version: 66.06
glider: 139
mission: 9
dive: 91
start: 4 15 111 6 35 6
data:
$ID,139
$MISSION,9
$DIVE,91
$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,-2176509.2
$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,18
$R_STBD_OVSHOOT,76
$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
$GPS1,062855,2104.423,-15755.979,42,1.0,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-74.2
$GPS2,063413,2104.382,-15755.934,12,0.8,17,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.216,0.049
$KALMAN_X,-7300.1,-285.5,34.7,8798.2,-1923.5
$KALMAN_Y,-2002.3,-75.5,-54.4,933.5,-488.6
$MHEAD_RNG_PITCHd_Wd,67.5,22644,-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,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,93,0.00,0.00,-70.93,0.000,6,0.000,0.000,430,2128,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.1,-4.9,14,115,13.23,2.25,0.00,0.000,4,0.137,0.029,2869,3466,3114,0,0,0,0,0,0
$GC,366,-1.19,-116.8,53.8,-16.2,58,371,0.00,2.33,0.00,0.000,6,0.000,0.027,2869,2080,3116,0,0,0,0,0,0
$GC,628,-1.19,-116.8,94.9,-15.1,82,632,0.00,2.33,0.00,0.000,4,0.000,0.028,2869,3466,3116,0,0,0,0,0,0
$GC,789,-1.19,-116.8,117.1,-12.3,99,793,0.00,2.28,0.00,0.000,6,0.000,0.026,2869,2099,3116,0,0,0,0,0,0
$GC,1055,-1.19,-116.8,148.5,-12.1,123,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2098,3117,0,0,0,0,0,0
$GC,1316,-1.19,-116.8,177.0,-9.8,148,1320,0.00,2.28,0.00,0.000,4,0.000,0.029,2869,3472,3118,0,0,0,0,0,0
$GC,1387,-1.19,-116.8,183.5,-8.4,155,1392,0.00,2.28,0.00,0.000,6,0.000,0.026,2869,2097,3118,0,0,0,0,0,0
$GC,1649,-1.19,-116.8,208.6,-9.5,175,1653,0.00,2.38,0.00,0.000,4,0.000,0.039,2869,688,3118,0,0,0,0,0,0
$GC,1663,-1.19,-116.8,210.4,-9.4,175,1668,0.00,2.22,0.00,0.000,6,0.000,0.021,2869,2072,3118,0,0,0,0,0,0
$GC,1980,-1.19,-116.8,234.3,-7.7,191,1984,0.00,2.33,0.00,0.000,4,0.000,0.041,2870,692,3119,0,0,0,0,0,0
$GC,2004,-1.19,-116.8,236.3,-7.6,192,2008,0.00,2.30,0.00,0.000,6,0.000,0.022,2869,2104,3118,0,0,0,0,0,0
$GC,2328,-1.19,-116.8,264.2,-9.8,208,2333,0.00,2.40,0.00,0.000,4,0.000,0.041,2869,696,3118,0,0,0,0,0,0
$GC,2384,-1.19,-116.8,270.5,-11.3,210,2388,0.00,2.28,0.00,0.000,6,0.000,0.023,2869,2099,3118,0,0,0,0,0,0
$GC,2702,-1.19,-116.8,300.4,-7.9,225,2706,0.00,2.40,0.00,0.000,4,0.000,0.043,2868,692,3117,0,0,0,0,0,0
$GC,2716,-1.19,-116.8,302.0,-8.9,225,2720,0.00,2.30,0.00,0.000,6,0.000,0.024,2869,2104,3117,0,0,0,0,0,0
$GC,3067,-1.19,-116.8,327.2,-6.7,234,3072,0.00,2.42,0.00,0.000,4,0.000,0.044,2869,692,3116,0,0,0,0,0,0
$GC,3111,-1.19,-116.8,330.3,-7.3,235,3115,0.00,2.33,0.00,0.000,6,0.000,0.025,2869,2102,3115,0,0,0,0,0,0
$GC,3439,-1.19,-116.8,355.7,-8.0,243,3440,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2103,3115,0,0,0,0,0,0
$GC,3764,-1.19,-116.8,378.2,-7.0,251,3768,0.00,2.38,0.00,0.000,4,0.000,0.039,2869,3498,3112,0,0,0,0,0,0
$GC,3967,-1.19,-116.8,391.9,-7.0,255,3971,0.00,2.38,0.00,0.000,6,0.000,0.034,2869,2097,3111,0,0,0,0,0,0
$GC,4312,-1.19,-116.8,414.8,-6.9,264,4316,0.00,2.40,0.00,0.000,4,0.000,0.041,2869,3505,3108,0,0,0,0,0,0
$GC,4359,-1.19,-116.8,418.6,-8.4,265,4363,0.00,2.40,0.00,0.000,6,0.000,0.035,2869,2092,3108,0,0,0,0,0,0
$GC,4683,-1.19,-116.8,441.9,-6.9,273,4684,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2091,3106,0,0,0,0,0,0
$STATE,4841,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4842,begin apogee
$GC,4849,-0.31,0.0,452.4,6.5,277,4948,0.95,0.00,95.62,0.828,6,0.085,0.000,3065,1803,2635,0,0,0,0,0,0
$STATE,4948,end apogee,CONTROL_FINISHED_OK
$STATE,4949,begin climb
$GC,4951,1.19,116.8,453.5,0.0,279,5063,1.52,2.58,101.47,0.809,4,0.060,0.061,3395,394,2156,0,0,0,0,0,0
$GC,5097,1.19,116.8,438.4,14.9,282,5101,0.00,2.40,0.00,0.000,6,0.000,0.028,3395,1806,2151,0,0,0,0,0,0
$GC,5446,1.19,116.8,395.0,12.5,291,5451,0.00,2.55,0.00,0.000,4,0.000,0.059,3395,387,2145,0,0,0,0,0,0
$GC,5470,1.19,116.8,391.5,15.0,291,5474,0.00,2.40,0.00,0.000,6,0.000,0.028,3395,1814,2143,0,0,0,0,0,0
$GC,5810,1.19,116.8,351.9,11.3,300,5811,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1820,2141,0,0,0,0,0,0
$GC,6135,1.19,116.8,316.0,11.1,308,6139,0.00,2.55,0.00,0.000,4,0.000,0.058,3395,390,2138,0,0,0,0,0,0
$GC,6196,1.19,116.8,308.5,12.8,309,6200,0.00,2.35,0.00,0.000,6,0.000,0.028,3396,1807,2136,0,0,0,0,0,0
$GC,6530,1.19,116.8,271.3,11.2,323,6531,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1812,2136,0,0,0,0,0,0
$GC,6838,1.19,116.8,241.4,10.4,338,6842,0.00,2.50,0.00,0.000,4,0.000,0.055,3395,389,2135,0,0,0,0,0,0
$GC,6893,1.19,116.8,233.6,13.6,340,6898,0.00,2.35,0.00,0.000,6,0.000,0.026,3396,1806,2133,0,0,0,0,0,0
$GC,7209,1.19,116.8,197.5,9.8,356,7214,0.00,2.50,0.00,0.000,4,0.000,0.053,3395,386,2133,0,0,0,0,0,0
$GC,7237,1.19,116.8,194.4,10.8,358,7244,0.00,2.35,0.00,0.000,6,0.000,0.025,3396,1796,2132,0,0,0,0,0,0
$GC,7502,1.19,116.8,171.8,9.3,383,7506,0.00,2.33,0.00,0.000,4,0.000,0.030,3396,3205,2132,0,0,0,0,0,0
$GC,7563,1.19,116.8,166.3,8.6,389,7567,0.00,2.40,0.00,0.000,6,0.000,0.035,3396,1795,2132,0,0,0,0,0,0
$GC,7827,1.19,116.8,143.6,8.2,413,7831,0.00,2.35,0.00,0.000,4,0.000,0.028,3396,3215,2132,0,0,0,0,0,0
$GC,7919,1.19,116.8,135.7,8.2,422,7925,0.00,2.42,0.00,0.000,6,0.000,0.034,3396,1803,2132,0,0,0,0,0,0
$GC,8181,1.19,116.8,111.8,9.9,447,8185,0.00,2.45,0.00,0.000,4,0.000,0.048,3395,385,2132,0,0,0,0,0,0
$GC,8232,1.19,116.8,106.4,11.1,452,8237,0.00,2.33,0.00,0.000,6,0.000,0.021,3395,1819,2131,0,0,0,0,0,0
$GC,8496,1.25,164.3,88.2,5.8,476,8542,0.00,2.58,37.12,0.547,4,0.000,0.046,3395,385,1963,0,0,0,0,0,0
$GC,8586,1.25,164.3,81.8,9.2,485,8591,0.00,2.33,0.00,0.000,6,0.000,0.020,3396,1811,1960,0,0,0,0,0,0
$GC,8848,1.25,164.3,60.3,8.5,510,8852,0.00,2.45,0.00,0.000,4,0.000,0.046,3395,387,1960,0,0,0,0,0,0
$GC,8927,1.25,164.3,53.4,8.8,518,8931,0.00,2.30,0.00,0.000,6,0.000,0.019,3396,1808,1957,0,0,0,0,0,0
$GC,9192,1.26,166.1,32.7,7.9,542,9196,0.00,2.45,0.00,0.000,4,0.000,0.045,3395,380,1957,0,0,0,0,0,0
$GC,9235,1.26,166.1,28.7,9.7,547,9242,0.00,2.30,0.00,0.000,6,0.000,0.019,3396,1781,1957,0,0,0,0,0,0
$GC,9439,1.26,168.0,12.4,7.9,584,9446,0.00,2.42,0.00,0.000,4,0.000,0.044,3395,389,1957,0,0,0,0,0,0
$GC,9487,1.26,168.0,8.2,9.1,594,9494,0.00,2.30,0.00,0.000,6,0.000,0.018,3396,1798,1957,0,0,0,0,0,0
$STATE,9548,end climb,SURFACE_DEPTH_REACHED
$STATE,9548,begin surface coast
$FINISH,0.5,1.010010
$STATE,9581,end surface coast,CONTROL_FINISHED_OK
$STATE,9581,begin surface
$SM_CCo,9605,83.70,0.463,0,0,1288,330.17
$SM_GC,1.23,0.00,0.00,83.70,0.000,0.000,0.463,432,2120,1288,-12.44,0.57,330.17
$IRIDIUM_FIX,2054.83,-15756.91,090700,030342
$TT8_MAMPS,0.028379
$HUMID,53.58
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.4,7.399
$10V_AH,10.5,7.009
$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,28.400,105.500,234.225,83.700,0.000,25.375,33.249,140.205,4.500,0.000,17.619,1138.418,6296.250,399.756,1744.675,431.501,33.345,1143.279,0.000,1729.418,0.000,29.241,0.000
$DEVICE_MAMPS,137.293,61.360,828.360,463.268,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,414.144,399.311,900.273,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,34990,611
$CAP_FILE_SIZE,100118,0
$CFSIZE,260165632,252108800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150411,091726,2104.508,-15755.474,12,1.8,12,9.8