version: 66.06
glider: 139
mission: 9
dive: 80
start: 4 14 111 0 24 20
data:
$ID,139
$MISSION,9
$DIVE,80
$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,-2176230.5
$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,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,75
$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
$GPS1,001830,2107.212,-15759.271,41,1.3,46,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-73.5
$GPS2,002401,2107.240,-15759.266,11,1.1,16,9.8
$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,85.5,28370,-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,-71.32,0.000,6,0.000,0.000,431,2140,3111,0,0,0,0,0,0
$GC,97,-1.19,-116.8,3.1,-4.7,14,115,13.27,2.22,0.00,0.000,4,0.138,0.028,2869,3469,3114,0,0,0,0,0,0
$GC,365,-1.19,-116.8,49.4,-14.7,60,369,0.00,2.33,0.00,0.000,6,0.000,0.028,2870,2090,3116,0,0,0,0,0,0
$GC,626,-1.19,-116.8,90.9,-17.8,84,630,0.00,2.30,0.00,0.000,4,0.000,0.028,2869,3466,3116,0,0,0,0,0,0
$GC,777,-1.19,-116.8,114.9,-14.0,100,781,0.00,2.30,0.00,0.000,6,0.000,0.026,2869,2089,3117,0,0,0,0,0,0
$GC,1038,-1.19,-116.8,147.0,-10.5,124,1042,0.00,2.30,0.00,0.000,4,0.000,0.028,2869,3465,3117,0,0,0,0,0,0
$GC,1127,-1.19,-116.8,157.3,-10.8,133,1131,0.00,2.28,0.00,0.000,6,0.000,0.027,2870,2100,3117,0,0,0,0,0,0
$GC,1389,-1.19,-116.8,188.9,-13.3,157,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2100,3119,0,0,0,0,0,0
$GC,1639,-1.19,-116.8,223.7,-13.3,173,1643,0.00,2.33,0.00,0.000,4,0.000,0.031,2869,3474,3119,0,0,0,0,0,0
$GC,1788,-1.19,-116.8,240.4,-9.1,179,1792,0.00,2.28,0.00,0.000,6,0.000,0.028,2869,2097,3119,0,0,0,0,0,0
$GC,2104,-1.19,-116.8,264.7,-7.8,194,2109,0.00,2.38,0.00,0.000,4,0.000,0.041,2869,693,3119,0,0,0,0,0,0
$GC,2128,-1.19,-116.8,267.0,-9.2,195,2132,0.00,2.22,0.00,0.000,6,0.000,0.022,2869,2074,3119,0,0,0,0,0,0
$GC,2454,-1.19,-116.8,295.8,-8.7,211,2458,0.00,2.40,0.00,0.000,4,0.000,0.035,2869,3503,3119,0,0,0,0,0,0
$GC,2489,-1.19,-116.8,298.7,-8.9,212,2493,0.00,2.35,0.00,0.000,6,0.000,0.030,2869,2092,3119,0,0,0,0,0,0
$GC,2800,-1.19,-116.8,323.4,-7.9,220,2804,0.00,2.38,0.00,0.000,4,0.000,0.044,2869,686,3118,0,0,0,0,0,0
$GC,2824,-1.19,-116.8,325.5,-7.9,220,2828,0.00,2.30,0.00,0.000,6,0.000,0.025,2870,2097,3117,0,0,0,0,0,0
$GC,3165,-1.19,-116.8,350.0,-7.0,229,3169,0.00,2.40,0.00,0.000,4,0.000,0.044,2869,688,3116,0,0,0,0,0,0
$GC,3181,-1.19,-116.8,351.3,-7.1,229,3185,0.00,2.30,0.00,0.000,6,0.000,0.026,2869,2096,3116,0,0,0,0,0,0
$GC,3530,-1.19,-116.8,376.0,-7.3,238,3535,0.00,2.42,0.00,0.000,4,0.000,0.046,2869,692,3115,0,0,0,0,0,0
$GC,3644,-1.19,-116.8,386.1,-8.8,240,3648,0.00,2.33,0.00,0.000,6,0.000,0.027,2869,2102,3114,0,0,0,0,0,0
$GC,3993,-1.19,-116.8,414.0,-7.6,249,3998,0.00,2.40,0.00,0.000,4,0.000,0.040,2869,3509,3111,0,0,0,0,0,0
$GC,4059,-1.19,-116.8,419.1,-7.8,250,4063,0.00,2.40,0.00,0.000,6,0.000,0.035,2869,2095,3111,0,0,0,0,0,0
$GC,4406,-1.19,-116.8,443.5,-6.7,259,4407,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2094,3108,0,0,0,0,0,0
$STATE,4523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4523,begin apogee
$GC,4530,-0.31,0.0,451.3,6.4,262,4629,0.95,0.00,95.72,0.825,6,0.086,0.000,3064,1805,2635,0,0,0,0,0,0
$STATE,4630,end apogee,CONTROL_FINISHED_OK
$STATE,4630,begin climb
$GC,4633,1.19,116.8,453.1,0.0,264,4740,1.55,0.00,101.82,0.807,6,0.059,0.000,3399,1805,2158,0,0,0,0,0,0
$GC,5051,1.19,116.8,405.5,12.7,275,5056,0.00,2.53,0.00,0.000,4,0.000,0.058,3398,388,2146,0,0,0,0,0,0
$GC,5075,1.19,116.8,402.1,13.8,275,5079,0.00,2.40,0.00,0.000,6,0.000,0.028,3399,1812,2144,0,0,0,0,0,0
$GC,5415,1.19,116.8,361.6,11.9,284,5420,0.00,2.55,0.00,0.000,4,0.000,0.058,3398,391,2141,0,0,0,0,0,0
$GC,5453,1.19,116.8,356.5,13.6,284,5458,0.00,2.35,0.00,0.000,6,0.000,0.028,3399,1798,2139,0,0,0,0,0,0
$GC,5784,1.19,116.8,314.9,12.7,293,5789,0.00,2.50,0.00,0.000,4,0.000,0.056,3398,386,2138,0,0,0,0,0,0
$GC,5808,1.19,116.8,311.3,14.8,293,5812,0.00,2.35,0.00,0.000,6,0.000,0.028,3398,1803,2137,0,0,0,0,0,0
$GC,6133,1.19,116.8,267.8,14.1,307,6138,0.00,2.53,0.00,0.000,4,0.000,0.055,3398,384,2136,0,0,0,0,0,0
$GC,6180,1.19,116.8,260.3,15.8,309,6184,0.00,2.38,0.00,0.000,6,0.000,0.027,3399,1814,2135,0,0,0,0,0,0
$GC,6506,1.19,116.8,226.6,8.3,325,6510,0.00,2.50,0.00,0.000,4,0.000,0.054,3398,388,2134,0,0,0,0,0,0
$GC,6580,1.19,116.8,219.0,10.8,328,6584,0.00,2.33,0.00,0.000,6,0.000,0.025,3399,1806,2132,0,0,0,0,0,0
$GC,6904,1.19,116.8,187.4,11.2,349,6909,0.00,2.50,0.00,0.000,4,0.000,0.051,3398,382,2132,0,0,0,0,0,0
$GC,6930,1.19,116.8,184.4,12.5,351,6934,0.00,2.35,0.00,0.000,6,0.000,0.024,3399,1812,2132,0,0,0,0,0,0
$GC,7195,1.19,116.8,159.1,8.5,375,7199,0.00,2.47,0.00,0.000,4,0.000,0.050,3398,383,2132,0,0,0,0,0,0
$GC,7241,1.19,116.8,153.9,11.3,379,7247,0.00,2.33,0.00,0.000,6,0.000,0.023,3399,1801,2131,0,0,0,0,0,0
$GC,7504,1.19,116.8,128.9,10.5,404,7508,0.00,2.42,0.00,0.000,4,0.000,0.048,3399,388,2132,0,0,0,0,0,0
$GC,7532,1.19,116.8,125.1,13.0,406,7539,0.00,2.33,0.00,0.000,6,0.000,0.021,3398,1801,2131,0,0,0,0,0,0
$GC,7797,1.21,128.0,98.9,7.5,431,7809,0.00,2.50,6.00,0.445,4,0.000,0.047,3398,387,2112,0,0,0,0,0,0
$GC,7829,1.22,137.1,96.3,7.6,434,7845,0.00,2.33,9.85,0.498,6,0.000,0.021,3399,1817,2075,0,0,0,0,0,0
$GC,8100,1.28,186.7,80.6,5.7,460,8149,0.00,2.33,43.90,0.538,4,0.000,0.025,3399,3200,1872,0,0,0,0,0,0
$GC,8199,1.29,194.9,73.9,7.6,470,8213,0.00,2.40,8.48,0.459,6,0.000,0.033,3399,1795,1839,0,0,0,0,0,0
$GC,8476,1.29,194.9,49.6,8.7,496,8480,0.00,2.42,0.00,0.000,4,0.000,0.047,3398,383,1836,0,0,0,0,0,0
$GC,8580,1.29,194.9,37.7,11.2,507,8584,0.00,2.28,0.00,0.000,6,0.000,0.019,3399,1793,1831,0,0,0,0,0,0
$GC,8849,1.29,194.9,10.2,9.7,550,8855,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1798,1831,0,0,0,0,0,0
$STATE,8928,end climb,SURFACE_DEPTH_REACHED
$STATE,8929,begin surface coast
$FINISH,0.4,1.004871
$STATE,8962,end surface coast,CONTROL_FINISHED_OK
$STATE,8963,begin surface
$SM_CCo,8986,69.72,0.464,0,0,1288,330.17
$SM_GC,1.27,0.00,0.00,69.72,0.000,0.000,0.464,430,2158,1288,-12.45,1.64,330.17
$IRIDIUM_FIX,2059.45,-15758.18,070700,212107
$TT8_MAMPS,0.029146
$HUMID,53.50
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.4,6.548
$10V_AH,10.5,6.161
$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,28.550,100.625,265.775,69.725,0.000,29.398,33.814,150.474,4.500,0.000,16.500,1062.162,5847.020,416.072,1615.599,450.982,0.000,1102.103,0.000,1604.917,0.000,29.240,0.000
$DEVICE_MAMPS,138.060,58.292,825.292,464.035,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,386.450,368.633,847.754,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31787,571
$CAP_FILE_SIZE,94631,0
$CFSIZE,260165632,252645376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140411,025608,2106.923,-15758.837,12,1.7,12,9.8