version: 66.06
glider: 139
mission: 9
dive: 75
start: 4 13 111 10 57 4
data:
$ID,139
$MISSION,9
$DIVE,75
$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,-2176126.5
$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,16
$R_STBD_OVSHOOT,89
$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
$GPS1,105106,2108.415,-15801.454,12,1.9,28,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-75.6
$GPS2,105644,2108.421,-15801.480,14,1.9,14,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$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,88.8,32434,-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,-71.28,0.000,6,0.000,0.000,430,2145,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,2.9,-4.3,14,115,13.30,2.53,0.00,0.000,4,0.139,0.038,2867,671,3114,0,0,0,0,0,0
$GC,279,-1.19,-116.8,41.2,-17.8,47,283,0.00,2.25,0.00,0.000,6,0.000,0.020,2867,2063,3115,0,0,0,0,0,0
$GC,541,-1.19,-116.8,77.9,-12.5,71,545,0.00,2.35,0.00,0.000,4,0.000,0.040,2867,678,3116,0,0,0,0,0,0
$GC,592,-1.19,-116.8,84.6,-13.3,76,596,0.00,2.30,0.00,0.000,6,0.000,0.020,2867,2101,3115,0,0,0,0,0,0
$GC,856,-1.19,-116.8,120.8,-14.3,100,860,0.00,2.33,0.00,0.000,4,0.000,0.029,2867,3496,3116,0,0,0,0,0,0
$GC,900,-1.19,-116.8,126.9,-13.9,104,904,0.00,2.35,0.00,0.000,6,0.000,0.027,2868,2078,3116,0,0,0,0,0,0
$GC,1163,-1.19,-116.8,160.3,-12.5,128,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2078,3117,0,0,0,0,0,0
$GC,1415,-1.19,-116.8,191.1,-10.5,152,1419,0.00,2.35,0.00,0.000,4,0.000,0.030,2868,3496,3117,0,0,0,0,0,0
$GC,1562,-1.19,-116.8,206.7,-10.1,163,1566,0.00,2.30,0.00,0.000,6,0.000,0.027,2867,2099,3118,0,0,0,0,0,0
$GC,1877,-1.19,-116.8,235.4,-8.4,178,1881,0.00,2.35,0.00,0.000,4,0.000,0.031,2867,3496,3118,0,0,0,0,0,0
$GC,1960,-1.19,-116.8,242.8,-8.7,181,1965,0.00,2.30,0.00,0.000,6,0.000,0.027,2868,2098,3118,0,0,0,0,0,0
$GC,2277,-1.19,-116.8,269.8,-8.2,197,2281,0.00,2.38,0.00,0.000,4,0.000,0.035,2867,3500,3118,0,0,0,0,0,0
$GC,2360,-1.19,-116.8,276.6,-8.2,200,2366,0.00,2.35,0.00,0.000,6,0.000,0.028,2868,2105,3118,0,0,0,0,0,0
$GC,2676,-1.19,-116.8,299.5,-6.4,216,2680,0.00,2.38,0.00,0.000,4,0.000,0.042,2867,693,3118,0,0,0,0,0,0
$GC,2690,-1.19,-116.8,300.4,-6.0,216,2697,0.00,2.33,0.00,0.000,6,0.000,0.025,2867,2097,3118,0,0,0,0,0,0
$GC,3023,-1.19,-116.8,322.1,-7.5,225,3027,0.00,2.38,0.00,0.000,4,0.000,0.036,2867,3503,3116,0,0,0,0,0,0
$GC,3136,-1.19,-116.8,331.8,-7.9,227,3140,0.00,2.35,0.00,0.000,6,0.000,0.031,2867,2096,3116,0,0,0,0,0,0
$GC,3481,-1.19,-116.8,357.8,-6.9,236,3486,0.00,2.40,0.00,0.000,4,0.000,0.046,2867,688,3114,0,0,0,0,0,0
$GC,3709,-1.19,-116.8,378.7,-10.3,241,3713,0.00,2.33,0.00,0.000,6,0.000,0.026,2868,2101,3113,0,0,0,0,0,0
$GC,4036,-1.19,-116.8,408.8,-8.8,249,4041,0.00,2.45,0.00,0.000,4,0.000,0.047,2867,688,3111,0,0,0,0,0,0
$GC,4088,-1.19,-116.8,413.1,-7.9,250,4092,0.00,2.33,0.00,0.000,6,0.000,0.027,2867,2099,3110,0,0,0,0,0,0
$GC,4406,-1.19,-116.8,433.7,-6.2,258,4410,0.00,2.40,0.00,0.000,4,0.000,0.042,2867,3498,3107,0,0,0,0,0,0
$GC,4435,-1.19,-116.8,435.3,-6.0,258,4439,0.00,2.35,0.00,0.000,6,0.000,0.035,2867,2103,3108,0,0,0,0,0,0
$STATE,4687,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4687,begin apogee
$GC,4694,-0.31,0.0,450.2,5.6,265,4793,0.98,0.00,95.72,0.822,6,0.086,0.000,3068,1798,2635,0,0,0,0,0,0
$STATE,4794,end apogee,CONTROL_FINISHED_OK
$STATE,4794,begin climb
$GC,4796,1.19,116.8,451.0,0.0,267,4903,1.50,0.00,101.78,0.802,6,0.058,0.000,3395,1798,2158,0,0,0,0,0,0
$GC,5206,1.19,116.8,399.8,13.6,277,5207,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1798,2147,0,0,0,0,0,0
$GC,5529,1.19,116.8,358.0,12.4,285,5533,0.00,2.53,0.00,0.000,4,0.000,0.059,3394,392,2143,0,0,0,0,0,0
$GC,5576,1.19,116.8,351.6,14.3,286,5580,0.00,2.35,0.00,0.000,6,0.000,0.028,3395,1796,2141,0,0,0,0,0,0
$GC,5898,1.19,116.8,311.3,12.4,294,5903,0.00,2.53,0.00,0.000,4,0.000,0.057,3394,386,2139,0,0,0,0,0,0
$GC,5960,1.19,116.8,303.7,12.0,295,5965,0.00,2.40,0.00,0.000,6,0.000,0.028,3395,1817,2137,0,0,0,0,0,0
$GC,6294,1.19,116.8,270.8,9.2,310,6298,0.00,2.33,0.00,0.000,4,0.000,0.035,3395,3201,2136,0,0,0,0,0,0
$GC,6315,1.19,116.8,268.8,10.1,311,6320,0.00,2.42,0.00,0.000,6,0.000,0.038,3395,1803,2136,0,0,0,0,0,0
$GC,6646,1.19,116.8,237.2,9.9,327,6647,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1803,2135,0,0,0,0,0,0
$GC,6954,1.19,116.8,207.7,9.3,342,6958,0.00,2.35,0.00,0.000,4,0.000,0.031,3395,3205,2134,0,0,0,0,0,0
$GC,6979,1.19,116.8,205.5,8.6,343,6984,0.00,2.40,0.00,0.000,6,0.000,0.035,3395,1797,2134,0,0,0,0,0,0
$GC,7305,1.19,116.8,176.6,10.4,370,7310,0.00,2.45,0.00,0.000,4,0.000,0.051,3394,386,2133,0,0,0,0,0,0
$GC,7340,1.19,116.8,172.8,11.9,373,7344,0.00,2.30,0.00,0.000,6,0.000,0.022,3395,1811,2132,0,0,0,0,0,0
$GC,7605,1.19,116.8,142.6,12.5,397,7609,0.00,2.45,0.00,0.000,4,0.000,0.048,3395,386,2132,0,0,0,0,0,0
$GC,7649,1.19,116.8,136.3,14.1,401,7653,0.00,2.30,0.00,0.000,6,0.000,0.021,3395,1793,2132,0,0,0,0,0,0
$GC,7913,1.19,116.8,110.1,8.3,425,7918,0.00,2.45,0.00,0.000,4,0.000,0.047,3394,378,2132,0,0,0,0,0,0
$GC,7940,1.19,116.8,107.6,9.5,427,7944,0.00,2.30,0.00,0.000,6,0.000,0.021,3395,1812,2131,0,0,0,0,0,0
$GC,8204,1.25,157.9,90.1,6.1,451,8242,0.00,2.33,32.15,0.539,4,0.000,0.025,3395,3202,1990,0,0,0,0,0,0
$GC,8253,1.26,171.6,86.2,7.4,456,8273,0.00,2.42,13.40,0.501,6,0.000,0.031,3395,1793,1935,0,0,0,0,0,0
$GC,8529,1.29,190.7,65.8,7.1,482,8553,0.00,2.50,17.02,0.492,4,0.000,0.048,3395,392,1856,0,0,0,0,0,0
$GC,8700,1.29,190.7,48.0,10.2,501,8704,0.00,2.30,0.00,0.000,6,0.000,0.019,3395,1808,1851,0,0,0,0,0,0
$GC,8965,1.29,190.7,22.3,10.0,532,8972,0.00,2.50,0.00,0.000,4,0.000,0.046,3395,383,1851,0,0,0,0,0,0
$GC,9030,1.29,190.7,15.2,11.3,546,9037,0.00,2.30,0.00,0.000,6,0.000,0.018,3395,1778,1850,0,0,0,0,0,0
$STATE,9170,end climb,SURFACE_DEPTH_REACHED
$STATE,9172,begin surface coast
$FINISH,0.5,1.009674
$STATE,9205,end surface coast,CONTROL_FINISHED_OK
$STATE,9205,begin surface
$SM_CCo,9229,72.32,0.461,0,0,1288,330.17
$SM_GC,1.03,0.00,0.00,72.32,0.000,0.000,0.461,428,2165,1288,-12.46,1.84,330.17
$IRIDIUM_FIX,2059.45,-15801.19,070700,080809
$TT8_MAMPS,0.029146
$HUMID,53.50
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.4,6.166
$10V_AH,10.7,5.795
$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,28.525,100.725,260.075,72.325,0.000,27.298,40.265,151.630,4.500,0.000,14.972,1082.106,6017.349,417.760,1674.805,450.803,0.000,1126.354,0.000,1666.117,0.000,29.249,0.000
$DEVICE_MAMPS,138.827,59.059,822.224,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,391.354,377.591,854.819,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,31819,578
$CAP_FILE_SIZE,96255,0
$CFSIZE,260165632,252878848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130411,133330,2108.134,-15800.872,39,1.5,45,9.8