version: 66.06
glider: 139
mission: 8
dive: 707
start: 10 18 110 21 23 25
data:
$ID,139
$MISSION,8
$DIVE,707
$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,-2166038.2
$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,1530
$C_ROLL_CLIMB,1500
$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
$GPS1,211122,2111.509,-15801.423,12,5.1,31,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-72.8
$GPS2,212307,2111.623,-15801.519,32,1.8,32,9.8
$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,98.7,33892,-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,-116.8,0.0,0.0,0,83,0.00,0.00,-64.62,0.000,2,0.000,0.000,427,1532,2763,0,0,0,0,0,0
$GC,87,-1.18,-116.8,3.4,-3.2,12,111,12.68,0.00,-6.47,0.000,6,0.133,0.000,2783,1532,3108,0,0,0,0,0,0
$GC,311,-0.94,-116.8,43.7,-15.1,48,313,0.30,0.00,0.00,0.000,6,0.088,0.000,2844,1532,3110,0,0,0,0,0,0
$GC,563,-0.89,-116.8,70.7,-10.0,68,567,0.00,2.35,0.00,0.000,4,0.000,0.021,2844,2952,3111,0,0,0,0,0,0
$GC,585,-0.89,-116.8,73.1,-9.7,69,592,0.00,2.42,0.00,0.000,6,0.000,0.032,2844,1534,3111,0,0,0,0,0,0
$GC,845,-0.89,-116.8,98.8,-9.6,90,849,0.00,2.22,0.00,0.000,4,0.000,0.045,2844,235,3112,0,0,0,0,0,0
$GC,973,-0.89,-116.8,112.4,-11.0,99,979,0.00,2.12,0.00,0.000,6,0.000,0.018,2844,1598,3112,0,0,0,0,0,0
$GC,1233,-0.89,-116.8,133.5,-7.9,120,1234,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1603,3112,0,0,0,0,0,0
$GC,1485,-0.92,-116.8,154.5,-9.3,140,1489,0.00,2.35,0.00,0.000,4,0.000,0.045,2844,225,3113,0,0,0,0,0,0
$GC,1574,-0.97,-116.8,164.0,-10.8,146,1580,0.00,2.15,0.00,0.000,6,0.000,0.018,2844,1590,3113,0,0,0,0,0,0
$GC,1836,-1.03,-116.8,189.4,-10.1,167,1840,0.00,2.33,0.00,0.000,4,0.000,0.045,2844,235,3113,0,0,0,0,0,0
$GC,1869,-1.07,-116.8,193.4,-10.8,169,1875,0.12,2.10,0.00,0.000,6,0.061,0.019,2798,1595,3113,0,0,0,0,0,0
$GC,2128,-1.02,-116.8,221.5,-10.3,184,2132,0.12,2.35,0.00,0.000,4,0.092,0.046,2826,234,3113,0,0,0,0,0,0
$GC,2157,-1.02,-116.8,224.7,-9.7,185,2161,0.00,2.10,0.00,0.000,6,0.000,0.019,2827,1587,3113,0,0,0,0,0,0
$GC,2485,-1.02,-116.8,243.7,-4.1,201,2490,0.00,2.33,0.00,0.000,4,0.000,0.047,2827,231,3113,0,0,0,0,0,0
$GC,2530,-1.02,-116.8,245.6,-4.7,203,2534,0.00,2.15,0.00,0.000,6,0.000,0.020,2826,1589,3113,0,0,0,0,0,0
$GC,2864,-1.07,-116.8,265.8,-7.5,219,2868,0.00,2.33,0.00,0.000,4,0.000,0.048,2826,234,3112,0,0,0,0,0,0
$GC,2892,-1.07,-116.8,268.7,-9.2,220,2896,0.00,2.12,0.00,0.000,6,0.000,0.021,2826,1596,3112,0,0,0,0,0,0
$GC,3212,-1.13,-116.8,295.0,-8.4,236,3217,0.10,2.35,0.00,0.000,4,0.073,0.048,2789,236,3111,0,0,0,0,0,0
$GC,3257,-1.05,-116.8,299.2,-10.9,238,3265,0.15,2.12,0.00,0.000,6,0.081,0.021,2822,1577,3111,0,0,0,0,0,0
$GC,3613,-1.09,-116.8,321.1,-6.0,247,3617,0.00,2.33,0.00,0.000,4,0.000,0.051,2822,228,3110,0,0,0,0,0,0
$GC,3658,-1.09,-116.8,324.6,-8.3,248,3661,0.00,2.05,0.00,0.000,6,0.000,0.022,2822,1531,3109,0,0,0,0,0,0
$GC,3985,-1.14,-116.8,355.1,-10.3,256,3986,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1535,3107,0,0,0,0,0,0
$GC,4310,-1.18,-116.8,388.8,-9.0,264,4315,0.12,2.28,0.00,0.000,4,0.065,0.028,2781,2905,3105,0,0,0,0,0,0
$GC,4331,-1.24,-116.8,390.3,-7.0,264,4336,0.00,2.38,0.00,0.000,6,0.000,0.044,2780,1533,3105,0,0,0,0,0,0
$STATE,4674,end dive,NO_VERTICAL_VELOCITY
$STATE,4674,begin apogee
$GC,4681,-0.31,0.0,387.7,0.0,273,4780,0.93,0.00,95.57,0.773,6,0.071,0.000,2979,1485,2630,0,0,0,0,0,0
$STATE,4781,end apogee,CONTROL_FINISHED_OK
$STATE,4781,begin climb
$GC,4785,1.18,116.8,391.2,0.0,275,4892,1.40,0.00,100.28,0.758,6,0.025,0.000,3321,1485,2153,0,0,0,0,0,0
$GC,5193,0.92,116.8,373.3,10.5,285,5195,0.35,0.00,0.00,0.000,6,0.087,0.000,3250,1485,2143,0,0,0,0,0,0
$GC,5520,0.99,243.6,362.9,2.2,293,5637,0.00,2.42,109.28,0.754,4,0.000,0.024,3250,2886,1635,0,0,0,0,0,0
$GC,5677,1.06,243.6,348.6,12.4,296,5682,0.12,2.42,0.00,0.000,6,0.065,0.042,3289,1513,1634,0,0,0,0,0,0
$GC,6013,0.96,243.6,310.1,12.0,305,6018,0.15,2.25,0.00,0.000,4,0.095,0.056,3259,230,1627,0,0,0,0,0,0
$GC,6067,0.85,243.6,304.0,11.3,306,6072,0.12,2.05,0.00,0.000,6,0.105,0.026,3235,1495,1623,0,0,0,0,0,0
$GC,6396,0.90,285.2,279.9,6.0,320,6439,0.00,2.28,34.62,0.699,4,0.000,0.055,3234,234,1466,0,0,0,0,0,0
$GC,6519,0.94,315.7,271.3,6.5,325,6556,0.00,2.05,27.35,0.679,6,0.000,0.026,3234,1504,1341,0,0,0,0,0,0
$GC,6865,1.04,337.5,245.7,6.9,342,6892,0.17,2.33,19.35,0.652,4,0.055,0.056,3284,237,1252,0,0,0,0,0,0
$GC,6914,0.92,337.5,241.3,10.5,344,6919,0.15,2.08,0.00,0.000,6,0.095,0.026,3254,1499,1250,0,0,0,0,0,0
$GC,7246,1.02,384.6,219.8,5.8,360,7292,0.00,2.33,40.50,0.656,4,0.000,0.054,3253,234,1062,0,0,0,0,0,0
$GC,7354,1.07,384.6,210.2,10.9,364,7362,0.10,2.10,0.00,0.000,6,0.039,0.025,3292,1508,1058,0,0,0,0,0,0
$GC,7686,1.03,384.6,167.3,14.1,388,7690,0.00,2.22,0.00,0.000,4,0.000,0.052,3292,234,1056,0,0,0,0,0,0
$GC,7769,0.96,384.6,156.0,12.7,394,7773,0.15,2.03,0.00,0.000,6,0.091,0.023,3261,1501,1053,0,0,0,0,0,0
$GC,8031,1.05,404.1,135.9,7.0,414,8053,0.00,2.30,16.75,0.563,4,0.000,0.052,3261,228,981,0,0,0,0,0,0
$GC,8116,1.10,404.2,129.4,7.9,420,8121,0.12,2.08,0.00,0.000,6,0.064,0.022,3305,1525,979,0,0,0,0,0,0
$GC,8389,1.10,404.2,102.4,10.0,441,8393,0.00,2.28,0.00,0.000,4,0.000,0.050,3305,231,979,0,0,0,0,0,0
$GC,8430,1.04,404.2,97.4,12.2,444,8435,0.15,2.03,0.00,0.000,6,0.091,0.021,3274,1510,977,0,0,0,0,0,0
$GC,8700,1.15,423.3,76.3,7.0,465,8723,0.12,2.25,17.00,0.511,4,0.062,0.049,3318,233,903,0,0,0,0,0,0
$GC,8793,1.15,423.3,66.0,10.6,471,8797,0.00,2.00,0.00,0.000,6,0.000,0.021,3318,1510,901,0,0,0,0,0,0
$GC,9059,1.18,423.3,40.8,10.1,492,9063,0.00,2.22,0.00,0.000,4,0.000,0.048,3318,233,901,0,0,0,0,0,0
$GC,9087,1.15,423.3,37.2,12.9,494,9090,0.00,1.98,0.00,0.000,6,0.000,0.020,3318,1493,900,0,0,0,0,0,0
$GC,9351,1.15,423.3,11.2,9.6,544,9358,0.00,2.25,0.00,0.000,4,0.000,0.048,3318,231,900,0,0,0,0,0,0
$GC,9400,1.11,423.3,5.5,12.1,554,9407,0.10,2.03,0.00,0.000,6,0.066,0.020,3291,1517,900,0,0,0,0,0,0
$STATE,9425,end climb,SURFACE_DEPTH_REACHED
$STATE,9425,begin surface coast
$FINISH,1.0,1.000547
$STATE,9456,end surface coast,CONTROL_FINISHED_OK
$STATE,9456,begin surface
$SM_CCo,9540,0.00,0.000,0,0,898,425.10
$SM_GC,1.84,12.25,0.00,0.00,0.023,0.000,0.000,427,1517,898,-11.98,-0.37,425.10
$IRIDIUM_FIX,2101.76,-15800.33,120100,212117
$TT8_MAMPS,0.028379
$HUMID,59.92
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,21.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,383.7,72.8
$24V_AH,23.3,66.596
$10V_AH,10.1,53.960
$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,30.000,92.925,460.700,0.000,0.000,82.183,117.941,208.402,4.250,0.000,32.998,1078.505,6294.005,456.473,1689.741,719.062,0.000,1229.364,0.000,1655.245,0.000,27.610,0.000
$DEVICE_MAMPS,133.458,150.332,773.136,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,380.295,374.810,850.286,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,31758,566
$CAP_FILE_SIZE,107985,0
$CFSIZE,260165632,174546944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191010,000336,2111.589,-15801.871,36,0.9,36,9.8