version: 66.06
glider: 139
mission: 9
dive: 82
start: 4 14 111 5 41 21
data:
$ID,139
$MISSION,9
$DIVE,82
$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,-2176279
$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,21
$R_STBD_OVSHOOT,67
$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
$GPS1,053530,2106.536,-15758.175,40,1.5,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-74.0
$GPS2,054102,2106.522,-15758.191,15,1.5,15,9.8
$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,83.0,26424,-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,-71.35,0.000,6,0.000,0.000,426,2136,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,2.9,-3.8,14,115,13.32,2.25,0.00,0.000,4,0.139,0.025,2870,3486,3114,0,0,0,0,0,0
$GC,365,-1.19,-116.8,49.7,-14.3,60,369,0.00,2.33,0.00,0.000,6,0.000,0.028,2870,2091,3116,0,0,0,0,0,0
$GC,626,-1.19,-116.8,81.8,-13.1,84,630,0.00,2.33,0.00,0.000,4,0.000,0.027,2870,3479,3116,0,0,0,0,0,0
$GC,642,-1.19,-116.8,84.0,-14.5,85,646,0.00,2.30,0.00,0.000,6,0.000,0.026,2870,2096,3116,0,0,0,0,0,0
$GC,912,-1.19,-116.8,120.6,-13.4,110,916,0.00,2.38,0.00,0.000,4,0.000,0.039,2870,693,3116,0,0,0,0,0,0
$GC,932,-1.19,-116.8,123.7,-12.9,111,938,0.00,2.22,0.00,0.000,6,0.000,0.021,2870,2081,3117,0,0,0,0,0,0
$GC,1195,-1.19,-116.8,154.4,-11.1,136,1199,0.00,2.35,0.00,0.000,4,0.000,0.039,2870,695,3118,0,0,0,0,0,0
$GC,1255,-1.19,-116.8,161.8,-11.1,142,1259,0.00,2.28,0.00,0.000,6,0.000,0.021,2870,2100,3117,0,0,0,0,0,0
$GC,1524,-1.19,-116.8,188.4,-9.6,167,1528,0.00,2.40,0.00,0.000,4,0.000,0.038,2870,686,3118,0,0,0,0,0,0
$GC,1588,-1.19,-116.8,194.8,-9.3,173,1594,0.00,2.33,0.00,0.000,6,0.000,0.021,2870,2108,3118,0,0,0,0,0,0
$GC,1845,-1.19,-116.8,217.1,-9.3,189,1849,0.00,2.33,0.00,0.000,4,0.000,0.033,2870,3496,3118,0,0,0,0,0,0
$GC,1935,-1.19,-116.8,225.6,-8.7,193,1939,0.00,2.33,0.00,0.000,6,0.000,0.028,2870,2097,3119,0,0,0,0,0,0
$GC,2271,-1.19,-116.8,254.8,-7.2,209,2275,0.00,2.35,0.00,0.000,4,0.000,0.041,2870,693,3119,0,0,0,0,0,0
$GC,2299,-1.19,-116.8,256.9,-6.9,210,2303,0.00,2.30,0.00,0.000,6,0.000,0.023,2870,2108,3118,0,0,0,0,0,0
$GC,2624,-1.19,-116.8,277.5,-6.8,226,2628,0.00,2.35,0.00,0.000,4,0.000,0.035,2870,3505,3117,0,0,0,0,0,0
$GC,2765,-1.19,-116.8,290.1,-8.3,232,2770,0.00,2.33,0.00,0.000,6,0.000,0.029,2870,2102,3117,0,0,0,0,0,0
$GC,3103,-1.19,-116.8,318.5,-8.3,244,3104,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2102,3116,0,0,0,0,0,0
$GC,3428,-1.19,-116.8,343.2,-7.3,252,3432,0.00,2.40,0.00,0.000,4,0.000,0.045,2870,688,3114,0,0,0,0,0,0
$GC,3475,-1.19,-116.8,347.1,-8.4,253,3479,0.00,2.33,0.00,0.000,6,0.000,0.026,2870,2107,3114,0,0,0,0,0,0
$GC,3800,-1.19,-116.8,372.4,-7.3,261,3801,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2108,3112,0,0,0,0,0,0
$GC,4123,-1.19,-116.8,391.2,-4.9,269,4127,0.00,2.38,0.00,0.000,4,0.000,0.040,2870,3507,3110,0,0,0,0,0,0
$GC,4260,-1.19,-116.8,399.7,-6.5,271,4269,0.00,2.38,0.00,0.000,6,0.000,0.033,2870,2102,3108,0,0,0,0,0,0
$GC,4592,-1.19,-116.8,421.8,-6.6,280,4596,0.00,2.38,0.00,0.000,4,0.000,0.038,2870,3497,3106,0,0,0,0,0,0
$GC,4696,-1.19,-116.8,429.5,-7.9,282,4700,0.00,2.35,0.00,0.000,6,0.000,0.035,2870,2101,3106,0,0,0,0,0,0
$STATE,5012,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5012,begin apogee
$GC,5019,-0.31,0.0,450.8,6.9,290,5117,0.95,0.00,95.10,0.832,6,0.085,0.000,3065,1809,2635,0,0,0,0,0,0
$STATE,5118,end apogee,CONTROL_FINISHED_OK
$STATE,5118,begin climb
$GC,5121,1.19,116.8,453.1,0.0,292,5233,1.50,2.47,101.32,0.812,4,0.059,0.034,3394,3201,2158,0,0,0,0,0,0
$GC,5252,1.19,116.8,441.7,11.5,295,5257,0.00,2.50,0.00,0.000,6,0.000,0.041,3393,1798,2156,0,0,0,0,0,0
$GC,5575,1.19,116.8,399.2,12.9,303,5579,0.00,2.53,0.00,0.000,4,0.000,0.058,3393,386,2146,0,0,0,0,0,0
$GC,5645,1.19,116.8,389.5,13.9,304,5649,0.00,2.40,0.00,0.000,6,0.000,0.028,3393,1813,2143,0,0,0,0,0,0
$GC,5985,1.19,116.8,349.3,12.1,313,5990,0.00,2.35,0.00,0.000,4,0.000,0.035,3393,3202,2141,0,0,0,0,0,0
$GC,6032,1.19,116.8,343.6,11.8,314,6036,0.00,2.45,0.00,0.000,6,0.000,0.041,3393,1796,2141,0,0,0,0,0,0
$GC,6355,1.19,116.8,301.3,14.0,322,6359,0.00,2.53,0.00,0.000,4,0.000,0.057,3393,377,2139,0,0,0,0,0,0
$GC,6416,1.19,116.8,292.2,15.3,323,6422,0.00,2.38,0.00,0.000,6,0.000,0.027,3394,1795,2136,0,0,0,0,0,0
$GC,6735,1.19,116.8,252.1,12.1,339,6739,0.00,2.50,0.00,0.000,4,0.000,0.056,3393,377,2136,0,0,0,0,0,0
$GC,6769,1.19,116.8,247.3,14.7,340,6773,0.00,2.38,0.00,0.000,6,0.000,0.027,3393,1803,2135,0,0,0,0,0,0
$GC,7086,1.19,116.8,215.1,8.4,355,7090,0.00,2.35,0.00,0.000,4,0.000,0.032,3393,3204,2135,0,0,0,0,0,0
$GC,7100,1.19,116.8,213.5,8.9,355,7105,0.00,2.42,0.00,0.000,6,0.000,0.036,3393,1796,2135,0,0,0,0,0,0
$GC,7419,1.19,116.8,186.7,8.6,378,7424,0.00,2.45,0.00,0.000,4,0.000,0.052,3393,383,2133,0,0,0,0,0,0
$GC,7438,1.19,116.8,184.8,9.7,379,7444,0.00,2.33,0.00,0.000,6,0.000,0.025,3393,1810,2132,0,0,0,0,0,0
$GC,7701,1.19,116.8,161.3,8.9,404,7702,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1815,2132,0,0,0,0,0,0
$GC,7954,1.23,145.4,141.7,6.7,428,7983,0.00,2.55,21.27,0.590,4,0.000,0.050,3393,394,2042,0,0,0,0,0,0
$GC,8063,1.23,145.4,131.6,10.7,439,8069,0.00,2.33,0.00,0.000,6,0.000,0.021,3393,1810,2038,0,0,0,0,0,0
$GC,8324,1.23,145.4,105.2,10.4,464,8326,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1815,2038,0,0,0,0,0,0
$GC,8579,1.23,145.4,82.3,9.4,488,8583,0.00,2.45,0.00,0.000,4,0.000,0.047,3393,386,2038,0,0,0,0,0,0
$GC,8643,1.23,145.4,75.9,9.7,494,8649,0.00,2.33,0.00,0.000,6,0.000,0.020,3393,1802,2036,0,0,0,0,0,0
$GC,8905,1.23,145.4,55.5,8.3,519,8909,0.00,2.42,0.00,0.000,4,0.000,0.045,3393,386,2036,0,0,0,0,0,0
$GC,8984,1.23,145.4,47.9,9.3,527,8988,0.00,2.30,0.00,0.000,6,0.000,0.019,3393,1812,2036,0,0,0,0,0,0
$GC,9247,1.25,164.0,27.5,7.2,554,9271,0.00,2.50,17.23,0.472,4,0.000,0.044,3393,380,1965,0,0,0,0,0,0
$GC,9288,1.27,174.2,24.4,7.6,561,9306,0.00,2.33,10.15,0.439,6,0.000,0.019,3394,1793,1923,0,0,0,0,0,0
$GC,9505,1.31,211.8,9.0,6.3,600,9545,0.12,2.40,32.88,0.470,4,0.061,0.026,3439,3198,1770,0,0,0,0,0,0
$GC,9558,1.31,211.8,4.3,10.4,609,9564,0.00,2.40,0.00,0.000,6,0.000,0.027,3438,1800,1770,0,0,0,0,0,0
$STATE,9571,end climb,SURFACE_DEPTH_REACHED
$STATE,9571,begin surface coast
$FINISH,0.5,1.023389
$STATE,9599,end surface coast,CONTROL_FINISHED_OK
$STATE,9599,begin surface
$SM_CCo,9623,62.00,0.466,0,0,1289,330.17
$SM_GC,1.36,0.00,0.00,62.00,0.000,0.000,0.466,427,2114,1289,-12.47,0.40,330.17
$IRIDIUM_FIX,2059.45,-15756.04,080700,030344
$TT8_MAMPS,0.028379
$HUMID,52.91
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.4,6.703
$10V_AH,10.6,6.318
$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,28.900,110.325,277.950,62.000,0.000,33.615,34.959,144.615,4.500,0.000,15.359,1139.947,6248.514,404.580,1777.079,448.678,0.000,1180.027,0.000,1761.160,0.000,29.255,0.000
$DEVICE_MAMPS,138.827,57.525,832.195,465.569,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,416.091,400.792,925.289,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,34912,616
$CAP_FILE_SIZE,102386,0
$CFSIZE,260165632,252542976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140411,082407,2106.209,-15757.799,42,1.4,42,9.8