3,7.6,396,8538,0.12,2.15,7.03,0.578,4,0.068,0.054,3278,238,1314,0,0,0,0,0,0
$GC,8557,0.91,322.8,261.2,9.5,397,8562,0.15,1.95,0.00,0.000,6,0.092,0.027,3248,1430,1312,0,0,0,0,0,0
$GC,8883,0.95,323.8,236.0,7.8,413,8887,0.00,2.12,0.00,0.000,4,0.000,0.054,3248,229,1311,0,0,0,0,0,0
$GC,8897,0.99,323.8,234.4,8.2,413,8903,0.00,1.95,0.00,0.000,6,0.000,0.028,3248,1420,1310,0,0,0,0,0,0
$GC,9215,1.04,323.8,204.9,9.6,429,9219,0.12,2.35,0.00,0.000,4,0.066,0.027,3286,2817,1310,0,0,0,0,0,0
$GC,9241,1.08,323.8,202.0,11.0,430,9245,0.00,2.42,0.00,0.000,6,0.000,0.041,3286,1419,1309,0,0,0,0,0,0
$GC,9570,1.08,323.8,171.3,9.0,455,9574,0.00,2.08,0.00,0.000,4,0.000,0.053,3286,231,1309,0,0,0,0,0,0
$GC,9597,1.00,323.8,168.5,10.6,457,9601,0.00,1.90,0.00,0.000,6,0.000,0.025,3286,1430,1308,0,0,0,0,0,0
$GC,9864,1.00,323.8,142.7,9.0,478,9868,0.00,2.10,0.00,0.000,4,0.000,0.051,3286,230,1308,0,0,0,0,0,0
$GC,9878,1.00,323.8,141.5,8.8,479,9882,0.00,1.92,0.00,0.000,6,0.000,0.025,3286,1425,1308,0,0,0,0,0,0
$GC,10142,1.00,325.5,120.5,7.8,500,10146,0.00,2.08,0.00,0.000,4,0.000,0.051,3286,232,1307,0,0,0,0,0,0
$GC,10173,0.96,325.5,117.9,8.9,502,10177,0.12,1.90,0.00,0.000,6,0.094,0.024,3261,1425,1307,0,0,0,0,0,0
$GC,10446,1.06,325.5,98.2,8.5,523,10450,0.00,2.25,0.00,0.000,4,0.000,0.024,3261,2806,1307,0,0,0,0,0,0
$GC,10506,1.26,325.5,92.4,10.2,527,10512,0.28,2.38,0.00,0.000,6,0.040,0.035,3340,1416,1307,0,0,0,0,0,0
$GC,10769,1.30,360.9,70.1,6.3,548,10812,0.00,2.15,32.72,0.535,4,0.000,0.049,3340,230,1156,0,0,0,0,0,0
$GC,10870,1.23,360.9,62.5,8.4,555,10874,0.10,1.90,0.00,0.000,6,0.103,0.022,3319,1427,1154,0,0,0,0,0,0
$GC,11143,1.24,366.9,44.2,7.6,576,11158,0.00,2.33,5.78,0.402,4,0.000,0.021,3319,2811,1133,0,0,0,0,0,0
$GC,11169,1.34,387.9,41.8,6.9,577,11196,0.08,2.42,19.08,0.490,6,0.038,0.035,3356,1419,1048,0,0,0,0,0,0
$GC,11459,1.28,387.9,14.9,10.5,625,11467,0.12,2.08,0.00,0.000,4,0.091,0.048,3328,242,1046,0,0,0,0,0,0
$GC,11506,1.22,387.9,10.1,10.7,634,11513,0.00,1.88,0.00,0.000,6,0.000,0.021,3329,1424,1044,0,0,0,0,0,0
$STATE,11590,end climb,SURFACE_DEPTH_REACHED
$STATE,11590,begin surface coast
$FINISH,0.9,1.022621
$STATE,11662,end surface coast,CONTROL_FINISHED_OK
$STATE,11662,begin surface
$SM_CCo,11685,18.60,0.457,0,0,957,410.14
$SM_GC,1.87,0.00,0.00,18.60,0.000,0.000,0.457,426,1424,957,-12.07,-0.74,410.14
$IRIDIUM_FIX,2052.52,-15747.49,250100,131313
$TT8_MAMPS,0.029146
$HUMID,63.50
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,20.70
$XPDR_PINGS,0
$24V_AH,23.3,77.275
$10V_AH,10.0,61.952
$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,31.375,122.800,439.325,18.600,0.000,57.341,70.013,322.439,4.750,0.000,16.793,1285.421,7917.308,508.207,1845.166,810.485,0.000,1341.562,0.000,1828.681,0.000,32.145,0.000
$DEVICE_MAMPS,131.157,59.059,816.855,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,450.217,432.480,972.390,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355796
$DATA_FILE_SIZE,38085,669
$CAP_FILE_SIZE,131632,0
$CFSIZE,260165632,168861696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,311010,170407,2100.699,-15745.887,42,0.8,42,9.8