version: 66.06
glider: 139
mission: 9
dive: 85
start: 4 14 111 14 4 55
data:
$ID,139
$MISSION,9
$DIVE,85
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,500
$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,187
$T_MISSION,200
$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,51959
$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,330
$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,-2176371.2
$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,3137
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,93
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.30000001
$ROLL_ADJ_DBAND,1
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2635
$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,0.0043016663
$SEABIRD_T_H,0.00062182697
$SEABIRD_T_I,2.2485125e-05
$SEABIRD_T_J,2.3191574e-06
$SEABIRD_C_G,-10.411542
$SEABIRD_C_H,1.1792051
$SEABIRD_C_I,-0.0019162094
$SEABIRD_C_J,0.00023985174
$GPS1,135846,2105.416,-15757.464,13,2.1,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-74.8
$GPS2,140437,2105.432,-15757.397,43,0.9,43,9.8
$SPEED_LIMITS,0.139,0.222
$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,78.6,25028,-16.8,-8.021
$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,-1.19,-116.8,0.0,0.0,0,93,0.00,0.00,-70.40,0.000,6,0.000,0.000,431,2147,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.7,-7.3,14,115,13.25,2.17,0.00,0.000,4,0.138,0.028,2869,3449,3114,0,0,0,0,0,0
$GC,366,-1.19,-116.8,53.4,-17.1,58,371,0.00,2.28,0.00,0.000,6,0.000,0.028,2869,2078,3116,0,0,0,0,0,0
$GC,627,-1.19,-116.8,96.9,-16.2,82,632,0.00,2.30,0.00,0.000,4,0.000,0.028,2869,3449,3116,0,0,0,0,0,0
$GC,652,-1.19,-116.8,100.3,-14.2,84,656,0.00,2.25,0.00,0.000,6,0.000,0.027,2869,2091,3116,0,0,0,0,0,0
$GC,921,-1.19,-116.8,138.5,-13.8,109,925,0.00,2.25,0.00,0.000,4,0.000,0.028,2869,3451,3117,0,0,0,0,0,0
$GC,1001,-1.19,-116.8,148.8,-11.4,117,1005,0.00,2.22,0.00,0.000,6,0.000,0.027,2869,2099,3117,0,0,0,0,0,0
$GC,1266,-1.19,-116.8,178.4,-10.5,141,1270,0.00,2.38,0.00,0.000,4,0.000,0.040,2869,694,3118,0,0,0,0,0,0
$GC,1309,-1.19,-116.8,183.8,-12.3,145,1313,0.00,2.20,0.00,0.000,6,0.000,0.020,2869,2063,3118,0,0,0,0,0,0
$GC,1578,-1.19,-116.8,210.2,-9.6,165,1582,0.00,2.30,0.00,0.000,4,0.000,0.039,2869,693,3118,0,0,0,0,0,0
$GC,1593,-1.19,-116.8,211.7,-9.7,165,1598,0.00,2.30,0.00,0.000,6,0.000,0.021,2869,2106,3118,0,0,0,0,0,0
$GC,1910,-1.19,-116.8,237.9,-7.4,181,1914,0.00,2.38,0.00,0.000,4,0.000,0.040,2868,693,3119,0,0,0,0,0,0
$GC,2000,-1.19,-116.8,244.9,-7.9,185,2004,0.00,2.30,0.00,0.000,6,0.000,0.021,2869,2110,3119,0,0,0,0,0,0
$GC,2335,-1.19,-116.8,273.4,-9.3,201,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2114,3119,0,0,0,0,0,0
$GC,2643,-1.19,-116.8,298.0,-7.5,216,2647,0.00,2.30,0.00,0.000,4,0.000,0.034,2868,3494,3118,0,0,0,0,0,0
$GC,2911,-1.19,-116.8,320.9,-9.0,222,2917,0.00,2.35,0.00,0.000,6,0.000,0.031,2869,2096,3117,0,0,0,0,0,0
$GC,3244,-1.19,-116.8,346.2,-7.2,231,3248,0.00,2.40,0.00,0.000,4,0.000,0.045,2869,693,3116,0,0,0,0,0,0
$GC,3263,-1.19,-116.8,347.6,-6.4,231,3267,0.00,2.33,0.00,0.000,6,0.000,0.025,2869,2100,3116,0,0,0,0,0,0
$GC,3609,-1.19,-116.8,366.3,-5.8,240,3610,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2103,3114,0,0,0,0,0,0
$GC,3933,-1.19,-116.8,389.4,-7.5,248,3934,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2105,3112,0,0,0,0,0,0
$GC,4258,-1.19,-116.8,412.6,-6.8,256,4263,0.00,2.42,0.00,0.000,4,0.000,0.048,2869,689,3110,0,0,0,0,0,0
$GC,4284,-1.19,-116.8,414.3,-6.9,256,4288,0.00,2.35,0.00,0.000,6,0.000,0.028,2869,2099,3109,0,0,0,0,0,0
$GC,4624,-1.19,-116.8,439.3,-7.6,265,4629,0.00,2.38,0.00,0.000,4,0.000,0.042,2869,3499,3107,0,0,0,0,0,0
$GC,4645,-1.19,-116.8,440.9,-7.2,265,4649,0.00,2.38,0.00,0.000,6,0.000,0.035,2868,2101,3107,0,0,0,0,0,0
$STATE,4784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4784,begin apogee
$GC,4791,-0.31,0.0,450.6,6.8,269,4890,0.95,0.00,94.97,0.828,6,0.085,0.000,3064,1808,2635,0,0,0,0,0,0
$STATE,4890,end apogee,CONTROL_FINISHED_OK
$STATE,4890,begin climb
$GC,4893,1.19,116.8,451.7,0.0,271,5005,1.50,2.58,100.30,0.808,4,0.059,0.059,3391,401,2156,0,0,0,0,0,0
$GC,5029,1.19,116.8,437.7,14.5,274,5033,0.00,2.38,0.00,0.000,6,0.000,0.027,3392,1801,2151,0,0,0,0,0,0
$GC,5347,1.19,116.8,396.6,12.6,282,5348,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1807,2146,0,0,0,0,0,0
$GC,5672,1.19,116.8,352.9,14.3,290,5676,0.00,2.55,0.00,0.000,4,0.000,0.058,3392,385,2142,0,0,0,0,0,0
$GC,5719,1.19,116.8,345.4,16.8,291,5723,0.00,2.38,0.00,0.000,6,0.000,0.028,3392,1809,2140,0,0,0,0,0,0
$GC,6042,1.19,116.8,307.9,10.2,299,6046,0.00,2.38,0.00,0.000,4,0.000,0.035,3391,3205,2138,0,0,0,0,0,0
$GC,6057,1.19,116.8,306.7,9.3,299,6062,0.00,2.45,0.00,0.000,6,0.000,0.040,3392,1804,2138,0,0,0,0,0,0
$GC,6392,1.19,116.8,276.1,9.8,313,6396,0.00,2.38,0.00,0.000,4,0.000,0.034,3392,3201,2137,0,0,0,0,0,0
$GC,6420,1.19,116.8,273.0,10.6,314,6424,0.00,2.42,0.00,0.000,6,0.000,0.038,3392,1800,2137,0,0,0,0,0,0
$GC,6740,1.19,116.8,239.5,10.8,330,6741,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1799,2135,0,0,0,0,0,0
$GC,7050,1.19,116.8,206.7,9.5,345,7054,0.00,2.47,0.00,0.000,4,0.000,0.054,3392,386,2134,0,0,0,0,0,0
$GC,7140,1.19,116.8,197.5,10.6,351,7144,0.00,2.35,0.00,0.000,6,0.000,0.025,3392,1809,2132,0,0,0,0,0,0
$GC,7404,1.19,116.8,172.0,9.6,375,7409,0.00,2.30,0.00,0.000,4,0.000,0.029,3392,3205,2132,0,0,0,0,0,0
$GC,7438,1.19,116.8,168.1,10.1,378,7442,0.00,2.40,0.00,0.000,6,0.000,0.036,3392,1798,2132,0,0,0,0,0,0
$GC,7701,1.19,116.8,143.4,9.2,402,7705,0.00,2.45,0.00,0.000,4,0.000,0.051,3392,382,2132,0,0,0,0,0,0
$GC,7765,1.19,116.8,136.7,10.6,408,7772,0.00,2.33,0.00,0.000,6,0.000,0.022,3392,1788,2131,0,0,0,0,0,0
$GC,8030,1.20,118.6,115.0,7.9,433,8034,0.00,2.35,0.00,0.000,4,0.000,0.028,3391,3212,2131,0,0,0,0,0,0
$GC,8056,1.20,118.6,112.7,8.4,435,8061,0.00,2.40,0.00,0.000,6,0.000,0.032,3392,1796,2131,0,0,0,0,0,0
$GC,8320,1.20,118.6,93.1,8.3,459,8325,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1796,2132,0,0,0,0,0,0
$GC,8583,1.22,135.1,72.3,7.3,484,8604,0.00,2.47,12.18,0.494,4,0.000,0.047,3392,387,2083,0,0,0,0,0,0
$GC,8661,1.24,157.4,66.9,7.0,492,8691,0.00,2.30,20.62,0.512,6,0.000,0.020,3392,1828,1992,0,0,0,0,0,0
$GC,8946,1.24,157.4,46.9,8.2,519,8951,0.00,2.47,0.00,0.000,4,0.000,0.044,3392,383,1990,0,0,0,0,0,0
$GC,9036,1.24,157.4,38.2,10.2,528,9043,0.00,2.30,0.00,0.000,6,0.000,0.019,3392,1780,1987,0,0,0,0,0,0
$GC,9302,1.25,160.4,16.6,7.9,568,9308,0.00,2.38,0.00,0.000,4,0.000,0.025,3392,3212,1987,0,0,0,0,0,0
$GC,9333,1.25,160.4,13.9,8.5,574,9339,0.00,2.40,0.00,0.000,6,0.000,0.028,3392,1802,1987,0,0,0,0,0,0
$STATE,9478,end climb,SURFACE_DEPTH_REACHED
$STATE,9481,begin surface coast
$FINISH,0.5,1.015135
$STATE,9520,end surface coast,CONTROL_FINISHED_OK
$STATE,9520,begin surface
$SM_CCo,9544,90.28,0.465,0,0,1288,330.17
$SM_GC,1.09,0.00,0.00,90.28,0.000,0.000,0.465,429,2144,1288,-12.46,1.24,330.17
$IRIDIUM_FIX,2059.45,-15803.33,080700,111152
$TT8_MAMPS,0.028379
$HUMID,52.59
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.4,6.937
$10V_AH,10.5,6.548
$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,28.350,100.075,228.075,90.275,0.000,24.436,33.526,146.509,4.750,0.000,43.820,1125.845,6281.599,399.482,1746.971,432.235,0.000,1125.891,0.000,1700.852,0.000,32.059,0.000
$DEVICE_MAMPS,138.060,59.059,828.360,464.802,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,412.207,394.975,912.268,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,34985,608
$CAP_FILE_SIZE,98304,0
$CFSIZE,260165632,252403712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140411,164640,2105.047,-15757.089,12,3.9,31,9.8