version: 66.06
glider: 139
mission: 9
dive: 90
start: 4 15 111 3 52 30
data:
$ID,139
$MISSION,9
$DIVE,90
$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,-2176491
$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,36
$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
$GPS1,034606,2104.398,-15756.564,14,2.0,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-73.9
$GPS2,035140,2104.382,-15756.500,12,2.5,31,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.218,0.042
$KALMAN_X,-4778.7,-1123.3,-177.5,6365.8,-1245.7
$KALMAN_Y,-1241.5,-226.1,-197.4,472.4,-332.3
$MHEAD_RNG_PITCHd_Wd,69.4,23617,-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,-71.28,0.000,6,0.000,0.000,426,2100,3112,0,0,0,0,0,0
$GC,97,-1.19,-116.8,3.1,-4.6,14,116,13.27,2.38,0.00,0.000,4,0.138,0.029,2868,3512,3114,0,0,0,0,0,0
$GC,332,-1.19,-116.8,51.1,-15.8,53,337,0.00,2.40,0.00,0.000,6,0.000,0.027,2869,2084,3116,0,0,0,0,0,0
$GC,595,-1.19,-116.8,92.1,-14.6,77,599,0.00,2.38,0.00,0.000,4,0.000,0.028,2869,3513,3116,0,0,0,0,0,0
$GC,692,-1.19,-116.8,106.6,-13.1,87,696,0.00,2.38,0.00,0.000,6,0.000,0.027,2869,2096,3116,0,0,0,0,0,0
$GC,958,-1.19,-116.8,145.4,-14.8,111,962,0.00,2.35,0.00,0.000,4,0.000,0.040,2868,692,3117,0,0,0,0,0,0
$GC,986,-1.19,-116.8,150.4,-14.9,113,992,0.00,2.30,0.00,0.000,6,0.000,0.020,2869,2113,3117,0,0,0,0,0,0
$GC,1250,-1.19,-116.8,180.8,-9.6,138,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2118,3118,0,0,0,0,0,0
$GC,1510,-1.19,-116.8,206.4,-9.2,160,1514,0.00,2.28,0.00,0.000,4,0.000,0.031,2869,3494,3119,0,0,0,0,0,0
$GC,1577,-1.19,-116.8,213.1,-10.1,163,1581,0.00,2.35,0.00,0.000,6,0.000,0.029,2868,2092,3118,0,0,0,0,0,0
$GC,1908,-1.19,-116.8,243.5,-8.3,179,1912,0.00,2.35,0.00,0.000,4,0.000,0.031,2868,3496,3118,0,0,0,0,0,0
$GC,1963,-1.19,-116.8,248.7,-9.1,181,1967,0.00,2.33,0.00,0.000,6,0.000,0.026,2869,2097,3118,0,0,0,0,0,0
$GC,2285,-1.19,-116.8,272.5,-7.8,197,2286,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2097,3118,0,0,0,0,0,0
$GC,2593,-1.19,-116.8,295.6,-7.8,212,2597,0.00,2.38,0.00,0.000,4,0.000,0.044,2868,689,3117,0,0,0,0,0,0
$GC,2607,-1.19,-116.8,297.0,-8.2,212,2614,0.00,2.33,0.00,0.000,6,0.000,0.024,2868,2090,3117,0,0,0,0,0,0
$GC,2939,-1.19,-116.8,325.4,-8.6,222,2943,0.00,2.38,0.00,0.000,4,0.000,0.037,2868,3507,3116,0,0,0,0,0,0
$GC,2971,-1.19,-116.8,328.4,-9.0,222,2975,0.00,2.35,0.00,0.000,6,0.000,0.031,2868,2099,3116,0,0,0,0,0,0
$GC,3303,-1.19,-116.8,354.1,-7.4,230,3307,0.00,2.40,0.00,0.000,4,0.000,0.037,2869,3506,3114,0,0,0,0,0,0
$GC,3406,-1.19,-116.8,362.1,-7.2,232,3411,0.00,2.38,0.00,0.000,6,0.000,0.031,2868,2094,3113,0,0,0,0,0,0
$GC,3720,-1.19,-116.8,379.7,-5.2,240,3727,0.00,2.40,0.00,0.000,4,0.000,0.038,2869,3496,3111,0,0,0,0,0,0
$GC,3812,-1.19,-116.8,385.4,-7.0,241,3817,0.00,2.38,0.00,0.000,6,0.000,0.033,2868,2097,3111,0,0,0,0,0,0
$GC,4143,-1.19,-116.8,411.4,-8.6,250,4144,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2097,3108,0,0,0,0,0,0
$GC,4468,-1.19,-116.8,441.9,-8.9,258,4470,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2096,3106,0,0,0,0,0,0
$STATE,4587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4587,begin apogee
$GC,4594,-0.31,0.0,450.9,7.7,261,4693,0.95,0.00,95.65,0.821,6,0.086,0.000,3064,1807,2635,0,0,0,0,0,0
$STATE,4694,end apogee,CONTROL_FINISHED_OK
$STATE,4694,begin climb
$GC,4697,1.19,116.8,453.0,0.0,263,4807,1.50,0.00,101.22,0.804,6,0.060,0.000,3391,1807,2157,0,0,0,0,0,0
$GC,5148,1.19,116.8,400.0,13.0,274,5152,0.00,2.53,0.00,0.000,4,0.000,0.058,3390,388,2146,0,0,0,0,0,0
$GC,5176,1.19,116.8,395.9,14.5,274,5180,0.00,2.38,0.00,0.000,6,0.000,0.028,3391,1794,2144,0,0,0,0,0,0
$GC,5512,1.19,116.8,351.4,12.5,283,5516,0.00,2.42,0.00,0.000,4,0.000,0.035,3391,3212,2141,0,0,0,0,0,0
$GC,5549,1.19,116.8,346.6,12.6,283,5555,0.00,2.45,0.00,0.000,6,0.000,0.042,3391,1805,2141,0,0,0,0,0,0
$GC,5880,1.19,116.8,306.5,12.4,292,5884,0.00,2.53,0.00,0.000,4,0.000,0.056,3390,381,2138,0,0,0,0,0,0
$GC,5908,1.19,116.8,302.7,14.0,292,5912,0.00,2.38,0.00,0.000,6,0.000,0.028,3391,1813,2137,0,0,0,0,0,0
$GC,6234,1.19,116.8,265.0,11.4,307,6235,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1818,2136,0,0,0,0,0,0
$GC,6541,1.19,116.8,233.7,10.6,322,6546,0.00,2.53,0.00,0.000,4,0.000,0.056,3391,386,2135,0,0,0,0,0,0
$GC,6609,1.19,116.8,226.0,11.8,325,6613,0.00,2.35,0.00,0.000,6,0.000,0.026,3391,1796,2133,0,0,0,0,0,0
$GC,6930,1.19,116.8,191.7,10.8,344,6934,0.00,2.38,0.00,0.000,4,0.000,0.031,3391,3215,2133,0,0,0,0,0,0
$GC,6948,1.19,116.8,190.0,11.1,345,6952,0.00,2.42,0.00,0.000,6,0.000,0.034,3391,1797,2133,0,0,0,0,0,0
$GC,7212,1.19,116.8,160.3,11.1,369,7216,0.00,2.45,0.00,0.000,4,0.000,0.051,3391,387,2132,0,0,0,0,0,0
$GC,7250,1.19,116.8,155.3,12.2,372,7257,0.00,2.35,0.00,0.000,6,0.000,0.023,3391,1808,2131,0,0,0,0,0,0
$GC,7515,1.20,124.8,132.7,7.7,397,7520,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,1813,2132,0,0,0,0,0,0
$GC,7776,1.20,124.8,111.7,9.0,422,7780,0.00,2.45,0.00,0.000,4,0.000,0.048,3391,383,2132,0,0,0,0,0,0
$GC,7874,1.20,124.8,101.7,10.1,432,7878,0.00,2.30,0.00,0.000,6,0.000,0.021,3391,1818,2131,0,0,0,0,0,0
$GC,8137,1.24,152.4,82.7,6.8,456,8173,0.00,2.50,27.12,0.532,4,0.000,0.045,3391,387,2011,0,0,0,0,0,0
$GC,8203,1.25,159.2,78.0,7.7,463,8215,0.00,2.28,6.90,0.441,6,0.000,0.020,3391,1788,1986,0,0,0,0,0,0
$GC,8470,1.25,160.9,57.4,7.9,488,8475,0.00,2.45,0.00,0.000,4,0.000,0.046,3391,379,1984,0,0,0,0,0,0
$GC,8515,1.25,160.9,53.4,9.2,492,8522,0.00,2.35,0.00,0.000,6,0.000,0.019,3391,1826,1982,0,0,0,0,0,0
$GC,8777,1.25,160.9,33.0,8.2,517,8782,0.00,2.47,0.00,0.000,4,0.000,0.046,3391,383,1982,0,0,0,0,0,0
$GC,8816,1.25,160.9,29.4,9.3,521,8823,0.00,2.30,0.00,0.000,6,0.000,0.018,3391,1788,1982,0,0,0,0,0,0
$GC,9018,1.25,164.9,14.3,7.8,558,9031,0.00,2.42,6.47,0.388,4,0.000,0.043,3391,384,1961,0,0,0,0,0,0
$GC,9068,1.25,164.9,9.8,9.2,568,9074,0.00,2.33,0.00,0.000,6,0.000,0.019,3391,1808,1959,0,0,0,0,0,0
$STATE,9154,end climb,SURFACE_DEPTH_REACHED
$STATE,9154,begin surface coast
$FINISH,0.6,1.020033
$STATE,9195,end surface coast,CONTROL_FINISHED_OK
$STATE,9195,begin surface
$SM_CCo,9219,84.80,0.462,0,0,1287,330.17
$SM_GC,1.29,0.00,0.00,84.80,0.000,0.000,0.462,430,2127,1287,-12.45,0.76,330.17
$IRIDIUM_FIX,2057.14,-15330.23,090700,010112
$TT8_MAMPS,0.028379
$HUMID,52.71
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.4,7.324
$10V_AH,10.5,6.930
$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,28.400,96.375,237.375,84.800,0.000,28.938,34.246,135.503,4.500,0.000,32.836,1079.671,6096.135,402.325,1647.724,412.767,32.346,1095.512,0.000,1613.148,0.000,31.263,0.000
$DEVICE_MAMPS,138.060,58.292,821.457,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,400.007,382.251,892.771,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31812,591
$CAP_FILE_SIZE,93851,0
$CFSIZE,260165632,252166144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150411,062855,2104.423,-15755.979,42,1.0,42,9.8