version: 66.06
glider: 139
mission: 8
dive: 756
start: 10 25 110 10 53 15
data:
$ID,139
$MISSION,8
$DIVE,756
$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,-2167242.5
$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
$GPS1,104524,2106.201,-15741.860,32,1.8,49,9.8
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-71.7
$GPS2,105255,2106.182,-15741.898,17,1.7,34,9.8
$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,212.2,20588,-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,-64.18,0.000,2,0.000,0.000,426,1453,2764,0,0,0,0,0,0
$GC,87,-1.18,-116.8,3.6,-4.0,12,112,12.65,2.12,-6.45,0.000,4,0.132,0.059,2784,232,3108,0,0,0,0,0,0
$GC,260,-0.91,-116.8,35.5,-15.1,44,267,0.28,2.10,0.00,0.000,6,0.072,0.019,2847,1560,3110,0,0,0,0,0,0
$GC,523,-0.85,-116.8,63.7,-11.6,65,527,0.00,2.30,0.00,0.000,4,0.000,0.044,2848,230,3111,0,0,0,0,0,0
$GC,581,-0.85,-116.8,71.5,-11.3,69,588,0.00,2.10,0.00,0.000,6,0.000,0.018,2848,1562,3111,0,0,0,0,0,0
$GC,841,-0.85,-116.8,96.6,-8.9,90,845,0.00,2.28,0.00,0.000,4,0.000,0.044,2847,237,3112,0,0,0,0,0,0
$GC,914,-0.89,-116.8,103.5,-8.6,95,918,0.00,2.05,0.00,0.000,6,0.000,0.018,2848,1575,3112,0,0,0,0,0,0
$GC,1178,-0.93,-116.8,119.7,-6.0,115,1183,0.00,2.33,0.00,0.000,4,0.000,0.044,2847,227,3112,0,0,0,0,0,0
$GC,1249,-0.99,-116.8,125.5,-7.6,120,1253,0.00,2.05,0.00,0.000,6,0.000,0.018,2848,1565,3113,0,0,0,0,0,0
$GC,1518,-1.03,-116.8,146.4,-7.6,141,1523,0.10,2.30,0.00,0.000,4,0.072,0.045,2808,230,3113,0,0,0,0,0,0
$GC,1547,-0.96,-116.8,149.3,-9.4,143,1552,0.15,2.08,0.00,0.000,6,0.085,0.019,2841,1560,3113,0,0,0,0,0,0
$GC,1811,-0.99,-116.8,168.3,-8.7,163,1815,0.00,2.28,0.00,0.000,4,0.000,0.045,2841,228,3113,0,0,0,0,0,0
$GC,1851,-1.03,-116.8,172.5,-9.5,166,1855,0.00,2.08,0.00,0.000,6,0.000,0.019,2841,1570,3113,0,0,0,0,0,0
$GC,2117,-1.08,-116.8,194.7,-7.4,187,2122,0.12,2.30,0.00,0.000,4,0.063,0.047,2796,237,3113,0,0,0,0,0,0
$GC,2147,-0.99,-116.8,197.5,-8.9,189,2152,0.17,2.05,0.00,0.000,6,0.080,0.020,2834,1557,3113,0,0,0,0,0,0
$GC,2414,-1.03,-116.8,216.9,-7.4,203,2418,0.00,2.28,0.00,0.000,4,0.000,0.047,2834,230,3113,0,0,0,0,0,0
$GC,2467,-1.07,-116.8,221.2,-7.5,205,2471,0.00,2.08,0.00,0.000,6,0.000,0.020,2834,1561,3113,0,0,0,0,0,0
$GC,2793,-1.12,-116.8,244.1,-6.7,221,2798,0.12,2.30,0.00,0.000,4,0.062,0.048,2789,237,3113,0,0,0,0,0,0
$GC,2851,-1.07,-116.8,248.9,-8.5,223,2855,0.12,2.08,0.00,0.000,6,0.091,0.020,2817,1560,3113,0,0,0,0,0,0
$GC,3172,-1.07,-116.8,273.4,-8.3,239,3176,0.00,2.28,0.00,0.000,4,0.000,0.048,2817,237,3112,0,0,0,0,0,0
$GC,3247,-1.07,-116.8,281.3,-10.5,242,3250,0.00,2.08,0.00,0.000,6,0.000,0.021,2817,1553,3112,0,0,0,0,0,0
$GC,3564,-1.07,-116.8,312.1,-9.2,255,3568,0.00,2.28,0.00,0.000,4,0.000,0.048,2817,231,3111,0,0,0,0,0,0
$GC,3616,-1.07,-116.8,316.3,-7.7,256,3619,0.00,2.10,0.00,0.000,6,0.000,0.021,2816,1557,3111,0,0,0,0,0,0
$GC,3940,-1.11,-116.8,334.6,-5.4,264,3944,0.00,2.28,0.00,0.000,4,0.000,0.050,2817,238,3109,0,0,0,0,0,0
$GC,3983,-1.11,-116.8,337.2,-6.1,265,3987,0.00,2.08,0.00,0.000,6,0.000,0.022,2817,1549,3109,0,0,0,0,0,0
$GC,4313,-1.15,-116.8,357.6,-6.6,273,4314,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1554,3107,0,0,0,0,0,0
$GC,4636,-1.20,-116.8,385.0,-9.3,281,4641,0.12,2.30,0.00,0.000,4,0.064,0.053,2774,235,3105,0,0,0,0,0,0
$GC,4737,-1.13,-116.8,395.3,-9.4,283,4742,0.12,2.03,0.00,0.000,6,0.096,0.024,2802,1505,3104,0,0,0,0,0,0
$GC,5056,-1.13,-116.8,416.3,-5.8,291,5060,0.00,2.28,0.00,0.000,4,0.000,0.027,2801,2879,3103,0,0,0,0,0,0
$GC,5076,-1.18,-116.8,417.3,-4.8,291,5080,0.00,2.38,0.00,0.000,6,0.000,0.038,2801,1499,3103,0,0,0,0,0,0
$GC,5422,-1.18,-116.8,438.8,-6.4,300,5426,0.00,2.20,0.00,0.000,4,0.000,0.054,2801,234,3100,0,0,0,0,0,0
$GC,5459,-1.18,-116.8,441.6,-7.7,300,5463,0.00,2.03,0.00,0.000,6,0.000,0.025,2802,1502,3100,0,0,0,0,0,0
$STATE,5589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5589,begin apogee
$GC,5597,-0.31,0.0,451.1,7.2,304,5697,0.82,0.00,96.32,0.825,6,0.064,0.000,2981,1440,2630,0,0,0,0,0,0
$STATE,5698,end apogee,CONTROL_FINISHED_OK
$STATE,5698,begin climb
$GC,5700,1.18,116.8,454.1,0.0,306,5812,1.40,2.15,101.40,0.811,4,0.034,0.054,3310,241,2151,0,0,0,0,0,0
$GC,5830,0.98,197.2,456.8,4.3,309,5909,0.22,1.98,70.55,0.800,6,0.100,0.025,3266,1452,1825,0,0,0,0,0,0
$GC,6241,0.88,197.2,420.2,10.2,319,6246,0.12,2.30,0.00,0.000,4,0.108,0.030,3242,2825,1816,0,0,0,0,0,0
$GC,6299,0.88,197.2,413.7,11.0,320,6303,0.00,2.40,0.00,0.000,6,0.000,0.042,3242,1457,1816,0,0,0,0,0,0
$GC,6614,0.84,197.2,381.5,9.8,328,6615,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1457,1812,0,0,0,0,0,0
$GC,6939,0.88,231.0,358.1,6.4,336,6970,0.00,0.00,28.98,0.756,6,0.000,0.000,3242,1457,1688,0,0,0,0,0,0
$GC,7263,0.94,275.1,340.4,5.9,344,7304,0.00,0.00,39.55,0.755,6,0.000,0.000,3242,1457,1508,0,0,0,0,0,0
$GC,7627,0.94,275.1,309.3,9.3,353,7628,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1457,1503,0,0,0,0,0,0
$GC,7938,0.97,275.1,284.5,8.2,365,7939,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1457,1500,0,0,0,0,0,0
$GC,8245,1.06,310.9,261.8,6.3,380,8283,0.17,2.25,31.12,0.699,4,0.058,0.056,3290,235,1361,0,0,0,0,0,0
$GC,8326,0.93,310.9,255.4,9.9,383,8330,0.20,1.98,0.00,0.000,6,0.091,0.026,3250,1450,1357,0,0,0,0,0,0
$GC,8650,0.98,315.5,231.4,7.7,399,8656,0.00,0.00,4.65,0.476,6,0.000,0.000,3251,1453,1343,0,0,0,0,0,0
$GC,8957,1.03,315.5,205.1,9.2,414,8962,0.10,2.17,0.00,0.000,4,0.077,0.054,3282,233,1342,0,0,0,0,0,0
$GC,8987,0.96,315.5,201.8,12.8,415,8991,0.12,1.95,0.00,0.000,6,0.098,0.026,3258,1451,1340,0,0,0,0,0,0
$GC,9314,1.03,333.5,175.8,7.1,440,9336,0.00,2.35,16.65,0.597,4,0.000,0.026,3257,2838,1269,0,0,0,0,0,0
$GC,9348,1.11,333.5,173.3,7.9,442,9353,0.15,2.42,0.00,0.000,6,0.059,0.038,3301,1449,1269,0,0,0,0,0,0
$GC,9608,1.05,333.5,147.9,9.7,462,9613,0.12,2.15,0.00,0.000,4,0.097,0.053,3276,232,1268,0,0,0,0,0,0
$GC,9640,1.01,333.5,144.8,10.3,464,9644,0.00,1.95,0.00,0.000,6,0.000,0.024,3275,1458,1267,0,0,0,0,0,0
$GC,9909,1.01,333.5,123.5,8.5,485,9913,0.00,2.15,0.00,0.000,4,0.000,0.051,3276,234,1267,0,0,0,0,0,0
$GC,9938,1.01,333.5,120.7,9.1,487,9942,0.00,1.98,0.00,0.000,6,0.000,0.024,3276,1463,1266,0,0,0,0,0,0
$GC,10203,1.05,333.5,95.2,10.0,508,10207,0.00,2.22,0.00,0.000,4,0.000,0.023,3276,2832,1265,0,0,0,0,0,0
$GC,10247,1.19,333.5,91.1,9.7,511,10252,0.15,2.40,0.00,0.000,6,0.058,0.035,3323,1436,1265,0,0,0,0,0,0
$GC,10516,1.23,365.1,69.2,6.5,532,10550,0.00,2.10,27.88,0.529,4,0.000,0.048,3323,238,1140,0,0,0,0,0,0
$GC,10590,1.19,365.1,63.5,9.0,537,10594,0.00,1.95,0.00,0.000,6,0.000,0.022,3323,1454,1137,0,0,0,0,0,0
$GC,10854,1.19,365.1,40.3,8.1,558,10855,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1460,1137,0,0,0,0,0,0
$GC,11111,1.19,365.1,15.4,9.6,600,11117,0.00,2.15,0.00,0.000,4,0.000,0.046,3323,232,1137,0,0,0,0,0,0
$GC,11167,1.13,365.1,9.4,11.6,612,11174,0.10,1.95,0.00,0.000,6,0.067,0.021,3298,1457,1135,0,0,0,0,0,0
$STATE,11242,end climb,SURFACE_DEPTH_REACHED
$STATE,11242,begin surface coast
$FINISH,0.9,1.023322
$STATE,11294,end surface coast,CONTROL_FINISHED_OK
$STATE,11294,begin surface
$SM_CCo,11316,36.72,0.476,0,0,958,410.14
$SM_GC,1.85,0.00,0.00,36.72,0.000,0.000,0.476,431,1457,958,-12.05,-1.22,410.14
$IRIDIUM_FIX,2059.45,-15741.46,190100,070702
$TT8_MAMPS,0.029146
$HUMID,63.07
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,20.80
$XPDR_PINGS,0
$24V_AH,23.3,72.000
$10V_AH,10.0,58.125
$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,30.075,108.450,417.100,36.725,0.000,25.490,39.094,228.198,4.500,0.000,34.841,1239.566,7634.675,482.610,1839.510,602.315,0.000,1293.910,0.000,1794.790,0.000,29.255,0.000
$DEVICE_MAMPS,131.924,89.739,825.292,476.307,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,431.837,409.191,915.302,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,34953,640
$CAP_FILE_SIZE,121446,0
$CFSIZE,260165632,171552768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,251010,140400,2105.182,-15742.445,54,1.2,54,9.8