version: 66.06
glider: 139
mission: 9
dive: 30
start: 4 8 111 2 28 33
data:
$ID,139
$MISSION,9
$DIVE,30
$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,-2175176
$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,23
$R_STBD_OVSHOOT,81
$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
$GPS1,022236,2106.990,-15758.225,42,0.9,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-73.1
$GPS2,022814,2107.025,-15758.296,17,1.0,17,9.8
$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,85.0,26666,-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,15,begin dive
$GC,18,-1.19,-116.8,0.0,0.0,0,95,0.00,0.00,-74.65,0.000,6,0.000,0.000,432,2139,3112,0,0,0,0,0,0
$GC,99,-1.19,-116.8,2.2,-3.1,14,117,13.48,2.22,0.00,0.000,4,0.143,0.030,2871,3461,3114,0,0,0,0,0,0
$GC,271,-1.19,-116.8,34.3,-15.0,50,278,0.00,2.33,0.00,0.000,6,0.000,0.028,2871,2096,3115,0,0,0,0,0,0
$GC,534,-1.19,-116.8,73.1,-12.6,75,538,0.00,2.28,0.00,0.000,4,0.000,0.029,2871,3464,3116,0,0,0,0,0,0
$GC,576,-1.19,-116.8,79.0,-14.1,79,580,0.00,2.30,0.00,0.000,6,0.000,0.029,2871,2099,3116,0,0,0,0,0,0
$GC,843,-1.19,-116.8,112.6,-11.1,104,847,0.00,2.30,0.00,0.000,4,0.000,0.031,2871,3463,3116,0,0,0,0,0,0
$GC,960,-1.19,-116.8,124.6,-10.5,116,964,0.00,2.30,0.00,0.000,6,0.000,0.028,2871,2091,3117,0,0,0,0,0,0
$GC,1229,-1.19,-116.8,156.4,-13.5,141,1233,0.00,2.38,0.00,0.000,4,0.000,0.041,2871,692,3117,0,0,0,0,0,0
$GC,1255,-1.19,-116.8,160.4,-13.8,143,1259,0.00,2.25,0.00,0.000,6,0.000,0.022,2871,2064,3117,0,0,0,0,0,0
$GC,1520,-1.19,-116.8,194.6,-12.7,167,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2068,3118,0,0,0,0,0,0
$GC,1785,-1.19,-116.8,228.3,-10.8,182,1789,0.00,2.42,0.00,0.000,4,0.000,0.035,2871,3504,3118,0,0,0,0,0,0
$GC,1836,-1.19,-116.8,233.5,-9.2,184,1840,0.00,2.35,0.00,0.000,6,0.000,0.029,2871,2099,3118,0,0,0,0,0,0
$GC,2157,-1.19,-116.8,260.3,-8.5,200,2161,0.00,2.38,0.00,0.000,4,0.000,0.044,2871,693,3118,0,0,0,0,0,0
$GC,2234,-1.19,-116.8,267.8,-10.0,203,2238,0.00,2.33,0.00,0.000,6,0.000,0.025,2870,2105,3118,0,0,0,0,0,0
$GC,2556,-1.19,-116.8,293.0,-8.2,219,2560,0.00,2.42,0.00,0.000,4,0.000,0.044,2871,685,3118,0,0,0,0,0,0
$GC,2570,-1.19,-116.8,294.6,-8.9,219,2575,0.00,2.35,0.00,0.000,6,0.000,0.026,2870,2101,3118,0,0,0,0,0,0
$GC,2882,-1.19,-116.8,323.5,-9.2,229,2883,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2102,3116,0,0,0,0,0,0
$GC,3208,-1.19,-116.8,349.5,-7.6,237,3212,0.00,2.45,0.00,0.000,4,0.000,0.048,2870,688,3115,0,0,0,0,0,0
$GC,3298,-1.19,-116.8,357.2,-8.7,239,3302,0.00,2.35,0.00,0.000,6,0.000,0.028,2870,2100,3114,0,0,0,0,0,0
$GC,3629,-1.19,-116.8,385.9,-8.9,247,3634,0.00,2.47,0.00,0.000,4,0.000,0.050,2870,693,3112,0,0,0,0,0,0
$GC,3704,-1.19,-116.8,392.5,-8.6,248,3708,0.00,2.35,0.00,0.000,6,0.000,0.029,2870,2099,3112,0,0,0,0,0,0
$GC,4040,-1.19,-116.8,414.9,-6.3,257,4044,0.00,2.40,0.00,0.000,4,0.000,0.044,2871,3499,3110,0,0,0,0,0,0
$GC,4174,-1.19,-116.8,425.7,-8.5,260,4179,0.00,2.40,0.00,0.000,6,0.000,0.038,2870,2102,3109,0,0,0,0,0,0
$GC,4502,-1.19,-116.8,448.0,-6.7,268,4506,0.00,2.40,0.00,0.000,4,0.000,0.044,2870,3498,3107,0,0,0,0,0,0
$GC,4517,-1.19,-116.8,449.1,-6.8,268,4521,0.00,2.40,0.00,0.000,6,0.000,0.039,2871,2101,3107,0,0,0,0,0,0
$STATE,4528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4528,begin apogee
$GC,4535,-0.31,0.0,450.1,7.3,268,4634,0.95,0.00,95.55,0.831,6,0.088,0.000,3066,1873,2635,0,0,0,0,0,0
$STATE,4635,end apogee,CONTROL_FINISHED_OK
$STATE,4635,begin climb
$GC,4638,1.19,116.8,452.0,0.0,271,4749,1.55,2.62,102.35,0.809,4,0.062,0.062,3398,473,2157,0,0,0,0,0,0
$GC,4761,1.19,116.8,441.0,12.8,274,4765,0.00,2.42,0.00,0.000,6,0.000,0.031,3398,1882,2153,0,0,0,0,0,0
$GC,5074,1.19,116.8,399.0,12.6,282,5079,0.00,2.58,0.00,0.000,4,0.000,0.061,3398,470,2145,0,0,0,0,0,0
$GC,5103,1.19,116.8,394.8,14.3,282,5107,0.00,2.38,0.00,0.000,6,0.000,0.031,3398,1874,2143,0,0,0,0,0,0
$GC,5438,1.19,116.8,357.6,10.2,291,5443,0.00,2.55,0.00,0.000,4,0.000,0.061,3398,471,2141,0,0,0,0,0,0
$GC,5485,1.19,116.8,351.6,12.4,292,5489,0.00,2.38,0.00,0.000,6,0.000,0.032,3398,1879,2139,0,0,0,0,0,0
$GC,5808,1.19,116.8,312.3,12.7,300,5812,0.00,2.53,0.00,0.000,4,0.000,0.060,3397,471,2138,0,0,0,0,0,0
$GC,5931,1.19,116.8,297.3,12.2,302,5936,0.00,2.40,0.00,0.000,6,0.000,0.031,3398,1885,2136,0,0,0,0,0,0
$GC,6251,1.19,116.8,265.8,9.7,318,6256,0.00,2.53,0.00,0.000,4,0.000,0.058,3398,468,2136,0,0,0,0,0,0
$GC,6284,1.19,116.8,262.2,11.0,319,6289,0.00,2.38,0.00,0.000,6,0.000,0.029,3398,1878,2134,0,0,0,0,0,0
$GC,6600,1.19,116.8,230.5,10.5,334,6604,0.00,2.35,0.00,0.000,4,0.000,0.038,3398,3275,2135,0,0,0,0,0,0
$GC,6637,1.19,116.8,226.6,10.8,335,6642,0.00,2.40,0.00,0.000,6,0.000,0.040,3398,1883,2134,0,0,0,0,0,0
$GC,6955,1.19,116.8,194.3,9.4,353,6959,0.00,2.50,0.00,0.000,4,0.000,0.054,3398,463,2133,0,0,0,0,0,0
$GC,7028,1.19,116.8,186.4,11.2,360,7035,0.00,2.38,0.00,0.000,6,0.000,0.026,3398,1875,2132,0,0,0,0,0,0
$GC,7290,1.19,116.8,164.2,9.2,385,7295,0.00,2.50,0.00,0.000,4,0.000,0.051,3398,455,2131,0,0,0,0,0,0
$GC,7341,1.19,116.8,158.6,10.7,390,7346,0.00,2.35,0.00,0.000,6,0.000,0.025,3398,1886,2131,0,0,0,0,0,0
$GC,7604,1.19,116.8,135.5,9.4,414,7606,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1891,2132,0,0,0,0,0,0
$GC,7858,1.21,132.1,114.3,7.3,438,7876,0.00,2.53,10.02,0.512,4,0.000,0.048,3398,456,2094,0,0,0,0,0,0
$GC,7925,1.21,132.1,108.9,8.3,445,7929,0.00,2.35,0.00,0.000,6,0.000,0.023,3398,1884,2092,0,0,0,0,0,0
$GC,8190,1.28,186.7,95.2,5.5,469,8245,0.00,2.35,48.17,0.548,4,0.000,0.028,3398,3269,1873,0,0,0,0,0,0
$GC,8269,1.29,194.1,89.6,7.7,477,8283,0.10,2.42,8.12,0.459,6,0.072,0.034,3434,1867,1842,0,0,0,0,0,0
$GC,8539,1.29,194.1,57.9,13.3,502,8544,0.00,2.45,0.00,0.000,4,0.000,0.048,3433,462,1838,0,0,0,0,0,0
$GC,8645,1.29,194.1,42.6,14.0,513,8652,0.00,2.35,0.00,0.000,6,0.000,0.021,3434,1882,1834,0,0,0,0,0,0
$GC,8910,1.29,194.1,13.9,11.3,551,8917,0.00,2.50,0.00,0.000,4,0.000,0.046,3433,463,1833,0,0,0,0,0,0
$GC,8950,1.29,194.1,8.7,13.2,559,8956,0.00,2.33,0.00,0.000,6,0.000,0.021,3433,1879,1833,0,0,0,0,0,0
$STATE,8993,end climb,SURFACE_DEPTH_REACHED
$STATE,8994,begin surface coast
$FINISH,0.5,1.023549
$STATE,9016,end surface coast,CONTROL_FINISHED_OK
$STATE,9016,begin surface
$SM_CCo,9040,80.28,0.466,0,0,1207,350.04
$SM_GC,1.11,0.00,0.00,80.28,0.000,0.000,0.466,427,2143,1207,-12.48,1.22,350.04
$IRIDIUM_FIX,2057.14,-15759.05,010700,232306
$TT8_MAMPS,0.028379
$HUMID,53.15
$INTERNAL_PRESSURE,9.57698
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.3,2.644
$10V_AH,10.6,2.202
$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,29.100,111.025,264.225,80.275,0.000,28.597,40.746,149.095,4.500,0.000,17.312,1067.861,5871.931,437.103,1641.423,443.729,0.000,1148.181,0.000,1623.208,0.000,29.241,0.000
$DEVICE_MAMPS,142.662,62.127,830.661,465.569,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,386.169,369.767,822.550,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,31739,571
$CAP_FILE_SIZE,98019,0
$CFSIZE,260165632,255221760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080411,050146,2106.510,-15758.305,13,2.1,32,9.8