version: 66.06
glider: 139
mission: 9
dive: 55
start: 4 11 111 2 56 10
data:
$ID,139
$MISSION,9
$DIVE,55
$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,-2175726.8
$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,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,23
$R_STBD_OVSHOOT,62
$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
$GPS1,025004,2102.290,-15804.385,35,1.8,35,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-73.5
$GPS2,025550,2102.346,-15804.420,37,1.7,37,9.8
$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,70.4,37704,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.19,-116.8,0.0,0.0,0,93,0.00,0.00,-70.47,0.000,6,0.000,0.000,428,2121,3113,0,0,0,0,0,0
$GC,97,-1.19,-116.8,3.3,-5.3,14,115,13.38,2.28,0.00,0.000,4,0.140,0.028,2867,3481,3115,0,0,0,0,0,0
$GC,367,-1.19,-116.8,50.1,-12.5,58,371,0.00,2.33,0.00,0.000,6,0.000,0.027,2867,2093,3117,0,0,0,0,0,0
$GC,628,-1.19,-116.8,84.4,-12.9,82,632,0.00,2.33,0.00,0.000,4,0.000,0.029,2867,3479,3118,0,0,0,0,0,0
$GC,674,-1.19,-116.8,90.4,-13.0,86,680,0.00,2.33,0.00,0.000,6,0.000,0.028,2867,2097,3117,0,0,0,0,0,0
$GC,938,-1.19,-116.8,122.6,-11.9,111,942,0.00,2.30,0.00,0.000,4,0.000,0.029,2868,3481,3118,0,0,0,0,0,0
$GC,1025,-1.19,-116.8,134.1,-11.7,120,1031,0.00,2.33,0.00,0.000,6,0.000,0.028,2867,2097,3119,0,0,0,0,0,0
$GC,1289,-1.19,-116.8,162.9,-9.6,145,1293,0.00,2.35,0.00,0.000,4,0.000,0.039,2867,685,3119,0,0,0,0,0,0
$GC,1360,-1.19,-116.8,169.9,-9.5,152,1364,0.00,2.25,0.00,0.000,6,0.000,0.021,2867,2086,3119,0,0,0,0,0,0
$GC,1623,-1.19,-116.8,193.7,-8.2,176,1627,0.00,2.33,0.00,0.000,4,0.000,0.031,2867,3496,3119,0,0,0,0,0,0
$GC,1651,-1.19,-116.8,196.4,-9.3,178,1657,0.00,2.35,0.00,0.000,6,0.000,0.028,2868,2100,3119,0,0,0,0,0,0
$GC,1907,-1.19,-116.8,219.2,-8.9,193,1911,0.00,2.33,0.00,0.000,4,0.000,0.032,2867,3497,3120,0,0,0,0,0,0
$GC,1921,-1.19,-116.8,220.8,-9.3,193,1927,0.00,2.35,0.00,0.000,6,0.000,0.029,2867,2091,3119,0,0,0,0,0,0
$GC,2238,-1.19,-116.8,251.7,-10.4,209,2242,0.00,2.35,0.00,0.000,4,0.000,0.041,2867,687,3120,0,0,0,0,0,0
$GC,2293,-1.19,-116.8,257.6,-9.9,211,2297,0.00,2.28,0.00,0.000,6,0.000,0.023,2867,2098,3120,0,0,0,0,0,0
$GC,2609,-1.19,-116.8,285.9,-7.1,226,2613,0.00,2.35,0.00,0.000,4,0.000,0.035,2867,3502,3119,0,0,0,0,0,0
$GC,2669,-1.19,-116.8,290.2,-6.4,228,2673,0.00,2.33,0.00,0.000,6,0.000,0.031,2867,2101,3119,0,0,0,0,0,0
$GC,2983,-1.19,-116.8,306.4,-4.6,240,2987,0.00,2.40,0.00,0.000,4,0.000,0.044,2867,692,3118,0,0,0,0,0,0
$GC,3007,-1.19,-116.8,308.0,-6.5,240,3011,0.00,2.33,0.00,0.000,6,0.000,0.025,2867,2101,3118,0,0,0,0,0,0
$GC,3351,-1.19,-116.8,335.9,-8.8,249,3356,0.00,2.40,0.00,0.000,4,0.000,0.045,2867,693,3117,0,0,0,0,0,0
$GC,3395,-1.19,-116.8,339.7,-9.2,250,3400,0.00,2.33,0.00,0.000,6,0.000,0.026,2867,2099,3116,0,0,0,0,0,0
$GC,3728,-1.19,-116.8,362.6,-6.1,258,3732,0.00,2.40,0.00,0.000,4,0.000,0.041,2867,3509,3114,0,0,0,0,0,0
$GC,3771,-1.19,-116.8,365.4,-6.4,259,3776,0.00,2.38,0.00,0.000,6,0.000,0.034,2867,2096,3114,0,0,0,0,0,0
$GC,4099,-1.19,-116.8,387.3,-6.8,267,4103,0.00,2.40,0.00,0.000,4,0.000,0.049,2867,690,3112,0,0,0,0,0,0
$GC,4137,-1.19,-116.8,390.1,-7.2,267,4143,0.00,2.35,0.00,0.000,6,0.000,0.028,2867,2101,3112,0,0,0,0,0,0
$GC,4470,-1.19,-116.8,414.9,-7.3,276,4474,0.00,2.45,0.00,0.000,4,0.000,0.049,2867,692,3109,0,0,0,0,0,0
$GC,4499,-1.19,-116.8,417.1,-7.4,276,4503,0.00,2.35,0.00,0.000,6,0.000,0.029,2867,2099,3109,0,0,0,0,0,0
$GC,4839,-1.19,-116.8,435.4,-5.0,285,4840,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2100,3107,0,0,0,0,0,0
$STATE,5080,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5080,begin apogee
$GC,5087,-0.31,0.0,450.0,6.2,291,5186,0.98,0.00,95.75,0.834,6,0.089,0.000,3065,1826,2635,0,0,0,0,0,0
$STATE,5187,end apogee,CONTROL_FINISHED_OK
$STATE,5187,begin climb
$GC,5190,1.19,116.8,452.0,0.0,293,5302,1.50,2.58,101.88,0.812,4,0.061,0.061,3391,426,2157,0,0,0,0,0,0
$GC,5335,1.19,116.8,439.7,13.5,296,5339,0.00,2.40,0.00,0.000,6,0.000,0.029,3392,1838,2151,0,0,0,0,0,0
$GC,5685,1.19,116.8,398.5,11.8,305,5689,0.00,2.53,0.00,0.000,4,0.000,0.060,3391,430,2145,0,0,0,0,0,0
$GC,5713,1.19,116.8,394.7,13.4,305,5717,0.00,2.38,0.00,0.000,6,0.000,0.030,3392,1838,2142,0,0,0,0,0,0
$GC,6049,1.19,116.8,351.0,12.6,314,6053,0.00,2.55,0.00,0.000,4,0.000,0.061,3391,427,2140,0,0,0,0,0,0
$GC,6105,1.19,116.8,343.7,12.2,315,6109,0.00,2.35,0.00,0.000,6,0.000,0.030,3392,1830,2138,0,0,0,0,0,0
$GC,6418,1.19,116.8,312.9,9.4,323,6423,0.00,2.53,0.00,0.000,4,0.000,0.058,3392,425,2137,0,0,0,0,0,0
$GC,6465,1.19,116.8,307.7,11.8,324,6469,0.00,2.35,0.00,0.000,6,0.000,0.029,3392,1840,2136,0,0,0,0,0,0
$GC,6793,1.19,116.8,278.3,9.0,337,6794,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1845,2136,0,0,0,0,0,0
$GC,7100,1.19,116.8,250.4,9.4,352,7105,0.00,2.50,0.00,0.000,4,0.000,0.055,3392,429,2135,0,0,0,0,0,0
$GC,7222,1.19,116.8,236.6,12.1,357,7226,0.00,2.33,0.00,0.000,6,0.000,0.027,3392,1836,2132,0,0,0,0,0,0
$GC,7543,1.19,116.8,204.4,9.3,373,7545,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1841,2133,0,0,0,0,0,0
$GC,7859,1.20,117.8,178.1,8.0,400,7863,0.00,2.45,0.00,0.000,4,0.000,0.052,3392,428,2132,0,0,0,0,0,0
$GC,7877,1.20,117.8,176.4,8.8,401,7883,0.00,2.30,0.00,0.000,6,0.000,0.025,3392,1844,2131,0,0,0,0,0,0
$GC,8141,1.20,117.8,155.3,8.6,426,8145,0.00,2.47,0.00,0.000,4,0.000,0.050,3392,428,2132,0,0,0,0,0,0
$GC,8212,1.20,117.8,148.2,10.4,433,8216,0.00,2.28,0.00,0.000,6,0.000,0.024,3392,1822,2131,0,0,0,0,0,0
$GC,8476,1.20,117.8,123.6,8.5,457,8480,0.00,2.33,0.00,0.000,4,0.000,0.030,3392,3222,2131,0,0,0,0,0,0
$GC,8520,1.20,117.8,119.9,8.3,461,8524,0.00,2.35,0.00,0.000,6,0.000,0.034,3391,1828,2131,0,0,0,0,0,0
$GC,8784,1.25,164.1,101.4,5.9,485,8830,0.00,2.55,37.40,0.558,4,0.000,0.048,3391,408,1964,0,0,0,0,0,0
$GC,8850,1.28,183.3,97.2,7.1,492,8874,0.10,2.33,17.70,0.528,6,0.073,0.021,3426,1853,1886,0,0,0,0,0,0
$GC,9130,1.28,183.3,73.2,9.0,518,9134,0.00,2.50,0.00,0.000,4,0.000,0.047,3425,415,1883,0,0,0,0,0,0
$GC,9190,1.28,183.3,66.6,12.5,524,9194,0.00,2.28,0.00,0.000,6,0.000,0.020,3425,1832,1880,0,0,0,0,0,0
$GC,9459,1.28,183.3,38.9,9.8,549,9464,0.00,2.45,0.00,0.000,4,0.000,0.046,3425,422,1880,0,0,0,0,0,0
$GC,9537,1.28,183.3,30.0,11.1,557,9541,0.00,2.28,0.00,0.000,6,0.000,0.020,3425,1829,1879,0,0,0,0,0,0
$GC,9800,1.28,183.3,7.3,9.0,605,9806,0.00,2.30,0.00,0.000,4,0.000,0.026,3426,3214,1879,0,0,0,0,0,0
$GC,9818,1.28,183.3,5.5,9.2,608,9825,0.00,2.35,0.00,0.000,6,0.000,0.029,3426,1831,1879,0,0,0,0,0,0
$STATE,9845,end climb,SURFACE_DEPTH_REACHED
$STATE,9845,begin surface coast
$FINISH,0.4,1.010240
$STATE,9873,end surface coast,CONTROL_FINISHED_OK
$STATE,9873,begin surface
$SM_CCo,9897,74.50,0.463,0,0,1288,330.17
$SM_GC,1.18,0.00,0.00,74.50,0.000,0.000,0.463,429,2144,1288,-12.46,1.24,330.17
$IRIDIUM_FIX,2054.83,-15802.06,050700,000006
$TT8_MAMPS,0.029146
$HUMID,53.22
$INTERNAL_PRESSURE,9.58675
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.3,4.598
$10V_AH,10.6,4.246
$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,28.925,119.450,252.725,74.500,0.000,26.163,34.982,147.645,4.500,0.000,37.499,1152.973,6539.029,413.896,1769.797,445.519,0.000,1169.524,0.000,1727.793,0.000,29.248,0.000
$DEVICE_MAMPS,140.361,61.360,834.496,463.268,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,419.004,399.626,892.768,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,34927,618
$CAP_FILE_SIZE,104801,0
$CFSIZE,260165632,253849600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110411,054337,2102.522,-15804.339,36,1.5,36,9.8