version: 66.06
glider: 139
mission: 9
dive: 74
start: 4 13 111 8 6 9
data:
$ID,139
$MISSION,9
$DIVE,74
$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,-2176110.8
$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,1800
$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,0.30000001
$ROLL_ADJ_DBAND,1
$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
$GPS1,080036,2108.458,-15802.002,35,1.5,35,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-75.1
$GPS2,080550,2108.488,-15802.055,12,1.5,12,9.8
$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,88.7,33434,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,93,0.00,0.00,-71.55,0.000,6,0.000,0.000,430,2156,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,2.6,-3.0,14,115,13.35,2.20,0.00,0.000,4,0.140,0.028,2870,3462,3114,0,0,0,0,0,0
$GC,259,-1.19,-116.8,33.4,-14.8,48,264,0.00,2.30,0.00,0.000,6,0.000,0.027,2870,2083,3116,0,0,0,0,0,0
$GC,522,-1.19,-116.8,72.4,-13.2,72,526,0.00,2.35,0.00,0.000,4,0.000,0.038,2870,684,3116,0,0,0,0,0,0
$GC,538,-1.19,-116.8,74.5,-12.7,73,543,0.00,2.22,0.00,0.000,6,0.000,0.020,2870,2064,3116,0,0,0,0,0,0
$GC,803,-1.19,-116.8,106.2,-11.7,97,807,0.00,2.38,0.00,0.000,4,0.000,0.029,2870,3492,3117,0,0,0,0,0,0
$GC,865,-1.19,-116.8,113.9,-12.4,103,869,0.00,2.30,0.00,0.000,6,0.000,0.026,2870,2098,3116,0,0,0,0,0,0
$GC,1130,-1.19,-116.8,144.5,-10.9,127,1134,0.00,2.38,0.00,0.000,4,0.000,0.040,2870,684,3118,0,0,0,0,0,0
$GC,1211,-1.19,-116.8,154.4,-12.9,135,1215,0.00,2.30,0.00,0.000,6,0.000,0.021,2870,2098,3118,0,0,0,0,0,0
$GC,1474,-1.19,-116.8,184.3,-11.5,159,1478,0.00,2.33,0.00,0.000,4,0.000,0.031,2870,3494,3118,0,0,0,0,0,0
$GC,1635,-1.19,-116.8,204.3,-12.0,174,1639,0.00,2.33,0.00,0.000,6,0.000,0.027,2870,2098,3118,0,0,0,0,0,0
$GC,1959,-1.19,-116.8,235.3,-8.6,190,1963,0.00,2.33,0.00,0.000,4,0.000,0.031,2870,3493,3119,0,0,0,0,0,0
$GC,2087,-1.19,-116.8,245.9,-6.3,195,2093,0.00,2.33,0.00,0.000,6,0.000,0.027,2870,2098,3119,0,0,0,0,0,0
$GC,2406,-1.19,-116.8,267.6,-6.8,211,2410,0.00,2.33,0.00,0.000,4,0.000,0.033,2870,3492,3118,0,0,0,0,0,0
$GC,2434,-1.19,-116.8,270.1,-8.2,212,2438,0.00,2.33,0.00,0.000,6,0.000,0.029,2870,2098,3119,0,0,0,0,0,0
$GC,2758,-1.19,-116.8,298.6,-10.1,228,2762,0.00,2.35,0.00,0.000,4,0.000,0.035,2870,3491,3118,0,0,0,0,0,0
$GC,2813,-1.19,-116.8,304.9,-11.3,230,2817,0.00,2.35,0.00,0.000,6,0.000,0.030,2870,2094,3117,0,0,0,0,0,0
$GC,3132,-1.19,-116.8,332.5,-7.8,238,3136,0.00,2.38,0.00,0.000,4,0.000,0.035,2870,3492,3116,0,0,0,0,0,0
$GC,3146,-1.19,-116.8,333.8,-7.6,238,3150,0.00,2.35,0.00,0.000,6,0.000,0.031,2870,2096,3116,0,0,0,0,0,0
$GC,3460,-1.19,-116.8,355.0,-6.3,246,3464,0.00,2.35,0.00,0.000,4,0.000,0.037,2870,3490,3115,0,0,0,0,0,0
$GC,3503,-1.19,-116.8,357.7,-6.7,247,3508,0.00,2.33,0.00,0.000,6,0.000,0.032,2870,2101,3115,0,0,0,0,0,0
$GC,3833,-1.19,-116.8,375.9,-5.5,255,3837,0.00,2.40,0.00,0.000,4,0.000,0.048,2870,695,3113,0,0,0,0,0,0
$GC,3857,-1.19,-116.8,377.5,-6.3,255,3861,0.00,2.30,0.00,0.000,6,0.000,0.027,2870,2092,3113,0,0,0,0,0,0
$GC,4197,-1.19,-116.8,396.6,-5.6,264,4201,0.00,2.42,0.00,0.000,4,0.000,0.048,2870,688,3110,0,0,0,0,0,0
$GC,4314,-1.19,-116.8,405.6,-8.0,266,4318,0.00,2.35,0.00,0.000,6,0.000,0.028,2871,2101,3110,0,0,0,0,0,0
$GC,4659,-1.19,-116.8,430.4,-7.1,275,4663,0.00,2.40,0.00,0.000,4,0.000,0.041,2870,3502,3107,0,0,0,0,0,0
$GC,4691,-1.19,-116.8,433.1,-8.7,275,4696,0.00,2.35,0.00,0.000,6,0.000,0.035,2870,2104,3107,0,0,0,0,0,0
$STATE,4898,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4898,begin apogee
$GC,4905,-0.31,0.0,450.4,8.5,280,5004,0.95,0.00,95.62,0.830,6,0.086,0.000,3065,1800,2635,0,0,0,0,0,0
$STATE,5005,end apogee,CONTROL_FINISHED_OK
$STATE,5005,begin climb
$GC,5008,1.19,116.8,453.8,0.0,282,5120,1.50,2.58,101.18,0.812,4,0.061,0.060,3391,390,2156,0,0,0,0,0,0
$GC,5158,1.19,116.8,442.6,12.8,285,5162,0.00,2.38,0.00,0.000,6,0.000,0.028,3391,1798,2150,0,0,0,0,0,0
$GC,5503,1.19,116.8,404.5,11.2,294,5507,0.00,2.55,0.00,0.000,4,0.000,0.058,3390,389,2145,0,0,0,0,0,0
$GC,5531,1.19,116.8,400.5,14.0,294,5536,0.00,2.40,0.00,0.000,6,0.000,0.028,3391,1807,2142,0,0,0,0,0,0
$GC,5867,1.19,116.8,360.8,10.9,303,5871,0.00,2.38,0.00,0.000,4,0.000,0.035,3391,3209,2140,0,0,0,0,0,0
$GC,5891,1.19,116.8,358.3,10.8,303,5895,0.00,2.45,0.00,0.000,6,0.000,0.040,3391,1801,2140,0,0,0,0,0,0
$GC,6231,1.19,116.8,321.3,11.6,312,6235,0.00,2.53,0.00,0.000,4,0.000,0.058,3391,384,2138,0,0,0,0,0,0
$GC,6278,1.19,116.8,314.9,13.2,313,6282,0.00,2.38,0.00,0.000,6,0.000,0.028,3391,1794,2136,0,0,0,0,0,0
$GC,6605,1.19,116.8,279.2,10.0,325,6609,0.00,2.50,0.00,0.000,4,0.000,0.055,3391,378,2136,0,0,0,0,0,0
$GC,6619,1.19,116.8,277.4,10.3,325,6625,0.00,2.40,0.00,0.000,6,0.000,0.027,3391,1827,2135,0,0,0,0,0,0
$GC,6936,1.19,116.8,244.7,11.3,341,6937,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,1833,2134,0,0,0,0,0,0
$GC,7244,1.19,116.8,210.3,10.2,356,7248,0.00,2.28,0.00,0.000,4,0.000,0.031,3391,3200,2133,0,0,0,0,0,0
$GC,7258,1.19,116.8,208.8,10.3,356,7265,0.00,2.42,0.00,0.000,6,0.000,0.035,3391,1805,2133,0,0,0,0,0,0
$GC,7584,1.19,116.8,175.6,10.9,383,7588,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,1805,2133,0,0,0,0,0,0
$GC,7845,1.19,116.8,150.2,9.3,408,7849,0.00,2.33,0.00,0.000,4,0.000,0.028,3391,3198,2132,0,0,0,0,0,0
$GC,7873,1.19,116.8,147.5,9.1,410,7880,0.00,2.42,0.00,0.000,6,0.000,0.035,3391,1796,2132,0,0,0,0,0,0
$GC,8135,1.19,116.8,124.8,8.3,435,8139,0.00,2.42,0.00,0.000,4,0.000,0.048,3391,381,2132,0,0,0,0,0,0
$GC,8215,1.19,116.8,117.4,8.9,443,8219,0.00,2.30,0.00,0.000,6,0.000,0.021,3391,1793,2131,0,0,0,0,0,0
$GC,8480,1.20,120.8,97.4,7.8,467,8485,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,1797,2131,0,0,0,0,0,0
$GC,8743,1.20,120.8,77.5,8.7,492,8747,0.00,2.42,0.00,0.000,4,0.000,0.045,3391,385,2132,0,0,0,0,0,0
$GC,8777,1.20,120.8,74.1,10.6,495,8781,0.00,2.28,0.00,0.000,6,0.000,0.020,3391,1809,2132,0,0,0,0,0,0
$GC,9046,1.25,161.4,55.3,6.2,520,9086,0.00,2.58,35.00,0.510,4,0.000,0.045,3391,380,1975,0,0,0,0,0,0
$GC,9171,1.25,161.4,46.1,10.2,533,9175,0.00,2.30,0.00,0.000,6,0.000,0.019,3391,1809,1969,0,0,0,0,0,0
$GC,9435,1.25,161.4,22.7,8.7,564,9441,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,1814,1969,0,0,0,0,0,0
$GC,9637,1.26,170.6,6.5,7.6,601,9650,0.00,0.00,8.57,0.409,6,0.000,0.000,3391,1814,1938,0,0,0,0,0,0
$STATE,9683,end climb,SURFACE_DEPTH_REACHED
$STATE,9683,begin surface coast
$FINISH,0.4,1.023263
$STATE,9723,end surface coast,CONTROL_FINISHED_OK
$STATE,9723,begin surface
$SM_CCo,9747,82.72,0.462,0,0,1288,330.17
$SM_GC,1.26,0.00,0.00,82.72,0.000,0.000,0.462,430,2144,1288,-12.45,1.24,330.17
$IRIDIUM_FIX,2101.76,-15803.33,070700,050513
$TT8_MAMPS,0.029146
$HUMID,52.16
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.60
$XPDR_PINGS,1
$24V_AH,23.3,6.089
$10V_AH,10.5,5.720
$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,28.550,109.925,240.375,82.725,0.000,25.655,34.156,139.455,4.750,0.000,12.746,1147.481,6415.732,400.242,1746.009,435.858,0.000,1149.607,0.000,1730.529,0.000,29.240,0.000
$DEVICE_MAMPS,139.594,59.826,829.894,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,417.498,395.623,912.777,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,34926,616
$CAP_FILE_SIZE,101646,0
$CFSIZE,260165632,252919808
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130411,105106,2108.415,-15801.454,12,1.9,28,9.8