version: 66.06
glider: 139
mission: 9
dive: 34
start: 4 8 111 13 19 55
data:
$ID,139
$MISSION,9
$DIVE,34
$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,-2175250.8
$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,20
$R_STBD_OVSHOOT,87
$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
$GPS1,131356,2105.051,-15757.745,14,1.9,14,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-75.0
$GPS2,131938,2105.007,-15757.773,13,1.6,13,9.8
$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,76.9,25711,-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,-107.1,0.0,0.0,0,95,0.00,0.00,-70.75,0.000,6,0.000,0.000,432,2137,3073,0,0,0,0,0,0
$GC,98,-1.23,-107.1,2.8,-4.2,14,117,13.35,2.50,0.00,0.000,4,0.140,0.036,2861,674,3075,0,0,0,0,0,0
$GC,223,-1.23,-107.1,29.3,-17.9,41,230,0.00,2.30,0.00,0.000,6,0.000,0.021,2862,2054,3076,0,0,0,0,0,0
$GC,421,-1.23,-107.1,61.0,-15.1,60,426,0.00,2.42,0.00,0.000,4,0.000,0.031,2861,3497,3077,0,0,0,0,0,0
$GC,517,-1.23,-107.1,74.6,-14.7,70,521,0.00,2.38,0.00,0.000,6,0.000,0.029,2861,2088,3077,0,0,0,0,0,0
$GC,785,-1.23,-107.1,113.7,-14.9,95,789,0.00,2.38,0.00,0.000,4,0.000,0.031,2862,3497,3078,0,0,0,0,0,0
$GC,866,-1.23,-107.1,127.0,-15.3,103,872,0.00,2.33,0.00,0.000,6,0.000,0.028,2862,2093,3078,0,0,0,0,0,0
$GC,1129,-1.23,-107.1,158.9,-12.3,128,1133,0.00,2.35,0.00,0.000,4,0.000,0.031,2861,3499,3079,0,0,0,0,0,0
$GC,1205,-1.23,-107.1,167.4,-11.0,136,1209,0.00,2.33,0.00,0.000,6,0.000,0.028,2861,2098,3079,0,0,0,0,0,0
$GC,1468,-1.23,-107.1,198.1,-12.1,160,1472,0.00,2.35,0.00,0.000,4,0.000,0.032,2862,3504,3080,0,0,0,0,0,0
$GC,1497,-1.23,-107.1,201.8,-12.0,162,1501,0.00,2.35,0.00,0.000,6,0.000,0.028,2861,2101,3080,0,0,0,0,0,0
$GC,1816,-1.23,-107.1,232.9,-8.8,178,1821,0.00,2.38,0.00,0.000,4,0.000,0.041,2861,688,3080,0,0,0,0,0,0
$GC,1932,-1.23,-107.1,244.4,-9.2,183,1936,0.00,2.30,0.00,0.000,6,0.000,0.024,2861,2100,3081,0,0,0,0,0,0
$GC,2262,-1.23,-107.1,266.9,-6.8,199,2266,0.00,2.40,0.00,0.000,4,0.000,0.043,2861,686,3081,0,0,0,0,0,0
$GC,2322,-1.23,-107.1,271.3,-7.3,201,2328,0.00,2.33,0.00,0.000,6,0.000,0.025,2861,2099,3081,0,0,0,0,0,0
$GC,2640,-1.23,-107.1,293.9,-7.3,217,2644,0.00,2.38,0.00,0.000,4,0.000,0.038,2862,3501,3079,0,0,0,0,0,0
$GC,2654,-1.23,-107.1,294.9,-6.6,217,2660,0.00,2.35,0.00,0.000,6,0.000,0.033,2862,2105,3080,0,0,0,0,0,0
$GC,2987,-1.23,-107.1,318.8,-7.2,228,2991,0.00,2.40,0.00,0.000,4,0.000,0.047,2861,693,3078,0,0,0,0,0,0
$GC,3110,-1.23,-107.1,328.7,-7.2,230,3114,0.00,2.33,0.00,0.000,6,0.000,0.027,2861,2105,3078,0,0,0,0,0,0
$GC,3446,-1.23,-107.1,353.2,-7.7,239,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2109,3076,0,0,0,0,0,0
$GC,3771,-1.23,-107.1,379.1,-8.1,247,3775,0.00,2.47,0.00,0.000,4,0.000,0.050,2860,686,3074,0,0,0,0,0,0
$GC,3790,-1.23,-107.1,380.8,-8.6,247,3794,0.00,2.38,0.00,0.000,6,0.000,0.030,2861,2102,3074,0,0,0,0,0,0
$GC,4140,-1.23,-107.1,409.2,-7.8,256,4141,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2106,3072,0,0,0,0,0,0
$GC,4464,-1.23,-107.1,425.0,-4.2,264,4469,0.00,2.47,0.00,0.000,4,0.000,0.051,2861,688,3069,0,0,0,0,0,0
$GC,4493,-1.23,-107.1,426.6,-5.1,264,4497,0.00,2.35,0.00,0.000,6,0.000,0.031,2861,2100,3069,0,0,0,0,0,0
$GC,4829,-1.23,-107.1,443.4,-5.4,273,4833,0.00,2.47,0.00,0.000,4,0.000,0.054,2861,695,3068,0,0,0,0,0,0
$GC,4894,-1.23,-107.1,447.6,-6.5,274,4898,0.00,2.35,0.00,0.000,6,0.000,0.031,2861,2099,3067,0,0,0,0,0,0
$STATE,4956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4956,begin apogee
$GC,4963,-0.31,0.0,451.5,6.0,276,5055,1.02,0.00,88.22,0.838,6,0.091,0.000,3069,1850,2634,0,0,0,0,0,0
$STATE,5055,end apogee,CONTROL_FINISHED_OK
$STATE,5055,begin climb
$GC,5058,1.23,107.1,452.8,0.0,278,5162,1.58,0.00,93.60,0.817,6,0.060,0.000,3407,1850,2197,0,0,0,0,0,0
$GC,5485,1.23,107.1,405.2,11.9,289,5489,0.00,2.53,0.00,0.000,4,0.000,0.062,3406,449,2185,0,0,0,0,0,0
$GC,5569,1.23,107.1,394.6,13.6,290,5574,0.00,2.40,0.00,0.000,6,0.000,0.031,3406,1858,2182,0,0,0,0,0,0
$GC,5900,1.23,107.1,356.0,12.0,299,5904,0.00,2.53,0.00,0.000,4,0.000,0.060,3406,451,2180,0,0,0,0,0,0
$GC,5937,1.23,107.1,350.7,14.4,299,5943,0.00,2.38,0.00,0.000,6,0.000,0.031,3406,1852,2178,0,0,0,0,0,0
$GC,6268,1.23,107.1,314.3,10.6,308,6273,0.00,2.50,0.00,0.000,4,0.000,0.059,3406,451,2177,0,0,0,0,0,0
$GC,6292,1.23,107.1,311.6,12.3,308,6296,0.00,2.38,0.00,0.000,6,0.000,0.031,3407,1856,2176,0,0,0,0,0,0
$GC,6616,1.23,107.1,278.4,10.4,321,6620,0.00,2.53,0.00,0.000,4,0.000,0.057,3406,447,2175,0,0,0,0,0,0
$GC,6626,1.23,107.1,277.2,10.1,321,6630,0.00,2.38,0.00,0.000,6,0.000,0.030,3406,1862,2175,0,0,0,0,0,0
$GC,6941,1.23,107.1,242.1,10.8,336,6945,0.00,2.38,0.00,0.000,4,0.000,0.039,3407,3249,2175,0,0,0,0,0,0
$GC,6962,1.23,107.1,240.1,10.2,337,6967,0.00,2.42,0.00,0.000,6,0.000,0.039,3406,1853,2175,0,0,0,0,0,0
$GC,7293,1.23,107.1,205.0,11.6,353,7297,0.00,2.50,0.00,0.000,4,0.000,0.058,3405,443,2174,0,0,0,0,0,0
$GC,7339,1.23,107.1,199.0,13.0,355,7343,0.00,2.35,0.00,0.000,6,0.000,0.028,3406,1858,2171,0,0,0,0,0,0
$GC,7603,1.23,107.1,172.1,9.2,379,7607,0.00,2.50,0.00,0.000,4,0.000,0.052,3405,440,2172,0,0,0,0,0,0
$GC,7649,1.23,107.1,166.7,11.0,383,7654,0.00,2.35,0.00,0.000,6,0.000,0.026,3406,1858,2171,0,0,0,0,0,0
$GC,7910,1.23,107.1,143.8,9.7,408,7914,0.00,2.33,0.00,0.000,4,0.000,0.033,3407,3246,2171,0,0,0,0,0,0
$GC,7999,1.23,107.1,135.5,9.7,417,8003,0.00,2.40,0.00,0.000,6,0.000,0.035,3406,1845,2171,0,0,0,0,0,0
$GC,8263,1.23,107.1,111.2,8.6,441,8268,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,1845,2172,0,0,0,0,0,0
$GC,8525,1.28,148.0,92.3,6.0,466,8562,0.00,2.42,31.90,0.552,4,0.000,0.028,3407,3253,2030,0,0,0,0,0,0
$GC,8586,1.32,177.2,88.4,6.6,472,8619,0.00,2.45,26.52,0.538,6,0.000,0.032,3406,1847,1912,0,0,0,0,0,0
$GC,8875,1.32,177.2,62.2,10.2,500,8879,0.00,2.42,0.00,0.000,4,0.000,0.048,3406,444,1907,0,0,0,0,0,0
$GC,8924,1.32,177.2,56.5,11.5,505,8931,0.00,2.33,0.00,0.000,6,0.000,0.021,3407,1860,1904,0,0,0,0,0,0
$GC,9188,1.32,177.2,29.8,10.0,530,9195,0.00,2.50,0.00,0.000,4,0.000,0.048,3407,447,1904,0,0,0,0,0,0
$GC,9240,1.32,177.2,23.8,11.7,541,9247,0.00,2.30,0.00,0.000,6,0.000,0.021,3407,1852,1902,0,0,0,0,0,0
$GC,9443,1.32,177.2,4.0,9.9,578,9450,0.00,2.47,0.00,0.000,4,0.000,0.046,3406,444,1902,0,0,0,0,0,0
$STATE,9455,end climb,SURFACE_DEPTH_REACHED
$STATE,9455,begin surface coast
$FINISH,0.4,1.005704
$STATE,9486,end surface coast,CONTROL_FINISHED_OK
$STATE,9486,begin surface
$SM_CCo,9512,78.40,0.469,0,0,1288,330.17
$SM_GC,1.09,0.00,0.00,78.40,0.000,0.000,0.469,428,2086,1288,-12.48,-0.40,330.17
$IRIDIUM_FIX,2059.45,-15756.04,020700,101000
$TT8_MAMPS,0.028379
$HUMID,53.50
$INTERNAL_PRESSURE,9.56722
$TCM_TEMP,21.40
$XPDR_PINGS,1
$24V_AH,23.3,2.934
$10V_AH,10.5,2.502
$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,28.775,115.900,240.250,78.400,0.000,30.793,36.750,160.276,4.750,0.000,13.253,1079.825,6363.494,412.054,1619.586,459.534,0.000,1120.675,0.000,1608.906,0.000,29.232,0.000
$DEVICE_MAMPS,140.361,62.127,837.564,468.637,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,397.288,376.400,842.748,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,31700,587
$CAP_FILE_SIZE,98655,0
$CFSIZE,260165632,255021056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080411,160107,2104.473,-15758.222,42,1.3,42,9.8