version: 66.06
glider: 139
mission: 8
dive: 761
start: 10 26 110 4 0 36
data:
$ID,139
$MISSION,8
$DIVE,761
$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,-2167364.5
$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
$GPS1,035146,2101.836,-15746.071,13,7.4,32,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-69.5
$GPS2,040016,2101.865,-15746.160,21,7.2,40,9.8
$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,211.4,9715,-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,-58.88,0.000,2,0.000,0.000,426,1448,2619,0,0,0,0,0,0
$GC,81,-1.18,-116.8,3.6,-4.1,11,111,12.65,2.15,-9.27,0.000,4,0.132,0.062,2783,237,3110,0,0,0,0,0,0
$GC,201,-1.00,-116.8,25.2,-13.1,36,208,0.20,2.10,0.00,0.000,6,0.072,0.019,2837,1546,3111,0,0,0,0,0,0
$GC,412,-0.91,-116.8,48.5,-10.5,58,416,0.00,2.28,0.00,0.000,4,0.000,0.045,2837,227,3111,0,0,0,0,0,0
$GC,469,-0.83,-116.8,55.5,-11.7,62,474,0.15,2.00,0.00,0.000,6,0.089,0.019,2869,1515,3112,0,0,0,0,0,0
$GC,741,-0.87,-116.8,79.7,-8.2,83,745,0.00,2.20,0.00,0.000,4,0.000,0.044,2869,227,3112,0,0,0,0,0,0
$GC,760,-0.87,-116.8,81.9,-8.7,84,767,0.00,2.00,0.00,0.000,6,0.000,0.019,2869,1501,3112,0,0,0,0,0,0
$GC,1023,-0.94,-116.8,100.0,-6.4,105,1028,0.12,2.25,0.00,0.000,4,0.062,0.021,2823,2873,3113,0,0,0,0,0,0
$GC,1041,-0.99,-116.8,101.4,-6.7,106,1045,0.00,2.30,0.00,0.000,6,0.000,0.031,2823,1499,3113,0,0,0,0,0,0
$GC,1307,-0.96,-116.8,124.4,-8.4,127,1311,0.00,2.12,0.00,0.000,4,0.000,0.044,2823,237,3113,0,0,0,0,0,0
$GC,1336,-0.91,-116.8,126.9,-8.5,129,1341,0.12,1.98,0.00,0.000,6,0.090,0.019,2850,1514,3114,0,0,0,0,0,0
$GC,1598,-0.91,-116.8,140.9,-5.9,149,1602,0.00,2.20,0.00,0.000,4,0.000,0.044,2850,234,3114,0,0,0,0,0,0
$GC,1632,-0.94,-116.8,143.2,-7.1,151,1638,0.00,1.95,0.00,0.000,6,0.000,0.019,2850,1501,3113,0,0,0,0,0,0
$GC,1893,-0.98,-116.8,161.8,-7.5,172,1897,0.00,2.15,0.00,0.000,4,0.000,0.044,2850,233,3114,0,0,0,0,0,0
$GC,1917,-0.98,-116.8,164.0,-8.3,174,1921,0.00,1.98,0.00,0.000,6,0.000,0.019,2850,1498,3114,0,0,0,0,0,0
$GC,2189,-1.03,-116.8,184.1,-6.7,195,2195,0.12,0.00,0.00,0.000,6,0.062,0.000,2805,1508,3114,0,0,0,0,0,0
$GC,2453,-1.00,-116.8,204.1,-9.3,215,2458,0.12,2.20,0.00,0.000,4,0.091,0.046,2832,233,3114,0,0,0,0,0,0
$GC,2483,-1.00,-116.8,207.3,-10.4,216,2487,0.00,1.98,0.00,0.000,6,0.000,0.020,2832,1499,3114,0,0,0,0,0,0
$GC,2814,-1.04,-116.8,234.6,-6.8,232,2818,0.00,2.17,0.00,0.000,4,0.000,0.046,2832,228,3114,0,0,0,0,0,0
$GC,2835,-1.04,-116.8,236.1,-6.6,232,2841,0.00,2.03,0.00,0.000,6,0.000,0.021,2832,1512,3113,0,0,0,0,0,0
$GC,3151,-1.09,-116.8,257.8,-6.4,248,3155,0.00,2.20,0.00,0.000,4,0.000,0.023,2833,2875,3113,0,0,0,0,0,0
$GC,3188,-1.22,-116.8,259.9,-5.3,249,3196,0.22,2.30,0.00,0.000,6,0.042,0.031,2762,1494,3114,0,0,0,0,0,0
$GC,3509,-1.12,-116.8,284.4,-8.8,265,3513,0.20,2.15,0.00,0.000,4,0.082,0.046,2804,233,3113,0,0,0,0,0,0
$GC,3537,-1.12,-116.8,287.4,-9.0,266,3541,0.00,1.98,0.00,0.000,6,0.000,0.021,2805,1489,3113,0,0,0,0,0,0
$GC,3883,-1.12,-116.8,310.0,-6.1,279,3887,0.00,2.17,0.00,0.000,4,0.000,0.049,2804,235,3112,0,0,0,0,0,0
$GC,3952,-1.12,-116.8,315.0,-7.7,280,3956,0.00,2.00,0.00,0.000,6,0.000,0.022,2804,1498,3111,0,0,0,0,0,0
$GC,4300,-1.12,-116.8,342.2,-8.3,289,4304,0.00,2.17,0.00,0.000,4,0.000,0.049,2804,239,3109,0,0,0,0,0,0
$GC,4323,-1.12,-116.8,345.1,-10.3,289,4327,0.00,2.03,0.00,0.000,6,0.000,0.024,2805,1502,3109,0,0,0,0,0,0
$GC,4668,-1.12,-116.8,377.5,-9.2,298,4672,0.00,2.25,0.00,0.000,4,0.000,0.026,2805,2881,3107,0,0,0,0,0,0
$GC,4734,-1.20,-116.8,383.4,-8.8,299,4739,0.00,2.33,0.00,0.000,6,0.000,0.035,2805,1504,3106,0,0,0,0,0,0
$GC,5085,-1.24,-116.8,403.7,-5.5,308,5089,0.10,2.20,0.00,0.000,4,0.076,0.053,2769,231,3104,0,0,0,0,0,0
$GC,5109,-1.18,-116.8,405.6,-7.5,308,5114,0.12,2.05,0.00,0.000,6,0.094,0.024,2796,1513,3104,0,0,0,0,0,0
$GC,5456,-1.18,-116.8,427.6,-6.1,317,5460,0.00,2.25,0.00,0.000,4,0.000,0.054,2796,228,3102,0,0,0,0,0,0
$GC,5480,-1.18,-116.8,429.3,-7.2,317,5484,0.00,2.05,0.00,0.000,6,0.000,0.025,2796,1508,3102,0,0,0,0,0,0
$STATE,5822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5822,begin apogee
$GC,5830,-0.31,0.0,453.0,7.1,326,5930,0.85,0.00,96.15,0.837,6,0.066,0.000,2979,1441,2630,0,0,0,0,0,0
$STATE,5930,end apogee,CONTROL_FINISHED_OK
$STATE,5930,begin climb
$GC,5933,1.18,116.8,456.6,0.0,328,6046,1.40,2.42,101.10,0.821,4,0.031,0.029,3311,2827,2153,0,0,0,0,0,0
$GC,6159,1.07,173.5,455.8,5.3,333,6217,0.15,2.40,50.03,0.807,6,0.107,0.041,3283,1459,1921,0,0,0,0,0,0
$GC,6530,0.91,173.5,425.4,8.8,342,6532,0.17,0.00,0.00,0.000,6,0.099,0.000,3249,1459,1913,0,0,0,0,0,0
$GC,6855,0.84,181.5,399.9,7.5,350,6867,0.00,2.38,6.15,0.625,4,0.000,0.029,3248,2823,1890,0,0,0,0,0,0
$GC,6907,0.88,215.7,396.5,6.4,351,6945,0.00,2.40,32.10,0.789,6,0.000,0.041,3248,1451,1750,0,0,0,0,0,0
$GC,7272,0.87,240.5,373.4,6.8,360,7297,0.00,0.00,22.58,0.765,6,0.000,0.000,3249,1451,1648,0,0,0,0,0,0
$GC,7596,0.87,240.5,348.4,7.9,368,7600,0.00,2.33,0.00,0.000,4,0.000,0.028,3248,2829,1644,0,0,0,0,0,0
$GC,7634,0.92,240.5,345.0,8.2,368,7639,0.00,2.42,0.00,0.000,6,0.000,0.044,3248,1454,1644,0,0,0,0,0,0
$GC,7965,0.94,260.0,320.5,7.0,377,7989,0.00,2.28,17.50,0.731,4,0.000,0.058,3247,225,1569,0,0,0,0,0,0
$GC,8011,0.87,260.0,316.9,8.6,378,8015,0.00,2.03,0.00,0.000,6,0.000,0.028,3248,1443,1567,0,0,0,0,0,0
$GC,8346,0.87,260.0,285.1,8.4,389,8350,0.00,2.15,0.00,0.000,4,0.000,0.058,3248,228,1564,0,0,0,0,0,0
$GC,8392,0.82,260.0,280.9,9.1,391,8396,0.00,2.03,0.00,0.000,6,0.000,0.028,3248,1457,1562,0,0,0,0,0,0
$GC,8724,0.86,294.7,259.5,6.3,407,8761,0.00,0.00,31.08,0.713,6,0.000,0.000,3248,1460,1427,0,0,0,0,0,0
$GC,9071,0.89,294.7,230.7,8.4,424,9075,0.00,2.17,0.00,0.000,4,0.000,0.056,3248,232,1423,0,0,0,0,0,0
$GC,9132,0.90,299.9,225.6,7.7,426,9144,0.00,1.98,4.93,0.501,6,0.000,0.028,3248,1456,1406,0,0,0,0,0,0
$GC,9454,0.99,327.8,205.1,6.6,442,9484,0.00,2.20,25.80,0.660,4,0.000,0.054,3248,230,1292,0,0,0,0,0,0
$GC,9501,1.03,327.8,201.2,8.0,444,9505,0.12,2.00,0.00,0.000,6,0.067,0.027,3285,1456,1289,0,0,0,0,0,0
$GC,9832,1.04,335.2,172.5,7.6,470,9848,0.00,2.22,7.22,0.535,4,0.000,0.054,3285,231,1262,0,0,0,0,0,0
$GC,9865,1.00,335.2,170.0,8.3,472,9869,0.00,1.98,0.00,0.000,6,0.000,0.026,3285,1452,1261,0,0,0,0,0,0
$GC,10134,1.03,360.9,150.2,6.7,493,10160,0.00,0.00,23.40,0.604,6,0.000,0.000,3285,1457,1158,0,0,0,0,0,0
$GC,10414,1.03,360.9,126.6,9.1,515,10418,0.00,2.12,0.00,0.000,4,0.000,0.051,3286,231,1155,0,0,0,0,0,0
$GC,10473,1.03,360.9,120.1,11.0,519,10479,0.00,1.98,0.00,0.000,6,0.000,0.024,3285,1463,1153,0,0,0,0,0,0
$GC,10736,1.09,373.9,98.7,7.3,540,10753,0.00,2.17,12.00,0.524,4,0.000,0.049,3285,230,1104,0,0,0,0,0,0
$GC,10777,1.09,373.9,95.4,8.3,542,10783,0.00,1.98,0.00,0.000,6,0.000,0.024,3285,1442,1102,0,0,0,0,0,0
$GC,11037,1.15,373.9,75.2,8.7,563,11038,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1442,1101,0,0,0,0,0,0
$GC,11291,1.22,373.9,52.3,8.2,583,11296,0.12,2.12,0.00,0.000,4,0.063,0.049,3327,229,1102,0,0,0,0,0,0
$GC,11324,1.13,373.9,48.8,11.4,585,11328,0.15,1.92,0.00,0.000,6,0.089,0.021,3297,1461,1101,0,0,0,0,0,0
$GC,11587,1.21,398.3,30.9,6.8,605,11613,0.00,0.00,21.30,0.487,6,0.000,0.000,3297,1467,1005,0,0,0,0,0,0
$GC,11810,1.33,439.6,15.7,6.0,653,11852,0.20,2.17,35.47,0.484,4,0.046,0.045,3357,230,835,0,0,0,0,0,0
$GC,11913,1.23,439.6,3.6,14.3,673,11919,0.17,1.95,0.00,0.000,6,0.062,0.021,3316,1440,832,0,0,0,0,0,0
$STATE,11925,end climb,SURFACE_DEPTH_REACHED
$STATE,11925,begin surface coast
$FINISH,0.8,1.023557
$STATE,11948,end surface coast,CONTROL_FINISHED_OK
$STATE,11948,begin surface
$SM_CCo,12032,0.00,0.000,0,0,829,441.79
$SM_GC,1.69,12.45,0.00,0.00,0.023,0.000,0.000,426,1440,829,-11.99,-1.70,441.79
$IRIDIUM_FIX,2052.52,-15742.34,200100,000012
$TT8_MAMPS,0.028379
$HUMID,63.07
$INTERNAL_PRESSURE,9.22541
$TCM_TEMP,21.10
$XPDR_PINGS,0
$24V_AH,23.3,72.630
$10V_AH,9.9,58.575
$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,29.950,120.050,486.800,0.000,0.000,31.208,33.333,276.329,4.500,0.000,41.068,1287.299,8127.702,503.953,1926.686,688.126,0.000,1386.270,0.000,1889.071,0.000,29.260,0.000
$DEVICE_MAMPS,131.924,89.739,836.797,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,457.127,434.635,971.595,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355828
$DATA_FILE_SIZE,38074,680
$CAP_FILE_SIZE,129135,0
$CFSIZE,260165632,171229184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261010,072224,2101.114,-15747.148,41,1.5,41,9.8