version: 66.06
glider: 139
mission: 9
dive: 54
start: 4 11 111 0 6 33
data:
$ID,139
$MISSION,9
$DIVE,54
$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,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,-2175688.5
$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,3137
$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,1830
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,86
$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
$GPS1,000030,2102.194,-15804.254,43,1.4,43,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-72.8
$GPS2,000614,2102.189,-15804.302,16,1.4,16,9.8
$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,69.9,37553,-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,15,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,-71.05,0.000,6,0.000,0.000,426,2141,3112,0,0,0,0,0,0
$GC,98,-1.19,-116.8,3.0,-4.0,14,117,13.38,2.20,0.00,0.000,4,0.140,0.028,2867,3455,3113,0,0,0,0,0,0
$GC,306,-1.19,-116.8,41.7,-16.7,52,310,0.00,2.28,0.00,0.000,6,0.000,0.027,2867,2092,3115,0,0,0,0,0,0
$GC,567,-1.19,-116.8,83.4,-15.0,76,571,0.00,2.38,0.00,0.000,4,0.000,0.039,2867,691,3115,0,0,0,0,0,0
$GC,583,-1.19,-116.8,85.4,-14.2,77,587,0.00,2.22,0.00,0.000,6,0.000,0.021,2867,2062,3116,0,0,0,0,0,0
$GC,851,-1.19,-116.8,116.5,-10.2,102,855,0.00,2.38,0.00,0.000,4,0.000,0.029,2867,3501,3116,0,0,0,0,0,0
$GC,937,-1.19,-116.8,126.0,-10.6,111,942,0.00,2.30,0.00,0.000,6,0.000,0.027,2867,2099,3116,0,0,0,0,0,0
$GC,1200,-1.19,-116.8,156.1,-12.9,136,1201,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2099,3117,0,0,0,0,0,0
$GC,1452,-1.19,-116.8,189.9,-12.7,160,1456,0.00,2.35,0.00,0.000,4,0.000,0.039,2867,692,3118,0,0,0,0,0,0
$GC,1543,-1.19,-116.8,200.7,-11.1,169,1547,0.00,2.25,0.00,0.000,6,0.000,0.021,2867,2096,3118,0,0,0,0,0,0
$GC,1874,-1.19,-116.8,222.0,-5.8,185,1878,0.00,2.35,0.00,0.000,4,0.000,0.033,2867,3497,3118,0,0,0,0,0,0
$GC,1902,-1.19,-116.8,224.0,-6.6,186,1906,0.00,2.35,0.00,0.000,6,0.000,0.029,2867,2093,3118,0,0,0,0,0,0
$GC,2227,-1.19,-116.8,251.2,-9.2,202,2231,0.00,2.38,0.00,0.000,4,0.000,0.041,2867,690,3117,0,0,0,0,0,0
$GC,2294,-1.19,-116.8,257.7,-10.1,205,2298,0.00,2.30,0.00,0.000,6,0.000,0.023,2867,2107,3117,0,0,0,0,0,0
$GC,2625,-1.19,-116.8,290.4,-8.8,221,2629,0.00,2.35,0.00,0.000,4,0.000,0.036,2867,3506,3116,0,0,0,0,0,0
$GC,2771,-1.19,-116.8,304.2,-9.2,227,2776,0.00,2.35,0.00,0.000,6,0.000,0.031,2867,2096,3117,0,0,0,0,0,0
$GC,3086,-1.19,-116.8,322.9,-5.7,235,3090,0.00,2.40,0.00,0.000,4,0.000,0.046,2867,693,3115,0,0,0,0,0,0
$GC,3114,-1.19,-116.8,324.8,-6.5,235,3119,0.00,2.30,0.00,0.000,6,0.000,0.025,2867,2099,3115,0,0,0,0,0,0
$GC,3450,-1.19,-116.8,348.4,-6.8,244,3451,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2101,3113,0,0,0,0,0,0
$GC,3775,-1.19,-116.8,371.2,-6.8,252,3777,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2101,3111,0,0,0,0,0,0
$GC,4100,-1.19,-116.8,390.4,-5.8,260,4104,0.00,2.42,0.00,0.000,4,0.000,0.048,2867,686,3109,0,0,0,0,0,0
$GC,4193,-1.19,-116.8,395.8,-6.0,262,4198,0.00,2.33,0.00,0.000,6,0.000,0.028,2867,2098,3108,0,0,0,0,0,0
$GC,4517,-1.19,-116.8,413.9,-5.7,270,4521,0.00,2.42,0.00,0.000,4,0.000,0.050,2867,695,3107,0,0,0,0,0,0
$GC,4540,-1.19,-116.8,415.4,-6.2,270,4544,0.00,2.35,0.00,0.000,6,0.000,0.029,2867,2106,3106,0,0,0,0,0,0
$GC,4886,-1.19,-116.8,438.4,-7.3,279,4890,0.00,2.38,0.00,0.000,4,0.000,0.044,2867,3497,3104,0,0,0,0,0,0
$GC,4955,-1.19,-116.8,444.0,-7.9,280,4959,0.00,2.40,0.00,0.000,6,0.000,0.037,2867,2096,3104,0,0,0,0,0,0
$STATE,5054,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5054,begin apogee
$GC,5060,-0.31,0.0,452.1,8.1,283,5159,0.98,0.00,95.50,0.835,6,0.088,0.000,3066,1830,2634,0,0,0,0,0,0
$STATE,5160,end apogee,CONTROL_FINISHED_OK
$STATE,5160,begin climb
$GC,5163,1.19,116.8,454.6,0.0,285,5275,1.50,2.58,101.55,0.818,4,0.061,0.061,3391,426,2157,0,0,0,0,0,0
$GC,5299,1.19,116.8,443.5,12.2,288,5303,0.00,2.40,0.00,0.000,6,0.000,0.029,3391,1838,2152,0,0,0,0,0,0
$GC,5617,1.19,116.8,403.8,12.9,296,5618,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,1842,2146,0,0,0,0,0,0
$GC,5942,1.19,116.8,360.5,13.4,304,5946,0.00,2.55,0.00,0.000,4,0.000,0.061,3391,430,2142,0,0,0,0,0,0
$GC,6026,1.19,116.8,348.3,14.2,305,6031,0.00,2.38,0.00,0.000,6,0.000,0.031,3391,1839,2138,0,0,0,0,0,0
$GC,6357,1.19,116.8,312.9,10.0,314,6361,0.00,2.55,0.00,0.000,4,0.000,0.059,3391,421,2137,0,0,0,0,0,0
$GC,6394,1.19,116.8,308.6,12.2,314,6400,0.00,2.38,0.00,0.000,6,0.000,0.029,3391,1839,2136,0,0,0,0,0,0
$GC,6709,1.19,116.8,275.1,11.4,328,6713,0.00,2.50,0.00,0.000,4,0.000,0.057,3391,426,2136,0,0,0,0,0,0
$GC,6730,1.19,116.8,272.8,11.5,329,6734,0.00,2.35,0.00,0.000,6,0.000,0.028,3391,1837,2135,0,0,0,0,0,0
$GC,7061,1.19,116.8,238.1,9.5,345,7065,0.00,2.50,0.00,0.000,4,0.000,0.057,3391,419,2134,0,0,0,0,0,0
$GC,7158,1.19,116.8,227.2,11.5,349,7162,0.00,2.35,0.00,0.000,6,0.000,0.027,3391,1838,2132,0,0,0,0,0,0
$GC,7480,1.19,116.8,194.2,10.0,367,7485,0.00,2.33,0.00,0.000,4,0.000,0.033,3392,3222,2133,0,0,0,0,0,0
$GC,7550,1.19,116.8,187.7,8.8,374,7554,0.00,2.40,0.00,0.000,6,0.000,0.036,3391,1826,2133,0,0,0,0,0,0
$GC,7813,1.19,116.8,161.9,10.0,398,7817,0.00,2.45,0.00,0.000,4,0.000,0.051,3391,420,2132,0,0,0,0,0,0
$GC,7837,1.19,116.8,159.1,11.2,400,7841,0.00,2.33,0.00,0.000,6,0.000,0.025,3392,1842,2131,0,0,0,0,0,0
$GC,8100,1.25,158.8,137.0,6.1,424,8140,0.00,2.58,32.97,0.596,4,0.000,0.049,3391,424,1985,0,0,0,0,0,0
$GC,8202,1.25,158.8,129.4,9.6,435,8206,0.00,2.30,0.00,0.000,6,0.000,0.023,3392,1838,1981,0,0,0,0,0,0
$GC,8467,1.25,158.8,107.3,8.8,459,8471,0.00,2.30,0.00,0.000,4,0.000,0.028,3391,3222,1980,0,0,0,0,0,0
$GC,8485,1.25,158.8,105.3,8.5,460,8492,0.00,2.40,0.00,0.000,6,0.000,0.032,3391,1830,1981,0,0,0,0,0,0
$GC,8748,1.25,158.8,81.9,8.9,485,8752,0.00,2.45,0.00,0.000,4,0.000,0.049,3391,417,1980,0,0,0,0,0,0
$GC,8836,1.25,158.8,74.0,8.7,494,8840,0.00,2.28,0.00,0.000,6,0.000,0.021,3392,1841,1979,0,0,0,0,0,0
$GC,9102,1.30,203.1,56.9,6.0,518,9152,0.12,2.58,38.72,0.509,4,0.062,0.047,3434,418,1804,0,0,0,0,0,0
$GC,9203,1.30,203.1,46.7,11.5,528,9209,0.00,2.30,0.00,0.000,6,0.000,0.020,3434,1822,1800,0,0,0,0,0,0
$GC,9467,1.30,203.1,19.6,10.6,562,9474,0.00,2.33,0.00,0.000,4,0.000,0.025,3434,3217,1800,0,0,0,0,0,0
$GC,9498,1.30,203.1,16.3,10.4,568,9505,0.00,2.38,0.00,0.000,6,0.000,0.030,3434,1829,1800,0,0,0,0,0,0
$STATE,9616,end climb,SURFACE_DEPTH_REACHED
$STATE,9617,begin surface coast
$FINISH,0.4,1.014464
$STATE,9648,end surface coast,CONTROL_FINISHED_OK
$STATE,9648,begin surface
$SM_CCo,9672,64.85,0.462,0,0,1288,330.17
$SM_GC,1.06,0.00,0.00,64.85,0.000,0.000,0.462,428,2120,1288,-12.46,0.57,330.17
$IRIDIUM_FIX,2054.83,-15806.34,040700,212111
$TT8_MAMPS,0.028379
$HUMID,52.87
$INTERNAL_PRESSURE,9.58675
$TCM_TEMP,21.80
$XPDR_PINGS,1
$24V_AH,23.3,4.521
$10V_AH,10.5,4.167
$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,28.950,110.200,268.750,64.850,0.000,29.945,33.365,162.218,4.750,0.000,16.953,1113.140,6390.154,400.165,1717.115,462.774,0.000,1152.768,0.000,1697.919,0.000,29.244,0.000
$DEVICE_MAMPS,140.361,61.360,835.263,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,403.030,379.617,857.784,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,31770,595
$CAP_FILE_SIZE,101626,0
$CFSIZE,260165632,253906944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110411,025004,2102.290,-15804.385,35,1.8,35,9.8