version: 66.06
glider: 139
mission: 8
dive: 753
start: 10 25 110 0 45 3
data:
$ID,139
$MISSION,8
$DIVE,753
$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,-2167168.5
$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
$GPS1,003754,2107.157,-15744.221,44,1.2,62,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-72.6
$GPS2,004443,2107.143,-15744.289,12,1.2,17,9.8
$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,126.3,3415,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.18,-116.8,0.0,0.0,0,83,0.00,0.00,-64.32,0.000,2,0.000,0.000,429,1438,2708,0,0,0,0,0,0
$GC,87,-1.18,-116.8,3.7,-4.2,12,117,12.65,2.12,-7.50,0.000,4,0.133,0.061,2784,240,3109,0,0,0,0,0,0
$GC,147,-0.78,-116.8,18.6,-19.9,23,154,0.43,2.10,0.00,0.000,6,0.074,0.019,2878,1554,3111,0,0,0,0,0,0
$GC,348,-0.78,-116.8,39.2,-10.0,55,352,0.00,2.25,0.00,0.000,4,0.000,0.021,2878,2930,3112,0,0,0,0,0,0
$GC,374,-0.82,-116.8,41.9,-10.1,57,378,0.00,2.45,0.00,0.000,6,0.000,0.031,2878,1490,3111,0,0,0,0,0,0
$GC,639,-0.82,-116.8,67.8,-10.2,78,643,0.00,2.12,0.00,0.000,4,0.000,0.045,2878,237,3112,0,0,0,0,0,0
$GC,707,-0.88,-116.8,74.4,-9.8,83,711,0.00,2.08,0.00,0.000,6,0.000,0.018,2877,1571,3112,0,0,0,0,0,0
$GC,972,-0.98,-116.8,95.9,-7.5,104,977,0.17,2.33,0.00,0.000,4,0.049,0.044,2819,234,3113,0,0,0,0,0,0
$GC,1058,-0.94,-116.8,104.2,-9.9,110,1063,0.12,2.08,0.00,0.000,6,0.091,0.018,2847,1569,3113,0,0,0,0,0,0
$GC,1327,-0.98,-116.8,127.1,-8.3,131,1331,0.00,2.28,0.00,0.000,4,0.000,0.044,2847,235,3113,0,0,0,0,0,0
$GC,1381,-1.02,-116.8,131.9,-8.2,135,1385,0.00,2.05,0.00,0.000,6,0.000,0.018,2847,1563,3114,0,0,0,0,0,0
$GC,1651,-1.08,-116.8,151.5,-7.0,156,1656,0.15,2.28,0.00,0.000,4,0.054,0.045,2794,237,3114,0,0,0,0,0,0
$GC,1731,-0.97,-116.8,159.5,-10.7,161,1740,0.20,2.08,0.00,0.000,6,0.080,0.018,2839,1571,3114,0,0,0,0,0,0
$GC,1992,-1.00,-116.8,179.6,-7.2,182,1997,0.00,2.28,0.00,0.000,4,0.000,0.045,2838,237,3114,0,0,0,0,0,0
$GC,2031,-1.04,-116.8,182.7,-8.4,184,2037,0.00,2.10,0.00,0.000,6,0.000,0.019,2838,1571,3114,0,0,0,0,0,0
$GC,2301,-1.07,-116.8,202.5,-7.8,205,2305,0.00,2.28,0.00,0.000,4,0.000,0.045,2838,238,3114,0,0,0,0,0,0
$GC,2329,-1.07,-116.8,205.2,-8.7,206,2333,0.10,2.05,0.00,0.000,6,0.072,0.020,2799,1560,3114,0,0,0,0,0,0
$GC,2657,-1.04,-116.8,235.1,-9.1,222,2662,0.12,2.30,0.00,0.000,4,0.092,0.048,2827,237,3114,0,0,0,0,0,0
$GC,2714,-1.04,-116.8,240.4,-8.8,224,2717,0.00,2.05,0.00,0.000,6,0.000,0.020,2827,1563,3113,0,0,0,0,0,0
$GC,3035,-1.07,-116.8,267.7,-8.6,240,3039,0.00,2.28,0.00,0.000,4,0.000,0.047,2827,235,3113,0,0,0,0,0,0
$GC,3063,-1.10,-116.8,270.4,-9.3,241,3067,0.00,2.05,0.00,0.000,6,0.000,0.021,2827,1552,3114,0,0,0,0,0,0
$GC,3386,-1.15,-116.8,291.0,-5.6,257,3390,0.12,2.25,0.00,0.000,4,0.062,0.025,2783,2919,3113,0,0,0,0,0,0
$GC,3494,-1.15,-116.8,298.3,-6.5,261,3500,0.00,2.40,0.00,0.000,6,0.000,0.032,2783,1489,3113,0,0,0,0,0,0
$GC,3809,-1.12,-116.8,324.8,-9.0,270,3813,0.12,2.17,0.00,0.000,4,0.094,0.050,2810,237,3111,0,0,0,0,0,0
$GC,3847,-1.12,-116.8,328.5,-9.1,270,3852,0.00,2.08,0.00,0.000,6,0.000,0.021,2810,1558,3111,0,0,0,0,0,0
$GC,4180,-1.15,-116.8,352.6,-6.9,279,4181,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1562,3109,0,0,0,0,0,0
$GC,4504,-1.15,-116.8,374.8,-6.9,287,4508,0.00,2.30,0.00,0.000,4,0.000,0.051,2809,238,3107,0,0,0,0,0,0
$GC,4569,-1.15,-116.8,379.7,-6.7,288,4574,0.00,2.08,0.00,0.000,6,0.000,0.023,2809,1550,3106,0,0,0,0,0,0
$GC,4884,-1.19,-116.8,399.5,-6.2,296,4889,0.00,2.30,0.00,0.000,4,0.000,0.051,2810,234,3105,0,0,0,0,0,0
$GC,4942,-1.24,-116.8,403.8,-7.7,297,4947,0.12,2.03,0.00,0.000,6,0.065,0.025,2768,1505,3105,0,0,0,0,0,0
$GC,5266,-1.18,-116.8,430.6,-8.5,305,5271,0.10,2.28,0.00,0.000,4,0.104,0.028,2790,2885,3102,0,0,0,0,0,0
$GC,5329,-1.26,-116.8,435.5,-7.4,306,5333,0.00,2.38,0.00,0.000,6,0.000,0.040,2790,1505,3102,0,0,0,0,0,0
$STATE,5513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5513,begin apogee
$GC,5520,-0.31,0.0,450.1,7.8,311,5619,0.88,0.00,96.10,0.830,6,0.066,0.000,2979,1436,2629,0,0,0,0,0,0
$STATE,5620,end apogee,CONTROL_FINISHED_OK
$STATE,5620,begin climb
$GC,5624,1.18,116.8,453.1,0.0,313,5730,1.42,0.00,101.53,0.813,6,0.035,0.000,3310,1436,2153,0,0,0,0,0,0
$GC,6034,0.98,136.2,434.7,7.0,323,6058,0.22,2.12,16.88,0.755,4,0.097,0.054,3265,242,2073,0,0,0,0,0,0
$GC,6089,0.78,136.2,430.7,8.0,324,6094,0.22,1.98,0.00,0.000,6,0.097,0.026,3222,1449,2069,0,0,0,0,0,0
$GC,6408,0.86,197.0,414.2,5.2,332,6469,0.00,2.35,54.58,0.802,4,0.000,0.028,3222,2834,1825,0,0,0,0,0,0
$GC,6495,0.90,198.4,408.5,7.8,334,6500,0.10,2.42,0.00,0.000,6,0.077,0.041,3253,1452,1824,0,0,0,0,0,0
$GC,6819,0.85,212.2,383.2,7.3,342,6839,0.00,2.25,13.50,0.725,4,0.000,0.057,3252,234,1765,0,0,0,0,0,0
$GC,6927,0.71,212.2,373.9,8.6,344,6932,0.22,2.00,0.00,0.000,6,0.094,0.028,3207,1447,1761,0,0,0,0,0,0
$GC,7242,0.78,219.3,351.0,7.6,352,7254,0.00,2.22,6.75,0.630,4,0.000,0.057,3207,229,1736,0,0,0,0,0,0
$GC,7279,0.78,219.3,347.8,8.7,352,7283,0.00,2.03,0.00,0.000,6,0.000,0.028,3207,1455,1734,0,0,0,0,0,0
$GC,7614,0.85,219.3,320.2,8.1,361,7619,0.12,2.33,0.00,0.000,4,0.071,0.030,3243,2842,1733,0,0,0,0,0,0
$GC,7645,0.85,219.3,317.5,9.0,361,7649,0.00,2.45,0.00,0.000,6,0.000,0.042,3243,1444,1733,0,0,0,0,0,0
$GC,7964,0.89,249.4,294.5,6.5,371,7996,0.00,2.20,27.40,0.736,4,0.000,0.058,3243,233,1612,0,0,0,0,0,0
$GC,8030,0.85,249.4,289.2,8.0,374,8034,0.00,2.05,0.00,0.000,6,0.000,0.028,3243,1454,1609,0,0,0,0,0,0
$GC,8366,0.94,293.1,268.6,5.9,390,8410,0.00,2.20,38.67,0.720,4,0.000,0.055,3243,234,1433,0,0,0,0,0,0
$GC,8451,0.95,299.6,262.7,7.6,393,8464,0.00,2.03,6.72,0.575,6,0.000,0.028,3243,1458,1407,0,0,0,0,0,0
$GC,8797,1.00,299.6,235.8,8.1,410,8802,0.10,2.20,0.00,0.000,4,0.077,0.056,3274,232,1404,0,0,0,0,0,0
$GC,8834,0.92,299.6,231.5,10.9,411,8840,0.12,2.00,0.00,0.000,6,0.101,0.028,3250,1454,1401,0,0,0,0,0,0
$GC,9154,1.03,349.5,209.9,5.6,427,9204,0.10,2.25,43.25,0.670,4,0.078,0.054,3282,234,1204,0,0,0,0,0,0
$GC,9245,0.95,349.5,201.9,11.6,431,9250,0.12,2.00,0.00,0.000,6,0.099,0.026,3258,1457,1201,0,0,0,0,0,0
$GC,9569,1.00,349.5,172.9,8.5,456,9573,0.00,2.30,0.00,0.000,4,0.000,0.025,3258,2836,1199,0,0,0,0,0,0
$GC,9588,1.08,349.5,171.3,8.0,457,9594,0.12,2.40,0.00,0.000,6,0.066,0.039,3297,1448,1199,0,0,0,0,0,0
$GC,9850,1.05,349.5,147.5,8.6,478,9854,0.00,2.12,0.00,0.000,4,0.000,0.053,3297,234,1199,0,0,0,0,0,0
$GC,9921,0.97,349.5,140.3,10.1,483,9926,0.17,1.98,0.00,0.000,6,0.088,0.025,3261,1460,1196,0,0,0,0,0,0
$GC,10190,1.05,349.5,118.9,8.2,504,10194,0.00,2.15,0.00,0.000,4,0.000,0.051,3260,231,1196,0,0,0,0,0,0
$GC,10245,1.11,349.5,113.4,9.9,508,10250,0.15,1.95,0.00,0.000,6,0.058,0.024,3308,1451,1195,0,0,0,0,0,0
$GC,10509,1.11,349.5,89.8,8.5,528,10513,0.00,2.25,0.00,0.000,4,0.000,0.023,3309,2833,1195,0,0,0,0,0,0
$GC,10541,1.20,349.5,86.0,9.9,530,10547,0.00,2.40,0.00,0.000,6,0.000,0.037,3309,1453,1195,0,0,0,0,0,0
$GC,10801,1.20,349.5,64.2,9.0,551,10804,0.00,2.10,0.00,0.000,4,0.000,0.049,3309,225,1195,0,0,0,0,0,0
$GC,10870,1.20,349.5,57.6,10.1,556,10874,0.00,1.95,0.00,0.000,6,0.000,0.021,3309,1452,1195,0,0,0,0,0,0
$GC,11136,1.24,349.5,37.5,8.3,577,11137,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,1460,1195,0,0,0,0,0,0
$GC,11392,1.27,349.5,16.3,8.3,621,11399,0.00,2.12,0.00,0.000,4,0.000,0.046,3309,240,1195,0,0,0,0,0,0
$GC,11431,1.27,349.5,12.7,8.9,629,11438,0.00,1.95,0.00,0.000,6,0.000,0.021,3309,1465,1195,0,0,0,0,0,0
$STATE,11557,end climb,SURFACE_DEPTH_REACHED
$STATE,11557,begin surface coast
$FINISH,1.0,1.023186
$STATE,11618,end surface coast,CONTROL_FINISHED_OK
$STATE,11618,begin surface
$SM_CCo,11640,49.00,0.476,0,0,958,410.14
$SM_GC,1.53,0.00,0.00,49.00,0.000,0.000,0.476,425,1465,958,-12.07,-0.99,410.14
$IRIDIUM_FIX,2101.76,-15743.60,180100,212130
$TT8_MAMPS,0.029146
$HUMID,62.12
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.3,71.657
$10V_AH,9.9,57.862
$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,30.775,130.675,405.375,49.000,0.000,30.803,42.589,191.945,4.500,0.000,17.551,1314.561,7659.606,523.978,1982.949,614.636,0.000,1399.380,0.000,1962.980,0.000,29.285,0.000
$DEVICE_MAMPS,132.691,91.273,829.894,475.540,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,451.969,435.442,987.858,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355760
$DATA_FILE_SIZE,38199,671
$CAP_FILE_SIZE,131545,0
$CFSIZE,260165632,171732992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,251010,040124,2106.266,-15744.067,52,1.1,52,9.8