version: 66.06
glider: 139
mission: 9
dive: 76
start: 4 13 111 13 39 20
data:
$ID,139
$MISSION,9
$DIVE,76
$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,-2176142.5
$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,19
$R_STBD_OVSHOOT,81
$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
$GPS1,133330,2108.134,-15800.872,39,1.5,45,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-74.5
$GPS2,133901,2108.101,-15800.880,15,1.0,15,9.8
$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,88.0,31323,-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,-116.8,0.0,0.0,0,94,0.00,0.00,-71.28,0.000,6,0.000,0.000,428,2165,3111,0,0,0,0,0,0
$GC,97,-1.19,-116.8,3.1,-4.9,14,116,13.30,2.55,0.00,0.000,4,0.138,0.038,2869,675,3114,0,0,0,0,0,0
$GC,136,-1.19,-116.8,15.5,-31.2,21,143,0.00,2.30,0.00,0.000,6,0.000,0.021,2870,2061,3115,0,0,0,0,0,0
$GC,343,-1.19,-116.8,48.0,-14.5,48,344,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2066,3116,0,0,0,0,0,0
$GC,597,-1.19,-116.8,86.2,-13.8,72,601,0.00,2.35,0.00,0.000,4,0.000,0.038,2869,671,3116,0,0,0,0,0,0
$GC,614,-1.19,-116.8,88.4,-13.2,73,618,0.00,2.33,0.00,0.000,6,0.000,0.020,2870,2112,3116,0,0,0,0,0,0
$GC,878,-1.19,-116.8,121.4,-12.0,97,882,0.00,2.30,0.00,0.000,4,0.000,0.029,2870,3496,3116,0,0,0,0,0,0
$GC,1054,-1.19,-116.8,144.5,-12.6,116,1061,0.00,2.38,0.00,0.000,6,0.000,0.028,2870,2089,3117,0,0,0,0,0,0
$GC,1319,-1.19,-116.8,177.3,-13.7,141,1323,0.00,2.35,0.00,0.000,4,0.000,0.039,2870,684,3118,0,0,0,0,0,0
$GC,1346,-1.19,-116.8,182.0,-14.4,143,1351,0.00,2.28,0.00,0.000,6,0.000,0.021,2869,2104,3118,0,0,0,0,0,0
$GC,1606,-1.19,-116.8,210.3,-8.9,163,1610,0.00,2.40,0.00,0.000,4,0.000,0.039,2870,691,3118,0,0,0,0,0,0
$GC,1703,-1.19,-116.8,219.0,-9.2,167,1707,0.00,2.28,0.00,0.000,6,0.000,0.021,2870,2102,3118,0,0,0,0,0,0
$GC,2026,-1.19,-116.8,248.8,-10.1,183,2030,0.00,2.33,0.00,0.000,4,0.000,0.034,2870,3502,3119,0,0,0,0,0,0
$GC,2081,-1.19,-116.8,254.9,-10.2,185,2085,0.00,2.35,0.00,0.000,6,0.000,0.028,2869,2094,3118,0,0,0,0,0,0
$GC,2397,-1.19,-116.8,283.0,-9.1,200,2401,0.00,2.35,0.00,0.000,4,0.000,0.042,2869,692,3118,0,0,0,0,0,0
$GC,2443,-1.19,-116.8,287.4,-9.1,202,2447,0.00,2.28,0.00,0.000,6,0.000,0.023,2870,2096,3118,0,0,0,0,0,0
$GC,2770,-1.19,-116.8,310.9,-6.5,214,2774,0.00,2.38,0.00,0.000,4,0.000,0.036,2870,3503,3117,0,0,0,0,0,0
$GC,2854,-1.19,-116.8,317.0,-7.6,215,2859,0.00,2.35,0.00,0.000,6,0.000,0.031,2869,2094,3117,0,0,0,0,0,0
$GC,3185,-1.19,-116.8,339.5,-7.1,224,3190,0.00,2.40,0.00,0.000,4,0.000,0.046,2870,693,3115,0,0,0,0,0,0
$GC,3223,-1.19,-116.8,343.0,-9.2,224,3227,0.00,2.30,0.00,0.000,6,0.000,0.025,2869,2102,3115,0,0,0,0,0,0
$GC,3554,-1.19,-116.8,373.0,-8.8,232,3555,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2105,3113,0,0,0,0,0,0
$GC,3880,-1.19,-116.8,396.5,-6.7,240,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2105,3111,0,0,0,0,0,0
$GC,4204,-1.19,-116.8,416.0,-6.1,248,4209,0.00,2.42,0.00,0.000,4,0.000,0.048,2869,691,3109,0,0,0,0,0,0
$GC,4219,-1.19,-116.8,417.0,-6.0,248,4223,0.00,2.33,0.00,0.000,6,0.000,0.028,2869,2097,3109,0,0,0,0,0,0
$GC,4570,-1.19,-116.8,440.3,-6.6,257,4574,0.00,2.45,0.00,0.000,4,0.000,0.049,2870,687,3106,0,0,0,0,0,0
$STATE,4690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4690,begin apogee
$GC,4698,-0.31,0.0,450.1,8.6,259,4797,0.93,0.00,95.15,0.828,6,0.088,0.000,3061,1825,2635,0,0,0,0,0,0
$STATE,4798,end apogee,CONTROL_FINISHED_OK
$STATE,4798,begin climb
$GC,4801,1.19,116.8,452.7,0.0,262,4907,1.55,0.00,102.30,0.808,6,0.058,0.000,3396,1825,2158,0,0,0,0,0,0
$GC,5198,1.19,116.8,413.4,11.2,272,5202,0.00,2.58,0.00,0.000,4,0.000,0.060,3396,400,2146,0,0,0,0,0,0
$GC,5268,1.19,116.8,404.8,11.8,273,5273,0.00,2.35,0.00,0.000,6,0.000,0.028,3396,1789,2143,0,0,0,0,0,0
$GC,5609,1.19,116.8,366.3,11.2,282,5613,0.00,2.47,0.00,0.000,4,0.000,0.058,3396,404,2140,0,0,0,0,0,0
$GC,5627,1.19,116.8,363.8,12.0,282,5632,0.00,2.33,0.00,0.000,6,0.000,0.028,3396,1810,2139,0,0,0,0,0,0
$GC,5973,1.19,116.8,320.7,12.7,291,5977,0.00,2.53,0.00,0.000,4,0.000,0.058,3396,403,2138,0,0,0,0,0,0
$GC,6016,1.19,116.8,314.7,13.7,292,6020,0.00,2.33,0.00,0.000,6,0.000,0.028,3396,1796,2136,0,0,0,0,0,0
$GC,6347,1.19,116.8,272.1,13.2,305,6352,0.00,2.47,0.00,0.000,4,0.000,0.055,3396,404,2136,0,0,0,0,0,0
$GC,6371,1.19,116.8,268.5,14.5,306,6375,0.00,2.33,0.00,0.000,6,0.000,0.028,3396,1810,2134,0,0,0,0,0,0
$GC,6696,1.19,116.8,230.2,9.8,322,6700,0.00,2.33,0.00,0.000,4,0.000,0.032,3396,3204,2134,0,0,0,0,0,0
$GC,6733,1.19,116.8,226.8,8.6,323,6737,0.00,2.38,0.00,0.000,6,0.000,0.038,3396,1812,2134,0,0,0,0,0,0
$GC,7051,1.19,116.8,192.2,9.7,341,7056,0.00,2.47,0.00,0.000,4,0.000,0.053,3396,386,2133,0,0,0,0,0,0
$GC,7085,1.19,116.8,188.4,11.4,344,7089,0.00,2.33,0.00,0.000,6,0.000,0.025,3396,1810,2132,0,0,0,0,0,0
$GC,7353,1.19,116.8,163.3,8.8,369,7358,0.00,2.47,0.00,0.000,4,0.000,0.051,3396,387,2132,0,0,0,0,0,0
$GC,7426,1.19,116.8,155.3,10.8,376,7433,0.00,2.35,0.00,0.000,6,0.000,0.023,3396,1805,2130,0,0,0,0,0,0
$GC,7689,1.19,116.8,126.3,12.1,401,7693,0.00,2.47,0.00,0.000,4,0.000,0.048,3396,382,2131,0,0,0,0,0,0
$GC,7715,1.19,116.8,122.9,13.4,403,7720,0.00,2.30,0.00,0.000,6,0.000,0.022,3396,1799,2130,0,0,0,0,0,0
$GC,7979,1.19,116.8,95.0,8.8,427,7984,0.00,2.42,0.00,0.000,4,0.000,0.047,3396,387,2131,0,0,0,0,0,0
$GC,8005,1.19,116.8,92.3,10.3,429,8010,0.00,2.30,0.00,0.000,6,0.000,0.021,3396,1824,2130,0,0,0,0,0,0
$GC,8270,1.20,122.4,73.5,7.8,453,8276,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1830,2131,0,0,0,0,0,0
$GC,8533,1.20,124.9,53.4,7.9,478,8537,0.00,2.45,0.00,0.000,4,0.000,0.045,3396,386,2131,0,0,0,0,0,0
$GC,8628,1.20,124.9,45.8,8.3,488,8632,0.00,2.25,0.00,0.000,6,0.000,0.020,3396,1785,2131,0,0,0,0,0,0
$GC,8898,1.25,158.1,28.0,6.5,515,8938,0.00,2.50,31.88,0.489,4,0.000,0.045,3396,385,1988,0,0,0,0,0,0
$GC,8963,1.25,158.3,23.0,8.0,527,8970,0.00,2.35,0.00,0.000,6,0.000,0.019,3396,1819,1986,0,0,0,0,0,0
$GC,9167,1.25,158.3,6.4,8.3,564,9173,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1824,1985,0,0,0,0,0,0
$STATE,9210,end climb,SURFACE_DEPTH_REACHED
$STATE,9211,begin surface coast
$FINISH,0.6,1.023545
$STATE,9250,end surface coast,CONTROL_FINISHED_OK
$STATE,9250,begin surface
$SM_CCo,9274,88.80,0.468,0,0,1288,330.17
$SM_GC,1.25,0.00,0.00,88.80,0.000,0.000,0.468,431,2147,1288,-12.45,1.33,330.17
$IRIDIUM_FIX,2101.76,-15803.33,070700,111143
$TT8_MAMPS,0.029146
$HUMID,52.83
$INTERNAL_PRESSURE,9.58675
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.4,6.240
$10V_AH,10.5,5.869
$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,28.500,104.475,229.325,88.800,0.000,30.489,41.704,141.205,4.500,0.000,15.247,1072.920,6162.086,430.801,1596.787,433.393,0.000,1103.052,0.000,1583.354,0.000,29.257,0.000
$DEVICE_MAMPS,138.060,59.826,828.360,467.870,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,391.915,375.596,870.256,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31833,579
$CAP_FILE_SIZE,94505,0
$CFSIZE,260165632,252829696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130411,161637,2107.918,-15800.147,35,1.3,35,9.8