version: 66.06
glider: 139
mission: 8
dive: 765
start: 10 26 110 17 52 13
data:
$ID,139
$MISSION,8
$DIVE,765
$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,-2167460.5
$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
$GPS1,172952,2059.774,-15749.152,36,2.9,55,9.8
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-71.9
$GPS2,175152,2059.744,-15749.145,18,2.2,37,9.8
$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,190.3,3602,-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,-64.15,0.000,2,0.000,0.000,422,1460,2623,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.0,-2.9,12,116,12.73,2.12,-10.07,0.000,4,0.133,0.058,2785,237,3108,0,0,0,0,0,0
$GC,223,-0.94,-116.8,27.6,-13.6,41,230,0.22,2.10,0.00,0.000,6,0.071,0.018,2838,1555,3110,0,0,0,0,0,0
$GC,433,-0.86,-116.8,52.2,-11.1,59,438,0.12,2.28,0.00,0.000,4,0.096,0.021,2865,2933,3110,0,0,0,0,0,0
$GC,460,-0.89,-116.8,54.8,-8.8,61,464,0.00,2.42,0.00,0.000,6,0.000,0.031,2865,1500,3110,0,0,0,0,0,0
$GC,726,-0.89,-116.8,75.8,-6.6,82,729,0.00,2.15,0.00,0.000,4,0.000,0.044,2864,230,3110,0,0,0,0,0,0
$GC,806,-0.95,-116.8,81.6,-7.1,88,809,0.00,2.08,0.00,0.000,6,0.000,0.018,2864,1568,3110,0,0,0,0,0,0
$GC,1072,-1.00,-116.8,102.8,-8.7,109,1077,0.15,2.30,0.00,0.000,4,0.054,0.044,2810,231,3110,0,0,0,0,0,0
$GC,1100,-0.93,-116.8,105.7,-10.6,111,1104,0.17,2.08,0.00,0.000,6,0.084,0.018,2847,1563,3110,0,0,0,0,0,0
$GC,1365,-0.93,-116.8,121.3,-5.2,132,1369,0.00,2.28,0.00,0.000,4,0.000,0.044,2847,228,3111,0,0,0,0,0,0
$GC,1399,-0.93,-116.8,123.7,-6.8,134,1406,0.00,2.10,0.00,0.000,6,0.000,0.018,2847,1570,3110,0,0,0,0,0,0
$GC,1662,-0.96,-116.8,143.1,-7.6,155,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1570,3110,0,0,0,0,0,0
$GC,1913,-1.01,-116.8,160.0,-6.1,175,1920,0.00,2.28,0.00,0.000,4,0.000,0.044,2847,230,3110,0,0,0,0,0,0
$GC,1949,-1.05,-116.8,162.1,-6.3,177,1953,0.12,2.08,0.00,0.000,6,0.061,0.019,2800,1562,3110,0,0,0,0,0,0
$GC,2217,-1.00,-116.8,182.1,-8.0,198,2224,0.15,0.00,0.00,0.000,6,0.086,0.000,2834,1566,3110,0,0,0,0,0,0
$GC,2480,-1.04,-116.8,199.2,-7.1,219,2484,0.00,2.30,0.00,0.000,4,0.000,0.046,2833,228,3110,0,0,0,0,0,0
$GC,2535,-1.08,-116.8,203.6,-7.6,222,2539,0.00,2.10,0.00,0.000,6,0.000,0.020,2833,1569,3109,0,0,0,0,0,0
$GC,2855,-1.13,-116.8,232.0,-10.1,237,2860,0.12,2.30,0.00,0.000,4,0.062,0.047,2788,234,3109,0,0,0,0,0,0
$GC,2886,-1.04,-116.8,235.9,-12.2,238,2891,0.17,2.08,0.00,0.000,6,0.080,0.020,2826,1555,3109,0,0,0,0,0,0
$GC,3212,-1.08,-116.8,261.6,-6.5,254,3216,0.00,2.28,0.00,0.000,4,0.000,0.048,2827,229,3107,0,0,0,0,0,0
$GC,3250,-1.11,-116.8,264.3,-6.5,255,3255,0.00,2.08,0.00,0.000,6,0.000,0.021,2827,1560,3107,0,0,0,0,0,0
$GC,3568,-1.15,-116.8,282.0,-5.3,271,3573,0.12,2.30,0.00,0.000,4,0.062,0.048,2782,231,3106,0,0,0,0,0,0
$GC,3594,-1.08,-116.8,284.1,-8.1,272,3598,0.15,2.08,0.00,0.000,6,0.085,0.021,2815,1555,3106,0,0,0,0,0,0
$GC,3926,-1.08,-116.8,302.5,-5.0,287,3930,0.00,2.30,0.00,0.000,4,0.000,0.048,2815,231,3104,0,0,0,0,0,0
$GC,3982,-1.08,-116.8,306.0,-7.4,288,3986,0.00,2.08,0.00,0.000,6,0.000,0.022,2815,1558,3104,0,0,0,0,0,0
$GC,4295,-1.08,-116.8,329.9,-8.1,296,4297,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1562,3102,0,0,0,0,0,0
$GC,4623,-1.11,-116.8,356.3,-7.5,304,4627,0.00,2.28,0.00,0.000,4,0.000,0.051,2815,238,3100,0,0,0,0,0,0
$GC,4655,-1.11,-116.8,358.9,-7.6,304,4659,0.00,2.08,0.00,0.000,6,0.000,0.023,2815,1552,3100,0,0,0,0,0,0
$GC,4988,-1.16,-116.8,380.3,-6.6,312,4989,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1557,3098,0,0,0,0,0,0
$GC,5314,-1.22,-116.8,399.8,-5.8,320,5319,0.15,2.30,0.00,0.000,4,0.058,0.053,2767,238,3097,0,0,0,0,0,0
$GC,5339,-1.14,-116.8,401.7,-7.5,320,5344,0.15,2.10,0.00,0.000,6,0.089,0.024,2799,1547,3096,0,0,0,0,0,0
$GC,5686,-1.14,-116.8,426.4,-8.1,329,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1551,3094,0,0,0,0,0,0
$STATE,5966,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5967,begin apogee
$GC,5973,-0.31,0.0,451.8,9.2,336,6071,0.82,0.00,94.57,0.831,6,0.063,0.000,2980,1446,2630,0,0,0,0,0,0
$STATE,6072,end apogee,CONTROL_FINISHED_OK
$STATE,6072,begin climb
$GC,6075,1.18,116.8,455.8,0.0,338,6181,1.42,0.00,102.05,0.816,6,0.035,0.000,3313,1446,2153,0,0,0,0,0,0
$GC,6486,0.99,154.3,441.9,6.2,348,6528,0.22,2.38,32.53,0.792,4,0.097,0.028,3268,2829,2000,0,0,0,0,0,0
$GC,6583,0.93,176.7,435.3,6.9,350,6611,0.00,2.42,21.05,0.770,6,0.000,0.042,3268,1455,1909,0,0,0,0,0,0
$GC,6949,0.82,176.7,406.5,8.2,359,6954,0.20,2.17,0.00,0.000,4,0.097,0.057,3228,231,1902,0,0,0,0,0,0
$GC,6964,0.72,176.7,405.1,8.0,359,6968,0.00,2.00,0.00,0.000,6,0.000,0.028,3228,1444,1899,0,0,0,0,0,0
$GC,7279,0.72,176.7,380.4,8.3,367,7283,0.00,2.33,0.00,0.000,4,0.000,0.029,3228,2838,1898,0,0,0,0,0,0
$GC,7303,0.76,180.7,378.3,7.7,367,7307,0.00,2.42,0.00,0.000,6,0.000,0.042,3227,1442,1898,0,0,0,0,0,0
$GC,7644,0.83,239.6,358.1,5.2,376,7701,0.00,0.00,54.40,0.785,6,0.000,0.000,3228,1442,1653,0,0,0,0,0,0
$GC,8010,0.86,266.9,332.8,6.7,385,8039,0.00,2.17,24.08,0.742,4,0.000,0.058,3228,232,1541,0,0,0,0,0,0
$GC,8087,0.86,266.9,326.2,10.2,386,8092,0.00,2.03,0.00,0.000,6,0.000,0.028,3228,1440,1538,0,0,0,0,0,0
$GC,8405,0.91,266.9,291.7,12.0,396,8407,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1441,1535,0,0,0,0,0,0
$GC,8716,1.01,298.5,264.0,6.5,411,8749,0.17,2.17,27.42,0.708,4,0.057,0.057,3276,235,1413,0,0,0,0,0,0
$GC,8820,0.91,298.5,255.4,8.0,415,8825,0.15,2.00,0.00,0.000,6,0.097,0.027,3247,1454,1408,0,0,0,0,0,0
$GC,9137,0.95,298.5,231.2,8.6,430,9138,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1459,1406,0,0,0,0,0,0
$GC,9448,1.02,319.9,205.8,6.9,445,9469,0.12,0.00,18.90,0.649,6,0.067,0.000,3284,1459,1325,0,0,0,0,0,0
$GC,9782,1.02,319.9,178.4,9.2,469,9786,0.00,2.15,0.00,0.000,4,0.000,0.054,3284,229,1322,0,0,0,0,0,0
$GC,9816,0.94,319.9,174.5,11.2,471,9823,0.15,1.98,0.00,0.000,6,0.093,0.027,3254,1463,1320,0,0,0,0,0,0
$GC,10077,1.01,319.9,150.9,9.1,492,10081,0.00,2.17,0.00,0.000,4,0.000,0.053,3253,227,1320,0,0,0,0,0,0
$GC,10111,1.01,319.9,147.6,9.2,494,10115,0.00,1.98,0.00,0.000,6,0.000,0.025,3254,1456,1318,0,0,0,0,0,0
$GC,10378,1.14,364.0,130.7,5.9,515,10424,0.20,2.35,38.03,0.599,4,0.051,0.024,3312,2844,1145,0,0,0,0,0,0
$GC,10467,1.22,364.0,123.5,8.3,521,10473,0.00,2.45,0.00,0.000,6,0.000,0.038,3311,1443,1145,0,0,0,0,0,0
$GC,10728,1.22,364.0,100.7,8.7,542,10731,0.00,2.10,0.00,0.000,4,0.000,0.051,3311,228,1143,0,0,0,0,0,0
$GC,10748,1.17,364.0,98.6,10.1,543,10753,0.00,1.98,0.00,0.000,6,0.000,0.024,3312,1467,1141,0,0,0,0,0,0
$GC,11008,1.17,364.0,75.5,8.2,564,11011,0.00,2.15,0.00,0.000,4,0.000,0.050,3311,235,1141,0,0,0,0,0,0
$GC,11035,1.13,364.0,72.8,8.5,566,11039,0.00,1.92,0.00,0.000,6,0.000,0.023,3311,1450,1139,0,0,0,0,0,0
$GC,11302,1.16,364.0,51.5,8.0,587,11309,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,1455,1139,0,0,0,0,0,0
$GC,11563,1.21,364.4,30.2,7.9,608,11567,0.00,2.12,0.00,0.000,4,0.000,0.048,3311,231,1139,0,0,0,0,0,0
$GC,11585,1.21,364.4,28.5,7.9,611,11592,0.00,1.98,0.00,0.000,6,0.000,0.021,3312,1469,1139,0,0,0,0,0,0
$GC,11789,1.26,364.4,12.0,8.1,657,11795,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,1469,1139,0,0,0,0,0,0
$STATE,11905,end climb,SURFACE_DEPTH_REACHED
$STATE,11905,begin surface coast
$FINISH,0.9,1.023207
$STATE,11965,end surface coast,CONTROL_FINISHED_OK
$STATE,11965,begin surface
$SM_CCo,11987,37.65,0.478,0,0,957,410.14
$SM_GC,1.55,0.00,0.00,37.65,0.000,0.000,0.478,431,1468,957,-12.05,-0.90,410.14
$IRIDIUM_FIX,2050.21,-15747.49,200100,171741
$TT8_MAMPS,0.029146
$HUMID,63.23
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,20.60
$XPDR_PINGS,1
$24V_AH,23.3,73.132
$10V_AH,10.0,58.937
$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,30.450,104.475,413.025,37.650,0.000,109.563,138.534,697.201,5.000,0.000,38.588,1306.357,8320.210,503.195,1895.862,1315.885,0.000,1320.113,0.000,1861.347,0.000,32.099,0.000
$DEVICE_MAMPS,133.458,68.263,831.428,477.841,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,469.875,451.170,1015.284,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355896
$DATA_FILE_SIZE,38021,697
$CAP_FILE_SIZE,135546,0
$CFSIZE,260165632,170967040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261010,211426,2059.456,-15749.603,68,1.5,68,9.8