version: 66.06
glider: 139
mission: 9
dive: 71
start: 4 12 111 23 51 13
data:
$ID,139
$MISSION,9
$DIVE,71
$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,-2176070
$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,49
$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
$GPS1,234125,2107.932,-15804.263,39,1.5,39,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-74.0
$GPS2,235055,2107.984,-15804.288,15,1.2,20,9.8
$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,70.6,3896,-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,12,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,-70.88,0.000,6,0.000,0.000,427,2112,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.2,-5.4,14,115,13.35,2.33,0.00,0.000,4,0.140,0.028,2869,3498,3113,0,0,0,0,0,0
$GC,164,-1.19,-116.8,19.6,-16.3,28,171,0.00,2.40,0.00,0.000,6,0.000,0.028,2869,2090,3114,0,0,0,0,0,0
$GC,371,-1.19,-116.8,51.1,-14.4,53,375,0.00,2.35,0.00,0.000,4,0.000,0.028,2869,3491,3115,0,0,0,0,0,0
$GC,507,-1.19,-116.8,70.8,-15.3,67,513,0.00,2.35,0.00,0.000,6,0.000,0.026,2869,2097,3115,0,0,0,0,0,0
$GC,770,-1.19,-116.8,105.6,-11.7,92,774,0.00,2.33,0.00,0.000,4,0.000,0.028,2869,3495,3115,0,0,0,0,0,0
$GC,788,-1.19,-116.8,107.6,-12.0,93,792,0.00,2.33,0.00,0.000,6,0.000,0.026,2869,2098,3116,0,0,0,0,0,0
$GC,1052,-1.19,-116.8,142.6,-12.4,117,1056,0.00,2.38,0.00,0.000,4,0.000,0.040,2869,695,3116,0,0,0,0,0,0
$GC,1079,-1.19,-116.8,146.6,-13.1,119,1085,0.00,2.25,0.00,0.000,6,0.000,0.020,2869,2098,3116,0,0,0,0,0,0
$GC,1342,-1.19,-116.8,175.6,-10.4,144,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2101,3116,0,0,0,0,0,0
$GC,1605,-1.19,-116.8,203.3,-12.1,168,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2101,3117,0,0,0,0,0,0
$GC,1916,-1.19,-116.8,238.0,-10.4,183,1920,0.00,2.33,0.00,0.000,4,0.000,0.032,2869,3500,3117,0,0,0,0,0,0
$GC,2006,-1.19,-116.8,246.0,-7.2,187,2010,0.00,2.33,0.00,0.000,6,0.000,0.028,2869,2099,3117,0,0,0,0,0,0
$GC,2341,-1.19,-116.8,272.3,-8.1,203,2345,0.00,2.33,0.00,0.000,4,0.000,0.033,2869,3492,3117,0,0,0,0,0,0
$GC,2477,-1.19,-116.8,285.1,-9.2,209,2481,0.00,2.30,0.00,0.000,6,0.000,0.028,2869,2101,3117,0,0,0,0,0,0
$GC,2824,-1.19,-116.8,315.2,-8.8,222,2828,0.00,2.40,0.00,0.000,4,0.000,0.044,2868,696,3116,0,0,0,0,0,0
$GC,2866,-1.19,-116.8,319.6,-10.3,222,2871,0.00,2.28,0.00,0.000,6,0.000,0.024,2868,2093,3115,0,0,0,0,0,0
$GC,3199,-1.19,-116.8,344.4,-7.0,231,3203,0.00,2.35,0.00,0.000,4,0.000,0.037,2869,3495,3114,0,0,0,0,0,0
$GC,3269,-1.19,-116.8,349.5,-6.9,232,3273,0.00,2.33,0.00,0.000,6,0.000,0.031,2869,2104,3113,0,0,0,0,0,0
$GC,3610,-1.19,-116.8,373.4,-7.3,241,3614,0.00,2.42,0.00,0.000,4,0.000,0.047,2869,689,3111,0,0,0,0,0,0
$GC,3679,-1.19,-116.8,379.5,-9.1,242,3683,0.00,2.33,0.00,0.000,6,0.000,0.026,2869,2106,3110,0,0,0,0,0,0
$GC,4024,-1.19,-116.8,410.2,-8.9,251,4025,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2109,3108,0,0,0,0,0,0
$GC,4349,-1.19,-116.8,433.0,-7.0,259,4354,0.00,2.38,0.00,0.000,4,0.000,0.041,2869,3496,3106,0,0,0,0,0,0
$GC,4511,-1.19,-116.8,444.6,-7.6,262,4515,0.00,2.38,0.00,0.000,6,0.000,0.035,2869,2098,3105,0,0,0,0,0,0
$STATE,4609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4610,begin apogee
$GC,4616,-0.31,0.0,451.0,6.5,265,4714,0.98,0.00,94.53,0.828,6,0.086,0.000,3069,1807,2635,0,0,0,0,0,0
$STATE,4715,end apogee,CONTROL_FINISHED_OK
$STATE,4715,begin climb
$GC,4718,1.19,116.8,452.3,0.0,267,4830,1.48,2.62,100.28,0.806,4,0.059,0.059,3390,396,2156,0,0,0,0,0,0
$GC,4846,1.19,116.8,440.6,13.4,270,4850,0.00,2.38,0.00,0.000,6,0.000,0.027,3391,1807,2153,0,0,0,0,0,0
$GC,5173,1.19,116.8,401.5,11.4,278,5178,0.00,2.40,0.00,0.000,4,0.000,0.037,3391,3202,2146,0,0,0,0,0,0
$GC,5201,1.19,116.8,398.4,9.9,278,5206,0.00,2.45,0.00,0.000,6,0.000,0.040,3391,1799,2145,0,0,0,0,0,0
$GC,5537,1.19,116.8,362.1,11.2,287,5542,0.00,2.53,0.00,0.000,4,0.000,0.058,3390,386,2141,0,0,0,0,0,0
$GC,5588,1.19,116.8,355.4,13.0,288,5593,0.00,2.38,0.00,0.000,6,0.000,0.028,3390,1794,2138,0,0,0,0,0,0
$GC,5907,1.19,116.8,316.5,11.7,296,5908,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,1798,2138,0,0,0,0,0,0
$GC,6215,1.19,116.8,279.5,12.4,307,6219,0.00,2.50,0.00,0.000,4,0.000,0.055,3391,386,2137,0,0,0,0,0,0
$GC,6243,1.19,116.8,275.7,13.0,308,6247,0.00,2.38,0.00,0.000,6,0.000,0.028,3391,1806,2135,0,0,0,0,0,0
$GC,6563,1.19,116.8,241.7,10.5,324,6567,0.00,2.35,0.00,0.000,4,0.000,0.033,3391,3202,2135,0,0,0,0,0,0
$GC,6589,1.19,116.8,239.1,10.5,325,6593,0.00,2.45,0.00,0.000,6,0.000,0.040,3390,1789,2135,0,0,0,0,0,0
$GC,6919,1.19,116.8,203.6,10.2,341,6920,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,1788,2133,0,0,0,0,0,0
$GC,7237,1.19,116.8,173.7,9.3,369,7241,0.00,2.45,0.00,0.000,4,0.000,0.051,3391,385,2133,0,0,0,0,0,0
$GC,7293,1.19,116.8,168.2,9.8,374,7299,0.00,2.35,0.00,0.000,6,0.000,0.024,3391,1799,2131,0,0,0,0,0,0
$GC,7557,1.20,119.2,148.2,7.9,399,7562,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1804,2132,0,0,0,0,0,0
$GC,7818,1.20,119.2,123.2,10.3,424,7823,0.00,2.45,0.00,0.000,4,0.000,0.047,3391,382,2131,0,0,0,0,0,0
$GC,7879,1.20,119.2,116.8,10.2,430,7883,0.00,2.33,0.00,0.000,6,0.000,0.021,3390,1817,2131,0,0,0,0,0,0
$GC,8142,1.20,119.2,91.6,8.4,454,8143,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,1823,2131,0,0,0,0,0,0
$GC,8396,1.25,158.3,73.3,6.2,478,8435,0.00,2.58,32.05,0.528,4,0.000,0.047,3391,380,1988,0,0,0,0,0,0
$GC,8522,1.25,158.3,62.4,10.1,491,8529,0.00,2.33,0.00,0.000,6,0.000,0.020,3391,1780,1983,0,0,0,0,0,0
$GC,8784,1.25,158.3,40.8,8.3,516,8788,0.00,2.33,0.00,0.000,4,0.000,0.025,3391,3210,1983,0,0,0,0,0,0
$GC,8827,1.25,158.3,36.9,9.2,520,8831,0.00,2.40,0.00,0.000,6,0.000,0.031,3391,1795,1983,0,0,0,0,0,0
$GC,9091,1.25,158.3,14.8,8.5,560,9097,0.00,2.45,0.00,0.000,4,0.000,0.045,3390,383,1983,0,0,0,0,0,0
$GC,9105,1.25,158.3,13.5,8.3,562,9112,0.00,2.33,0.00,0.000,6,0.000,0.019,3391,1824,1983,0,0,0,0,0,0
$STATE,9236,end climb,SURFACE_DEPTH_REACHED
$STATE,9236,begin surface coast
$FINISH,0.5,1.023401
$STATE,9276,end surface coast,CONTROL_FINISHED_OK
$STATE,9276,begin surface
$SM_CCo,9300,86.65,0.464,0,0,1288,330.17
$SM_GC,1.25,0.00,0.00,86.65,0.000,0.000,0.464,427,2130,1288,-12.47,0.82,330.17
$IRIDIUM_FIX,2101.76,-15803.33,060700,232359
$TT8_MAMPS,0.028379
$HUMID,53.11
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.4,5.861
$10V_AH,10.5,5.492
$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,28.475,96.100,226.850,86.650,0.000,56.990,68.655,249.286,4.500,0.000,20.949,1094.951,6173.310,391.732,1688.371,611.195,0.000,1108.086,0.000,1668.464,0.000,29.252,0.000
$DEVICE_MAMPS,139.594,59.059,828.360,464.035,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,401.601,387.547,887.411,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31834,593
$CAP_FILE_SIZE,99076,0
$CFSIZE,260165632,253071360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130411,022901,2108.088,-15803.530,42,1.9,42,9.8