version: 66.06
glider: 139
mission: 8
dive: 757
start: 10 25 110 14 19 35
data:
$ID,139
$MISSION,8
$DIVE,757
$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,-2167258
$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
$GPS1,140400,2105.182,-15742.445,54,1.2,54,9.8
$_CALLS,3
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-66.0
$GPS2,141915,2105.162,-15742.646,13,1.8,14,9.8
$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,213.1,18320,-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,13,begin dive
$GC,16,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.12,0.000,2,0.000,0.000,430,1458,2773,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.6,-4.0,12,110,12.62,2.12,-6.40,0.000,4,0.132,0.056,2784,230,3108,0,0,0,0,0,0
$GC,180,-0.95,-116.8,21.5,-13.7,31,187,0.22,2.10,0.00,0.000,6,0.073,0.018,2844,1553,3110,0,0,0,0,0,0
$GC,388,-0.86,-116.8,43.1,-10.7,59,392,0.00,2.28,0.00,0.000,4,0.000,0.044,2843,227,3111,0,0,0,0,0,0
$GC,429,-0.76,-116.8,47.4,-11.7,62,434,0.20,2.08,0.00,0.000,6,0.082,0.018,2886,1559,3111,0,0,0,0,0,0
$GC,697,-0.81,-116.8,69.8,-7.3,83,701,0.00,2.28,0.00,0.000,4,0.000,0.044,2885,230,3111,0,0,0,0,0,0
$GC,742,-0.88,-116.8,73.4,-8.8,86,747,0.12,2.08,0.00,0.000,6,0.061,0.018,2838,1566,3111,0,0,0,0,0,0
$GC,1007,-0.88,-116.8,97.3,-9.1,107,1011,0.00,2.28,0.00,0.000,4,0.000,0.043,2838,234,3112,0,0,0,0,0,0
$GC,1040,-0.83,-116.8,100.1,-10.3,109,1045,0.15,2.08,0.00,0.000,6,0.082,0.018,2872,1567,3112,0,0,0,0,0,0
$GC,1303,-0.92,-116.8,119.0,-6.9,129,1307,0.00,2.30,0.00,0.000,4,0.000,0.043,2872,231,3112,0,0,0,0,0,0
$GC,1370,-1.00,-116.8,124.0,-6.7,134,1374,0.17,2.08,0.00,0.000,6,0.048,0.019,2813,1566,3112,0,0,0,0,0,0
$GC,1637,-0.96,-116.8,143.5,-7.1,155,1642,0.12,2.22,0.00,0.000,4,0.090,0.021,2840,2925,3112,0,0,0,0,0,0
$GC,1672,-1.09,-116.8,146.0,-6.8,157,1678,0.12,2.40,0.00,0.000,6,0.061,0.029,2794,1497,3112,0,0,0,0,0,0
$GC,1933,-1.02,-116.8,172.7,-12.2,178,1937,0.15,2.15,0.00,0.000,4,0.087,0.045,2827,234,3112,0,0,0,0,0,0
$GC,1965,-1.02,-116.8,176.8,-11.4,180,1972,0.00,2.10,0.00,0.000,6,0.000,0.019,2827,1566,3112,0,0,0,0,0,0
$GC,2242,-1.02,-116.8,204.2,-9.5,201,2246,0.00,2.28,0.00,0.000,4,0.000,0.045,2827,232,3112,0,0,0,0,0,0
$GC,2279,-1.02,-116.8,208.1,-9.8,202,2286,0.00,2.10,0.00,0.000,6,0.000,0.019,2827,1566,3112,0,0,0,0,0,0
$GC,2597,-1.02,-116.8,232.6,-6.7,218,2601,0.00,2.28,0.00,0.000,4,0.000,0.045,2827,232,3112,0,0,0,0,0,0
$GC,2653,-1.06,-116.8,236.8,-6.4,220,2657,0.00,2.08,0.00,0.000,6,0.000,0.020,2827,1556,3112,0,0,0,0,0,0
$GC,2972,-1.10,-116.8,254.7,-5.1,235,2976,0.00,2.25,0.00,0.000,4,0.000,0.047,2827,239,3111,0,0,0,0,0,0
$GC,3027,-1.15,-116.8,258.0,-5.8,237,3032,0.12,2.08,0.00,0.000,6,0.061,0.021,2783,1559,3111,0,0,0,0,0,0
$GC,3348,-1.10,-116.8,284.0,-9.2,252,3353,0.12,2.30,0.00,0.000,4,0.093,0.048,2809,240,3110,0,0,0,0,0,0
$GC,3386,-1.10,-116.8,288.2,-9.3,253,3391,0.00,2.08,0.00,0.000,6,0.000,0.021,2810,1564,3110,0,0,0,0,0,0
$GC,3719,-1.10,-116.8,316.3,-9.2,266,3723,0.00,2.22,0.00,0.000,4,0.000,0.025,2809,2919,3108,0,0,0,0,0,0
$GC,3749,-1.16,-116.8,318.9,-9.1,266,3753,0.00,2.40,0.00,0.000,6,0.000,0.034,2809,1505,3108,0,0,0,0,0,0
$GC,4091,-1.16,-116.8,344.0,-6.6,275,4095,0.00,2.17,0.00,0.000,4,0.000,0.051,2810,234,3106,0,0,0,0,0,0
$GC,4134,-1.16,-116.8,346.8,-6.0,276,4138,0.00,2.10,0.00,0.000,6,0.000,0.022,2809,1552,3106,0,0,0,0,0,0
$GC,4463,-1.19,-116.8,364.9,-6.0,284,4468,0.00,2.30,0.00,0.000,4,0.000,0.051,2810,227,3104,0,0,0,0,0,0
$GC,4487,-1.19,-116.8,366.9,-7.8,284,4491,0.00,2.10,0.00,0.000,6,0.000,0.024,2810,1544,3104,0,0,0,0,0,0
$GC,4829,-1.23,-116.8,395.7,-8.5,293,4834,0.12,2.30,0.00,0.000,4,0.064,0.053,2768,230,3102,0,0,0,0,0,0
$GC,4874,-1.15,-116.8,400.2,-10.8,294,4878,0.15,2.00,0.00,0.000,6,0.089,0.024,2800,1499,3101,0,0,0,0,0,0
$GC,5205,-1.15,-116.8,425.6,-7.6,302,5206,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1504,3099,0,0,0,0,0,0
$GC,5527,-1.15,-116.8,449.0,-7.0,310,5531,0.00,2.28,0.00,0.000,4,0.000,0.028,2800,2875,3097,0,0,0,0,0,0
$STATE,5538,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5538,begin apogee
$GC,5547,-0.31,0.0,450.1,7.0,310,5646,0.80,0.00,95.28,0.828,6,0.063,0.000,2978,1448,2630,0,0,0,0,0,0
$STATE,5646,end apogee,CONTROL_FINISHED_OK
$STATE,5647,begin climb
$GC,5651,1.18,116.8,452.6,0.0,312,5756,1.42,0.00,101.88,0.811,6,0.036,0.000,3310,1448,2153,0,0,0,0,0,0
$GC,6063,0.97,138.3,433.7,6.9,323,6088,0.22,2.40,18.62,0.759,4,0.095,0.028,3264,2821,2065,0,0,0,0,0,0
$GC,6120,0.97,190.2,430.5,5.6,324,6173,0.00,2.42,46.72,0.792,6,0.000,0.041,3264,1446,1853,0,0,0,0,0,0
$GC,6484,0.87,190.2,401.7,8.4,333,6489,0.12,2.35,0.00,0.000,4,0.109,0.028,3241,2830,1846,0,0,0,0,0,0
$GC,6547,0.87,190.2,396.7,7.9,334,6551,0.00,2.45,0.00,0.000,6,0.000,0.044,3241,1442,1845,0,0,0,0,0,0
$GC,6896,0.88,203.6,371.0,7.3,343,6913,0.00,2.22,11.10,0.705,4,0.000,0.058,3241,234,1800,0,0,0,0,0,0
$GC,6952,0.80,203.6,366.2,9.3,344,6956,0.00,1.98,0.00,0.000,6,0.000,0.028,3241,1439,1797,0,0,0,0,0,0
$GC,7275,0.83,225.7,342.8,6.9,352,7302,0.00,2.38,20.60,0.742,4,0.000,0.028,3240,2838,1709,0,0,0,0,0,0
$GC,7322,0.91,263.3,339.8,6.2,353,7363,0.00,2.45,34.78,0.751,6,0.000,0.043,3241,1450,1555,0,0,0,0,0,0
$GC,7692,0.92,272.5,312.2,7.5,362,7705,0.00,2.20,8.40,0.638,4,0.000,0.057,3240,232,1517,0,0,0,0,0,0
$GC,7725,0.89,272.5,309.3,8.6,362,7728,0.00,2.03,0.00,0.000,6,0.000,0.028,3240,1454,1515,0,0,0,0,0,0
$GC,8046,0.93,306.0,287.4,6.4,375,8082,0.00,0.00,30.23,0.719,6,0.000,0.000,3240,1456,1381,0,0,0,0,0,0
$GC,8392,0.96,306.0,257.1,9.6,392,8396,0.00,2.17,0.00,0.000,4,0.000,0.057,3240,232,1376,0,0,0,0,0,0
$GC,8490,0.96,306.0,246.5,10.4,396,8493,0.00,2.00,0.00,0.000,6,0.000,0.027,3240,1458,1373,0,0,0,0,0,0
$GC,8814,1.05,330.8,219.8,6.8,412,8842,0.17,2.22,21.58,0.663,4,0.056,0.054,3290,232,1280,0,0,0,0,0,0
$GC,8863,0.93,330.8,215.6,9.3,414,8868,0.17,2.00,0.00,0.000,6,0.094,0.027,3255,1448,1278,0,0,0,0,0,0
$GC,9193,0.98,330.8,187.9,10.2,434,9197,0.00,2.15,0.00,0.000,4,0.000,0.054,3255,225,1276,0,0,0,0,0,0
$GC,9231,0.98,330.8,183.1,12.9,436,9239,0.00,2.03,0.00,0.000,6,0.000,0.026,3255,1455,1274,0,0,0,0,0,0
$GC,9491,1.05,330.8,156.3,8.1,457,9493,0.10,0.00,0.00,0.000,6,0.076,0.000,3289,1455,1274,0,0,0,0,0,0
$GC,9744,1.05,330.8,136.6,8.8,477,9748,0.00,2.12,0.00,0.000,4,0.000,0.051,3289,231,1274,0,0,0,0,0,0
$GC,9786,1.00,330.8,132.1,11.0,480,9790,0.10,1.98,0.00,0.000,6,0.105,0.025,3268,1469,1273,0,0,0,0,0,0
$GC,10047,1.07,334.0,111.7,7.8,500,10051,0.00,2.15,0.00,0.000,4,0.000,0.051,3268,232,1273,0,0,0,0,0,0
$GC,10092,1.07,334.0,108.0,9.1,503,10095,0.00,1.92,0.00,0.000,6,0.000,0.024,3269,1451,1272,0,0,0,0,0,0
$GC,10361,1.24,407.0,91.2,4.6,524,10435,0.22,2.33,63.85,0.565,4,0.045,0.023,3335,2833,969,0,0,0,0,0,0
$GC,10473,1.30,407.0,81.3,10.2,532,10477,0.00,2.42,0.00,0.000,6,0.000,0.036,3334,1442,969,0,0,0,0,0,0
$GC,10734,1.30,407.0,56.4,10.3,552,10738,0.00,2.10,0.00,0.000,4,0.000,0.049,3334,225,967,0,0,0,0,0,0
$GC,10775,1.24,407.0,51.2,13.7,555,10779,0.00,1.98,0.00,0.000,6,0.000,0.021,3334,1461,965,0,0,0,0,0,0
$GC,11037,1.24,407.0,24.3,11.1,583,11043,0.00,2.17,0.00,0.000,4,0.000,0.048,3334,235,965,0,0,0,0,0,0
$GC,11062,1.20,407.0,22.4,8.6,587,11068,0.08,1.95,0.00,0.000,6,0.076,0.021,3314,1453,964,0,0,0,0,0,0
$GC,11266,1.24,407.0,3.0,9.8,633,11272,0.00,2.28,0.00,0.000,4,0.000,0.025,3314,2815,964,0,0,0,0,0,0
$STATE,11279,end climb,SURFACE_DEPTH_REACHED
$STATE,11279,begin surface coast
$FINISH,1.8,1.023186
$STATE,11285,end surface coast,CONTROL_FINISHED_OK
$STATE,11285,begin surface
$SM_CCo,11311,0.75,0.077,0,0,959,410.14
$SM_GC,2.16,0.00,0.00,0.75,0.000,0.000,0.077,431,1485,959,-12.05,-0.42,410.14
$IRIDIUM_FIX,2057.14,-15741.46,190100,141426
$TT8_MAMPS,0.029146
$HUMID,64.13
$INTERNAL_PRESSURE,9.22541
$TCM_TEMP,20.70
$XPDR_PINGS,0
$24V_AH,23.3,72.131
$10V_AH,10.0,58.214
$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,30.350,131.450,453.025,0.750,0.000,91.493,104.862,444.466,4.750,0.000,14.688,1242.209,7669.987,502.221,1829.469,978.602,0.000,1338.616,0.000,1810.434,0.000,32.102,0.000
$DEVICE_MAMPS,131.924,58.292,827.593,76.700,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,428.139,410.654,909.055,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,34921,636
$CAP_FILE_SIZE,134553,0
$CFSIZE,260165632,171483136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,251010,172936,2104.320,-15743.436,51,0.9,51,9.8