version: 66.06
glider: 139
mission: 9
dive: 89
start: 4 15 111 1 6 53
data:
$ID,139
$MISSION,9
$DIVE,89
$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,1
$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,-2176457.5
$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,20
$R_STBD_OVSHOOT,53
$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
$GPS1,010034,2104.606,-15756.657,13,4.7,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-73.5
$GPS2,010602,2104.656,-15756.614,16,1.0,16,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.219,0.034
$KALMAN_X,-2144.8,-1420.7,-410.1,4081.8,-482.0
$KALMAN_Y,-451.9,-277.3,-114.4,162.5,-198.4
$MHEAD_RNG_PITCHd_Wd,71.5,23762,-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,-70.75,0.000,6,0.000,0.000,429,2095,3111,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.3,-5.2,14,114,13.30,2.35,0.00,0.000,4,0.140,0.031,2869,3490,3113,0,0,0,0,0,0
$GC,367,-1.19,-116.8,51.7,-14.0,58,371,0.00,2.33,0.00,0.000,6,0.000,0.027,2869,2091,3116,0,0,0,0,0,0
$GC,628,-1.19,-116.8,91.2,-15.9,82,632,0.00,2.35,0.00,0.000,4,0.000,0.028,2868,3490,3115,0,0,0,0,0,0
$GC,889,-1.19,-116.8,131.6,-14.4,110,896,0.00,2.35,0.00,0.000,6,0.000,0.028,2869,2096,3117,0,0,0,0,0,0
$GC,1154,-1.19,-116.8,163.6,-11.2,135,1158,0.00,2.38,0.00,0.000,4,0.000,0.038,2868,679,3117,0,0,0,0,0,0
$GC,1163,-1.19,-116.8,165.2,-11.6,135,1169,0.00,2.28,0.00,0.000,6,0.000,0.021,2869,2094,3117,0,0,0,0,0,0
$GC,1426,-1.19,-116.8,193.4,-10.9,160,1430,0.00,2.33,0.00,0.000,4,0.000,0.031,2869,3500,3118,0,0,0,0,0,0
$GC,1508,-1.19,-116.8,202.3,-10.3,167,1514,0.00,2.33,0.00,0.000,6,0.000,0.027,2868,2092,3118,0,0,0,0,0,0
$GC,1826,-1.19,-116.8,231.5,-9.7,183,1830,0.00,2.33,0.00,0.000,4,0.000,0.031,2868,3493,3118,0,0,0,0,0,0
$GC,2093,-1.19,-116.8,259.7,-9.5,194,2101,0.00,2.35,0.00,0.000,6,0.000,0.028,2868,2092,3118,0,0,0,0,0,0
$GC,2409,-1.19,-116.8,289.7,-10.1,210,2413,0.00,2.35,0.00,0.000,4,0.000,0.033,2868,3496,3118,0,0,0,0,0,0
$GC,2672,-1.19,-116.8,310.5,-6.6,218,2676,0.00,2.33,0.00,0.000,6,0.000,0.029,2869,2099,3117,0,0,0,0,0,0
$GC,3003,-1.19,-116.8,333.9,-7.8,226,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2099,3116,0,0,0,0,0,0
$GC,3328,-1.19,-116.8,358.9,-7.8,234,3333,0.00,2.42,0.00,0.000,4,0.000,0.047,2868,686,3115,0,0,0,0,0,0
$GC,3347,-1.19,-116.8,360.5,-7.7,234,3352,0.00,2.30,0.00,0.000,6,0.000,0.026,2869,2092,3114,0,0,0,0,0,0
$GC,3698,-1.19,-116.8,385.2,-6.6,243,3702,0.00,2.38,0.00,0.000,4,0.000,0.039,2868,3501,3112,0,0,0,0,0,0
$GC,3726,-1.19,-116.8,387.2,-7.4,243,3730,0.00,2.35,0.00,0.000,6,0.000,0.033,2868,2103,3112,0,0,0,0,0,0
$GC,4068,-1.19,-116.8,409.6,-6.6,252,4072,0.00,2.38,0.00,0.000,4,0.000,0.039,2868,3499,3109,0,0,0,0,0,0
$GC,4206,-1.19,-116.8,419.3,-7.0,255,4210,0.00,2.38,0.00,0.000,6,0.000,0.035,2868,2095,3108,0,0,0,0,0,0
$GC,4534,-1.19,-116.8,440.4,-5.9,263,4536,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2094,3106,0,0,0,0,0,0
$STATE,4734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4734,begin apogee
$GC,4741,-0.31,0.0,451.3,5.3,268,4840,0.98,0.00,95.53,0.827,6,0.088,0.000,3068,1805,2635,0,0,0,0,0,0
$STATE,4841,end apogee,CONTROL_FINISHED_OK
$STATE,4841,begin climb
$GC,4843,1.19,116.8,452.5,0.0,270,4955,1.50,2.45,101.45,0.807,4,0.058,0.035,3395,3204,2156,0,0,0,0,0,0
$GC,4971,1.19,116.8,440.6,12.6,273,4976,0.00,2.47,0.00,0.000,6,0.000,0.042,3395,1805,2156,0,0,0,0,0,0
$GC,5299,1.19,116.8,399.2,12.5,281,5303,0.00,2.55,0.00,0.000,4,0.000,0.058,3395,384,2146,0,0,0,0,0,0
$GC,5337,1.19,116.8,393.8,15.0,281,5342,0.00,2.38,0.00,0.000,6,0.000,0.028,3396,1795,2143,0,0,0,0,0,0
$GC,5668,1.19,116.8,352.3,12.0,290,5672,0.00,2.42,0.00,0.000,4,0.000,0.035,3395,3213,2142,0,0,0,0,0,0
$GC,5696,1.19,116.8,349.0,11.5,290,5700,0.00,2.47,0.00,0.000,6,0.000,0.041,3395,1799,2141,0,0,0,0,0,0
$GC,6031,1.19,116.8,311.3,11.1,299,6036,0.00,2.50,0.00,0.000,4,0.000,0.058,3395,381,2139,0,0,0,0,0,0
$GC,6055,1.19,116.8,308.4,12.8,299,6060,0.00,2.40,0.00,0.000,6,0.000,0.028,3395,1819,2137,0,0,0,0,0,0
$GC,6380,1.19,116.8,273.4,10.3,313,6385,0.00,2.55,0.00,0.000,4,0.000,0.056,3395,384,2137,0,0,0,0,0,0
$GC,6400,1.19,116.8,271.2,10.8,314,6405,0.00,2.35,0.00,0.000,6,0.000,0.027,3396,1789,2135,0,0,0,0,0,0
$GC,6730,1.19,116.8,239.3,9.0,330,6734,0.00,2.50,0.00,0.000,4,0.000,0.054,3395,379,2134,0,0,0,0,0,0
$GC,6762,1.19,116.8,235.8,11.1,331,6767,0.00,2.38,0.00,0.000,6,0.000,0.026,3395,1819,2133,0,0,0,0,0,0
$GC,7078,1.19,116.8,203.6,11.4,346,7082,0.00,2.30,0.00,0.000,4,0.000,0.031,3395,3207,2133,0,0,0,0,0,0
$GC,7155,1.19,116.8,194.7,11.1,351,7161,0.00,2.42,0.00,0.000,6,0.000,0.036,3395,1797,2133,0,0,0,0,0,0
$GC,7418,1.19,116.8,169.3,9.9,376,7422,0.00,2.33,0.00,0.000,4,0.000,0.028,3395,3202,2133,0,0,0,0,0,0
$GC,7478,1.19,116.8,163.7,8.3,382,7483,0.00,2.38,0.00,0.000,6,0.000,0.034,3395,1797,2133,0,0,0,0,0,0
$GC,7741,1.19,116.8,140.4,9.4,406,7746,0.00,2.42,0.00,0.000,4,0.000,0.050,3395,383,2132,0,0,0,0,0,0
$GC,7869,1.19,116.8,127.0,10.8,419,7873,0.00,2.30,0.00,0.000,6,0.000,0.021,3395,1800,2131,0,0,0,0,0,0
$GC,8133,1.20,118.0,105.7,8.0,443,8137,0.00,2.45,0.00,0.000,4,0.000,0.046,3395,382,2132,0,0,0,0,0,0
$GC,8179,1.20,118.0,101.1,9.7,447,8185,0.00,2.30,0.00,0.000,6,0.000,0.021,3395,1809,2131,0,0,0,0,0,0
$GC,8444,1.20,121.1,79.3,7.9,472,8448,0.00,2.42,0.00,0.000,4,0.000,0.045,3395,389,2132,0,0,0,0,0,0
$GC,8469,1.20,121.1,76.9,8.2,474,8473,0.00,2.25,0.00,0.000,6,0.000,0.020,3396,1797,2132,0,0,0,0,0,0
$GC,8734,1.24,149.7,58.6,6.7,498,8764,0.00,2.35,25.10,0.505,4,0.000,0.025,3396,3209,2022,0,0,0,0,0,0
$GC,8788,1.25,163.7,54.7,7.4,503,8807,0.00,2.42,13.62,0.473,6,0.000,0.031,3395,1801,1966,0,0,0,0,0,0
$GC,9070,1.30,199.2,34.3,6.4,530,9110,0.10,2.53,30.60,0.483,4,0.072,0.046,3435,384,1822,0,0,0,0,0,0
$GC,9164,1.30,199.2,25.2,11.3,544,9171,0.00,2.33,0.00,0.000,6,0.000,0.018,3435,1797,1817,0,0,0,0,0,0
$GC,9367,1.30,199.2,3.3,11.4,581,9374,0.00,2.47,0.00,0.000,4,0.000,0.045,3435,386,1817,0,0,0,0,0,0
$STATE,9379,end climb,SURFACE_DEPTH_REACHED
$STATE,9379,begin surface coast
$FINISH,0.5,1.023342
$STATE,9389,end surface coast,CONTROL_FINISHED_OK
$STATE,9389,begin surface
$SM_CCo,9416,68.60,0.460,0,0,1288,330.17
$SM_GC,1.36,0.00,0.00,68.60,0.000,0.000,0.460,426,2100,1288,-12.47,0.00,330.17
$IRIDIUM_FIX,2057.14,-15759.05,080700,222242
$TT8_MAMPS,0.028379
$HUMID,52.36
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.4,7.251
$10V_AH,10.6,6.854
$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,28.750,110.675,266.300,68.600,0.000,26.208,40.542,142.544,4.500,0.000,16.508,1110.867,6067.901,404.361,1787.464,445.215,31.418,1181.265,0.000,1765.024,0.000,29.257,0.000
$DEVICE_MAMPS,139.594,58.292,826.826,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,395.509,374.415,862.465,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31858,585
$CAP_FILE_SIZE,101022,0
$CFSIZE,260165632,252207104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150411,034606,2104.398,-15756.564,14,2.0,30,9.8