version: 66.06
glider: 139
mission: 9
dive: 32
start: 4 8 111 7 52 18
data:
$ID,139
$MISSION,9
$DIVE,32
$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,-2175225.8
$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,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,25
$R_STBD_OVSHOOT,85
$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
$GPS1,074637,2106.046,-15758.291,36,0.8,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-75.9
$GPS2,075201,2106.053,-15758.339,10,0.9,15,9.8
$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,81.2,26649,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.23,-107.1,0.0,0.0,0,88,0.00,0.00,-70.05,0.000,6,0.000,0.000,427,2120,3072,0,0,0,0,0,0
$GC,91,-1.23,-107.1,2.1,-2.5,13,110,13.40,2.45,0.00,0.000,4,0.141,0.035,2862,681,3075,0,0,0,0,0,0
$GC,159,-1.23,-107.1,17.4,-18.7,27,166,0.00,2.30,0.00,0.000,6,0.000,0.022,2862,2054,3076,0,0,0,0,0,0
$GC,360,-1.23,-107.1,51.4,-16.2,52,364,0.00,2.45,0.00,0.000,4,0.000,0.032,2862,3506,3076,0,0,0,0,0,0
$GC,482,-1.23,-107.1,69.7,-14.9,65,486,0.00,2.35,0.00,0.000,6,0.000,0.028,2862,2096,3076,0,0,0,0,0,0
$GC,746,-1.23,-107.1,108.0,-14.8,89,750,0.00,2.38,0.00,0.000,4,0.000,0.031,2861,3501,3078,0,0,0,0,0,0
$GC,829,-1.23,-107.1,120.1,-13.7,97,835,0.00,2.33,0.00,0.000,6,0.000,0.028,2862,2098,3078,0,0,0,0,0,0
$GC,1092,-1.23,-107.1,151.0,-10.1,122,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2097,3078,0,0,0,0,0,0
$GC,1346,-1.23,-107.1,180.4,-11.6,146,1348,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2098,3079,0,0,0,0,0,0
$GC,1611,-1.23,-107.1,208.7,-10.4,167,1615,0.00,2.38,0.00,0.000,4,0.000,0.041,2862,684,3079,0,0,0,0,0,0
$GC,1625,-1.23,-107.1,210.5,-9.4,167,1631,0.00,2.30,0.00,0.000,6,0.000,0.023,2862,2100,3079,0,0,0,0,0,0
$GC,1943,-1.23,-107.1,240.1,-9.2,183,1946,0.00,2.40,0.00,0.000,4,0.000,0.041,2862,692,3080,0,0,0,0,0,0
$GC,2104,-1.23,-107.1,256.9,-10.9,190,2108,0.00,2.30,0.00,0.000,6,0.000,0.024,2862,2101,3079,0,0,0,0,0,0
$GC,2436,-1.23,-107.1,281.7,-5.7,206,2440,0.00,2.40,0.00,0.000,4,0.000,0.042,2862,686,3079,0,0,0,0,0,0
$GC,2514,-1.23,-107.1,286.4,-6.2,209,2518,0.00,2.33,0.00,0.000,6,0.000,0.025,2862,2100,3079,0,0,0,0,0,0
$GC,2833,-1.23,-107.1,306.2,-6.7,223,2837,0.00,2.42,0.00,0.000,4,0.000,0.044,2862,691,3078,0,0,0,0,0,0
$GC,2858,-1.23,-107.1,308.0,-7.5,223,2862,0.00,2.35,0.00,0.000,6,0.000,0.026,2862,2108,3078,0,0,0,0,0,0
$GC,3198,-1.23,-107.1,337.3,-9.1,232,3202,0.00,2.42,0.00,0.000,4,0.000,0.046,2862,691,3077,0,0,0,0,0,0
$GC,3258,-1.23,-107.1,343.0,-9.7,233,3262,0.00,2.35,0.00,0.000,6,0.000,0.028,2862,2109,3076,0,0,0,0,0,0
$GC,3607,-1.23,-107.1,370.7,-8.1,242,3611,0.00,2.38,0.00,0.000,4,0.000,0.041,2862,3506,3074,0,0,0,0,0,0
$GC,3677,-1.23,-107.1,377.1,-9.8,243,3681,0.00,2.38,0.00,0.000,6,0.000,0.035,2862,2096,3074,0,0,0,0,0,0
$GC,4023,-1.23,-107.1,402.0,-6.7,252,4027,0.00,2.45,0.00,0.000,4,0.000,0.050,2861,682,3071,0,0,0,0,0,0
$GC,4046,-1.23,-107.1,403.8,-6.7,252,4051,0.00,2.38,0.00,0.000,6,0.000,0.029,2862,2101,3072,0,0,0,0,0,0
$GC,4387,-1.23,-107.1,422.4,-5.2,261,4388,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2102,3070,0,0,0,0,0,0
$GC,4713,-1.23,-107.1,440.8,-5.9,269,4717,0.00,2.42,0.00,0.000,4,0.000,0.044,2862,3509,3067,0,0,0,0,0,0
$STATE,4843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4844,begin apogee
$GC,4853,-0.31,0.0,450.1,7.5,271,4944,1.00,0.00,87.57,0.822,6,0.090,0.000,3067,1856,2635,0,0,0,0,0,0
$STATE,4945,end apogee,CONTROL_FINISHED_OK
$STATE,4945,begin climb
$GC,4948,1.23,107.1,452.0,0.0,274,5052,1.55,2.65,92.93,0.804,4,0.060,0.061,3403,440,2197,0,0,0,0,0,0
$GC,5085,1.23,107.1,439.5,13.8,277,5089,0.00,2.42,0.00,0.000,6,0.000,0.029,3403,1858,2191,0,0,0,0,0,0
$GC,5403,1.23,107.1,396.5,14.0,285,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,1863,2185,0,0,0,0,0,0
$GC,5728,1.23,107.1,348.6,14.6,293,5732,0.00,2.40,0.00,0.000,4,0.000,0.040,3404,3249,2183,0,0,0,0,0,0
$GC,5756,1.23,107.1,344.3,14.5,293,5761,0.00,2.47,0.00,0.000,6,0.000,0.042,3404,1843,2183,0,0,0,0,0,0
$GC,6092,1.23,107.1,299.4,13.3,302,6096,0.00,2.53,0.00,0.000,4,0.000,0.058,3403,433,2180,0,0,0,0,0,0
$GC,6143,1.23,107.1,292.1,14.2,304,6148,0.00,2.40,0.00,0.000,6,0.000,0.029,3404,1859,2177,0,0,0,0,0,0
$GC,6463,1.23,107.1,251.1,13.1,320,6468,0.00,2.53,0.00,0.000,4,0.000,0.057,3404,436,2176,0,0,0,0,0,0
$GC,6565,1.23,107.1,236.5,14.2,324,6569,0.00,2.35,0.00,0.000,6,0.000,0.029,3404,1856,2175,0,0,0,0,0,0
$GC,6882,1.23,107.1,206.0,9.4,339,6886,0.00,2.53,0.00,0.000,4,0.000,0.054,3404,435,2175,0,0,0,0,0,0
$GC,6961,1.23,107.1,197.8,11.2,344,6965,0.00,2.35,0.00,0.000,6,0.000,0.027,3404,1863,2173,0,0,0,0,0,0
$GC,7224,1.23,107.1,174.2,9.5,368,7228,0.00,2.53,0.00,0.000,4,0.000,0.052,3404,431,2174,0,0,0,0,0,0
$GC,7277,1.23,107.1,168.6,10.1,373,7281,0.00,2.33,0.00,0.000,6,0.000,0.026,3404,1854,2172,0,0,0,0,0,0
$GC,7541,1.23,107.1,141.2,11.0,397,7546,0.00,2.47,0.00,0.000,4,0.000,0.051,3404,431,2172,0,0,0,0,0,0
$GC,7678,1.23,107.1,125.3,11.0,411,7682,0.00,2.33,0.00,0.000,6,0.000,0.025,3404,1861,2172,0,0,0,0,0,0
$GC,7943,1.26,131.6,103.9,6.8,435,7970,0.00,2.35,18.12,0.547,4,0.000,0.029,3404,3246,2097,0,0,0,0,0,0
$GC,8001,1.27,137.1,99.6,7.7,441,8013,0.00,2.40,6.62,0.456,6,0.000,0.033,3404,1837,2075,0,0,0,0,0,0
$GC,8276,1.31,166.4,80.4,6.6,467,8307,0.00,2.47,26.15,0.530,4,0.000,0.048,3404,443,1956,0,0,0,0,0,0
$GC,8398,1.31,166.4,70.4,8.8,480,8404,0.00,2.33,0.00,0.000,6,0.000,0.021,3404,1852,1951,0,0,0,0,0,0
$GC,8662,1.31,167.9,50.9,7.9,505,8668,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,1857,1951,0,0,0,0,0,0
$GC,8926,1.31,167.9,25.7,10.6,533,8932,0.00,2.47,0.00,0.000,4,0.000,0.047,3404,444,1951,0,0,0,0,0,0
$GC,8982,1.31,167.9,18.9,12.1,545,8989,0.00,2.30,0.00,0.000,6,0.000,0.021,3404,1854,1949,0,0,0,0,0,0
$STATE,9151,end climb,SURFACE_DEPTH_REACHED
$STATE,9151,begin surface coast
$FINISH,0.4,1.018960
$STATE,9184,end surface coast,CONTROL_FINISHED_OK
$STATE,9185,begin surface
$SM_CCo,9208,83.93,0.463,0,0,1289,330.17
$SM_GC,1.00,0.00,0.00,83.93,0.000,0.000,0.463,432,2145,1289,-12.46,1.24,330.17
$IRIDIUM_FIX,2059.45,-15801.19,020700,050519
$TT8_MAMPS,0.029146
$HUMID,53.03
$INTERNAL_PRESSURE,9.58675
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.3,2.786
$10V_AH,10.7,2.354
$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,28.750,101.750,231.400,83.925,0.000,27.780,43.989,135.956,4.500,0.000,15.703,1082.692,6031.801,390.027,1688.146,423.500,0.000,1112.231,0.000,1670.693,0.000,29.249,0.000
$DEVICE_MAMPS,141.128,60.593,822.224,463.268,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,394.196,380.424,860.263,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,31882,582
$CAP_FILE_SIZE,96426,0
$CFSIZE,260165632,255123456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080411,102831,2105.559,-15757.909,42,1.4,42,9.8