version: 66.06
glider: 139
mission: 9
dive: 31
start: 4 8 111 5 7 26
data:
$ID,139
$MISSION,9
$DIVE,31
$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,110
$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,-2175209.2
$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,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$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
$GPS1,050146,2106.510,-15758.305,13,2.1,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-74.4
$GPS2,050710,2106.546,-15758.365,12,3.1,31,9.8
$SPEED_LIMITS,0.139,0.213
$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,83.1,26724,-17.6,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.23,-107.1,0.0,0.0,0,93,0.00,0.00,-73.20,0.000,6,0.000,0.000,427,2143,3072,0,0,0,0,0,0
$GC,97,-1.23,-107.1,2.3,-2.7,14,116,13.48,2.50,0.00,0.000,4,0.143,0.035,2864,675,3075,0,0,0,0,0,0
$GC,144,-1.23,-107.1,14.2,-22.4,23,151,0.00,2.30,0.00,0.000,6,0.000,0.022,2864,2047,3075,0,0,0,0,0,0
$GC,345,-1.23,-107.1,50.8,-16.8,49,349,0.00,2.35,0.00,0.000,4,0.000,0.031,2865,3451,3076,0,0,0,0,0,0
$GC,408,-1.23,-107.1,60.8,-13.8,55,415,0.00,2.30,0.00,0.000,6,0.000,0.028,2864,2097,3076,0,0,0,0,0,0
$GC,671,-1.23,-107.1,103.0,-15.5,80,675,0.00,2.30,0.00,0.000,4,0.000,0.030,2864,3461,3077,0,0,0,0,0,0
$GC,687,-1.23,-107.1,105.8,-16.0,81,692,0.00,2.28,0.00,0.000,6,0.000,0.028,2864,2095,3077,0,0,0,0,0,0
$GC,952,-1.23,-107.1,142.4,-12.9,105,956,0.00,2.30,0.00,0.000,4,0.000,0.031,2864,3459,3078,0,0,0,0,0,0
$GC,1216,-1.23,-107.1,172.9,-12.2,133,1221,0.00,2.30,0.00,0.000,6,0.000,0.031,2864,2096,3078,0,0,0,0,0,0
$GC,1479,-1.23,-107.1,197.9,-8.6,158,1482,0.00,2.28,0.00,0.000,4,0.000,0.031,2864,3451,3079,0,0,0,0,0,0
$GC,1571,-1.23,-107.1,206.0,-7.8,164,1575,0.00,2.25,0.00,0.000,6,0.000,0.028,2864,2094,3079,0,0,0,0,0,0
$GC,1900,-1.23,-107.1,232.7,-8.9,180,1904,0.00,2.28,0.00,0.000,4,0.000,0.033,2864,3453,3080,0,0,0,0,0,0
$GC,2091,-1.23,-107.1,250.8,-11.5,188,2095,0.00,2.25,0.00,0.000,6,0.000,0.030,2864,2098,3080,0,0,0,0,0,0
$GC,2408,-1.23,-107.1,282.7,-10.4,203,2412,0.00,2.40,0.00,0.000,4,0.000,0.044,2864,694,3079,0,0,0,0,0,0
$GC,2505,-1.23,-107.1,292.8,-9.2,207,2509,0.00,2.22,0.00,0.000,6,0.000,0.025,2864,2053,3080,0,0,0,0,0,0
$GC,2842,-1.23,-107.1,315.2,-5.8,218,2843,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2055,3079,0,0,0,0,0,0
$GC,3167,-1.23,-107.1,336.0,-7.0,226,3171,0.00,2.35,0.00,0.000,4,0.000,0.046,2863,692,3077,0,0,0,0,0,0
$GC,3218,-1.23,-107.1,340.6,-8.7,227,3222,0.00,2.33,0.00,0.000,6,0.000,0.027,2864,2095,3077,0,0,0,0,0,0
$GC,3536,-1.23,-107.1,367.7,-8.2,235,3540,0.00,2.42,0.00,0.000,4,0.000,0.048,2862,694,3076,0,0,0,0,0,0
$GC,3580,-1.23,-107.1,371.1,-8.0,236,3583,0.00,2.35,0.00,0.000,6,0.000,0.028,2863,2106,3076,0,0,0,0,0,0
$GC,3912,-1.23,-107.1,392.7,-6.3,244,3916,0.00,2.45,0.00,0.000,4,0.000,0.050,2864,698,3073,0,0,0,0,0,0
$GC,3940,-1.23,-107.1,394.9,-8.0,244,3944,0.00,2.35,0.00,0.000,6,0.000,0.029,2864,2104,3073,0,0,0,0,0,0
$GC,4276,-1.23,-107.1,419.9,-7.7,253,4280,0.00,2.42,0.00,0.000,4,0.000,0.051,2864,696,3071,0,0,0,0,0,0
$GC,4364,-1.23,-107.1,427.7,-9.0,254,4370,0.00,2.33,0.00,0.000,6,0.000,0.030,2864,2098,3070,0,0,0,0,0,0
$GC,4696,-1.23,-107.1,448.1,-5.5,263,4700,0.00,2.42,0.00,0.000,4,0.000,0.044,2864,3504,3068,0,0,0,0,0,0
$STATE,4731,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4731,begin apogee
$GC,4740,-0.31,0.0,450.0,5.3,263,4832,1.00,0.00,88.18,0.827,6,0.092,0.000,3068,1854,2635,0,0,0,0,0,0
$STATE,4833,end apogee,CONTROL_FINISHED_OK
$STATE,4833,begin climb
$GC,4836,1.23,107.1,450.1,0.0,266,4940,1.58,2.65,93.25,0.808,4,0.061,0.061,3406,440,2196,0,0,0,0,0,0
$GC,4964,1.23,107.1,436.0,15.2,269,4968,0.00,2.40,0.00,0.000,6,0.000,0.030,3406,1854,2191,0,0,0,0,0,0
$GC,5277,1.23,107.1,395.2,12.2,277,5282,0.00,2.55,0.00,0.000,4,0.000,0.060,3406,440,2185,0,0,0,0,0,0
$GC,5301,1.23,107.1,391.7,14.5,277,5305,0.00,2.38,0.00,0.000,6,0.000,0.031,3406,1852,2183,0,0,0,0,0,0
$GC,5641,1.23,107.1,346.9,13.4,286,5646,0.00,2.55,0.00,0.000,4,0.000,0.060,3406,441,2181,0,0,0,0,0,0
$GC,5679,1.23,107.1,341.0,15.6,286,5684,0.00,2.40,0.00,0.000,6,0.000,0.031,3406,1856,2179,0,0,0,0,0,0
$GC,6010,1.23,107.1,296.3,12.9,295,6014,0.00,2.58,0.00,0.000,4,0.000,0.060,3406,434,2178,0,0,0,0,0,0
$GC,6079,1.23,107.1,288.5,10.1,298,6083,0.00,2.38,0.00,0.000,6,0.000,0.031,3406,1853,2176,0,0,0,0,0,0
$GC,6404,1.23,107.1,258.0,9.7,314,6407,0.00,2.40,0.00,0.000,4,0.000,0.038,3406,3257,2175,0,0,0,0,0,0
$GC,6431,1.23,107.1,255.0,10.5,315,6435,0.00,2.45,0.00,0.000,6,0.000,0.039,3406,1846,2175,0,0,0,0,0,0
$GC,6757,1.23,107.1,221.1,10.0,331,6761,0.00,2.47,0.00,0.000,4,0.000,0.055,3406,442,2174,0,0,0,0,0,0
$GC,6803,1.23,107.1,216.7,10.2,333,6807,0.00,2.35,0.00,0.000,6,0.000,0.027,3406,1858,2172,0,0,0,0,0,0
$GC,7129,1.23,107.1,186.3,10.1,355,7133,0.00,2.50,0.00,0.000,4,0.000,0.051,3406,439,2173,0,0,0,0,0,0
$GC,7193,1.23,107.1,178.4,12.8,361,7199,0.00,2.33,0.00,0.000,6,0.000,0.025,3406,1854,2171,0,0,0,0,0,0
$GC,7456,1.23,107.1,153.0,9.1,386,7460,0.00,2.45,0.00,0.000,4,0.000,0.050,3406,441,2172,0,0,0,0,0,0
$GC,7502,1.23,107.1,148.0,10.6,390,7509,0.00,2.33,0.00,0.000,6,0.000,0.025,3406,1848,2171,0,0,0,0,0,0
$GC,7766,1.23,107.1,126.5,8.3,415,7771,0.00,2.45,0.00,0.000,4,0.000,0.048,3406,441,2172,0,0,0,0,0,0
$GC,7839,1.23,107.1,119.0,8.6,422,7846,0.00,2.33,0.00,0.000,6,0.000,0.023,3406,1854,2172,0,0,0,0,0,0
$GC,8102,1.23,107.1,101.9,8.0,447,8106,0.00,2.28,0.00,0.000,4,0.000,0.029,3406,3240,2172,0,0,0,0,0,0
$GC,8146,1.23,107.1,98.0,8.9,451,8150,0.00,2.35,0.00,0.000,6,0.000,0.033,3406,1844,2172,0,0,0,0,0,0
$GC,8410,1.23,107.1,73.1,9.5,475,8415,0.00,2.42,0.00,0.000,4,0.000,0.048,3406,436,2173,0,0,0,0,0,0
$GC,8523,1.23,107.1,62.1,9.3,487,8527,0.00,2.28,0.00,0.000,6,0.000,0.021,3406,1858,2172,0,0,0,0,0,0
$GC,8788,1.27,134.2,45.3,6.7,511,8817,0.00,2.30,20.23,0.487,4,0.000,0.027,3407,3239,2088,0,0,0,0,0,0
$GC,8865,1.27,134.2,39.3,8.6,519,8869,0.00,2.35,0.00,0.000,6,0.000,0.031,3407,1847,2087,0,0,0,0,0,0
$GC,9129,1.27,137.8,18.8,7.8,556,9142,0.00,2.45,4.40,0.336,4,0.000,0.045,3406,445,2073,0,0,0,0,0,0
$GC,9150,1.28,148.2,17.2,7.5,559,9168,0.00,2.30,10.82,0.433,6,0.000,0.021,3406,1860,2029,0,0,0,0,0,0
$STATE,9321,end climb,SURFACE_DEPTH_REACHED
$STATE,9321,begin surface coast
$FINISH,0.3,1.014101
$STATE,9359,end surface coast,CONTROL_FINISHED_OK
$STATE,9360,begin surface
$SM_CCo,9383,92.60,0.463,0,0,1288,330.17
$SM_GC,0.98,0.00,0.00,92.60,0.000,0.000,0.463,427,2120,1288,-12.48,0.54,330.17
$IRIDIUM_FIX,2059.45,-15756.04,020700,020217
$TT8_MAMPS,0.028379
$HUMID,51.92
$INTERNAL_PRESSURE,9.58675
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.3,2.714
$10V_AH,10.5,2.280
$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,28.925,119.600,216.875,92.600,0.000,27.817,31.629,133.270,4.500,0.000,32.440,1123.615,6067.174,410.414,1782.644,415.828,0.000,1163.027,0.000,1741.167,0.000,29.250,0.000
$DEVICE_MAMPS,143.429,61.360,826.826,462.501,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,403.900,383.416,885.028,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,31712,597
$CAP_FILE_SIZE,102299,0
$CFSIZE,260165632,255168512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080411,074637,2106.046,-15758.291,36,0.8,36,9.8