version: 66.06
glider: 139
mission: 8
dive: 759
start: 10 25 110 21 6 48
data:
$ID,139
$MISSION,8
$DIVE,759
$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,-2167289
$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
$GPS1,205801,2104.068,-15743.682,51,0.8,51,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-70.5
$GPS2,210626,2104.158,-15743.688,14,1.4,14,9.8
$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,212.9,15732,-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,-59.40,0.000,2,0.000,0.000,429,1462,2609,0,0,0,0,0,0
$GC,81,-1.18,-116.8,3.2,-3.0,11,111,12.62,2.12,-9.98,0.000,4,0.131,0.057,2785,234,3107,0,0,0,0,0,0
$GC,243,-0.98,-116.8,29.3,-13.5,46,250,0.20,2.10,0.00,0.000,6,0.074,0.019,2840,1548,3110,0,0,0,0,0,0
$GC,441,-0.91,-116.8,50.8,-10.9,62,445,0.00,2.25,0.00,0.000,4,0.000,0.044,2840,237,3110,0,0,0,0,0,0
$GC,500,-0.85,-116.8,58.0,-12.3,66,507,0.08,2.00,0.00,0.000,6,0.074,0.019,2861,1516,3111,0,0,0,0,0,0
$GC,764,-0.89,-116.8,82.6,-8.6,87,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1516,3111,0,0,0,0,0,0
$GC,1023,-0.94,-116.8,102.3,-7.4,108,1027,0.00,2.17,0.00,0.000,4,0.000,0.044,2861,235,3112,0,0,0,0,0,0
$GC,1057,-1.01,-116.8,105.0,-7.4,110,1064,0.10,1.98,0.00,0.000,6,0.033,0.019,2812,1498,3112,0,0,0,0,0,0
$GC,1320,-0.97,-116.8,127.4,-8.5,131,1325,0.12,2.17,0.00,0.000,4,0.096,0.045,2840,230,3112,0,0,0,0,0,0
$GC,1364,-0.97,-116.8,131.4,-8.1,134,1368,0.00,1.98,0.00,0.000,6,0.000,0.019,2840,1500,3112,0,0,0,0,0,0
$GC,1630,-0.97,-116.8,149.4,-6.8,155,1634,0.00,2.20,0.00,0.000,4,0.000,0.021,2840,2876,3113,0,0,0,0,0,0
$GC,1658,-1.05,-116.8,151.3,-7.0,157,1662,0.00,2.30,0.00,0.000,6,0.000,0.031,2840,1499,3113,0,0,0,0,0,0
$GC,1923,-1.09,-116.8,171.2,-8.5,178,1927,0.12,2.15,0.00,0.000,4,0.062,0.045,2793,237,3113,0,0,0,0,0,0
$GC,2002,-1.02,-116.8,179.6,-10.6,183,2012,0.15,1.98,0.00,0.000,6,0.087,0.019,2826,1512,3113,0,0,0,0,0,0
$GC,2264,-1.02,-116.8,200.3,-7.6,204,2268,0.00,2.20,0.00,0.000,4,0.000,0.022,2826,2861,3112,0,0,0,0,0,0
$GC,2285,-1.08,-116.8,202.0,-7.8,205,2289,0.00,2.28,0.00,0.000,6,0.000,0.031,2826,1501,3112,0,0,0,0,0,0
$GC,2620,-1.11,-116.8,226.4,-7.9,221,2624,0.00,2.17,0.00,0.000,4,0.000,0.047,2826,231,3113,0,0,0,0,0,0
$GC,2675,-1.11,-116.8,231.8,-9.1,223,2679,0.00,1.98,0.00,0.000,6,0.000,0.021,2826,1489,3112,0,0,0,0,0,0
$GC,2998,-1.15,-116.8,257.9,-8.1,239,3002,0.12,2.25,0.00,0.000,4,0.062,0.024,2781,2872,3112,0,0,0,0,0,0
$GC,3035,-1.18,-116.8,261.4,-9.1,240,3042,0.00,2.35,0.00,0.000,6,0.000,0.034,2781,1504,3111,0,0,0,0,0,0
$GC,3353,-1.13,-116.8,286.9,-7.4,256,3358,0.10,2.17,0.00,0.000,4,0.105,0.048,2802,233,3110,0,0,0,0,0,0
$GC,3409,-1.13,-116.8,292.8,-10.5,258,3413,0.00,2.00,0.00,0.000,6,0.000,0.021,2802,1500,3110,0,0,0,0,0,0
$GC,3749,-1.13,-116.8,322.0,-8.4,269,3753,0.00,2.25,0.00,0.000,4,0.000,0.025,2803,2877,3108,0,0,0,0,0,0
$GC,3787,-1.21,-116.8,324.9,-6.9,269,3793,0.00,2.33,0.00,0.000,6,0.000,0.035,2802,1497,3108,0,0,0,0,0,0
$GC,4119,-1.21,-116.8,347.7,-7.0,278,4120,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1496,3107,0,0,0,0,0,0
$GC,4445,-1.21,-116.8,373.9,-8.3,286,4449,0.00,2.28,0.00,0.000,4,0.000,0.025,2802,2874,3105,0,0,0,0,0,0
$GC,4459,-1.25,-116.8,375.2,-8.1,286,4464,0.12,2.33,0.00,0.000,6,0.063,0.036,2759,1502,3105,0,0,0,0,0,0
$GC,4775,-1.17,-116.8,405.6,-9.9,294,4780,0.15,2.22,0.00,0.000,4,0.090,0.053,2792,229,3103,0,0,0,0,0,0
$GC,4805,-1.17,-116.8,408.8,-10.4,294,4809,0.00,2.03,0.00,0.000,6,0.000,0.024,2792,1494,3103,0,0,0,0,0,0
$GC,5152,-1.17,-116.8,435.2,-7.1,303,5156,0.00,2.28,0.00,0.000,4,0.000,0.027,2791,2881,3101,0,0,0,0,0,0
$GC,5180,-1.25,-116.8,437.4,-7.4,303,5184,0.00,2.38,0.00,0.000,6,0.000,0.039,2792,1496,3101,0,0,0,0,0,0
$STATE,5391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5391,begin apogee
$GC,5399,-0.31,0.0,452.5,7.0,309,5499,0.88,0.00,96.10,0.827,6,0.067,0.000,2982,1441,2630,0,0,0,0,0,0
$STATE,5500,end apogee,CONTROL_FINISHED_OK
$STATE,5500,begin climb
$GC,5502,1.18,116.8,454.4,0.0,311,5616,1.40,2.42,101.05,0.809,4,0.033,0.028,3311,2827,2152,0,0,0,0,0,0
$GC,5674,0.98,116.8,450.0,8.0,314,5680,0.25,2.40,0.00,0.000,6,0.091,0.039,3261,1458,2150,0,0,0,0,0,0
$GC,6007,0.90,154.9,427.9,6.2,323,6049,0.00,2.20,33.17,0.786,4,0.000,0.054,3261,230,1996,0,0,0,0,0,0
$GC,6059,0.75,154.9,423.8,8.6,324,6064,0.25,2.00,0.00,0.000,6,0.094,0.026,3212,1448,1994,0,0,0,0,0,0
$GC,6378,0.83,225.4,406.9,4.7,332,6447,0.00,2.40,61.85,0.795,4,0.000,0.028,3212,2829,1711,0,0,0,0,0,0
$GC,6470,0.98,261.9,401.8,6.2,334,6509,0.22,2.42,33.12,0.769,6,0.048,0.042,3272,1451,1562,0,0,0,0,0,0
$GC,6837,0.90,261.9,367.4,9.0,343,6841,0.12,2.15,0.00,0.000,4,0.100,0.058,3247,228,1553,0,0,0,0,0,0
$GC,6893,0.83,261.9,362.0,9.3,344,6897,0.00,2.03,0.00,0.000,6,0.000,0.027,3247,1468,1550,0,0,0,0,0,0
$GC,7213,0.89,313.4,341.8,5.6,352,7259,0.00,0.00,44.05,0.760,6,0.000,0.000,3247,1472,1352,0,0,0,0,0,0
$GC,7580,0.89,313.4,313.3,8.1,361,7584,0.00,2.20,0.00,0.000,4,0.000,0.057,3247,236,1346,0,0,0,0,0,0
$GC,7623,0.89,313.4,309.1,10.0,362,7626,0.00,2.00,0.00,0.000,6,0.000,0.027,3247,1454,1344,0,0,0,0,0,0
$GC,7961,0.89,313.4,277.7,10.0,375,7965,0.00,2.15,0.00,0.000,4,0.000,0.057,3247,235,1343,0,0,0,0,0,0
$GC,8007,0.86,313.4,272.8,10.9,377,8011,0.00,1.98,0.00,0.000,6,0.000,0.027,3247,1458,1341,0,0,0,0,0,0
$GC,8345,0.90,313.4,242.0,7.9,393,8349,0.00,2.28,0.00,0.000,4,0.000,0.028,3247,2838,1341,0,0,0,0,0,0
$GC,8380,1.04,323.2,239.2,7.5,394,8394,0.12,2.42,8.32,0.595,6,0.066,0.041,3285,1443,1311,0,0,0,0,0,0
$GC,8725,1.00,323.2,209.8,8.1,411,8729,0.00,2.12,0.00,0.000,4,0.000,0.055,3285,231,1310,0,0,0,0,0,0
$GC,8767,0.91,323.2,205.9,9.6,412,8775,0.15,2.00,0.00,0.000,6,0.074,0.026,3250,1449,1308,0,0,0,0,0,0
$GC,9090,0.95,323.4,186.7,7.9,434,9091,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1450,1307,0,0,0,0,0,0
$GC,9339,1.01,323.4,165.9,7.9,454,9340,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1449,1307,0,0,0,0,0,0
$GC,9592,1.08,327.0,146.7,7.7,474,9607,0.15,2.30,4.55,0.430,4,0.060,0.023,3295,2840,1295,0,0,0,0,0,0
$GC,9618,1.08,327.0,144.5,8.7,475,9624,0.00,2.42,0.00,0.000,6,0.000,0.038,3296,1442,1295,0,0,0,0,0,0
$GC,9877,1.05,327.0,118.8,9.8,496,9878,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,1442,1294,0,0,0,0,0,0
$GC,10131,1.07,342.9,97.3,7.2,516,10152,0.00,0.00,15.30,0.538,6,0.000,0.000,3295,1442,1232,0,0,0,0,0,0
$GC,10406,1.09,363.0,77.2,7.0,538,10434,0.00,2.12,18.25,0.528,4,0.000,0.050,3295,233,1148,0,0,0,0,0,0
$GC,10480,1.09,363.0,70.9,9.3,543,10484,0.00,1.95,0.00,0.000,6,0.000,0.022,3295,1463,1146,0,0,0,0,0,0
$GC,10751,1.15,363.3,49.5,7.9,564,10755,0.00,2.15,0.00,0.000,4,0.000,0.049,3295,228,1146,0,0,0,0,0,0
$GC,10770,1.19,363.3,47.4,9.3,565,10777,0.00,1.98,0.00,0.000,6,0.000,0.022,3295,1454,1145,0,0,0,0,0,0
$GC,11035,1.26,372.3,27.0,7.5,592,11049,0.12,2.20,8.80,0.442,4,0.063,0.048,3337,232,1111,0,0,0,0,0,0
$GC,11126,1.18,372.3,18.0,10.7,610,11133,0.12,1.95,0.00,0.000,6,0.069,0.021,3307,1448,1108,0,0,0,0,0,0
$STATE,11316,end climb,SURFACE_DEPTH_REACHED
$STATE,11317,begin surface coast
$FINISH,1.6,1.023175
$STATE,11353,end surface coast,CONTROL_FINISHED_OK
$STATE,11353,begin surface
$SM_CCo,11378,31.52,0.476,0,0,957,410.14
$SM_GC,1.70,0.00,0.00,31.52,0.000,0.000,0.476,432,1447,957,-12.05,-1.50,410.14
$IRIDIUM_FIX,2054.83,-15741.46,190100,171715
$TT8_MAMPS,0.029146
$HUMID,63.70
$INTERNAL_PRESSURE,9.22541
$TCM_TEMP,20.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,441.0,70.9
$24V_AH,23.3,72.380
$10V_AH,10.0,58.391
$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,30.225,113.200,424.575,31.525,0.000,23.850,37.770,307.814,4.750,0.000,14.801,1260.355,7608.496,488.399,1859.584,695.052,0.000,1335.341,0.000,1844.699,0.000,32.296,0.000
$DEVICE_MAMPS,131.157,108.147,826.826,476.307,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,445.602,430.168,964.103,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355828
$DATA_FILE_SIZE,38085,662
$CAP_FILE_SIZE,124989,0
$CFSIZE,260165632,171364352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261010,001906,2103.480,-15744.436,90,1.0,90,9.8