version: 66.06
glider: 139
mission: 8
dive: 748
start: 10 24 110 7 58 3
data:
$ID,139
$MISSION,8
$DIVE,748
$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,-2167097.5
$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,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
$GPS1,075100,2108.548,-15748.605,40,1.4,40,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-71.4
$GPS2,075745,2108.535,-15748.641,11,3.2,30,9.8
$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,107.2,11098,-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,13,begin dive
$GC,15,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.18,0.000,2,0.000,0.000,430,1498,2745,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.5,-3.7,12,109,12.57,0.00,-7.03,0.000,6,0.130,0.000,2784,1498,3108,0,0,0,0,0,0
$GC,310,-0.97,-116.8,38.9,-13.5,52,312,0.25,0.00,0.00,0.000,6,0.087,0.000,2836,1500,3110,0,0,0,0,0,0
$GC,563,-0.91,-116.8,64.8,-10.1,72,567,0.00,2.35,0.00,0.000,4,0.000,0.021,2836,2931,3111,0,0,0,0,0,0
$GC,594,-0.98,-116.8,67.8,-9.5,74,598,0.00,2.40,0.00,0.000,6,0.000,0.032,2836,1501,3111,0,0,0,0,0,0
$GC,859,-0.98,-116.8,92.9,-10.1,95,863,0.00,2.17,0.00,0.000,4,0.000,0.046,2836,227,3112,0,0,0,0,0,0
$GC,954,-0.98,-116.8,102.4,-9.7,102,958,0.00,2.10,0.00,0.000,6,0.000,0.018,2836,1558,3112,0,0,0,0,0,0
$GC,1225,-0.98,-116.8,122.5,-6.8,123,1229,0.00,2.28,0.00,0.000,4,0.000,0.044,2836,234,3112,0,0,0,0,0,0
$GC,1258,-0.98,-116.8,125.2,-8.8,125,1262,0.00,2.05,0.00,0.000,6,0.000,0.018,2836,1562,3112,0,0,0,0,0,0
$GC,1524,-0.98,-116.8,143.2,-6.5,146,1528,0.00,2.28,0.00,0.000,4,0.000,0.044,2836,230,3113,0,0,0,0,0,0
$GC,1563,-0.98,-116.8,146.4,-8.0,149,1567,0.00,2.08,0.00,0.000,6,0.000,0.019,2836,1561,3113,0,0,0,0,0,0
$GC,1826,-0.98,-116.8,168.4,-8.9,170,1830,0.00,2.28,0.00,0.000,4,0.000,0.044,2836,237,3113,0,0,0,0,0,0
$GC,1867,-0.98,-116.8,172.5,-10.2,173,1871,0.00,2.08,0.00,0.000,6,0.000,0.019,2836,1563,3113,0,0,0,0,0,0
$GC,2131,-1.02,-116.8,194.6,-8.2,193,2135,0.00,2.30,0.00,0.000,4,0.000,0.047,2836,231,3113,0,0,0,0,0,0
$GC,2187,-1.07,-116.8,200.1,-8.4,197,2191,0.00,2.08,0.00,0.000,6,0.000,0.019,2836,1558,3113,0,0,0,0,0,0
$GC,2444,-1.10,-116.8,219.8,-7.8,209,2452,0.12,2.28,0.00,0.000,4,0.061,0.047,2792,237,3113,0,0,0,0,0,0
$GC,2467,-1.05,-116.8,222.5,-10.0,209,2473,0.12,2.08,0.00,0.000,6,0.091,0.020,2821,1561,3113,0,0,0,0,0,0
$GC,2784,-1.05,-116.8,247.2,-6.6,225,2788,0.00,2.28,0.00,0.000,4,0.000,0.047,2821,232,3113,0,0,0,0,0,0
$GC,2887,-1.05,-116.8,253.4,-5.9,229,2891,0.00,2.08,0.00,0.000,6,0.000,0.020,2820,1556,3113,0,0,0,0,0,0
$GC,3203,-1.09,-116.8,269.9,-6.3,244,3207,0.00,2.28,0.00,0.000,4,0.000,0.048,2821,238,3113,0,0,0,0,0,0
$GC,3283,-1.09,-116.8,276.0,-8.2,247,3286,0.00,2.08,0.00,0.000,6,0.000,0.021,2821,1558,3113,0,0,0,0,0,0
$GC,3602,-1.13,-116.8,304.0,-9.4,262,3606,0.00,2.28,0.00,0.000,4,0.000,0.049,2820,236,3111,0,0,0,0,0,0
$GC,3669,-1.17,-116.8,310.6,-10.6,263,3673,0.12,2.08,0.00,0.000,6,0.062,0.021,2778,1550,3112,0,0,0,0,0,0
$GC,4015,-1.13,-116.8,339.0,-6.9,272,4019,0.12,2.30,0.00,0.000,4,0.092,0.050,2805,230,3110,0,0,0,0,0,0
$GC,4082,-1.13,-116.8,343.1,-5.9,273,4086,0.00,2.00,0.00,0.000,6,0.000,0.022,2805,1496,3109,0,0,0,0,0,0
$GC,4396,-1.13,-116.8,362.0,-6.4,281,4400,0.00,2.25,0.00,0.000,4,0.000,0.025,2805,2882,3107,0,0,0,0,0,0
$GC,4434,-1.22,-116.8,364.8,-6.8,281,4438,0.00,2.33,0.00,0.000,6,0.000,0.035,2805,1502,3107,0,0,0,0,0,0
$GC,4767,-1.22,-116.8,388.8,-7.1,289,4768,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1502,3105,0,0,0,0,0,0
$GC,5090,-1.22,-116.8,411.1,-6.8,297,5094,0.00,2.17,0.00,0.000,4,0.000,0.053,2805,237,3104,0,0,0,0,0,0
$GC,5118,-1.22,-116.8,413.3,-8.0,297,5122,0.00,2.00,0.00,0.000,6,0.000,0.025,2805,1497,3103,0,0,0,0,0,0
$GC,5460,-1.25,-116.8,440.5,-7.9,306,5465,0.12,2.22,0.00,0.000,4,0.065,0.055,2765,234,3101,0,0,0,0,0,0
$GC,5504,-1.17,-116.8,444.9,-9.9,307,5509,0.15,2.05,0.00,0.000,6,0.089,0.025,2797,1509,3100,0,0,0,0,0,0
$STATE,5586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5586,begin apogee
$GC,5594,-0.31,0.0,452.1,8.1,309,5694,0.85,0.00,96.45,0.831,6,0.064,0.000,2982,1442,2630,0,0,0,0,0,0
$STATE,5695,end apogee,CONTROL_FINISHED_OK
$STATE,5695,begin climb
$GC,5697,1.18,116.8,455.2,0.0,311,5811,1.40,2.20,101.43,0.816,4,0.035,0.054,3310,240,2151,0,0,0,0,0,0
$GC,5844,0.87,127.5,455.2,7.4,314,5861,0.35,1.95,10.30,0.704,6,0.096,0.025,3241,1453,2109,0,0,0,0,0,0
$GC,6201,0.84,162.4,432.7,6.3,323,6238,0.00,2.40,30.85,0.790,4,0.000,0.028,3241,2828,1968,0,0,0,0,0,0
$GC,6299,0.88,191.2,425.8,6.6,325,6333,0.00,2.42,26.88,0.779,6,0.000,0.042,3241,1453,1849,0,0,0,0,0,0
$GC,6660,0.86,203.6,399.7,7.3,334,6673,0.00,0.00,11.10,0.714,6,0.000,0.000,3241,1453,1800,0,0,0,0,0,0
$GC,6983,0.86,207.0,375.0,7.7,342,6992,0.00,2.35,4.10,0.504,4,0.000,0.027,3241,2831,1786,0,0,0,0,0,0
$GC,7030,0.89,207.0,371.0,8.9,343,7034,0.00,2.45,0.00,0.000,6,0.000,0.043,3241,1442,1785,0,0,0,0,0,0
$GC,7354,0.89,207.0,342.2,9.0,351,7358,0.00,2.35,0.00,0.000,4,0.000,0.029,3241,2835,1783,0,0,0,0,0,0
$GC,7410,0.94,207.0,337.4,8.7,352,7414,0.00,2.40,0.00,0.000,6,0.000,0.043,3241,1449,1784,0,0,0,0,0,0
$GC,7730,1.00,251.8,318.0,5.9,360,7779,0.12,2.20,40.85,0.757,4,0.069,0.058,3277,228,1602,0,0,0,0,0,0
$GC,7859,0.85,251.8,307.0,8.9,362,7866,0.20,2.00,0.00,0.000,6,0.093,0.028,3238,1444,1596,0,0,0,0,0,0
$GC,8176,0.88,278.6,287.1,6.7,375,8205,0.00,2.25,23.25,0.713,4,0.000,0.058,3237,230,1494,0,0,0,0,0,0
$GC,8222,0.88,278.6,283.3,7.9,377,8225,0.00,2.03,0.00,0.000,6,0.000,0.028,3237,1446,1491,0,0,0,0,0,0
$GC,8558,0.94,295.7,256.0,7.1,393,8579,0.00,0.00,15.68,0.672,6,0.000,0.000,3237,1450,1424,0,0,0,0,0,0
$GC,8894,1.08,357.9,238.5,5.1,409,8958,0.20,2.40,54.58,0.691,4,0.051,0.026,3294,2850,1170,0,0,0,0,0,0
$GC,8988,1.15,357.9,230.0,8.4,413,8992,0.00,2.50,0.00,0.000,6,0.000,0.043,3294,1440,1170,0,0,0,0,0,0
$GC,9314,1.11,357.9,195.5,11.1,430,9318,0.00,2.12,0.00,0.000,4,0.000,0.056,3293,228,1166,0,0,0,0,0,0
$GC,9371,1.02,357.9,188.7,11.9,434,9374,0.00,2.03,0.00,0.000,6,0.000,0.025,3293,1462,1163,0,0,0,0,0,0
$GC,9637,0.98,357.9,162.1,9.7,455,9642,0.15,2.20,0.00,0.000,4,0.096,0.054,3263,232,1163,0,0,0,0,0,0
$GC,9677,0.98,357.9,157.9,9.9,458,9681,0.00,1.98,0.00,0.000,6,0.000,0.025,3263,1463,1162,0,0,0,0,0,0
$GC,9949,1.02,358.8,135.3,7.9,479,9952,0.00,2.15,0.00,0.000,4,0.000,0.051,3263,231,1161,0,0,0,0,0,0
$GC,9976,1.02,358.8,132.3,9.0,481,9980,0.00,1.98,0.00,0.000,6,0.000,0.024,3263,1457,1160,0,0,0,0,0,0
$GC,10242,1.07,358.8,111.2,8.3,502,10246,0.00,2.28,0.00,0.000,4,0.000,0.024,3263,2842,1160,0,0,0,0,0,0
$GC,10275,1.22,358.8,108.2,8.6,504,10280,0.22,2.40,0.00,0.000,6,0.045,0.036,3328,1447,1160,0,0,0,0,0,0
$GC,10539,1.15,358.8,81.2,10.3,524,10543,0.15,2.10,0.00,0.000,4,0.091,0.051,3297,232,1160,0,0,0,0,0,0
$GC,10607,1.15,358.8,73.8,9.0,529,10610,0.00,1.95,0.00,0.000,6,0.000,0.022,3298,1459,1159,0,0,0,0,0,0
$GC,10874,1.21,358.8,52.6,8.6,550,10878,0.00,2.15,0.00,0.000,4,0.000,0.048,3298,227,1160,0,0,0,0,0,0
$GC,10897,1.21,358.8,50.2,9.4,551,10903,0.00,1.98,0.00,0.000,6,0.000,0.022,3297,1456,1160,0,0,0,0,0,0
$GC,11159,1.27,367.6,31.2,7.5,572,11175,0.12,2.28,8.30,0.438,4,0.061,0.021,3342,2841,1129,0,0,0,0,0,0
$GC,11201,1.27,367.6,27.4,8.8,578,11207,0.00,2.42,0.00,0.000,6,0.000,0.036,3342,1446,1129,0,0,0,0,0,0
$GC,11405,1.22,367.6,6.6,10.7,624,11413,0.12,2.12,0.00,0.000,4,0.100,0.050,3317,239,1129,0,0,0,0,0,0
$GC,11425,1.15,367.6,4.3,10.6,627,11432,0.00,1.92,0.00,0.000,6,0.000,0.021,3317,1452,1129,0,0,0,0,0,0
$STATE,11437,end climb,SURFACE_DEPTH_REACHED
$STATE,11437,begin surface coast
$FINISH,1.0,1.023285
$STATE,11464,end surface coast,CONTROL_FINISHED_OK
$STATE,11464,begin surface
$SM_CCo,11488,35.03,0.478,0,0,958,410.14
$SM_GC,1.74,0.00,0.00,35.03,0.000,0.000,0.478,425,1451,958,-12.07,-1.39,410.14
$IRIDIUM_FIX,2059.45,-15750.89,180100,040426
$TT8_MAMPS,0.029146
$HUMID,62.91
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,21.20
$XPDR_PINGS,0
$24V_AH,23.3,71.079
$10V_AH,10.0,57.421
$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,29.900,127.200,423.750,35.025,0.000,31.043,34.596,185.790,4.750,0.000,31.101,1255.579,7662.899,485.408,1927.405,589.862,0.000,1370.421,0.000,1894.027,0.000,32.077,0.000
$DEVICE_MAMPS,130.390,90.506,830.661,477.841,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,428.373,404.130,907.791,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355760
$DATA_FILE_SIZE,34897,635
$CAP_FILE_SIZE,128244,0
$CFSIZE,260165632,172056576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,241010,111130,2108.390,-15747.298,40,0.8,45,9.8