version: 66.06
glider: 139
mission: 8
dive: 527
start: 9 24 110 21 21 16
data:
$ID,139
$MISSION,8
$DIVE,527
$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,-2162087.5
$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,1700
$C_ROLL_CLIMB,1700
$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
$GPS1,211458,2102.529,-15752.826,14,2.5,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-72.3
$GPS2,212056,2102.445,-15752.876,13,1.7,13,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$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,60.3,18303,-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,-64.22,0.000,2,0.000,0.000,427,1705,2737,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.3,-3.2,12,110,12.62,2.40,-7.00,0.000,4,0.132,0.035,2785,3116,3109,0,0,0,0,0,0
$GC,153,-1.06,-116.8,19.5,-16.4,25,161,0.12,2.45,0.00,0.000,6,0.077,0.034,2816,1693,3111,0,0,0,0,0,0
$GC,355,-0.90,-116.8,48.8,-14.2,51,360,0.17,2.42,0.00,0.000,4,0.093,0.047,2852,292,3112,0,0,0,0,0,0
$GC,403,-0.78,-116.8,56.2,-13.7,54,410,0.10,2.35,0.00,0.000,6,0.071,0.018,2878,1739,3112,0,0,0,0,0,0
$GC,662,-0.78,-116.8,84.8,-11.8,75,667,0.00,2.47,0.00,0.000,4,0.000,0.044,2878,295,3113,0,0,0,0,0,0
$GC,760,-0.81,-116.8,97.4,-12.5,82,764,0.00,2.22,0.00,0.000,6,0.000,0.018,2877,1714,3113,0,0,0,0,0,0
$GC,1021,-0.90,-116.8,122.8,-7.5,102,1026,0.10,2.45,0.00,0.000,4,0.073,0.045,2837,294,3114,0,0,0,0,0,0
$GC,1068,-0.90,-116.8,126.9,-8.4,105,1074,0.00,2.20,0.00,0.000,6,0.000,0.018,2837,1705,3114,0,0,0,0,0,0
$GC,1329,-0.90,-116.8,144.4,-7.1,126,1333,0.00,2.45,0.00,0.000,4,0.000,0.046,2837,289,3114,0,0,0,0,0,0
$GC,1404,-0.90,-116.8,152.0,-10.2,131,1409,0.00,2.22,0.00,0.000,6,0.000,0.018,2837,1701,3114,0,0,0,0,0,0
$GC,1663,-0.93,-116.8,178.6,-11.2,152,1667,0.00,2.40,0.00,0.000,4,0.000,0.046,2837,295,3115,0,0,0,0,0,0
$GC,1732,-0.93,-116.8,187.3,-12.4,157,1736,0.00,2.20,0.00,0.000,6,0.000,0.019,2837,1699,3115,0,0,0,0,0,0
$GC,2001,-0.97,-116.8,215.1,-10.0,174,2005,0.00,2.40,0.00,0.000,4,0.000,0.047,2837,295,3115,0,0,0,0,0,0
$GC,2060,-0.97,-116.8,221.6,-11.3,176,2067,0.00,2.25,0.00,0.000,6,0.000,0.019,2836,1698,3115,0,0,0,0,0,0
$GC,2377,-1.02,-116.8,249.2,-9.1,192,2381,0.00,2.40,0.00,0.000,4,0.000,0.047,2837,294,3115,0,0,0,0,0,0
$GC,2456,-1.06,-116.8,256.9,-9.1,195,2460,0.00,2.22,0.00,0.000,6,0.000,0.020,2837,1704,3114,0,0,0,0,0,0
$GC,2773,-1.14,-116.8,278.7,-5.6,210,2778,0.15,2.45,0.00,0.000,4,0.056,0.048,2786,293,3114,0,0,0,0,0,0
$GC,2867,-1.07,-116.8,287.0,-9.3,214,2872,0.15,2.25,0.00,0.000,6,0.086,0.021,2819,1696,3113,0,0,0,0,0,0
$GC,3219,-1.13,-116.8,314.2,-7.9,227,3223,0.00,2.45,0.00,0.000,4,0.000,0.049,2819,289,3113,0,0,0,0,0,0
$GC,3293,-1.13,-116.8,320.7,-8.5,228,3297,0.00,2.25,0.00,0.000,6,0.000,0.021,2819,1698,3112,0,0,0,0,0,0
$GC,3630,-1.17,-116.8,344.5,-7.2,237,3635,0.10,2.45,0.00,0.000,4,0.074,0.052,2783,294,3111,0,0,0,0,0,0
$GC,3645,-1.17,-116.8,346.0,-7.7,237,3650,0.00,2.25,0.00,0.000,6,0.000,0.024,2783,1702,3111,0,0,0,0,0,0
$GC,3995,-1.17,-116.8,377.8,-9.4,246,3999,0.00,2.45,0.00,0.000,4,0.000,0.054,2783,296,3108,0,0,0,0,0,0
$GC,4089,-1.10,-116.8,387.4,-10.8,248,4094,0.12,2.28,0.00,0.000,6,0.097,0.025,2809,1693,3107,0,0,0,0,0,0
$GC,4412,-1.10,-116.8,417.0,-9.4,256,4413,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1697,3105,0,0,0,0,0,0
$GC,4739,-1.15,-116.8,447.1,-9.1,264,4743,0.00,2.47,0.00,0.000,4,0.000,0.058,2809,294,3103,0,0,0,0,0,0
$STATE,4769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4769,begin apogee
$GC,4778,-0.31,0.0,450.3,9.3,264,4877,0.77,0.00,96.10,0.833,6,0.069,0.000,2978,1705,2630,0,0,0,0,0,0
$STATE,4878,end apogee,CONTROL_FINISHED_OK
$STATE,4878,begin climb
$GC,4882,1.18,116.8,453.5,0.0,267,4994,1.42,2.38,100.70,0.815,4,0.038,0.033,3310,3078,2152,0,0,0,0,0,0
$GC,5176,1.01,116.8,438.2,8.6,273,5181,0.20,2.40,0.00,0.000,6,0.100,0.040,3271,1701,2147,0,0,0,0,0,0
$GC,5517,0.89,116.8,411.9,8.0,282,5519,0.12,0.00,0.00,0.000,6,0.111,0.000,3246,1701,2140,0,0,0,0,0,0
$GC,5843,0.85,125.6,387.6,7.5,290,5856,0.00,2.42,6.45,0.635,4,0.000,0.032,3246,3087,2117,0,0,0,0,0,0
$GC,5875,0.89,163.0,385.4,6.2,290,5916,0.00,2.42,34.78,0.788,6,0.000,0.040,3246,1698,1965,0,0,0,0,0,0
$GC,6258,0.89,191.8,360.3,6.6,300,6290,0.00,2.60,25.65,0.766,4,0.000,0.058,3246,294,1847,0,0,0,0,0,0
$GC,6415,0.80,191.8,346.4,9.2,303,6420,0.12,2.35,0.00,0.000,6,0.114,0.027,3224,1702,1841,0,0,0,0,0,0
$GC,6763,0.92,259.2,327.7,4.8,312,6830,0.12,2.58,59.22,0.769,4,0.071,0.058,3259,290,1572,0,0,0,0,0,0
$GC,6902,0.80,259.2,316.7,9.8,315,6907,0.17,2.38,0.00,0.000,6,0.103,0.027,3226,1711,1567,0,0,0,0,0,0
$GC,7222,0.86,269.3,294.9,7.4,324,7238,0.00,2.58,9.00,0.644,4,0.000,0.056,3226,294,1530,0,0,0,0,0,0
$GC,7308,0.86,269.3,286.4,11.2,327,7315,0.00,2.30,0.00,0.000,6,0.000,0.027,3226,1701,1526,0,0,0,0,0,0
$GC,7625,0.93,274.1,260.7,7.7,343,7638,0.12,2.53,4.82,0.515,4,0.068,0.054,3263,294,1511,0,0,0,0,0,0
$GC,7731,0.84,274.1,248.6,12.3,347,7736,0.15,2.30,0.00,0.000,6,0.104,0.025,3234,1700,1509,0,0,0,0,0,0
$GC,8049,0.91,279.9,222.4,7.6,362,8061,0.00,2.55,6.18,0.546,4,0.000,0.054,3234,297,1488,0,0,0,0,0,0
$GC,8202,0.91,279.9,207.9,10.0,368,8206,0.00,2.30,0.00,0.000,6,0.000,0.025,3234,1705,1485,0,0,0,0,0,0
$GC,8528,1.01,309.3,185.0,6.6,390,8563,0.15,2.58,26.80,0.642,4,0.059,0.053,3280,298,1367,0,0,0,0,0,0
$GC,8701,0.91,309.3,165.3,12.9,402,8708,0.12,2.33,0.00,0.000,6,0.075,0.023,3251,1707,1362,0,0,0,0,0,0
$GC,8964,0.96,309.3,140.2,9.9,423,8969,0.00,2.47,0.00,0.000,4,0.000,0.051,3250,293,1362,0,0,0,0,0,0
$GC,9080,0.96,309.3,125.6,12.5,431,9086,0.00,2.30,0.00,0.000,6,0.000,0.022,3250,1714,1361,0,0,0,0,0,0
$GC,9342,1.06,323.3,102.4,7.3,452,9361,0.12,2.55,12.30,0.532,4,0.064,0.049,3292,300,1311,0,0,0,0,0,0
$GC,9470,1.06,323.3,89.7,8.7,461,9474,0.00,2.28,0.00,0.000,6,0.000,0.021,3292,1714,1308,0,0,0,0,0,0
$GC,9734,1.18,370.8,72.2,5.8,481,9782,0.00,2.55,41.03,0.542,4,0.000,0.048,3292,288,1116,0,0,0,0,0,0
$GC,9939,1.18,370.8,53.4,10.8,496,9943,0.00,2.25,0.00,0.000,6,0.000,0.020,3292,1708,1111,0,0,0,0,0,0
$GC,10202,1.24,370.8,28.7,9.7,518,10209,0.12,2.53,0.00,0.000,4,0.061,0.048,3336,293,1111,0,0,0,0,0,0
$GC,10306,1.09,370.8,14.0,14.9,540,10313,0.20,2.25,0.00,0.000,6,0.067,0.018,3281,1686,1110,0,0,0,0,0,0
$STATE,10407,end climb,SURFACE_DEPTH_REACHED
$STATE,10408,begin surface coast
$FINISH,1.0,1.023175
$STATE,10443,end surface coast,CONTROL_FINISHED_OK
$STATE,10443,begin surface
$SM_CCo,10466,24.17,0.466,0,0,957,410.14
$SM_GC,1.57,0.00,0.00,24.17,0.000,0.000,0.466,427,1691,957,-12.07,-0.25,410.14
$IRIDIUM_FIX,2054.83,-15754.77,191299,181823
$TT8_MAMPS,0.028379
$HUMID,58.07
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.4,46.764
$10V_AH,10.1,38.802
$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,29.800,119.325,423.025,24.175,0.000,25.440,26.609,175.865,4.500,0.000,13.612,1160.022,6784.636,464.332,1914.134,521.358,0.000,1356.498,0.000,1891.063,0.000,29.251,0.000
$DEVICE_MAMPS,131.924,58.292,832.962,465.569,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,383.833,363.853,804.659,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355796
$DATA_FILE_SIZE,31796,571
$CAP_FILE_SIZE,120318,0
$CFSIZE,260165632,185401344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250910,001725,2102.414,-15753.011,40,1.5,40,9.8