version: 66.06
glider: 139
mission: 9
dive: 61
start: 4 11 111 19 42 14
data:
$ID,139
$MISSION,9
$DIVE,61
$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,-2175850.2
$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,23
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,193554,2102.341,-15803.943,34,1.1,43,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-73.9
$GPS2,194155,2102.394,-15803.979,11,1.6,16,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$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,6.9,11487,-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,-70.15,0.000,6,0.000,0.000,427,2101,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.4,-5.9,14,115,13.40,2.35,0.00,0.000,4,0.141,0.027,2868,3503,3115,0,0,0,0,0,0
$GC,366,-1.19,-116.8,56.2,-16.1,58,371,0.00,2.35,0.00,0.000,6,0.000,0.027,2868,2093,3117,0,0,0,0,0,0
$GC,628,-1.19,-116.8,97.5,-16.2,82,632,0.00,2.33,0.00,0.000,4,0.000,0.029,2868,3492,3116,0,0,0,0,0,0
$GC,892,-1.19,-116.8,133.0,-11.8,110,898,0.00,2.35,0.00,0.000,6,0.000,0.026,2868,2094,3117,0,0,0,0,0,0
$GC,1156,-1.19,-116.8,164.3,-11.1,135,1160,0.00,2.33,0.00,0.000,4,0.000,0.030,2868,3492,3118,0,0,0,0,0,0
$GC,1312,-1.19,-116.8,181.3,-10.7,151,1317,0.00,2.30,0.00,0.000,6,0.000,0.027,2868,2098,3119,0,0,0,0,0,0
$GC,1584,-1.19,-116.8,208.2,-9.4,173,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2098,3119,0,0,0,0,0,0
$GC,1890,-1.19,-116.8,236.3,-9.0,188,1894,0.00,2.33,0.00,0.000,4,0.000,0.031,2869,3492,3119,0,0,0,0,0,0
$GC,1904,-1.19,-116.8,237.8,-9.0,188,1911,0.00,2.35,0.00,0.000,6,0.000,0.028,2868,2098,3119,0,0,0,0,0,0
$GC,2220,-1.19,-116.8,265.7,-9.4,204,2221,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2096,3118,0,0,0,0,0,0
$GC,2530,-1.19,-116.8,296.6,-9.7,219,2534,0.00,2.35,0.00,0.000,4,0.000,0.035,2868,3493,3118,0,0,0,0,0,0
$GC,2631,-1.19,-116.8,306.4,-8.7,222,2636,0.00,2.35,0.00,0.000,6,0.000,0.030,2868,2093,3117,0,0,0,0,0,0
$GC,2945,-1.19,-116.8,329.8,-7.6,230,2947,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2092,3116,0,0,0,0,0,0
$GC,3272,-1.19,-116.8,352.9,-7.1,238,3276,0.00,2.38,0.00,0.000,4,0.000,0.037,2868,3489,3115,0,0,0,0,0,0
$GC,3356,-1.19,-116.8,359.9,-7.9,239,3362,0.00,2.33,0.00,0.000,6,0.000,0.031,2868,2098,3115,0,0,0,0,0,0
$GC,3689,-1.19,-116.8,383.7,-6.9,248,3693,0.00,2.42,0.00,0.000,4,0.000,0.048,2868,691,3113,0,0,0,0,0,0
$GC,3712,-1.19,-116.8,385.6,-7.1,248,3717,0.00,2.30,0.00,0.000,6,0.000,0.027,2868,2090,3113,0,0,0,0,0,0
$GC,4053,-1.19,-116.8,412.4,-7.8,257,4057,0.00,2.40,0.00,0.000,4,0.000,0.041,2868,3504,3110,0,0,0,0,0,0
$GC,4316,-1.19,-116.8,429.0,-6.0,262,4321,0.00,2.38,0.00,0.000,6,0.000,0.035,2868,2099,3108,0,0,0,0,0,0
$GC,4653,-1.19,-116.8,448.6,-6.1,271,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2099,3106,0,0,0,0,0,0
$STATE,4692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4692,begin apogee
$GC,4698,-0.31,0.0,451.2,6.2,272,4798,0.98,0.00,95.90,0.825,6,0.088,0.000,3067,1807,2635,0,0,0,0,0,0
$STATE,4799,end apogee,CONTROL_FINISHED_OK
$STATE,4799,begin climb
$GC,4802,1.19,116.8,452.7,0.0,274,4910,1.50,0.00,101.70,0.803,6,0.060,0.000,3393,1807,2158,0,0,0,0,0,0
$GC,5252,1.19,116.8,398.2,13.6,285,5257,0.00,2.53,0.00,0.000,4,0.000,0.058,3393,389,2145,0,0,0,0,0,0
$GC,5271,1.19,116.8,395.5,13.7,285,5276,0.00,2.38,0.00,0.000,6,0.000,0.028,3393,1812,2143,0,0,0,0,0,0
$GC,5616,1.19,116.8,355.1,10.9,294,5617,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1817,2141,0,0,0,0,0,0
$GC,5941,1.19,116.8,320.0,10.8,302,5946,0.00,2.55,0.00,0.000,4,0.000,0.058,3393,390,2139,0,0,0,0,0,0
$GC,5997,1.19,116.8,312.8,12.5,303,6002,0.00,2.38,0.00,0.000,6,0.000,0.028,3393,1800,2137,0,0,0,0,0,0
$GC,6314,1.19,116.8,273.2,12.6,316,6318,0.00,2.38,0.00,0.000,4,0.000,0.035,3393,3204,2136,0,0,0,0,0,0
$GC,6360,1.19,116.8,267.9,11.6,318,6365,0.00,2.42,0.00,0.000,6,0.000,0.039,3393,1799,2136,0,0,0,0,0,0
$GC,6685,1.19,116.8,236.6,8.7,334,6689,0.00,2.40,0.00,0.000,4,0.000,0.032,3393,3214,2135,0,0,0,0,0,0
$GC,6706,1.19,116.8,234.6,9.6,335,6711,0.00,2.45,0.00,0.000,6,0.000,0.038,3393,1791,2135,0,0,0,0,0,0
$GC,7037,1.19,116.8,203.3,9.6,351,7041,0.00,2.42,0.00,0.000,4,0.000,0.052,3393,386,2133,0,0,0,0,0,0
$GC,7112,1.19,116.8,195.1,11.1,356,7118,0.00,2.38,0.00,0.000,6,0.000,0.025,3393,1808,2132,0,0,0,0,0,0
$GC,7376,1.19,116.8,170.3,9.5,381,7380,0.00,2.47,0.00,0.000,4,0.000,0.051,3392,384,2132,0,0,0,0,0,0
$GC,7401,1.19,116.8,167.3,11.4,383,7405,0.00,2.33,0.00,0.000,6,0.000,0.023,3393,1804,2132,0,0,0,0,0,0
$GC,7665,1.19,116.8,143.0,8.8,407,7669,0.00,2.45,0.00,0.000,4,0.000,0.048,3393,384,2131,0,0,0,0,0,0
$GC,7684,1.19,116.8,140.9,9.1,408,7690,0.00,2.35,0.00,0.000,6,0.000,0.022,3393,1805,2132,0,0,0,0,0,0
$GC,7946,1.19,116.8,117.0,9.1,433,7950,0.00,2.30,0.00,0.000,4,0.000,0.028,3393,3209,2131,0,0,0,0,0,0
$GC,8026,1.19,116.8,110.5,8.5,441,8030,0.00,2.38,0.00,0.000,6,0.000,0.032,3393,1798,2132,0,0,0,0,0,0
$GC,8291,1.19,116.8,90.2,8.1,465,8295,0.00,2.42,0.00,0.000,4,0.000,0.047,3393,387,2132,0,0,0,0,0,0
$GC,8360,1.19,116.8,82.9,10.2,472,8364,0.00,2.28,0.00,0.000,6,0.000,0.021,3393,1805,2131,0,0,0,0,0,0
$GC,8625,1.21,128.9,61.7,7.5,496,8635,0.00,0.00,7.07,0.433,6,0.000,0.000,3393,1811,2108,0,0,0,0,0,0
$GC,8893,1.24,151.0,44.2,7.0,521,8923,0.00,2.53,20.65,0.486,4,0.000,0.045,3393,384,2017,0,0,0,0,0,0
$GC,8979,1.24,151.0,37.2,8.7,530,8984,0.00,2.30,0.00,0.000,6,0.000,0.019,3393,1804,2014,0,0,0,0,0,0
$GC,9249,1.27,179.2,18.1,6.7,571,9283,0.00,2.53,25.02,0.467,4,0.000,0.045,3393,388,1903,0,0,0,0,0,0
$GC,9325,1.27,179.2,12.3,8.2,586,9331,0.00,2.33,0.00,0.000,6,0.000,0.019,3393,1795,1899,0,0,0,0,0,0
$STATE,9443,end climb,SURFACE_DEPTH_REACHED
$STATE,9443,begin surface coast
$FINISH,0.4,1.011802
$STATE,9484,end surface coast,CONTROL_FINISHED_OK
$STATE,9485,begin surface
$SM_CCo,9508,79.20,0.461,0,0,1289,330.17
$SM_GC,1.22,0.00,0.00,79.20,0.000,0.000,0.461,427,2152,1289,-12.47,1.47,330.17
$IRIDIUM_FIX,2052.52,-15807.20,050700,161634
$TT8_MAMPS,0.029146
$HUMID,51.92
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.3,5.075
$10V_AH,10.5,4.713
$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,28.625,91.475,250.350,79.200,0.000,27.281,34.686,178.805,4.750,0.000,16.219,1132.932,6168.930,409.474,1775.443,463.642,0.000,1147.197,0.000,1751.290,0.000,32.075,0.000
$DEVICE_MAMPS,141.128,58.292,825.292,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,416.155,395.052,929.991,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355900
$DATA_FILE_SIZE,34853,615
$CAP_FILE_SIZE,96592,0
$CFSIZE,260165632,253558784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110411,222306,2103.053,-15804.349,26,1.5,26,9.8