version: 66.06
glider: 139
mission: 9
dive: 28
start: 4 7 111 20 59 3
data:
$ID,139
$MISSION,9
$DIVE,28
$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,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,-2175142.2
$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,3140
$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,1875
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,88
$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
$GPS1,205337,2108.122,-15800.008,32,1.4,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-75.5
$GPS2,205844,2108.101,-15800.051,13,1.9,13,9.8
$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,88.3,29904,-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,-75.12,0.000,6,0.000,0.000,431,2154,3112,0,0,0,0,0,0
$GC,97,-1.19,-116.8,2.3,-2.4,14,115,13.38,2.17,0.00,0.000,4,0.140,0.029,2871,3453,3114,0,0,0,0,0,0
$GC,198,-1.19,-116.8,22.0,-15.1,36,205,0.00,2.30,0.00,0.000,6,0.000,0.030,2871,2108,3115,0,0,0,0,0,0
$GC,400,-1.19,-116.8,53.4,-15.1,59,404,0.00,2.28,0.00,0.000,4,0.000,0.031,2871,3461,3115,0,0,0,0,0,0
$GC,421,-1.19,-116.8,56.2,-13.3,61,425,0.00,2.28,0.00,0.000,6,0.000,0.029,2871,2098,3115,0,0,0,0,0,0
$GC,683,-1.19,-116.8,93.8,-15.5,85,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2097,3116,0,0,0,0,0,0
$GC,939,-1.19,-116.8,129.2,-12.3,109,943,0.00,2.28,0.00,0.000,4,0.000,0.030,2871,3452,3116,0,0,0,0,0,0
$GC,994,-1.19,-116.8,136.1,-12.1,114,1001,0.00,2.30,0.00,0.000,6,0.000,0.031,2870,2098,3117,0,0,0,0,0,0
$GC,1258,-1.19,-116.8,163.9,-9.0,139,1262,0.00,2.40,0.00,0.000,4,0.000,0.042,2870,686,3117,0,0,0,0,0,0
$GC,1291,-1.19,-116.8,167.5,-10.5,142,1295,0.00,2.25,0.00,0.000,6,0.000,0.022,2870,2061,3117,0,0,0,0,0,0
$GC,1560,-1.19,-116.8,195.9,-10.1,167,1564,0.00,2.35,0.00,0.000,4,0.000,0.041,2870,682,3117,0,0,0,0,0,0
$GC,1594,-1.19,-116.8,199.4,-9.6,170,1599,0.00,2.33,0.00,0.000,6,0.000,0.023,2870,2099,3117,0,0,0,0,0,0
$GC,1860,-1.19,-116.8,225.2,-9.7,183,1864,0.00,2.33,0.00,0.000,4,0.000,0.035,2871,3496,3118,0,0,0,0,0,0
$GC,2009,-1.19,-116.8,238.8,-8.3,189,2014,0.00,2.33,0.00,0.000,6,0.000,0.030,2870,2098,3118,0,0,0,0,0,0
$GC,2331,-1.19,-116.8,263.3,-7.1,205,2335,0.00,2.38,0.00,0.000,4,0.000,0.044,2870,691,3118,0,0,0,0,0,0
$GC,2397,-1.19,-116.8,268.5,-7.9,208,2401,0.00,2.30,0.00,0.000,6,0.000,0.025,2870,2100,3118,0,0,0,0,0,0
$GC,2727,-1.19,-116.8,291.8,-6.8,224,2731,0.00,2.42,0.00,0.000,4,0.000,0.045,2871,692,3117,0,0,0,0,0,0
$GC,2800,-1.19,-116.8,297.8,-8.4,227,2804,0.00,2.30,0.00,0.000,6,0.000,0.026,2870,2101,3117,0,0,0,0,0,0
$GC,3116,-1.19,-116.8,323.5,-8.3,236,3120,0.00,2.35,0.00,0.000,4,0.000,0.039,2870,3496,3116,0,0,0,0,0,0
$GC,3144,-1.19,-116.8,326.1,-9.4,236,3148,0.00,2.38,0.00,0.000,6,0.000,0.034,2870,2098,3115,0,0,0,0,0,0
$GC,3480,-1.19,-116.8,352.5,-7.4,245,3484,0.00,2.40,0.00,0.000,4,0.000,0.040,2870,3495,3114,0,0,0,0,0,0
$GC,3555,-1.19,-116.8,358.1,-7.1,246,3559,0.00,2.35,0.00,0.000,6,0.000,0.035,2870,2100,3113,0,0,0,0,0,0
$GC,3892,-1.19,-116.8,381.2,-7.4,255,3896,0.00,2.45,0.00,0.000,4,0.000,0.051,2870,685,3111,0,0,0,0,0,0
$GC,3929,-1.19,-116.8,384.1,-7.7,255,3934,0.00,2.35,0.00,0.000,6,0.000,0.030,2870,2102,3110,0,0,0,0,0,0
$GC,4261,-1.19,-116.8,408.7,-7.4,263,4265,0.00,2.47,0.00,0.000,4,0.000,0.051,2870,686,3109,0,0,0,0,0,0
$GC,4275,-1.19,-116.8,409.9,-7.8,263,4280,0.00,2.38,0.00,0.000,6,0.000,0.031,2870,2099,3109,0,0,0,0,0,0
$GC,4625,-1.19,-116.8,438.9,-8.4,272,4629,0.00,2.42,0.00,0.000,4,0.000,0.045,2870,3507,3106,0,0,0,0,0,0
$GC,4722,-1.19,-116.8,447.5,-8.6,274,4726,0.00,2.40,0.00,0.000,6,0.000,0.039,2870,2100,3106,0,0,0,0,0,0
$STATE,4753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4753,begin apogee
$GC,4760,-0.31,0.0,450.2,7.7,275,4859,0.98,0.00,95.72,0.827,6,0.089,0.000,3069,1872,2635,0,0,0,0,0,0
$STATE,4860,end apogee,CONTROL_FINISHED_OK
$STATE,4860,begin climb
$GC,4863,1.19,116.8,452.8,0.0,277,4975,1.50,2.62,101.70,0.807,4,0.061,0.063,3394,473,2157,0,0,0,0,0,0
$GC,4994,1.19,116.8,443.0,11.3,280,4998,0.00,2.42,0.00,0.000,6,0.000,0.030,3394,1883,2152,0,0,0,0,0,0
$GC,5317,1.19,116.8,405.8,11.3,288,5321,0.00,2.40,0.00,0.000,4,0.000,0.041,3395,3277,2145,0,0,0,0,0,0
$GC,5336,1.19,116.8,403.8,10.1,288,5340,0.00,2.47,0.00,0.000,6,0.000,0.044,3394,1881,2145,0,0,0,0,0,0
$GC,5681,1.19,116.8,362.4,12.7,297,5685,0.00,2.55,0.00,0.000,4,0.000,0.061,3394,465,2142,0,0,0,0,0,0
$GC,5741,1.19,116.8,353.3,15.4,298,5745,0.00,2.40,0.00,0.000,6,0.000,0.031,3395,1878,2139,0,0,0,0,0,0
$GC,6091,1.19,116.8,309.2,11.7,307,6095,0.00,2.55,0.00,0.000,4,0.000,0.059,3394,463,2137,0,0,0,0,0,0
$GC,6119,1.19,116.8,305.5,13.3,307,6123,0.00,2.38,0.00,0.000,6,0.000,0.031,3394,1879,2137,0,0,0,0,0,0
$GC,6438,1.19,116.8,269.0,11.8,322,6443,0.00,2.53,0.00,0.000,4,0.000,0.060,3394,465,2137,0,0,0,0,0,0
$GC,6516,1.19,116.8,257.7,14.9,325,6521,0.00,2.38,0.00,0.000,6,0.000,0.030,3395,1881,2135,0,0,0,0,0,0
$GC,6832,1.19,116.8,224.7,8.4,340,6836,0.00,2.53,0.00,0.000,4,0.000,0.057,3394,463,2134,0,0,0,0,0,0
$GC,6888,1.19,116.8,218.4,11.3,342,6892,0.00,2.38,0.00,0.000,6,0.000,0.028,3395,1880,2133,0,0,0,0,0,0
$GC,7208,1.19,116.8,183.7,11.3,363,7212,0.00,2.50,0.00,0.000,4,0.000,0.054,3394,458,2133,0,0,0,0,0,0
$GC,7241,1.19,116.8,179.5,12.6,366,7246,0.00,2.35,0.00,0.000,6,0.000,0.027,3395,1879,2133,0,0,0,0,0,0
$GC,7504,1.19,116.8,154.8,9.4,390,7509,0.00,2.50,0.00,0.000,4,0.000,0.052,3395,462,2132,0,0,0,0,0,0
$GC,7595,1.19,116.8,145.6,9.4,399,7601,0.00,2.35,0.00,0.000,6,0.000,0.025,3395,1880,2131,0,0,0,0,0,0
$GC,7856,1.19,116.8,123.5,8.5,424,7861,0.00,2.47,0.00,0.000,4,0.000,0.051,3395,457,2132,0,0,0,0,0,0
$GC,7928,1.19,116.8,116.6,10.2,431,7932,0.00,2.35,0.00,0.000,6,0.000,0.024,3394,1885,2131,0,0,0,0,0,0
$GC,8192,1.21,127.2,95.2,7.5,455,8202,0.00,2.55,5.57,0.432,4,0.000,0.048,3395,461,2115,0,0,0,0,0,0
$GC,8215,1.21,129.5,93.2,7.9,457,8219,0.00,2.33,0.00,0.000,6,0.000,0.023,3395,1881,2114,0,0,0,0,0,0
$GC,8480,1.25,165.4,74.5,6.4,481,8516,0.00,0.00,34.58,0.533,6,0.000,0.000,3395,1886,1960,0,0,0,0,0,0
$GC,8772,1.25,165.4,51.6,8.2,509,8776,0.00,2.47,0.00,0.000,4,0.000,0.047,3395,458,1956,0,0,0,0,0,0
$GC,8870,1.25,165.4,41.7,9.7,519,8877,0.00,2.35,0.00,0.000,6,0.000,0.021,3395,1882,1952,0,0,0,0,0,0
$GC,9133,1.25,165.4,19.0,8.3,555,9140,0.00,2.50,0.00,0.000,4,0.000,0.047,3395,460,1953,0,0,0,0,0,0
$GC,9169,1.25,165.4,15.8,9.5,562,9175,0.00,2.33,0.00,0.000,6,0.000,0.021,3395,1874,1952,0,0,0,0,0,0
$STATE,9303,end climb,SURFACE_DEPTH_REACHED
$STATE,9303,begin surface coast
$FINISH,0.5,1.023457
$STATE,9339,end surface coast,CONTROL_FINISHED_OK
$STATE,9339,begin surface
$SM_CCo,9363,93.12,0.466,0,0,1207,350.04
$SM_GC,1.10,0.00,0.00,93.12,0.000,0.000,0.466,430,2130,1207,-12.47,0.85,350.04
$IRIDIUM_FIX,2101.76,-15800.33,010700,181839
$TT8_MAMPS,0.029146
$HUMID,53.18
$INTERNAL_PRESSURE,9.57698
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.3,2.487
$10V_AH,10.7,2.052
$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,28.625,120.275,237.575,93.125,0.000,24.332,37.398,131.809,4.500,0.000,13.819,1118.138,6099.957,428.203,1697.531,424.079,0.000,1152.294,0.000,1684.609,0.000,29.247,0.000
$DEVICE_MAMPS,140.361,62.894,826.826,466.336,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,402.011,387.355,884.906,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,31962,593
$CAP_FILE_SIZE,101815,0
$CFSIZE,260165632,255311872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070411,233726,2107.438,-15758.723,8,1.8,8,9.8