version: 66.06
glider: 139
mission: 9
dive: 125
start: 4 19 111 4 58 9
data:
$ID,139
$MISSION,9
$DIVE,125
$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,0
$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,-2177182.5
$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,17
$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
$GPS1,044544,2110.764,-15750.587,14,1.3,14,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-74.9
$GPS2,045720,2110.756,-15750.641,14,1.6,14,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,-0.125
$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,114.7,16181,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.19,-116.8,0.0,0.0,0,94,0.00,0.00,-70.53,0.000,6,0.000,0.000,425,2132,3112,0,0,0,0,0,0
$GC,98,-1.19,-116.8,3.6,-5.5,14,116,13.23,2.45,0.00,0.000,4,0.137,0.032,2868,677,3113,0,0,0,0,0,0
$GC,221,-1.19,-116.8,36.7,-20.9,38,228,0.00,2.28,0.00,0.000,6,0.000,0.019,2868,2066,3114,0,0,0,0,0,0
$GC,483,-1.19,-116.8,77.8,-14.4,63,488,0.00,2.35,0.00,0.000,4,0.000,0.041,2868,680,3115,0,0,0,0,0,0
$GC,556,-1.19,-116.8,88.9,-15.3,70,563,0.00,2.33,0.00,0.000,6,0.000,0.020,2868,2099,3115,0,0,0,0,0,0
$GC,820,-1.19,-116.8,122.1,-12.4,95,824,0.00,2.30,0.00,0.000,4,0.000,0.028,2868,3498,3116,0,0,0,0,0,0
$GC,924,-1.19,-116.8,135.9,-12.5,106,931,0.00,2.38,0.00,0.000,6,0.000,0.029,2868,2089,3115,0,0,0,0,0,0
$GC,1190,-1.19,-116.8,166.8,-10.4,131,1194,0.00,2.38,0.00,0.000,4,0.000,0.030,2868,3505,3116,0,0,0,0,0,0
$GC,1320,-1.19,-116.8,180.9,-11.9,144,1327,0.00,2.35,0.00,0.000,6,0.000,0.027,2868,2100,3117,0,0,0,0,0,0
$GC,1582,-1.19,-116.8,208.2,-9.0,165,1586,0.00,2.38,0.00,0.000,4,0.000,0.041,2868,692,3117,0,0,0,0,0,0
$GC,1596,-1.19,-116.8,209.7,-8.9,165,1602,0.00,2.30,0.00,0.000,6,0.000,0.021,2868,2116,3117,0,0,0,0,0,0
$GC,1912,-1.19,-116.8,236.9,-8.7,181,1917,0.00,2.42,0.00,0.000,4,0.000,0.041,2867,691,3117,0,0,0,0,0,0
$GC,2039,-1.19,-116.8,248.8,-9.8,186,2043,0.00,2.28,0.00,0.000,6,0.000,0.022,2868,2107,3117,0,0,0,0,0,0
$GC,2359,-1.19,-116.8,277.0,-9.1,202,2363,0.00,2.40,0.00,0.000,4,0.000,0.042,2868,693,3116,0,0,0,0,0,0
$GC,2380,-1.19,-116.8,278.8,-9.1,203,2384,0.00,2.30,0.00,0.000,6,0.000,0.024,2868,2097,3116,0,0,0,0,0,0
$GC,2731,-1.19,-116.8,307.3,-8.0,218,2736,0.00,2.40,0.00,0.000,4,0.000,0.037,2868,3501,3115,0,0,0,0,0,0
$GC,2746,-1.19,-116.8,308.7,-7.8,218,2750,0.00,2.35,0.00,0.000,6,0.000,0.031,2868,2100,3115,0,0,0,0,0,0
$GC,3096,-1.19,-116.8,336.9,-8.4,227,3100,0.00,2.40,0.00,0.000,4,0.000,0.036,2868,3503,3113,0,0,0,0,0,0
$GC,3110,-1.19,-116.8,338.1,-7.8,227,3114,0.00,2.35,0.00,0.000,6,0.000,0.032,2868,2099,3113,0,0,0,0,0,0
$GC,3425,-1.19,-116.8,360.3,-7.2,235,3426,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2097,3110,0,0,0,0,0,0
$GC,3750,-1.19,-116.8,387.6,-8.4,243,3755,0.00,2.40,0.00,0.000,4,0.000,0.038,2867,3501,3108,0,0,0,0,0,0
$GC,3778,-1.19,-116.8,390.1,-8.8,243,3782,0.00,2.38,0.00,0.000,6,0.000,0.034,2868,2092,3108,0,0,0,0,0,0
$GC,4120,-1.19,-116.8,411.4,-6.1,252,4125,0.00,2.40,0.00,0.000,4,0.000,0.038,2868,3503,3106,0,0,0,0,0,0
$GC,4239,-1.19,-116.8,420.2,-7.1,254,4244,0.00,2.38,0.00,0.000,6,0.000,0.034,2868,2101,3105,0,0,0,0,0,0
$GC,4580,-1.19,-116.8,444.3,-7.0,263,4584,0.00,2.47,0.00,0.000,4,0.000,0.051,2868,687,3103,0,0,0,0,0,0
$STATE,4661,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4661,begin apogee
$GC,4670,-0.31,0.0,450.1,7.0,264,4768,0.93,0.00,94.35,0.821,6,0.084,0.000,3061,1802,2635,0,0,0,0,0,0
$STATE,4768,end apogee,CONTROL_FINISHED_OK
$STATE,4769,begin climb
$GC,4771,1.19,116.8,451.3,0.0,267,4882,1.55,2.58,101.62,0.800,4,0.057,0.058,3397,403,2156,0,0,0,0,0,0
$GC,4897,1.19,116.8,438.8,14.4,270,4901,0.00,2.38,0.00,0.000,6,0.000,0.026,3397,1818,2152,0,0,0,0,0,0
$GC,5242,1.19,116.8,395.0,12.1,279,5246,0.00,2.53,0.00,0.000,4,0.000,0.058,3397,403,2145,0,0,0,0,0,0
$GC,5298,1.19,116.8,387.1,13.2,280,5302,0.00,2.30,0.00,0.000,6,0.000,0.027,3397,1786,2142,0,0,0,0,0,0
$GC,5612,1.19,116.8,352.6,11.4,288,5613,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1791,2140,0,0,0,0,0,0
$GC,5936,1.19,116.8,314.5,11.7,296,5938,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1791,2138,0,0,0,0,0,0
$GC,6244,1.19,116.8,279.0,11.3,308,6248,0.00,2.38,0.00,0.000,4,0.000,0.034,3397,3209,2137,0,0,0,0,0,0
$GC,6258,1.19,116.8,277.3,11.4,308,6265,0.00,2.45,0.00,0.000,6,0.000,0.038,3398,1805,2137,0,0,0,0,0,0
$GC,6574,1.19,116.8,246.6,8.7,324,6578,0.00,2.50,0.00,0.000,4,0.000,0.056,3397,388,2135,0,0,0,0,0,0
$GC,6675,1.19,116.8,234.3,13.9,328,6680,0.00,2.38,0.00,0.000,6,0.000,0.025,3397,1826,2133,0,0,0,0,0,0
$GC,6993,1.19,116.8,198.0,11.7,343,6997,0.00,2.55,0.00,0.000,4,0.000,0.054,3397,381,2133,0,0,0,0,0,0
$GC,7062,1.19,116.8,189.6,11.7,350,7067,0.00,2.33,0.00,0.000,6,0.000,0.024,3397,1794,2132,0,0,0,0,0,0
$GC,7326,1.19,116.8,163.5,10.5,374,7330,0.00,2.45,0.00,0.000,4,0.000,0.050,3397,378,2132,0,0,0,0,0,0
$GC,7350,1.19,116.8,160.5,11.2,376,7354,0.00,2.35,0.00,0.000,6,0.000,0.023,3397,1821,2131,0,0,0,0,0,0
$GC,7613,1.19,116.8,135.1,9.9,400,7617,0.00,2.28,0.00,0.000,4,0.000,0.028,3398,3198,2132,0,0,0,0,0,0
$GC,7698,1.19,116.8,127.3,8.8,409,7702,0.00,2.38,0.00,0.000,6,0.000,0.031,3397,1796,2132,0,0,0,0,0,0
$GC,7962,1.20,117.4,106.2,8.0,433,7966,0.00,2.42,0.00,0.000,4,0.000,0.048,3397,386,2131,0,0,0,0,0,0
$GC,7997,1.21,132.0,103.4,7.4,436,8011,0.00,2.30,9.52,0.502,6,0.000,0.021,3397,1815,2096,0,0,0,0,0,0
$GC,8269,1.23,147.8,86.1,7.3,461,8289,0.00,2.30,15.18,0.515,4,0.000,0.025,3398,3196,2031,0,0,0,0,0,0
$GC,8340,1.24,151.0,80.4,7.9,468,8350,0.00,2.40,4.57,0.377,6,0.000,0.031,3398,1803,2018,0,0,0,0,0,0
$GC,8615,1.24,153.0,58.5,7.9,494,8619,0.00,2.42,0.00,0.000,4,0.000,0.046,3397,384,2016,0,0,0,0,0,0
$GC,8658,1.24,153.0,54.4,8.9,498,8662,0.00,2.25,0.00,0.000,6,0.000,0.019,3398,1784,2014,0,0,0,0,0,0
$GC,8922,1.25,159.8,33.6,7.7,522,8936,0.00,2.47,8.75,0.430,4,0.000,0.046,3397,386,1982,0,0,0,0,0,0
$GC,8996,1.25,159.8,27.5,8.1,533,9003,0.00,2.33,0.00,0.000,6,0.000,0.019,3398,1819,1980,0,0,0,0,0,0
$GC,9200,1.28,185.2,13.3,6.9,570,9230,0.00,2.28,23.15,0.460,4,0.000,0.023,3398,3191,1877,0,0,0,0,0,0
$GC,9255,1.29,197.0,9.1,7.5,580,9273,0.00,2.40,11.30,0.425,6,0.000,0.031,3397,1799,1831,0,0,0,0,0,0
$STATE,9332,end climb,SURFACE_DEPTH_REACHED
$STATE,9332,begin surface coast
$FINISH,0.8,1.023080
$STATE,9371,end surface coast,CONTROL_FINISHED_OK
$STATE,9372,begin surface
$SM_CCo,9395,68.00,0.458,0,0,1288,330.17
$SM_GC,1.51,0.00,0.00,68.00,0.000,0.000,0.458,427,2124,1288,-12.47,0.71,330.17
$IRIDIUM_FIX,2104.07,-15750.02,130700,050502
$TT8_MAMPS,0.029146
$HUMID,53.70
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.4,10.060
$10V_AH,10.5,9.637
$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,28.475,114.100,268.450,68.000,0.000,71.730,155.430,223.780,4.500,0.000,14.957,1115.209,6240.569,432.729,1669.370,704.993,29.242,1147.963,0.000,1660.738,0.000,29.251,0.000
$DEVICE_MAMPS,137.293,58.292,821.457,457.899,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,406.133,390.024,892.401,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,31803,601
$CAP_FILE_SIZE,104290,0
$CFSIZE,260165632,250449920
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190411,073707,2110.186,-15749.655,35,1.2,35,9.8