version: 66.06
glider: 139
mission: 9
dive: 73
start: 4 13 111 5 19 16
data:
$ID,139
$MISSION,9
$DIVE,73
$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,-2176097.2
$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,17
$R_STBD_OVSHOOT,80
$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
$GPS1,051338,2108.392,-15802.669,10,1.7,10,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-75.0
$GPS2,051856,2108.385,-15802.703,13,1.7,13,9.8
$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,88.1,34516,-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,12,begin dive
$GC,15,-1.19,-116.8,0.0,0.0,0,93,0.00,0.00,-71.55,0.000,6,0.000,0.000,430,2158,3111,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.0,-4.4,14,115,13.30,2.17,0.00,0.000,4,0.139,0.025,2870,3464,3113,0,0,0,0,0,0
$GC,156,-1.19,-116.8,17.8,-17.1,26,163,0.00,2.35,0.00,0.000,6,0.000,0.029,2869,2091,3114,0,0,0,0,0,0
$GC,357,-1.19,-116.8,50.6,-15.0,51,361,0.00,2.30,0.00,0.000,4,0.000,0.027,2870,3462,3115,0,0,0,0,0,0
$GC,417,-1.19,-116.8,59.0,-13.5,57,421,0.00,2.30,0.00,0.000,6,0.000,0.028,2869,2095,3115,0,0,0,0,0,0
$GC,683,-1.19,-116.8,91.5,-11.3,82,687,0.00,2.30,0.00,0.000,4,0.000,0.027,2869,3468,3116,0,0,0,0,0,0
$GC,754,-1.19,-116.8,100.2,-12.0,89,758,0.00,2.28,0.00,0.000,6,0.000,0.028,2869,2099,3116,0,0,0,0,0,0
$GC,1019,-1.19,-116.8,135.0,-13.8,113,1023,0.00,2.40,0.00,0.000,4,0.000,0.039,2869,681,3117,0,0,0,0,0,0
$GC,1111,-1.19,-116.8,149.4,-14.7,122,1118,0.00,2.28,0.00,0.000,6,0.000,0.021,2869,2062,3118,0,0,0,0,0,0
$GC,1376,-1.19,-116.8,177.7,-9.2,147,1380,0.00,2.33,0.00,0.000,4,0.000,0.039,2869,683,3118,0,0,0,0,0,0
$GC,1402,-1.19,-116.8,180.4,-10.0,149,1406,0.00,2.33,0.00,0.000,6,0.000,0.021,2869,2106,3118,0,0,0,0,0,0
$GC,1662,-1.19,-116.8,205.7,-9.3,170,1666,0.00,2.33,0.00,0.000,4,0.000,0.032,2869,3506,3118,0,0,0,0,0,0
$GC,1814,-1.19,-116.8,221.3,-9.2,176,1821,0.00,2.38,0.00,0.000,6,0.000,0.027,2869,2097,3119,0,0,0,0,0,0
$GC,2130,-1.19,-116.8,247.6,-8.9,192,2131,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2097,3118,0,0,0,0,0,0
$GC,2441,-1.19,-116.8,273.0,-8.3,207,2445,0.00,2.35,0.00,0.000,4,0.000,0.034,2869,3495,3118,0,0,0,0,0,0
$GC,2621,-1.19,-116.8,291.4,-10.1,215,2625,0.00,2.33,0.00,0.000,6,0.000,0.030,2870,2098,3118,0,0,0,0,0,0
$GC,2948,-1.19,-116.8,313.3,-5.9,226,2952,0.00,2.35,0.00,0.000,4,0.000,0.035,2869,3495,3117,0,0,0,0,0,0
$GC,3105,-1.19,-116.8,325.0,-7.6,229,3109,0.00,2.33,0.00,0.000,6,0.000,0.031,2869,2102,3117,0,0,0,0,0,0
$GC,3455,-1.19,-116.8,353.1,-8.2,238,3459,0.00,2.42,0.00,0.000,4,0.000,0.046,2869,692,3115,0,0,0,0,0,0
$GC,3473,-1.19,-116.8,354.9,-8.7,238,3478,0.00,2.35,0.00,0.000,6,0.000,0.026,2869,2106,3115,0,0,0,0,0,0
$GC,3821,-1.19,-116.8,381.9,-7.4,247,3825,0.00,2.42,0.00,0.000,4,0.000,0.047,2869,693,3112,0,0,0,0,0,0
$GC,4006,-1.19,-116.8,395.8,-7.0,251,4010,0.00,2.33,0.00,0.000,6,0.000,0.028,2869,2101,3111,0,0,0,0,0,0
$GC,4333,-1.19,-116.8,418.3,-7.2,259,4334,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2103,3109,0,0,0,0,0,0
$GC,4659,-1.19,-116.8,442.0,-7.3,267,4664,0.00,2.38,0.00,0.000,4,0.000,0.042,2869,3496,3107,0,0,0,0,0,0
$GC,4711,-1.19,-116.8,445.6,-6.9,268,4715,0.00,2.35,0.00,0.000,6,0.000,0.035,2869,2104,3107,0,0,0,0,0,0
$STATE,4783,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4783,begin apogee
$GC,4790,-0.31,0.0,450.9,7.0,270,4889,0.95,0.00,95.50,0.835,6,0.085,0.000,3064,1801,2635,0,0,0,0,0,0
$STATE,4889,end apogee,CONTROL_FINISHED_OK
$STATE,4889,begin climb
$GC,4892,1.19,116.8,452.7,0.0,272,5004,1.50,2.58,100.85,0.817,4,0.060,0.059,3390,397,2156,0,0,0,0,0,0
$GC,5015,1.19,116.8,441.7,13.3,274,5020,0.00,2.40,0.00,0.000,6,0.000,0.028,3391,1802,2153,0,0,0,0,0,0
$GC,5346,1.19,116.8,400.8,12.0,283,5347,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,1807,2146,0,0,0,0,0,0
$GC,5671,1.19,116.8,361.1,11.8,291,5675,0.00,2.55,0.00,0.000,4,0.000,0.058,3390,390,2142,0,0,0,0,0,0
$GC,5741,1.19,116.8,352.7,12.3,292,5745,0.00,2.38,0.00,0.000,6,0.000,0.028,3391,1811,2139,0,0,0,0,0,0
$GC,6081,1.19,116.8,317.8,10.1,301,6082,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,1815,2138,0,0,0,0,0,0
$GC,6390,1.19,116.8,285.7,10.1,311,6394,0.00,2.55,0.00,0.000,4,0.000,0.057,3391,384,2137,0,0,0,0,0,0
$GC,6418,1.19,116.8,281.9,12.6,312,6422,0.00,2.35,0.00,0.000,6,0.000,0.028,3391,1794,2135,0,0,0,0,0,0
$GC,6743,1.19,116.8,244.7,12.8,328,6747,0.00,2.40,0.00,0.000,4,0.000,0.034,3391,3214,2135,0,0,0,0,0,0
$GC,6786,1.19,116.8,239.2,13.1,330,6790,0.00,2.47,0.00,0.000,6,0.000,0.040,3391,1795,2135,0,0,0,0,0,0
$GC,7116,1.19,116.8,206.8,8.4,346,7120,0.00,2.40,0.00,0.000,4,0.000,0.032,3391,3211,2134,0,0,0,0,0,0
$GC,7171,1.19,116.8,201.8,9.2,348,7175,0.00,2.42,0.00,0.000,6,0.000,0.036,3391,1798,2133,0,0,0,0,0,0
$GC,7496,1.19,116.8,170.7,8.9,377,7501,0.00,2.45,0.00,0.000,4,0.000,0.051,3391,387,2132,0,0,0,0,0,0
$GC,7530,1.19,116.8,166.9,11.2,380,7534,0.00,2.35,0.00,0.000,6,0.000,0.024,3391,1828,2131,0,0,0,0,0,0
$GC,7799,1.19,117.0,143.3,8.0,405,7803,0.00,2.53,0.00,0.000,4,0.000,0.048,3390,378,2132,0,0,0,0,0,0
$GC,7843,1.19,117.0,139.0,10.1,409,7847,0.00,2.30,0.00,0.000,6,0.000,0.022,3391,1792,2131,0,0,0,0,0,0
$GC,8107,1.19,117.0,115.0,9.5,433,8111,0.00,2.42,0.00,0.000,4,0.000,0.048,3390,383,2131,0,0,0,0,0,0
$GC,8176,1.19,117.0,106.9,11.3,440,8181,0.00,2.33,0.00,0.000,6,0.000,0.021,3391,1816,2131,0,0,0,0,0,0
$GC,8439,1.19,117.0,83.1,8.8,464,8443,0.00,2.28,0.00,0.000,4,0.000,0.028,3391,3199,2132,0,0,0,0,0,0
$GC,8514,1.19,117.0,76.7,8.3,472,8519,0.00,2.38,0.00,0.000,6,0.000,0.031,3391,1797,2132,0,0,0,0,0,0
$GC,8780,1.22,138.6,53.5,7.0,496,8801,0.00,2.45,15.60,0.494,4,0.000,0.044,3390,384,2068,0,0,0,0,0,0
$GC,8860,1.24,150.2,47.6,7.5,504,8877,0.00,2.33,10.93,0.467,6,0.000,0.020,3391,1797,2022,0,0,0,0,0,0
$GC,9132,1.25,164.6,29.6,7.4,530,9150,0.00,2.40,13.73,0.461,4,0.000,0.025,3391,3201,1964,0,0,0,0,0,0
$GC,9179,1.25,164.6,25.9,8.1,539,9186,0.00,2.42,0.00,0.000,6,0.000,0.031,3391,1798,1964,0,0,0,0,0,0
$GC,9383,1.26,171.3,9.6,7.7,576,9395,0.00,2.45,7.43,0.402,4,0.000,0.044,3391,382,1935,0,0,0,0,0,0
$GC,9407,1.26,171.3,7.5,8.1,580,9414,0.00,2.33,0.00,0.000,6,0.000,0.018,3391,1801,1933,0,0,0,0,0,0
$STATE,9462,end climb,SURFACE_DEPTH_REACHED
$STATE,9462,begin surface coast
$FINISH,0.5,0.998201
$STATE,9500,end surface coast,CONTROL_FINISHED_OK
$STATE,9501,begin surface
$SM_CCo,9524,81.88,0.466,0,0,1288,330.17
$SM_GC,1.27,0.00,0.00,81.88,0.000,0.000,0.466,430,2155,1288,-12.45,1.55,330.17
$IRIDIUM_FIX,2059.45,-15805.48,070700,020237
$TT8_MAMPS,0.029146
$HUMID,52.16
$INTERNAL_PRESSURE,9.58675
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.3,6.014
$10V_AH,10.6,5.641
$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,28.500,110.200,244.025,81.875,0.000,24.717,36.966,143.799,4.500,0.000,13.499,1129.646,6182.335,398.124,1765.635,452.963,0.000,1162.007,0.000,1758.526,0.000,29.235,0.000
$DEVICE_MAMPS,138.827,59.059,835.263,465.569,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,404.631,389.154,891.918,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31803,597
$CAP_FILE_SIZE,102514,0
$CFSIZE,260165632,252968960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130411,080036,2108.458,-15802.002,35,1.5,35,9.8