version: 66.06
glider: 139
mission: 8
dive: 627
start: 10 8 110 2 19 51
data:
$ID,139
$MISSION,8
$DIVE,627
$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,-2164274.5
$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,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
$GPS1,021337,2106.235,-15752.271,32,0.9,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-71.4
$GPS2,021931,2106.269,-15752.350,12,1.8,12,9.8
$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,83.2,16319,-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,-64.28,0.000,2,0.000,0.000,429,1549,2650,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.0,-3.0,12,110,12.62,0.00,-9.12,0.000,6,0.132,0.000,2786,1551,3108,0,0,0,0,0,0
$GC,314,-0.94,-116.8,45.5,-16.9,49,316,0.28,0.00,0.00,0.000,6,0.089,0.000,2843,1551,3111,0,0,0,0,0,0
$GC,566,-0.88,-116.8,74.0,-11.3,69,570,0.00,2.25,0.00,0.000,4,0.000,0.046,2843,235,3112,0,0,0,0,0,0
$GC,599,-0.79,-116.8,78.1,-11.8,71,606,0.12,2.17,0.00,0.000,6,0.066,0.018,2876,1608,3112,0,0,0,0,0,0
$GC,860,-0.83,-116.8,103.6,-10.0,92,863,0.00,2.38,0.00,0.000,4,0.000,0.045,2876,234,3112,0,0,0,0,0,0
$GC,975,-0.88,-116.8,116.1,-10.9,100,979,0.00,2.12,0.00,0.000,6,0.000,0.018,2876,1616,3113,0,0,0,0,0,0
$GC,1236,-0.97,-116.8,139.2,-8.9,120,1241,0.17,2.40,0.00,0.000,4,0.049,0.045,2818,237,3114,0,0,0,0,0,0
$GC,1257,-0.97,-116.8,141.7,-10.6,121,1262,0.00,2.15,0.00,0.000,6,0.000,0.018,2818,1610,3113,0,0,0,0,0,0
$GC,1515,-0.97,-116.8,167.2,-8.2,142,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1614,3114,0,0,0,0,0,0
$GC,1769,-0.97,-116.8,189.6,-9.8,162,1773,0.00,2.38,0.00,0.000,4,0.000,0.046,2818,235,3114,0,0,0,0,0,0
$GC,1824,-0.97,-116.8,195.8,-11.3,166,1827,0.00,2.12,0.00,0.000,6,0.000,0.019,2818,1601,3114,0,0,0,0,0,0
$GC,2097,-0.97,-116.8,220.3,-7.6,180,2098,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1606,3115,0,0,0,0,0,0
$GC,2407,-0.97,-116.8,236.6,-5.4,195,2408,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1606,3114,0,0,0,0,0,0
$GC,2713,-0.97,-116.8,257.3,-8.1,210,2717,0.00,2.38,0.00,0.000,4,0.000,0.048,2818,234,3114,0,0,0,0,0,0
$GC,2801,-0.97,-116.8,266.6,-10.7,213,2807,0.00,2.15,0.00,0.000,6,0.000,0.021,2818,1596,3114,0,0,0,0,0,0
$GC,3119,-0.97,-116.8,301.2,-10.2,229,3123,0.10,2.17,0.00,0.000,4,0.101,0.025,2840,2925,3113,0,0,0,0,0,0
$GC,3134,-1.04,-116.8,302.9,-9.4,229,3138,0.00,2.30,0.00,0.000,6,0.000,0.034,2840,1550,3112,0,0,0,0,0,0
$GC,3487,-1.12,-116.8,328.1,-6.6,238,3491,0.15,2.30,0.00,0.000,4,0.058,0.026,2792,2928,3111,0,0,0,0,0,0
$GC,3522,-1.15,-116.8,331.0,-8.7,238,3526,0.00,2.33,0.00,0.000,6,0.000,0.037,2792,1546,3110,0,0,0,0,0,0
$GC,3856,-1.15,-116.8,356.8,-7.7,246,3860,0.00,2.25,0.00,0.000,4,0.000,0.052,2792,235,3108,0,0,0,0,0,0
$GC,3936,-1.15,-116.8,363.1,-6.7,247,3940,0.00,2.10,0.00,0.000,6,0.000,0.023,2792,1550,3108,0,0,0,0,0,0
$GC,4269,-1.15,-116.8,386.8,-7.2,255,4273,0.00,2.30,0.00,0.000,4,0.000,0.053,2792,235,3105,0,0,0,0,0,0
$GC,4308,-1.11,-116.8,390.0,-8.4,255,4314,0.00,2.08,0.00,0.000,6,0.000,0.025,2792,1546,3105,0,0,0,0,0,0
$GC,4640,-1.11,-116.8,415.0,-7.4,264,4644,0.00,2.28,0.00,0.000,4,0.000,0.028,2792,2932,3103,0,0,0,0,0,0
$GC,4668,-1.16,-116.8,417.0,-7.2,264,4673,0.00,2.38,0.00,0.000,6,0.000,0.039,2792,1543,3103,0,0,0,0,0,0
$GC,5006,-1.16,-116.8,440.6,-7.6,273,5010,0.00,2.28,0.00,0.000,4,0.000,0.055,2792,231,3101,0,0,0,0,0,0
$GC,5030,-1.12,-116.8,442.8,-8.7,273,5034,0.00,2.10,0.00,0.000,6,0.000,0.025,2792,1545,3101,0,0,0,0,0,0
$STATE,5124,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5124,begin apogee
$GC,5130,-0.31,0.0,450.4,7.9,276,5230,0.88,0.00,96.93,0.833,6,0.067,0.000,2981,1549,2630,0,0,0,0,0,0
$STATE,5231,end apogee,CONTROL_FINISHED_OK
$STATE,5231,begin climb
$GC,5235,1.18,116.8,452.6,0.0,278,5347,1.42,2.40,101.57,0.817,4,0.037,0.031,3312,2933,2153,0,0,0,0,0,0
$GC,5589,1.00,119.5,432.8,7.8,285,5595,0.22,2.40,0.00,0.000,6,0.097,0.041,3267,1551,2146,0,0,0,0,0,0
$GC,5922,0.93,152.6,412.0,6.4,294,5959,0.00,2.42,30.90,0.788,4,0.000,0.031,3267,2929,2007,0,0,0,0,0,0
$GC,5998,0.88,152.6,405.9,8.8,295,6003,0.12,2.40,0.00,0.000,6,0.106,0.042,3244,1551,2006,0,0,0,0,0,0
$GC,6336,0.84,152.6,374.5,9.6,304,6340,0.00,2.33,0.00,0.000,4,0.000,0.031,3244,2930,2000,0,0,0,0,0,0
$GC,6387,0.84,152.6,369.5,9.0,305,6391,0.00,2.40,0.00,0.000,6,0.000,0.043,3244,1551,2000,0,0,0,0,0,0
$GC,6706,0.89,194.5,347.0,6.0,313,6748,0.00,2.38,36.95,0.771,4,0.000,0.057,3244,233,1837,0,0,0,0,0,0
$GC,6805,0.81,194.5,339.9,8.5,315,6809,0.00,2.15,0.00,0.000,6,0.000,0.028,3243,1544,1832,0,0,0,0,0,0
$GC,7127,0.82,204.7,316.1,7.4,323,7139,0.00,0.00,9.68,0.668,6,0.000,0.000,3244,1549,1795,0,0,0,0,0,0
$GC,7433,0.87,239.8,296.1,6.3,332,7467,0.00,0.00,32.35,0.735,6,0.000,0.000,3244,1549,1652,0,0,0,0,0,0
$GC,7763,0.87,242.9,271.1,7.8,348,7764,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1549,1646,0,0,0,0,0,0
$GC,8073,0.95,310.7,250.7,4.8,363,8140,0.00,2.40,61.30,0.707,4,0.000,0.057,3244,234,1362,0,0,0,0,0,0
$GC,8206,0.95,310.7,240.5,10.0,369,8210,0.00,2.17,0.00,0.000,6,0.000,0.026,3244,1562,1357,0,0,0,0,0,0
$GC,8538,1.07,365.8,216.9,5.4,385,8589,0.17,0.00,47.55,0.669,6,0.056,0.000,3294,1567,1138,0,0,0,0,0,0
$GC,8896,1.01,365.8,181.4,12.0,407,8901,0.12,2.40,0.00,0.000,4,0.099,0.055,3268,228,1133,0,0,0,0,0,0
$GC,9008,0.96,365.8,166.2,13.9,415,9012,0.00,2.15,0.00,0.000,6,0.000,0.025,3268,1561,1130,0,0,0,0,0,0
$GC,9277,0.99,365.8,135.9,10.1,436,9281,0.00,2.35,0.00,0.000,4,0.000,0.053,3268,233,1129,0,0,0,0,0,0
$GC,9349,0.99,365.8,127.6,10.9,441,9353,0.00,2.12,0.00,0.000,6,0.000,0.023,3268,1553,1128,0,0,0,0,0,0
$GC,9614,1.08,365.8,102.1,8.8,462,9618,0.00,2.33,0.00,0.000,4,0.000,0.051,3268,227,1128,0,0,0,0,0,0
$GC,9671,1.11,365.8,96.6,10.1,466,9676,0.10,2.12,0.00,0.000,6,0.074,0.022,3305,1554,1127,0,0,0,0,0,0
$GC,9944,1.11,365.8,68.7,10.8,487,9948,0.00,2.30,0.00,0.000,4,0.000,0.049,3305,227,1127,0,0,0,0,0,0
$GC,10053,1.07,365.8,56.0,11.1,495,10058,0.10,2.12,0.00,0.000,6,0.105,0.021,3284,1567,1127,0,0,0,0,0,0
$GC,10320,1.16,365.8,33.5,8.2,516,10325,0.00,2.33,0.00,0.000,4,0.000,0.048,3283,234,1127,0,0,0,0,0,0
$GC,10383,1.19,365.8,28.1,8.9,522,10391,0.08,2.10,0.00,0.000,6,0.037,0.020,3322,1557,1127,0,0,0,0,0,0
$GC,10587,1.19,365.8,9.0,10.5,568,10594,0.00,2.30,0.00,0.000,4,0.000,0.044,3322,234,1127,0,0,0,0,0,0
$STATE,10641,end climb,SURFACE_DEPTH_REACHED
$STATE,10641,begin surface coast
$FINISH,1.1,1.023010
$STATE,10668,end surface coast,CONTROL_FINISHED_OK
$STATE,10671,begin surface
$SM_CCo,10696,26.75,0.469,0,0,957,410.14
$SM_GC,1.69,0.00,0.00,26.75,0.000,0.000,0.469,430,1558,957,-12.06,0.23,410.14
$IRIDIUM_FIX,2059.45,-15750.89,010100,232340
$TT8_MAMPS,0.029146
$HUMID,59.05
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.3,57.732
$10V_AH,10.1,47.220
$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,29.100,99.525,417.225,26.750,0.000,25.132,36.057,159.896,4.500,0.000,12.367,1145.378,7192.696,478.025,1751.119,506.369,0.000,1260.463,0.000,1734.686,0.000,29.255,0.000
$DEVICE_MAMPS,131.924,56.758,832.962,468.637,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,394.658,369.679,832.400,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,31772,586
$CAP_FILE_SIZE,109852,0
$CFSIZE,260165632,179351552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081010,051926,2106.339,-15752.477,14,1.9,14,9.8