version: 66.06
glider: 139
mission: 9
dive: 57
start: 4 11 111 8 34 14
data:
$ID,139
$MISSION,9
$DIVE,57
$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,-2175760.8
$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,83
$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
$GPS1,082836,2102.602,-15804.067,34,1.1,34,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-71.4
$GPS2,083355,2102.662,-15804.077,11,1.1,17,9.8
$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,71.1,37022,-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,15,begin dive
$GC,17,-1.19,-116.8,0.0,0.0,0,94,0.00,0.00,-69.65,0.000,6,0.000,0.000,426,2123,3113,0,0,0,0,0,0
$GC,98,-1.19,-116.8,3.9,-7.8,14,115,13.40,0.00,0.00,0.000,6,0.140,0.000,2871,2123,3115,0,0,0,0,0,0
$GC,311,-1.19,-116.8,48.4,-15.5,43,315,0.00,2.22,0.00,0.000,4,0.000,0.028,2870,3464,3117,0,0,0,0,0,0
$GC,569,-1.19,-116.8,84.7,-11.8,71,575,0.00,2.30,0.00,0.000,6,0.000,0.028,2870,2091,3118,0,0,0,0,0,0
$GC,832,-1.19,-116.8,118.1,-12.2,96,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2090,3118,0,0,0,0,0,0
$GC,1086,-1.19,-116.8,147.3,-9.8,120,1090,0.00,2.28,0.00,0.000,4,0.000,0.029,2870,3461,3119,0,0,0,0,0,0
$GC,1294,-1.19,-116.8,169.5,-11.4,142,1301,0.00,2.30,0.00,0.000,6,0.000,0.027,2870,2097,3119,0,0,0,0,0,0
$GC,1558,-1.19,-116.8,197.1,-10.2,167,1562,0.00,2.28,0.00,0.000,4,0.000,0.031,2871,3464,3120,0,0,0,0,0,0
$GC,1602,-1.19,-116.8,201.7,-10.4,171,1606,0.00,2.25,0.00,0.000,6,0.000,0.027,2871,2098,3119,0,0,0,0,0,0
$GC,1933,-1.19,-116.8,232.1,-8.6,187,1937,0.00,2.35,0.00,0.000,4,0.000,0.041,2870,693,3120,0,0,0,0,0,0
$GC,1953,-1.19,-116.8,234.1,-9.1,188,1957,0.00,2.25,0.00,0.000,6,0.000,0.022,2870,2070,3119,0,0,0,0,0,0
$GC,2282,-1.19,-116.8,259.7,-7.2,204,2287,0.00,2.33,0.00,0.000,4,0.000,0.041,2870,693,3119,0,0,0,0,0,0
$GC,2315,-1.19,-116.8,262.1,-7.4,205,2319,0.00,2.30,0.00,0.000,6,0.000,0.023,2870,2109,3119,0,0,0,0,0,0
$GC,2637,-1.19,-116.8,288.0,-7.8,221,2641,0.00,2.40,0.00,0.000,4,0.000,0.042,2871,692,3118,0,0,0,0,0,0
$GC,2674,-1.19,-116.8,291.6,-9.4,222,2681,0.00,2.33,0.00,0.000,6,0.000,0.025,2870,2089,3118,0,0,0,0,0,0
$GC,2986,-1.19,-116.8,319.4,-8.9,233,2991,0.00,2.38,0.00,0.000,4,0.000,0.037,2870,3497,3117,0,0,0,0,0,0
$GC,3019,-1.19,-116.8,322.5,-9.0,233,3023,0.00,2.35,0.00,0.000,6,0.000,0.031,2870,2102,3117,0,0,0,0,0,0
$GC,3351,-1.19,-116.8,347.4,-6.6,241,3355,0.00,2.40,0.00,0.000,4,0.000,0.045,2870,687,3116,0,0,0,0,0,0
$GC,3425,-1.19,-116.8,352.8,-8.0,242,3429,0.00,2.35,0.00,0.000,6,0.000,0.026,2871,2104,3116,0,0,0,0,0,0
$GC,3762,-1.19,-116.8,381.3,-8.9,251,3766,0.00,2.38,0.00,0.000,4,0.000,0.040,2870,3500,3113,0,0,0,0,0,0
$GC,3916,-1.19,-116.8,394.8,-7.8,254,3920,0.00,2.38,0.00,0.000,6,0.000,0.034,2870,2099,3113,0,0,0,0,0,0
$GC,4230,-1.19,-116.8,414.5,-6.1,262,4231,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2099,3111,0,0,0,0,0,0
$GC,4556,-1.19,-116.8,434.9,-6.4,270,4561,0.00,2.42,0.00,0.000,4,0.000,0.051,2870,686,3109,0,0,0,0,0,0
$GC,4603,-1.19,-116.8,438.4,-7.3,271,4608,0.00,2.33,0.00,0.000,6,0.000,0.028,2870,2096,3108,0,0,0,0,0,0
$STATE,4801,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4801,begin apogee
$GC,4808,-0.31,0.0,451.2,6.3,276,4907,0.95,0.00,95.62,0.828,6,0.088,0.000,3065,1833,2635,0,0,0,0,0,0
$STATE,4908,end apogee,CONTROL_FINISHED_OK
$STATE,4908,begin climb
$GC,4911,1.19,116.8,452.7,0.0,278,5019,1.50,0.00,101.30,0.805,6,0.061,0.000,3391,1833,2158,0,0,0,0,0,0
$GC,5319,1.19,116.8,406.9,12.9,288,5323,0.00,2.53,0.00,0.000,4,0.000,0.059,3390,432,2146,0,0,0,0,0,0
$GC,5421,1.19,116.8,390.9,15.6,290,5425,0.00,2.38,0.00,0.000,6,0.000,0.028,3391,1840,2142,0,0,0,0,0,0
$GC,5734,1.19,116.8,350.9,12.3,298,5739,0.00,2.53,0.00,0.000,4,0.000,0.058,3390,427,2141,0,0,0,0,0,0
$GC,5786,1.19,116.8,344.0,13.0,299,5790,0.00,2.38,0.00,0.000,6,0.000,0.029,3391,1841,2139,0,0,0,0,0,0
$GC,6104,1.19,116.8,309.3,11.2,307,6108,0.00,2.53,0.00,0.000,4,0.000,0.056,3390,424,2137,0,0,0,0,0,0
$GC,6123,1.19,116.8,306.9,12.5,307,6127,0.00,2.33,0.00,0.000,6,0.000,0.028,3391,1831,2137,0,0,0,0,0,0
$GC,6451,1.19,116.8,272.6,9.5,322,6456,0.00,2.47,0.00,0.000,4,0.000,0.055,3390,431,2136,0,0,0,0,0,0
$GC,6502,1.19,116.8,267.3,10.8,324,6507,0.00,2.33,0.00,0.000,6,0.000,0.028,3390,1833,2135,0,0,0,0,0,0
$GC,6822,1.19,116.8,236.4,10.5,340,6827,0.00,2.47,0.00,0.000,4,0.000,0.054,3390,425,2135,0,0,0,0,0,0
$GC,6878,1.19,116.8,229.7,12.4,342,6882,0.00,2.33,0.00,0.000,6,0.000,0.026,3390,1838,2133,0,0,0,0,0,0
$GC,7194,1.19,116.8,198.9,8.5,357,7199,0.00,2.50,0.00,0.000,4,0.000,0.052,3391,424,2133,0,0,0,0,0,0
$GC,7267,1.19,116.8,190.8,10.2,364,7274,0.00,2.33,0.00,0.000,6,0.000,0.025,3390,1832,2132,0,0,0,0,0,0
$GC,7532,1.19,116.8,166.0,9.1,389,7536,0.00,2.45,0.00,0.000,4,0.000,0.051,3390,430,2132,0,0,0,0,0,0
$GC,7594,1.19,116.8,159.4,10.5,395,7598,0.00,2.30,0.00,0.000,6,0.000,0.024,3391,1839,2131,0,0,0,0,0,0
$GC,7859,1.25,158.6,139.9,6.1,419,7897,0.00,2.40,32.65,0.601,4,0.000,0.030,3391,3219,1987,0,0,0,0,0,0
$GC,7919,1.26,170.3,135.5,7.5,425,7938,0.00,2.38,11.98,0.546,6,0.000,0.032,3390,1829,1938,0,0,0,0,0,0
$GC,8194,1.26,170.3,107.4,11.4,451,8198,0.00,2.45,0.00,0.000,4,0.000,0.049,3390,424,1934,0,0,0,0,0,0
$GC,8247,1.26,170.3,100.6,12.7,456,8251,0.00,2.28,0.00,0.000,6,0.000,0.021,3391,1837,1931,0,0,0,0,0,0
$GC,8513,1.26,170.3,71.1,9.8,480,8517,0.00,2.45,0.00,0.000,4,0.000,0.048,3390,424,1931,0,0,0,0,0,0
$GC,8592,1.26,170.3,62.2,11.2,488,8599,0.00,2.30,0.00,0.000,6,0.000,0.021,3391,1830,1930,0,0,0,0,0,0
$GC,8857,1.27,176.8,42.9,7.7,513,8869,0.10,2.45,5.70,0.398,4,0.073,0.045,3428,422,1913,0,0,0,0,0,0
$GC,8908,1.27,176.8,37.5,11.3,518,8912,0.00,2.28,0.00,0.000,6,0.000,0.020,3429,1839,1911,0,0,0,0,0,0
$GC,9178,1.27,176.8,13.4,8.6,560,9184,0.00,2.47,0.00,0.000,4,0.000,0.044,3428,424,1911,0,0,0,0,0,0
$GC,9205,1.27,176.8,10.7,10.6,565,9211,0.00,2.28,0.00,0.000,6,0.000,0.019,3429,1830,1911,0,0,0,0,0,0
$STATE,9270,end climb,SURFACE_DEPTH_REACHED
$STATE,9270,begin surface coast
$FINISH,0.5,1.023311
$STATE,9293,end surface coast,CONTROL_FINISHED_OK
$STATE,9293,begin surface
$SM_CCo,9317,79.18,0.468,0,0,1289,330.17
$SM_GC,1.25,0.00,0.00,79.18,0.000,0.000,0.468,433,2119,1289,-12.44,0.54,330.17
$IRIDIUM_FIX,2057.14,-15804.20,050700,050517
$TT8_MAMPS,0.029146
$HUMID,53.18
$INTERNAL_PRESSURE,9.58675
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.3,4.752
$10V_AH,10.6,4.398
$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,28.850,104.925,247.250,79.175,0.000,24.608,32.704,144.068,4.500,0.000,17.235,1100.911,6068.549,408.044,1712.475,428.073,0.000,1142.569,0.000,1688.181,0.000,29.251,0.000
$DEVICE_MAMPS,140.361,59.059,827.593,467.870,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,393.660,374.339,845.276,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,31736,581
$CAP_FILE_SIZE,99247,0
$CFSIZE,260165632,253759488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110411,111207,2102.465,-15803.905,38,1.3,38,9.8