version: 66.06
glider: 139
mission: 8
dive: 773
start: 10 27 110 21 30 7
data:
$ID,139
$MISSION,8
$DIVE,773
$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,-2167660.2
$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
$GPS1,212137,2105.625,-15755.923,40,1.1,40,9.8
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-69.6
$GPS2,212949,2105.608,-15755.927,17,1.1,34,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$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,285.7,11742,-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,-116.8,0.0,0.0,0,77,0.00,0.00,-58.85,0.000,2,0.000,0.000,425,1443,2630,0,0,0,0,0,0
$GC,81,-1.18,-116.8,3.8,-4.2,11,111,12.68,2.15,-8.88,0.000,4,0.133,0.062,2785,233,3110,0,0,0,0,0,0
$GC,250,-0.96,-116.8,32.2,-13.0,46,255,0.28,2.00,0.00,0.000,6,0.083,0.018,2842,1509,3111,0,0,0,0,0,0
$GC,513,-0.90,-116.8,59.4,-10.1,66,517,0.00,2.20,0.00,0.000,4,0.000,0.044,2842,227,3112,0,0,0,0,0,0
$GC,581,-0.90,-116.8,67.2,-10.3,71,585,0.00,2.00,0.00,0.000,6,0.000,0.019,2842,1500,3112,0,0,0,0,0,0
$GC,846,-0.90,-116.8,90.4,-9.1,92,850,0.00,2.12,0.00,0.000,4,0.000,0.020,2842,2837,3113,0,0,0,0,0,0
$GC,869,-0.95,-116.8,92.7,-8.8,93,875,0.00,2.35,0.00,0.000,6,0.000,0.031,2842,1446,3113,0,0,0,0,0,0
$GC,1128,-0.95,-116.8,115.5,-8.4,114,1132,0.00,2.05,0.00,0.000,4,0.000,0.044,2842,238,3113,0,0,0,0,0,0
$GC,1156,-0.95,-116.8,118.2,-10.0,116,1160,0.00,1.92,0.00,0.000,6,0.000,0.019,2841,1473,3113,0,0,0,0,0,0
$GC,1428,-0.98,-116.8,138.5,-6.7,137,1432,0.00,2.17,0.00,0.000,4,0.000,0.020,2842,2815,3114,0,0,0,0,0,0
$GC,1456,-1.05,-116.8,140.5,-7.4,139,1460,0.00,2.30,0.00,0.000,6,0.000,0.031,2842,1440,3114,0,0,0,0,0,0
$GC,1721,-1.08,-116.8,160.0,-6.8,160,1726,0.12,2.05,0.00,0.000,4,0.062,0.045,2795,235,3114,0,0,0,0,0,0
$GC,1798,-1.03,-116.8,167.5,-10.5,165,1802,0.15,1.88,0.00,0.000,6,0.084,0.019,2828,1458,3114,0,0,0,0,0,0
$GC,2063,-1.03,-116.8,187.6,-7.4,186,2067,0.00,2.17,0.00,0.000,4,0.000,0.021,2828,2815,3114,0,0,0,0,0,0
$GC,2089,-1.09,-116.8,189.4,-7.5,188,2093,0.00,2.30,0.00,0.000,6,0.000,0.033,2829,1444,3114,0,0,0,0,0,0
$GC,2354,-1.09,-116.8,208.4,-7.5,206,2356,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1443,3114,0,0,0,0,0,0
$GC,2666,-1.09,-116.8,231.9,-7.6,221,2670,0.00,2.05,0.00,0.000,4,0.000,0.047,2829,231,3114,0,0,0,0,0,0
$GC,2694,-1.09,-116.8,234.3,-7.5,222,2698,0.00,1.90,0.00,0.000,6,0.000,0.021,2829,1451,3113,0,0,0,0,0,0
$GC,3021,-1.13,-116.8,253.1,-6.6,238,3026,0.12,2.22,0.00,0.000,4,0.063,0.023,2784,2819,3114,0,0,0,0,0,0
$GC,3044,-1.13,-116.8,254.9,-8.4,239,3049,0.00,2.33,0.00,0.000,6,0.000,0.035,2783,1451,3113,0,0,0,0,0,0
$GC,3377,-1.10,-116.8,283.7,-6.3,255,3382,0.12,2.10,0.00,0.000,4,0.096,0.049,2810,237,3112,0,0,0,0,0,0
$GC,3424,-1.10,-116.8,286.7,-6.1,257,3428,0.00,1.90,0.00,0.000,6,0.000,0.021,2811,1441,3113,0,0,0,0,0,0
$GC,3778,-1.10,-116.8,309.3,-7.0,271,3782,0.00,2.25,0.00,0.000,4,0.000,0.024,2811,2826,3111,0,0,0,0,0,0
$GC,3841,-1.18,-116.8,313.8,-7.0,272,3845,0.00,2.33,0.00,0.000,6,0.000,0.035,2811,1452,3110,0,0,0,0,0,0
$GC,4191,-1.18,-116.8,339.3,-7.1,281,4192,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1451,3109,0,0,0,0,0,0
$GC,4516,-1.21,-116.8,359.9,-6.6,289,4521,0.12,2.12,0.00,0.000,4,0.064,0.051,2769,234,3107,0,0,0,0,0,0
$GC,4561,-1.14,-116.8,363.8,-9.2,289,4567,0.15,1.92,0.00,0.000,6,0.091,0.024,2801,1448,3107,0,0,0,0,0,0
$GC,4892,-1.14,-116.8,390.3,-7.9,298,4896,0.00,2.25,0.00,0.000,4,0.000,0.026,2801,2825,3104,0,0,0,0,0,0
$GC,4937,-1.23,-116.8,393.3,-6.7,299,4941,0.00,2.35,0.00,0.000,6,0.000,0.038,2801,1441,3105,0,0,0,0,0,0
$GC,5264,-1.23,-116.8,414.7,-6.1,307,5268,0.00,2.28,0.00,0.000,4,0.000,0.027,2801,2823,3102,0,0,0,0,0,0
$GC,5279,-1.23,-116.8,415.4,-5.6,307,5283,0.00,2.35,0.00,0.000,6,0.000,0.039,2801,1453,3102,0,0,0,0,0,0
$GC,5630,-1.23,-116.8,439.8,-7.5,316,5635,0.00,2.10,0.00,0.000,4,0.000,0.054,2801,228,3100,0,0,0,0,0,0
$GC,5654,-1.23,-116.8,441.9,-8.7,316,5658,0.00,1.95,0.00,0.000,6,0.000,0.025,2801,1453,3100,0,0,0,0,0,0
$STATE,5757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5757,begin apogee
$GC,5763,-0.31,0.0,450.4,8.3,319,5863,0.82,0.00,95.97,0.834,6,0.065,0.000,2980,1404,2629,0,0,0,0,0,0
$STATE,5864,end apogee,CONTROL_FINISHED_OK
$STATE,5864,begin climb
$GC,5868,1.18,116.8,454.3,0.0,321,5980,1.42,2.08,101.00,0.818,4,0.035,0.053,3313,244,2152,0,0,0,0,0,0
$GC,6019,0.87,139.9,455.0,6.9,324,6048,0.38,1.90,20.98,0.768,6,0.094,0.025,3239,1419,2059,0,0,0,0,0,0
$GC,6371,0.82,150.7,429.5,7.4,333,6388,0.00,2.42,9.62,0.701,4,0.000,0.028,3239,2804,2014,0,0,0,0,0,0
$GC,6419,0.83,162.8,426.2,7.4,334,6438,0.00,2.42,12.43,0.730,6,0.000,0.041,3239,1428,1966,0,0,0,0,0,0
$GC,6750,0.81,185.1,403.6,6.9,342,6777,0.00,2.38,20.60,0.769,4,0.000,0.027,3239,2801,1874,0,0,0,0,0,0
$GC,6789,0.86,224.0,400.7,6.1,342,6830,0.00,2.45,35.88,0.783,6,0.000,0.042,3239,1418,1716,0,0,0,0,0,0
$GC,7158,0.86,224.0,369.3,8.4,351,7160,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1418,1709,0,0,0,0,0,0
$GC,7482,0.87,232.0,344.4,7.5,359,7494,0.00,2.17,6.80,0.626,4,0.000,0.060,3238,231,1684,0,0,0,0,0,0
$GC,7530,0.77,232.0,340.4,8.9,360,7534,0.00,1.95,0.00,0.000,6,0.000,0.028,3239,1418,1682,0,0,0,0,0,0
$GC,7863,0.77,232.0,314.2,8.0,368,7867,0.00,2.12,0.00,0.000,4,0.000,0.058,3240,234,1681,0,0,0,0,0,0
$GC,7902,0.73,232.0,311.1,8.6,368,7908,0.15,1.95,0.00,0.000,6,0.103,0.028,3210,1429,1678,0,0,0,0,0,0
$GC,8216,0.88,288.6,294.5,5.3,379,8274,0.15,2.17,49.92,0.744,4,0.063,0.057,3252,235,1451,0,0,0,0,0,0
$GC,8315,0.81,288.6,285.8,10.9,383,8320,0.12,1.95,0.00,0.000,6,0.106,0.028,3228,1420,1447,0,0,0,0,0,0
$GC,8637,0.86,288.6,257.3,8.4,399,8641,0.00,2.33,0.00,0.000,4,0.000,0.028,3228,2806,1445,0,0,0,0,0,0
$GC,8658,0.95,288.6,255.6,8.0,400,8663,0.12,2.45,0.00,0.000,6,0.066,0.043,3266,1415,1444,0,0,0,0,0,0
$GC,8988,0.95,288.6,226.2,7.9,416,8992,0.00,2.08,0.00,0.000,4,0.000,0.057,3266,234,1443,0,0,0,0,0,0
$GC,9007,0.95,288.6,224.6,8.4,416,9013,0.00,1.95,0.00,0.000,6,0.000,0.028,3266,1413,1441,0,0,0,0,0,0
$GC,9324,0.98,308.8,203.6,7.0,432,9347,0.00,2.12,17.17,0.645,4,0.000,0.054,3266,229,1369,0,0,0,0,0,0
$GC,9357,0.98,308.8,200.5,9.3,433,9361,0.00,1.95,0.00,0.000,6,0.000,0.027,3266,1427,1367,0,0,0,0,0,0
$GC,9692,0.98,308.8,172.2,8.0,459,9696,0.00,2.30,0.00,0.000,4,0.000,0.026,3266,2812,1366,0,0,0,0,0,0
$GC,9718,1.06,308.8,170.0,8.2,461,9722,0.00,2.42,0.00,0.000,6,0.000,0.040,3266,1419,1366,0,0,0,0,0,0
$GC,9981,1.06,308.8,148.0,9.0,482,9982,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1419,1365,0,0,0,0,0,0
$GC,10236,1.13,331.2,131.1,6.9,502,10264,0.12,2.15,19.85,0.584,4,0.066,0.053,3305,233,1278,0,0,0,0,0,0
$GC,10275,1.06,331.2,127.2,9.7,504,10282,0.08,1.98,0.00,0.000,6,0.075,0.024,3285,1438,1276,0,0,0,0,0,0
$GC,10538,1.12,342.6,107.8,7.4,525,10555,0.00,2.30,10.75,0.527,4,0.000,0.024,3285,2794,1233,0,0,0,0,0,0
$GC,10580,1.24,351.9,104.4,7.5,528,10596,0.15,2.38,9.65,0.509,6,0.057,0.037,3332,1413,1195,0,0,0,0,0,0
$GC,10848,1.19,351.9,77.9,8.1,549,10853,0.10,2.30,0.00,0.000,4,0.103,0.023,3311,2802,1192,0,0,0,0,0,0
$GC,10868,1.23,351.9,76.2,7.9,550,10874,0.00,2.42,0.00,0.000,6,0.000,0.037,3311,1418,1192,0,0,0,0,0,0
$GC,11129,1.26,351.9,56.2,8.4,571,11130,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,1418,1192,0,0,0,0,0,0
$GC,11381,1.32,368.3,37.1,7.2,591,11403,0.12,2.12,14.77,0.482,4,0.063,0.048,3353,234,1127,0,0,0,0,0,0
$GC,11458,1.20,368.3,29.7,10.6,596,11462,0.20,1.88,0.00,0.000,6,0.082,0.021,3312,1429,1125,0,0,0,0,0,0
$GC,11725,1.25,368.3,8.6,10.3,656,11732,0.00,2.25,0.00,0.000,4,0.000,0.021,3312,2797,1125,0,0,0,0,0,0
$GC,11740,1.29,368.3,6.4,10.9,658,11747,0.00,2.40,0.00,0.000,6,0.000,0.035,3312,1414,1125,0,0,0,0,0,0
$STATE,11777,end climb,SURFACE_DEPTH_REACHED
$STATE,11778,begin surface coast
$FINISH,0.7,1.015158
$STATE,11813,end surface coast,CONTROL_FINISHED_OK
$STATE,11813,begin surface
$SM_CCo,11837,34.55,0.485,0,0,957,410.14
$SM_GC,1.66,0.00,0.00,34.55,0.000,0.000,0.485,427,1408,957,-12.07,-1.19,410.14
$IRIDIUM_FIX,2059.45,-15756.04,210100,181856
$TT8_MAMPS,0.029146
$HUMID,63.23
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,20.80
$XPDR_PINGS,1
$24V_AH,23.3,74.147
$10V_AH,9.9,59.665
$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,30.125,129.900,425.400,34.550,0.000,25.923,42.974,261.018,4.750,0.000,34.754,1297.578,7964.518,484.588,1942.778,666.736,0.000,1370.677,0.000,1902.450,0.000,29.270,0.000
$DEVICE_MAMPS,132.691,106.613,834.496,484.744,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,454.144,433.026,972.793,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355760
$DATA_FILE_SIZE,38113,674
$CAP_FILE_SIZE,133178,0
$CFSIZE,260165632,170463232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,281010,004907,2106.667,-15756.804,30,2.0,30,9.8