version: 66.06
glider: 139
mission: 9
dive: 72
start: 4 13 111 2 34 38
data:
$ID,139
$MISSION,9
$DIVE,72
$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,-2176083
$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,20
$R_STBD_OVSHOOT,92
$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
$GPS1,022901,2108.088,-15803.530,42,1.9,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-77.3
$GPS2,023419,2108.085,-15803.557,12,1.7,12,9.8
$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,70.0,2619,-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,-71.30,0.000,6,0.000,0.000,426,2129,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.0,-4.8,14,115,13.27,2.20,0.00,0.000,4,0.137,0.025,2867,3453,3114,0,0,0,0,0,0
$GC,204,-1.19,-116.8,26.3,-17.7,37,210,0.00,2.33,0.00,0.000,6,0.000,0.028,2867,2090,3115,0,0,0,0,0,0
$GC,405,-1.19,-116.8,59.2,-14.5,57,409,0.00,2.25,0.00,0.000,4,0.000,0.027,2867,3449,3115,0,0,0,0,0,0
$GC,482,-1.19,-116.8,70.2,-13.9,65,486,0.00,2.25,0.00,0.000,6,0.000,0.026,2868,2093,3115,0,0,0,0,0,0
$GC,748,-1.19,-116.8,105.0,-12.8,89,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2092,3116,0,0,0,0,0,0
$GC,1009,-1.19,-116.8,134.8,-9.8,114,1013,0.00,2.38,0.00,0.000,4,0.000,0.039,2867,687,3117,0,0,0,0,0,0
$GC,1045,-1.19,-116.8,139.1,-11.3,117,1051,0.00,2.22,0.00,0.000,6,0.000,0.020,2867,2058,3117,0,0,0,0,0,0
$GC,1308,-1.19,-116.8,166.2,-8.4,142,1312,0.00,2.30,0.00,0.000,4,0.000,0.038,2867,689,3117,0,0,0,0,0,0
$GC,1415,-1.19,-116.8,176.7,-9.9,153,1419,0.00,2.28,0.00,0.000,6,0.000,0.021,2868,2100,3118,0,0,0,0,0,0
$GC,1678,-1.19,-116.8,204.5,-10.9,175,1679,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2104,3118,0,0,0,0,0,0
$GC,1984,-1.19,-116.8,231.4,-7.6,190,1989,0.00,2.33,0.00,0.000,4,0.000,0.033,2868,3503,3119,0,0,0,0,0,0
$GC,2086,-1.19,-116.8,239.9,-7.5,194,2093,0.00,2.35,0.00,0.000,6,0.000,0.028,2867,2091,3119,0,0,0,0,0,0
$GC,2409,-1.19,-116.8,267.2,-9.1,210,2413,0.00,2.35,0.00,0.000,4,0.000,0.034,2867,3495,3118,0,0,0,0,0,0
$GC,2441,-1.19,-116.8,270.5,-10.7,211,2445,0.00,2.35,0.00,0.000,6,0.000,0.029,2867,2093,3118,0,0,0,0,0,0
$GC,2757,-1.19,-116.8,300.0,-8.2,226,2761,0.00,2.35,0.00,0.000,4,0.000,0.035,2867,3494,3117,0,0,0,0,0,0
$GC,2800,-1.19,-116.8,303.4,-7.5,227,2805,0.00,2.33,0.00,0.000,6,0.000,0.030,2868,2098,3117,0,0,0,0,0,0
$GC,3129,-1.19,-116.8,321.6,-5.6,235,3133,0.00,2.38,0.00,0.000,4,0.000,0.036,2867,3499,3116,0,0,0,0,0,0
$GC,3240,-1.19,-116.8,329.6,-7.3,237,3244,0.00,2.38,0.00,0.000,6,0.000,0.031,2868,2094,3116,0,0,0,0,0,0
$GC,3590,-1.19,-116.8,355.6,-7.6,246,3591,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2094,3113,0,0,0,0,0,0
$GC,3915,-1.19,-116.8,376.1,-6.2,254,3919,0.00,2.42,0.00,0.000,4,0.000,0.048,2867,688,3111,0,0,0,0,0,0
$GC,4028,-1.19,-116.8,383.4,-6.5,256,4033,0.00,2.33,0.00,0.000,6,0.000,0.027,2867,2099,3110,0,0,0,0,0,0
$GC,4375,-1.19,-116.8,401.8,-5.3,265,4379,0.00,2.40,0.00,0.000,4,0.000,0.041,2867,3505,3108,0,0,0,0,0,0
$GC,4430,-1.19,-116.8,405.4,-6.3,266,4435,0.00,2.40,0.00,0.000,6,0.000,0.034,2867,2094,3108,0,0,0,0,0,0
$GC,4749,-1.19,-116.8,425.4,-6.6,274,4753,0.00,2.40,0.00,0.000,4,0.000,0.041,2867,3499,3105,0,0,0,0,0,0
$GC,4856,-1.19,-116.8,433.9,-8.3,276,4860,0.00,2.38,0.00,0.000,6,0.000,0.035,2867,2094,3105,0,0,0,0,0,0
$STATE,5081,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5081,begin apogee
$GC,5088,-0.31,0.0,451.7,7.9,282,5186,0.98,0.00,95.32,0.836,6,0.089,0.000,3066,1805,2635,0,0,0,0,0,0
$STATE,5187,end apogee,CONTROL_FINISHED_OK
$STATE,5187,begin climb
$GC,5190,1.19,116.8,454.1,0.0,284,5300,1.52,2.58,102.00,0.816,4,0.060,0.059,3394,392,2157,0,0,0,0,0,0
$GC,5319,1.19,116.8,445.2,10.7,287,5324,0.00,2.40,0.00,0.000,6,0.000,0.028,3394,1808,2152,0,0,0,0,0,0
$GC,5650,1.19,116.8,410.7,11.0,296,5654,0.00,2.40,0.00,0.000,4,0.000,0.036,3394,3204,2145,0,0,0,0,0,0
$GC,5675,1.19,116.8,408.0,11.3,296,5679,0.00,2.47,0.00,0.000,6,0.000,0.041,3394,1804,2145,0,0,0,0,0,0
$GC,6015,1.19,116.8,369.3,11.2,305,6020,0.00,2.55,0.00,0.000,4,0.000,0.059,3394,382,2141,0,0,0,0,0,0
$GC,6053,1.19,116.8,364.2,13.7,305,6059,0.00,2.38,0.00,0.000,6,0.000,0.028,3394,1794,2138,0,0,0,0,0,0
$GC,6384,1.19,116.8,325.5,11.6,314,6389,0.00,2.53,0.00,0.000,4,0.000,0.058,3394,382,2138,0,0,0,0,0,0
$GC,6412,1.19,116.8,321.4,14.8,314,6417,0.00,2.40,0.00,0.000,6,0.000,0.028,3394,1812,2136,0,0,0,0,0,0
$GC,6730,1.19,116.8,281.8,12.8,325,6735,0.00,2.55,0.00,0.000,4,0.000,0.058,3394,387,2136,0,0,0,0,0,0
$GC,6751,1.19,116.8,278.8,13.6,326,6755,0.00,2.38,0.00,0.000,6,0.000,0.028,3394,1805,2135,0,0,0,0,0,0
$GC,7080,1.19,116.8,238.0,12.3,342,7084,0.00,2.38,0.00,0.000,4,0.000,0.035,3394,3210,2134,0,0,0,0,0,0
$GC,7147,1.19,116.8,230.1,12.1,345,7151,0.00,2.45,0.00,0.000,6,0.000,0.039,3394,1797,2134,0,0,0,0,0,0
$GC,7477,1.19,116.8,198.5,9.5,361,7481,0.00,2.50,0.00,0.000,4,0.000,0.054,3394,379,2133,0,0,0,0,0,0
$GC,7503,1.19,116.8,195.8,10.4,363,7507,0.00,2.38,0.00,0.000,6,0.000,0.025,3394,1815,2132,0,0,0,0,0,0
$GC,7768,1.19,116.8,166.8,12.6,387,7772,0.00,2.33,0.00,0.000,4,0.000,0.031,3394,3205,2132,0,0,0,0,0,0
$GC,7795,1.19,116.8,162.9,11.9,389,7801,0.00,2.42,0.00,0.000,6,0.000,0.036,3394,1797,2132,0,0,0,0,0,0
$GC,8058,1.19,116.8,136.6,8.0,414,8062,0.00,2.45,0.00,0.000,4,0.000,0.051,3394,386,2132,0,0,0,0,0,0
$GC,8099,1.19,116.8,132.9,9.0,418,8106,0.00,2.35,0.00,0.000,6,0.000,0.023,3394,1809,2130,0,0,0,0,0,0
$GC,8363,1.28,188.2,117.8,4.7,443,8427,0.10,2.60,57.83,0.590,4,0.075,0.050,3428,387,1866,0,0,0,0,0,0
$GC,8498,1.28,188.2,104.7,12.6,457,8504,0.00,2.33,0.00,0.000,6,0.000,0.021,3429,1794,1860,0,0,0,0,0,0
$GC,8761,1.28,188.2,71.5,13.0,482,8762,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,1799,1859,0,0,0,0,0,0
$GC,9015,1.28,188.2,42.5,11.1,506,9019,0.00,2.45,0.00,0.000,4,0.000,0.047,3428,384,1859,0,0,0,0,0,0
$GC,9041,1.28,188.2,39.5,12.2,508,9045,0.00,2.33,0.00,0.000,6,0.000,0.020,3429,1823,1857,0,0,0,0,0,0
$GC,9307,1.28,188.2,10.0,11.6,548,9313,0.00,2.50,0.00,0.000,4,0.000,0.045,3429,393,1857,0,0,0,0,0,0
$GC,9342,1.28,188.2,5.5,13.4,555,9348,0.00,2.28,0.00,0.000,6,0.000,0.018,3429,1772,1856,0,0,0,0,0,0
$STATE,9365,end climb,SURFACE_DEPTH_REACHED
$STATE,9365,begin surface coast
$FINISH,0.4,1.000538
$STATE,9394,end surface coast,CONTROL_FINISHED_OK
$STATE,9394,begin surface
$SM_CCo,9418,72.78,0.472,0,0,1289,330.17
$SM_GC,1.37,0.00,0.00,72.78,0.000,0.000,0.472,430,2158,1289,-12.45,1.64,330.17
$IRIDIUM_FIX,2059.45,-15803.33,060700,232311
$TT8_MAMPS,0.029146
$HUMID,54.52
$INTERNAL_PRESSURE,9.57698
$TCM_TEMP,20.80
$XPDR_PINGS,0
$24V_AH,23.3,5.939
$10V_AH,10.5,5.564
$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,28.800,110.675,255.150,72.775,0.000,23.407,44.316,136.658,4.500,0.000,12.352,1057.595,6316.984,435.894,1579.203,421.362,0.000,1120.956,0.000,1566.220,0.000,29.255,0.000
$DEVICE_MAMPS,137.293,59.059,836.030,471.705,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,381.793,356.026,784.857,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,31733,564
$CAP_FILE_SIZE,96795,0
$CFSIZE,260165632,253026304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130411,051338,2108.392,-15802.669,10,1.7,10,9.8