version: 66.06
glider: 139
mission: 9
dive: 81
start: 4 14 111 3 2 10
data:
$ID,139
$MISSION,9
$DIVE,81
$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,-2176263
$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,85
$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
$GPS1,025608,2106.923,-15758.837,12,1.7,12,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-75.6
$GPS2,030152,2106.946,-15758.817,11,2.3,30,9.8
$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,84.6,27551,-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,-116.8,0.0,0.0,0,94,0.00,0.00,-71.12,0.000,6,0.000,0.000,430,2159,3113,0,0,0,0,0,0
$GC,97,-1.19,-116.8,3.4,-5.6,14,116,13.27,2.17,0.00,0.000,4,0.139,0.030,2869,3456,3114,0,0,0,0,0,0
$GC,314,-1.19,-116.8,43.3,-15.7,53,318,0.00,2.30,0.00,0.000,6,0.000,0.027,2869,2081,3117,0,0,0,0,0,0
$GC,580,-1.19,-116.8,85.8,-17.5,78,581,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2081,3116,0,0,0,0,0,0
$GC,835,-1.19,-116.8,120.6,-9.0,102,839,0.00,2.28,0.00,0.000,4,0.000,0.028,2869,3455,3117,0,0,0,0,0,0
$GC,1098,-1.19,-116.8,148.4,-12.3,130,1104,0.00,2.28,0.00,0.000,6,0.000,0.028,2869,2104,3118,0,0,0,0,0,0
$GC,1362,-1.19,-116.8,178.1,-9.6,155,1366,0.00,2.40,0.00,0.000,4,0.000,0.040,2869,683,3119,0,0,0,0,0,0
$GC,1406,-1.19,-116.8,182.9,-11.0,159,1410,0.00,2.22,0.00,0.000,6,0.000,0.021,2869,2065,3119,0,0,0,0,0,0
$GC,1667,-1.19,-116.8,206.2,-8.7,180,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2069,3119,0,0,0,0,0,0
$GC,1976,-1.19,-116.8,235.1,-10.0,195,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2069,3119,0,0,0,0,0,0
$GC,2284,-1.19,-116.8,264.7,-8.3,210,2288,0.00,2.35,0.00,0.000,4,0.000,0.041,2869,689,3119,0,0,0,0,0,0
$GC,2307,-1.19,-116.8,266.5,-7.3,211,2311,0.00,2.30,0.00,0.000,6,0.000,0.023,2869,2106,3119,0,0,0,0,0,0
$GC,2633,-1.19,-116.8,290.8,-7.4,227,2637,0.00,2.35,0.00,0.000,4,0.000,0.035,2869,3501,3118,0,0,0,0,0,0
$GC,2795,-1.19,-116.8,303.2,-7.8,233,2800,0.00,2.35,0.00,0.000,6,0.000,0.030,2869,2101,3117,0,0,0,0,0,0
$GC,3136,-1.19,-116.8,331.7,-8.8,242,3140,0.00,2.35,0.00,0.000,4,0.000,0.036,2869,3495,3116,0,0,0,0,0,0
$GC,3164,-1.19,-116.8,334.4,-9.0,242,3168,0.00,2.35,0.00,0.000,6,0.000,0.031,2869,2100,3116,0,0,0,0,0,0
$GC,3504,-1.19,-116.8,363.9,-8.4,251,3508,0.00,2.40,0.00,0.000,4,0.000,0.046,2869,688,3114,0,0,0,0,0,0
$GC,3523,-1.19,-116.8,365.8,-9.5,251,3527,0.00,2.33,0.00,0.000,6,0.000,0.026,2869,2095,3114,0,0,0,0,0,0
$GC,3872,-1.19,-116.8,395.3,-8.6,260,3876,0.00,2.40,0.00,0.000,4,0.000,0.047,2869,694,3111,0,0,0,0,0,0
$GC,3928,-1.19,-116.8,400.4,-9.3,261,3932,0.00,2.33,0.00,0.000,6,0.000,0.028,2869,2106,3111,0,0,0,0,0,0
$GC,4241,-1.19,-116.8,426.6,-8.1,269,4246,0.00,2.38,0.00,0.000,4,0.000,0.041,2869,3499,3109,0,0,0,0,0,0
$GC,4454,-1.19,-116.8,445.0,-7.9,273,4459,0.00,2.38,0.00,0.000,6,0.000,0.035,2869,2103,3108,0,0,0,0,0,0
$STATE,4548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4548,begin apogee
$GC,4555,-0.31,0.0,451.9,7.0,276,4654,0.95,0.00,95.57,0.827,6,0.084,0.000,3065,1798,2635,0,0,0,0,0,0
$STATE,4655,end apogee,CONTROL_FINISHED_OK
$STATE,4655,begin climb
$GC,4658,1.19,116.8,453.5,0.0,278,4770,1.50,2.55,100.68,0.806,4,0.058,0.059,3392,398,2156,0,0,0,0,0,0
$GC,4794,1.19,116.8,438.7,15.4,281,4799,0.00,2.38,0.00,0.000,6,0.000,0.027,3392,1813,2152,0,0,0,0,0,0
$GC,5112,1.19,116.8,395.7,13.0,289,5117,0.00,2.38,0.00,0.000,4,0.000,0.036,3392,3199,2145,0,0,0,0,0,0
$GC,5140,1.19,116.8,392.0,12.8,289,5145,0.00,2.45,0.00,0.000,6,0.000,0.041,3392,1799,2145,0,0,0,0,0,0
$GC,5476,1.19,116.8,347.0,13.7,298,5481,0.00,2.50,0.00,0.000,4,0.000,0.058,3392,387,2141,0,0,0,0,0,0
$GC,5509,1.19,116.8,341.9,16.3,298,5513,0.00,2.38,0.00,0.000,6,0.000,0.028,3392,1796,2139,0,0,0,0,0,0
$GC,5840,1.19,116.8,297.5,13.3,306,5844,0.00,2.50,0.00,0.000,4,0.000,0.056,3392,386,2138,0,0,0,0,0,0
$GC,5886,1.19,116.8,290.4,15.8,308,5891,0.00,2.38,0.00,0.000,6,0.000,0.028,3392,1811,2136,0,0,0,0,0,0
$GC,6211,1.19,116.8,254.7,9.7,324,6216,0.00,2.55,0.00,0.000,4,0.000,0.057,3392,380,2136,0,0,0,0,0,0
$GC,6290,1.19,116.8,246.1,10.7,327,6294,0.00,2.35,0.00,0.000,6,0.000,0.027,3392,1810,2134,0,0,0,0,0,0
$GC,6605,1.19,116.8,217.0,9.6,342,6610,0.00,2.53,0.00,0.000,4,0.000,0.054,3392,380,2134,0,0,0,0,0,0
$GC,6629,1.19,116.8,214.5,10.2,343,6633,0.00,2.35,0.00,0.000,6,0.000,0.025,3392,1797,2132,0,0,0,0,0,0
$GC,6962,1.19,116.8,180.8,12.1,367,6966,0.00,2.35,0.00,0.000,4,0.000,0.031,3392,3205,2133,0,0,0,0,0,0
$GC,6989,1.19,116.8,176.9,12.9,369,6995,0.00,2.40,0.00,0.000,6,0.000,0.035,3392,1793,2132,0,0,0,0,0,0
$GC,7252,1.19,116.8,148.5,9.7,394,7256,0.00,2.45,0.00,0.000,4,0.000,0.050,3392,383,2132,0,0,0,0,0,0
$GC,7316,1.19,116.8,142.0,9.2,400,7323,0.00,2.35,0.00,0.000,6,0.000,0.023,3392,1809,2131,0,0,0,0,0,0
$GC,7580,1.23,143.0,125.0,6.8,425,7608,0.00,2.55,19.23,0.575,4,0.000,0.048,3392,393,2050,0,0,0,0,0,0
$GC,7641,1.23,143.0,119.7,9.4,431,7646,0.00,2.30,0.00,0.000,6,0.000,0.021,3392,1796,2046,0,0,0,0,0,0
$GC,7904,1.23,143.0,95.1,10.0,456,7908,0.00,2.42,0.00,0.000,4,0.000,0.045,3392,385,2046,0,0,0,0,0,0
$GC,7956,1.23,143.0,88.9,12.8,461,7961,0.00,2.30,0.00,0.000,6,0.000,0.021,3392,1816,2046,0,0,0,0,0,0
$GC,8221,1.23,143.0,64.5,8.7,485,8225,0.00,2.28,0.00,0.000,4,0.000,0.026,3392,3198,2045,0,0,0,0,0,0
$GC,8272,1.23,143.0,60.0,8.5,490,8277,0.00,2.38,0.00,0.000,6,0.000,0.032,3392,1788,2045,0,0,0,0,0,0
$GC,8537,1.26,169.6,40.9,6.8,514,8567,0.00,2.45,23.90,0.493,4,0.000,0.045,3392,385,1941,0,0,0,0,0,0
$GC,8636,1.26,169.6,32.1,9.5,524,8643,0.00,2.30,0.00,0.000,6,0.000,0.019,3393,1782,1936,0,0,0,0,0,0
$GC,8901,1.27,177.0,10.4,7.7,571,8914,0.00,2.35,6.97,0.399,4,0.000,0.024,3393,3206,1913,0,0,0,0,0,0
$GC,8935,1.30,205.5,8.1,6.7,577,8970,0.08,2.42,25.62,0.464,6,0.035,0.029,3433,1792,1797,0,0,0,0,0,0
$STATE,8997,end climb,SURFACE_DEPTH_REACHED
$STATE,8997,begin surface coast
$FINISH,0.5,0.999996
$STATE,9032,end surface coast,CONTROL_FINISHED_OK
$STATE,9032,begin surface
$SM_CCo,9056,65.20,0.466,0,0,1288,330.17
$SM_GC,1.32,0.00,0.00,65.20,0.000,0.000,0.466,425,2135,1288,-12.47,0.99,330.17
$IRIDIUM_FIX,2059.45,-15758.18,080700,000004
$TT8_MAMPS,0.028379
$HUMID,53.15
$INTERNAL_PRESSURE,9.58675
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.4,6.625
$10V_AH,10.5,6.238
$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,28.750,105.500,271.975,65.200,0.000,29.757,42.977,138.737,4.500,0.000,31.831,1102.321,5760.508,397.517,1761.294,445.241,0.000,1151.452,0.000,1727.132,0.000,29.245,0.000
$DEVICE_MAMPS,138.827,59.059,826.826,466.336,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,402.066,390.085,902.777,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,31786,594
$CAP_FILE_SIZE,99032,0
$CFSIZE,260165632,252596224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140411,053530,2106.536,-15758.175,40,1.5,40,9.8