version: 66.06
glider: 139
mission: 8
dive: 623
start: 10 7 110 13 26 47
data:
$ID,139
$MISSION,8
$DIVE,623
$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,-2164196
$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,1550
$C_ROLL_CLIMB,1550
$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
$GPS1,131652,2106.545,-15752.506,16,3.7,35,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-73.1
$GPS2,132626,2106.644,-15752.604,14,1.2,14,9.8
$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,85.5,16806,-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,-116.8,0.0,0.0,0,82,0.00,0.00,-64.20,0.000,2,0.000,0.000,426,1562,2753,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.5,-3.8,12,109,12.62,0.00,-6.60,0.000,6,0.131,0.000,2784,1562,3108,0,0,0,0,0,0
$GC,305,-0.94,-116.8,44.9,-16.3,47,307,0.28,0.00,0.00,0.000,6,0.091,0.000,2841,1562,3110,0,0,0,0,0,0
$GC,557,-0.86,-116.8,75.5,-11.9,67,562,0.10,2.30,0.00,0.000,4,0.109,0.021,2861,2972,3110,0,0,0,0,0,0
$GC,587,-0.91,-116.8,79.0,-11.0,69,591,0.00,2.40,0.00,0.000,6,0.000,0.032,2861,1550,3111,0,0,0,0,0,0
$GC,848,-0.91,-116.8,105.3,-8.4,89,849,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1549,3111,0,0,0,0,0,0
$GC,1101,-0.97,-116.8,127.6,-7.4,109,1106,0.10,2.35,0.00,0.000,4,0.073,0.021,2822,2973,3112,0,0,0,0,0,0
$GC,1144,-1.05,-116.8,132.0,-10.0,112,1148,0.00,2.40,0.00,0.000,6,0.000,0.034,2821,1552,3112,0,0,0,0,0,0
$GC,1402,-1.05,-116.8,158.3,-8.8,132,1406,0.00,2.33,0.00,0.000,4,0.000,0.021,2821,2971,3113,0,0,0,0,0,0
$GC,1422,-1.05,-116.8,159.8,-7.5,133,1428,0.00,2.38,0.00,0.000,6,0.000,0.031,2821,1543,3112,0,0,0,0,0,0
$GC,1683,-1.05,-116.8,177.9,-7.4,154,1687,0.00,2.22,0.00,0.000,4,0.000,0.046,2821,238,3112,0,0,0,0,0,0
$GC,1720,-1.05,-116.8,181.7,-10.5,156,1726,0.00,2.15,0.00,0.000,6,0.000,0.019,2821,1602,3113,0,0,0,0,0,0
$GC,1983,-1.05,-116.8,204.5,-8.4,176,1984,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1603,3113,0,0,0,0,0,0
$GC,2293,-1.05,-116.8,229.9,-7.6,191,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1602,3113,0,0,0,0,0,0
$GC,2602,-1.05,-116.8,254.1,-7.3,206,2606,0.00,2.35,0.00,0.000,4,0.000,0.048,2821,234,3112,0,0,0,0,0,0
$GC,2658,-1.08,-116.8,259.3,-9.0,208,2662,0.00,2.15,0.00,0.000,6,0.000,0.021,2821,1601,3112,0,0,0,0,0,0
$GC,2976,-1.12,-116.8,287.7,-9.3,223,2980,0.00,2.35,0.00,0.000,4,0.000,0.049,2821,237,3111,0,0,0,0,0,0
$GC,2999,-1.12,-116.8,290.6,-10.4,224,3003,0.00,2.15,0.00,0.000,6,0.000,0.022,2821,1601,3111,0,0,0,0,0,0
$GC,3346,-1.16,-116.8,318.4,-6.5,235,3351,0.10,2.38,0.00,0.000,4,0.074,0.050,2784,235,3109,0,0,0,0,0,0
$GC,3425,-1.09,-116.8,323.1,-6.6,236,3430,0.12,2.15,0.00,0.000,6,0.094,0.022,2812,1591,3109,0,0,0,0,0,0
$GC,3762,-1.09,-116.8,339.1,-5.4,245,3763,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1595,3107,0,0,0,0,0,0
$GC,4089,-1.09,-116.8,367.7,-9.5,253,4090,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1596,3104,0,0,0,0,0,0
$GC,4413,-1.12,-116.8,403.0,-10.9,261,4417,0.00,2.38,0.00,0.000,4,0.000,0.054,2812,239,3102,0,0,0,0,0,0
$GC,4459,-1.12,-116.8,408.2,-10.5,262,4463,0.00,2.12,0.00,0.000,6,0.000,0.025,2812,1556,3102,0,0,0,0,0,0
$GC,4784,-1.16,-116.8,434.0,-7.9,270,4785,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1560,3100,0,0,0,0,0,0
$STATE,5023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5023,begin apogee
$GC,5029,-0.31,0.0,451.8,7.1,276,5128,0.77,0.00,96.25,0.829,6,0.064,0.000,2980,1560,2630,0,0,0,0,0,0
$STATE,5129,end apogee,CONTROL_FINISHED_OK
$STATE,5129,begin climb
$GC,5132,1.18,116.8,453.9,0.0,278,5245,1.42,2.40,101.38,0.814,4,0.038,0.031,3310,2929,2152,0,0,0,0,0,0
$GC,5274,1.04,159.3,453.5,6.0,281,5320,0.17,2.40,38.33,0.788,6,0.104,0.041,3277,1550,1979,0,0,0,0,0,0
$GC,5634,0.93,174.4,426.7,7.2,290,5655,0.12,2.38,13.32,0.734,4,0.112,0.028,3253,2929,1916,0,0,0,0,0,0
$GC,5710,1.00,233.8,422.5,5.2,291,5769,0.00,2.42,53.35,0.795,6,0.000,0.043,3253,1550,1677,0,0,0,0,0,0
$GC,6094,0.95,233.8,390.3,9.3,301,6098,0.00,2.40,0.00,0.000,4,0.000,0.061,3253,228,1669,0,0,0,0,0,0
$GC,6188,0.84,233.8,380.1,11.3,303,6192,0.00,2.17,0.00,0.000,6,0.000,0.028,3253,1552,1665,0,0,0,0,0,0
$GC,6511,0.81,233.8,348.0,9.4,311,6513,0.12,0.00,0.00,0.000,6,0.107,0.000,3228,1557,1664,0,0,0,0,0,0
$GC,6836,0.82,241.7,323.8,7.5,319,6848,0.00,2.40,5.88,0.589,4,0.000,0.057,3228,241,1644,0,0,0,0,0,0
$GC,6869,0.76,241.7,320.7,10.0,319,6873,0.00,2.15,0.00,0.000,6,0.000,0.028,3227,1552,1642,0,0,0,0,0,0
$GC,7187,0.83,261.1,294.6,7.0,329,7211,0.00,2.42,18.55,0.713,4,0.000,0.058,3227,235,1564,0,0,0,0,0,0
$GC,7236,0.83,261.1,290.6,8.1,331,7240,0.00,2.17,0.00,0.000,6,0.000,0.028,3227,1553,1562,0,0,0,0,0,0
$GC,7563,0.92,301.7,270.3,6.1,347,7607,0.10,2.40,36.55,0.716,4,0.077,0.056,3258,233,1397,0,0,0,0,0,0
$GC,7704,0.86,301.7,259.0,8.8,353,7708,0.00,2.17,0.00,0.000,6,0.000,0.027,3259,1549,1392,0,0,0,0,0,0
$GC,8034,0.86,301.7,227.5,10.7,369,8038,0.00,2.35,0.00,0.000,4,0.000,0.055,3258,229,1391,0,0,0,0,0,0
$GC,8114,0.81,301.7,218.0,12.1,372,8118,0.17,2.15,0.00,0.000,6,0.096,0.026,3224,1554,1389,0,0,0,0,0,0
$GC,8436,1.02,391.0,198.5,3.9,388,8522,0.20,2.42,75.70,0.660,4,0.051,0.055,3280,232,1036,0,0,0,0,0,0
$GC,8645,0.94,391.0,177.1,14.2,403,8652,0.12,2.15,0.00,0.000,6,0.099,0.025,3256,1563,1029,0,0,0,0,0,0
$GC,8907,0.99,391.0,144.9,15.2,424,8911,0.00,2.38,0.00,0.000,4,0.000,0.056,3255,225,1028,0,0,0,0,0,0
$GC,8951,1.06,391.0,139.0,14.6,427,8956,0.10,2.12,0.00,0.000,6,0.073,0.023,3295,1527,1025,0,0,0,0,0,0
$GC,9218,1.06,391.0,106.9,16.3,448,9222,0.00,2.28,0.00,0.000,4,0.000,0.051,3295,233,1025,0,0,0,0,0,0
$GC,9305,0.97,391.0,95.8,11.2,454,9313,0.12,2.20,0.00,0.000,6,0.074,0.021,3264,1591,1024,0,0,0,0,0,0
$GC,9569,1.08,391.0,74.4,8.4,475,9573,0.00,2.38,0.00,0.000,4,0.000,0.050,3263,233,1024,0,0,0,0,0,0
$GC,9712,1.24,428.3,60.9,6.2,485,9750,0.25,2.08,30.85,0.522,6,0.040,0.021,3340,1569,882,0,0,0,0,0,0
$GC,10003,1.18,428.3,30.7,10.3,508,10008,0.15,2.35,0.00,0.000,4,0.090,0.050,3309,233,879,0,0,0,0,0,0
$GC,10045,1.13,428.3,25.9,11.0,516,10052,0.00,2.10,0.00,0.000,6,0.000,0.021,3309,1541,879,0,0,0,0,0,0
$GC,10249,1.13,428.3,5.3,9.2,562,10255,0.00,2.33,0.00,0.000,4,0.000,0.051,3309,229,879,0,0,0,0,0,0
$STATE,10269,end climb,SURFACE_DEPTH_REACHED
$STATE,10269,begin surface coast
$FINISH,0.9,1.009732
$STATE,10296,end surface coast,CONTROL_FINISHED_OK
$STATE,10296,begin surface
$SM_CCo,10382,0.00,0.000,0,0,875,430.50
$SM_GC,1.85,12.38,0.00,0.00,0.025,0.000,0.000,427,1554,875,-11.99,0.11,430.50
$IRIDIUM_FIX,2057.14,-15750.89,010100,131344
$TT8_MAMPS,0.028379
$HUMID,59.64
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.3,57.261
$10V_AH,10.0,46.873
$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,29.550,95.875,470.150,0.000,0.000,58.110,64.161,253.599,4.500,0.000,14.430,1097.506,7030.023,455.587,1698.116,671.007,0.000,1254.548,0.000,1683.555,0.000,29.261,0.000
$DEVICE_MAMPS,131.157,60.593,829.127,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,384.533,364.698,810.268,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31794,572
$CAP_FILE_SIZE,112333,0
$CFSIZE,260165632,179593216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071010,162106,2106.434,-15752.563,42,0.9,42,9.8