version: 66.06
glider: 139
mission: 9
dive: 24
start: 4 7 111 11 32 56
data:
$ID,139
$MISSION,9
$DIVE,24
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$D_ABORT,450
$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,160
$T_MISSION,180
$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,350
$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,-2175056.8
$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,3135
$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,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,112730,2109.356,-15801.799,39,1.6,39,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-73.4
$GPS2,113237,2109.333,-15801.840,11,1.6,16,9.8
$SPEED_LIMITS,0.144,0.224
$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,91.5,33338,-17.4,-8.333
$D_GRID,400
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.23,-116.8,0.0,0.0,0,99,0.00,0.00,-74.85,0.000,6,0.000,0.000,433,2115,3113,0,0,0,0,0,0
$GC,103,-1.23,-116.8,2.8,-3.8,15,121,13.43,2.42,0.00,0.000,4,0.143,0.035,2858,685,3114,0,0,0,0,0,0
$GC,266,-1.23,-116.8,37.5,-17.6,47,271,0.00,2.33,0.00,0.000,6,0.000,0.022,2858,2105,3116,0,0,0,0,0,0
$GC,529,-1.23,-116.8,76.4,-14.3,71,533,0.00,2.42,0.00,0.000,4,0.000,0.040,2858,688,3115,0,0,0,0,0,0
$GC,545,-1.23,-116.8,78.9,-14.8,72,549,0.00,2.33,0.00,0.000,6,0.000,0.022,2858,2108,3115,0,0,0,0,0,0
$GC,808,-1.23,-116.8,117.8,-14.9,96,812,0.00,2.33,0.00,0.000,4,0.000,0.031,2859,3498,3117,0,0,0,0,0,0
$GC,932,-1.23,-116.8,134.1,-13.6,109,937,0.00,2.33,0.00,0.000,6,0.000,0.029,2859,2096,3116,0,0,0,0,0,0
$GC,1195,-1.23,-116.8,165.3,-11.1,134,1199,0.00,2.38,0.00,0.000,4,0.000,0.041,2858,683,3117,0,0,0,0,0,0
$GC,1293,-1.23,-116.8,177.8,-13.0,144,1297,0.00,2.30,0.00,0.000,6,0.000,0.022,2858,2099,3117,0,0,0,0,0,0
$GC,1564,-1.23,-116.8,205.7,-8.9,166,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2102,3118,0,0,0,0,0,0
$GC,1873,-1.23,-116.8,230.2,-9.6,181,1878,0.00,2.40,0.00,0.000,4,0.000,0.042,2859,684,3118,0,0,0,0,0,0
$GC,1919,-1.23,-116.8,235.5,-11.4,183,1924,0.00,2.30,0.00,0.000,6,0.000,0.024,2859,2097,3117,0,0,0,0,0,0
$GC,2247,-1.23,-116.8,272.3,-10.3,199,2251,0.00,2.45,0.00,0.000,4,0.000,0.044,2858,687,3117,0,0,0,0,0,0
$GC,2261,-1.23,-116.8,274.2,-9.8,199,2267,0.00,2.35,0.00,0.000,6,0.000,0.026,2858,2107,3118,0,0,0,0,0,0
$GC,2578,-1.23,-116.8,296.6,-6.3,215,2582,0.00,2.38,0.00,0.000,4,0.000,0.039,2858,3503,3117,0,0,0,0,0,0
$GC,2613,-1.23,-116.8,299.0,-6.5,216,2617,0.00,2.35,0.00,0.000,6,0.000,0.034,2858,2102,3117,0,0,0,0,0,0
$GC,2924,-1.23,-116.8,319.5,-6.8,224,2929,0.00,2.40,0.00,0.000,4,0.000,0.048,2858,692,3115,0,0,0,0,0,0
$GC,2943,-1.23,-116.8,321.0,-7.2,224,2947,0.00,2.35,0.00,0.000,6,0.000,0.028,2858,2101,3116,0,0,0,0,0,0
$GC,3288,-1.23,-116.8,347.6,-7.9,233,3293,0.00,2.40,0.00,0.000,4,0.000,0.042,2858,3502,3113,0,0,0,0,0,0
$GC,3307,-1.23,-116.8,349.3,-8.6,233,3312,0.00,2.40,0.00,0.000,6,0.000,0.035,2858,2095,3113,0,0,0,0,0,0
$GC,3652,-1.23,-116.8,378.5,-8.6,242,3656,0.00,2.40,0.00,0.000,4,0.000,0.042,2859,3499,3111,0,0,0,0,0,0
$GC,3689,-1.23,-116.8,381.9,-9.1,242,3695,0.00,2.38,0.00,0.000,6,0.000,0.037,2858,2101,3111,0,0,0,0,0,0
$STATE,3896,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3897,begin apogee
$GC,3903,-0.31,0.0,402.0,9.7,248,4002,1.00,0.00,95.30,0.783,6,0.087,0.000,3063,1887,2635,0,0,0,0,0,0
$STATE,4003,end apogee,CONTROL_FINISHED_OK
$STATE,4003,begin climb
$GC,4006,1.23,116.8,405.5,0.0,250,4118,1.55,2.58,100.10,0.766,4,0.060,0.058,3401,502,2157,0,0,0,0,0,0
$GC,4169,1.23,116.8,391.1,14.6,253,4174,0.00,2.40,0.00,0.000,6,0.000,0.031,3401,1905,2151,0,0,0,0,0,0
$GC,4501,1.23,116.8,347.9,13.4,261,4505,0.00,2.55,0.00,0.000,4,0.000,0.059,3400,500,2145,0,0,0,0,0,0
$GC,4538,1.23,116.8,342.2,14.6,261,4543,0.00,2.40,0.00,0.000,6,0.000,0.031,3401,1903,2144,0,0,0,0,0,0
$GC,4869,1.23,116.8,299.5,13.0,270,4873,0.00,2.55,0.00,0.000,4,0.000,0.058,3401,494,2141,0,0,0,0,0,0
$GC,4952,1.23,116.8,287.0,15.5,273,4957,0.00,2.40,0.00,0.000,6,0.000,0.031,3400,1906,2139,0,0,0,0,0,0
$GC,5268,1.23,116.8,248.4,10.9,289,5272,0.00,2.40,0.00,0.000,4,0.000,0.041,3401,3301,2138,0,0,0,0,0,0
$GC,5315,1.23,116.8,243.3,10.0,291,5319,0.00,2.42,0.00,0.000,6,0.000,0.041,3400,1903,2139,0,0,0,0,0,0
$GC,5641,1.23,116.8,207.3,11.6,307,5645,0.00,2.50,0.00,0.000,4,0.000,0.055,3400,492,2137,0,0,0,0,0,0
$GC,5761,1.23,116.8,194.2,11.3,316,5768,0.00,2.40,0.00,0.000,6,0.000,0.028,3401,1904,2134,0,0,0,0,0,0
$GC,6024,1.23,116.8,168.4,9.2,341,6025,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,1908,2134,0,0,0,0,0,0
$GC,6278,1.23,116.8,145.9,8.9,365,6283,0.00,2.50,0.00,0.000,4,0.000,0.051,3400,485,2134,0,0,0,0,0,0
$GC,6341,1.23,116.8,140.1,9.2,371,6345,0.00,2.38,0.00,0.000,6,0.000,0.025,3400,1916,2132,0,0,0,0,0,0
$GC,6605,1.23,116.8,115.4,9.7,395,6609,0.00,2.50,0.00,0.000,4,0.000,0.049,3400,490,2133,0,0,0,0,0,0
$GC,6731,1.23,117.1,103.5,8.3,408,6735,0.00,2.30,0.00,0.000,6,0.000,0.024,3400,1902,2132,0,0,0,0,0,0
$GC,6994,1.31,180.7,89.2,5.3,432,7051,0.00,0.00,51.50,0.551,6,0.000,0.000,3401,1908,1898,0,0,0,0,0,0
$GC,7308,1.31,180.7,61.0,11.4,462,7312,0.00,2.47,0.00,0.000,4,0.000,0.048,3400,482,1893,0,0,0,0,0,0
$GC,7412,1.31,180.7,47.2,13.2,473,7416,0.00,2.35,0.00,0.000,6,0.000,0.022,3401,1912,1890,0,0,0,0,0,0
$GC,7678,1.31,180.7,17.7,10.6,507,7685,0.00,2.50,0.00,0.000,4,0.000,0.046,3400,492,1889,0,0,0,0,0,0
$GC,7738,1.31,180.7,11.0,11.3,520,7745,0.00,2.33,0.00,0.000,6,0.000,0.021,3400,1900,1888,0,0,0,0,0,0
$STATE,7819,end climb,SURFACE_DEPTH_REACHED
$STATE,7819,begin surface coast
$FINISH,0.3,1.000420
$STATE,7847,end surface coast,CONTROL_FINISHED_OK
$STATE,7849,begin surface
$SM_CCo,7873,85.20,0.466,0,0,1207,350.04
$SM_GC,1.01,0.00,0.00,85.20,0.000,0.000,0.466,431,2146,1207,-12.44,1.24,350.04
$IRIDIUM_FIX,2101.76,-15803.33,010700,090934
$TT8_MAMPS,0.029146
$HUMID,54.05
$INTERNAL_PRESSURE,9.58675
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.4,2.179
$10V_AH,10.6,1.762
$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,28.800,91.950,246.900,85.200,0.000,23.443,33.698,134.236,4.000,0.000,17.043,987.816,4974.795,412.647,1499.568,394.964,0.000,1049.066,0.000,1479.756,0.000,26.115,0.000
$DEVICE_MAMPS,143.429,59.059,783.107,466.336,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,365.260,361.107,819.886,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,28617,540
$CAP_FILE_SIZE,85987,0
$CFSIZE,260165632,255516672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070411,134646,2109.116,-15801.197,13,2.4,32,9.8