version: 66.06
glider: 139
mission: 9
dive: 93
start: 4 15 111 12 1 13
data:
$ID,139
$MISSION,9
$DIVE,93
$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,-2176537.5
$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,85
$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
$GPS1,115455,2104.352,-15755.688,39,1.8,39,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-75.6
$GPS2,120020,2104.343,-15755.652,14,1.2,14,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.198,0.099
$KALMAN_X,-13018.8,1173.0,-6.8,13585.0,-3800.4
$KALMAN_Y,-3763.6,152.6,65.5,2275.0,-1303.6
$MHEAD_RNG_PITCHd_Wd,53.7,22171,-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,-71.32,0.000,6,0.000,0.000,427,2145,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.2,-4.9,14,115,13.23,2.20,0.00,0.000,4,0.137,0.028,2869,3458,3113,0,0,0,0,0,0
$GC,366,-1.19,-116.8,51.9,-16.2,58,371,0.00,2.28,0.00,0.000,6,0.000,0.028,2869,2088,3116,0,0,0,0,0,0
$GC,628,-1.19,-116.8,94.9,-18.3,82,632,0.00,2.28,0.00,0.000,4,0.000,0.027,2869,3464,3116,0,0,0,0,0,0
$GC,655,-1.19,-116.8,99.5,-15.9,84,663,0.00,2.30,0.00,0.000,6,0.000,0.030,2869,2107,3116,0,0,0,0,0,0
$GC,920,-1.19,-116.8,135.4,-14.2,109,924,0.00,2.25,0.00,0.000,4,0.000,0.028,2869,3465,3117,0,0,0,0,0,0
$GC,1185,-1.19,-116.8,169.5,-11.8,137,1190,0.00,2.30,0.00,0.000,6,0.000,0.029,2869,2092,3117,0,0,0,0,0,0
$GC,1448,-1.19,-116.8,196.9,-11.1,162,1452,0.00,2.28,0.00,0.000,4,0.000,0.030,2869,3462,3118,0,0,0,0,0,0
$GC,1693,-1.19,-116.8,222.2,-8.8,174,1697,0.00,2.25,0.00,0.000,6,0.000,0.028,2868,2098,3119,0,0,0,0,0,0
$GC,2010,-1.19,-116.8,249.1,-8.0,189,2014,0.00,2.28,0.00,0.000,4,0.000,0.031,2869,3464,3119,0,0,0,0,0,0
$GC,2127,-1.19,-116.8,258.2,-7.6,194,2131,0.00,2.25,0.00,0.000,6,0.000,0.028,2869,2097,3119,0,0,0,0,0,0
$GC,2452,-1.19,-116.8,287.4,-8.6,210,2456,0.00,2.28,0.00,0.000,4,0.000,0.033,2869,3458,3119,0,0,0,0,0,0
$GC,2498,-1.19,-116.8,291.4,-8.8,212,2502,0.00,2.25,0.00,0.000,6,0.000,0.029,2869,2100,3118,0,0,0,0,0,0
$GC,2820,-1.19,-116.8,314.9,-6.9,223,2824,0.00,2.40,0.00,0.000,4,0.000,0.045,2869,695,3117,0,0,0,0,0,0
$GC,2881,-1.19,-116.8,319.6,-8.4,224,2885,0.00,2.22,0.00,0.000,6,0.000,0.024,2869,2057,3117,0,0,0,0,0,0
$GC,3230,-1.19,-116.8,344.6,-7.0,233,3235,0.00,2.45,0.00,0.000,4,0.000,0.037,2869,3503,3116,0,0,0,0,0,0
$GC,3305,-1.19,-116.8,350.5,-8.1,234,3309,0.00,2.35,0.00,0.000,6,0.000,0.032,2869,2096,3116,0,0,0,0,0,0
$GC,3646,-1.19,-116.8,376.4,-7.8,243,3647,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2095,3113,0,0,0,0,0,0
$GC,3970,-1.19,-116.8,397.8,-6.0,251,3971,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2096,3111,0,0,0,0,0,0
$GC,4295,-1.19,-116.8,417.3,-6.2,259,4299,0.00,2.40,0.00,0.000,4,0.000,0.050,2869,695,3109,0,0,0,0,0,0
$GC,4334,-1.19,-116.8,420.1,-7.6,259,4339,0.00,2.35,0.00,0.000,6,0.000,0.028,2869,2101,3108,0,0,0,0,0,0
$GC,4666,-1.19,-116.8,442.3,-6.7,268,4670,0.00,2.40,0.00,0.000,4,0.000,0.042,2869,3501,3107,0,0,0,0,0,0
$GC,4741,-1.19,-116.8,448.4,-8.4,269,4745,0.00,2.40,0.00,0.000,6,0.000,0.035,2869,2095,3106,0,0,0,0,0,0
$STATE,4789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4790,begin apogee
$GC,4796,-0.31,0.0,452.5,8.1,271,4896,0.95,0.00,95.80,0.828,6,0.086,0.000,3065,1806,2635,0,0,0,0,0,0
$STATE,4896,end apogee,CONTROL_FINISHED_OK
$STATE,4896,begin climb
$GC,4899,1.19,116.8,455.5,0.0,273,5011,1.50,2.58,101.22,0.811,4,0.058,0.060,3393,393,2156,0,0,0,0,0,0
$GC,5027,1.19,116.8,445.7,12.2,276,5032,0.00,2.40,0.00,0.000,6,0.000,0.028,3394,1804,2153,0,0,0,0,0,0
$GC,5355,1.19,116.8,406.5,11.9,284,5356,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1809,2146,0,0,0,0,0,0
$GC,5680,1.19,116.8,367.2,12.4,292,5684,0.00,2.55,0.00,0.000,4,0.000,0.058,3393,387,2142,0,0,0,0,0,0
$GC,5723,1.19,116.8,361.3,12.9,293,5727,0.00,2.38,0.00,0.000,6,0.000,0.028,3393,1797,2140,0,0,0,0,0,0
$GC,6050,1.19,116.8,319.5,13.0,301,6055,0.00,2.38,0.00,0.000,4,0.000,0.035,3393,3205,2138,0,0,0,0,0,0
$GC,6116,1.19,116.8,311.2,12.5,302,6120,0.00,2.45,0.00,0.000,6,0.000,0.041,3393,1800,2138,0,0,0,0,0,0
$GC,6444,1.19,116.8,273.0,11.1,316,6448,0.00,2.50,0.00,0.000,4,0.000,0.057,3393,378,2137,0,0,0,0,0,0
$GC,6504,1.19,116.8,266.0,11.8,318,6511,0.00,2.40,0.00,0.000,6,0.000,0.028,3393,1805,2135,0,0,0,0,0,0
$GC,6819,1.19,116.8,234.3,10.0,334,6823,0.00,2.35,0.00,0.000,4,0.000,0.035,3393,3210,2134,0,0,0,0,0,0
$GC,6875,1.19,116.8,228.8,9.3,336,6879,0.00,2.45,0.00,0.000,6,0.000,0.038,3393,1795,2134,0,0,0,0,0,0
$GC,7192,1.19,116.8,198.5,9.4,351,7193,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1795,2133,0,0,0,0,0,0
$GC,7446,1.19,116.8,174.1,9.8,375,7447,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1795,2133,0,0,0,0,0,0
$GC,7701,1.19,116.8,152.2,8.3,399,7705,0.00,2.42,0.00,0.000,4,0.000,0.050,3393,382,2133,0,0,0,0,0,0
$GC,7765,1.19,116.8,145.7,10.3,405,7770,0.00,2.30,0.00,0.000,6,0.000,0.022,3393,1813,2131,0,0,0,0,0,0
$GC,8028,1.22,140.6,124.9,6.9,430,8048,0.00,0.00,17.23,0.555,6,0.000,0.000,3393,1818,2061,0,0,0,0,0,0
$GC,8305,1.22,140.6,104.5,8.1,456,8309,0.00,2.47,0.00,0.000,4,0.000,0.047,3392,376,2059,0,0,0,0,0,0
$GC,8369,1.22,140.6,98.4,8.9,462,8376,0.00,2.33,0.00,0.000,6,0.000,0.020,3393,1788,2057,0,0,0,0,0,0
$GC,8634,1.27,176.1,77.5,6.4,487,8674,0.00,2.53,31.85,0.525,4,0.000,0.047,3393,385,1915,0,0,0,0,0,0
$GC,8712,1.27,176.1,70.9,9.0,495,8716,0.00,2.33,0.00,0.000,6,0.000,0.020,3393,1826,1911,0,0,0,0,0,0
$GC,8977,1.29,197.3,51.9,7.1,519,9003,0.12,0.00,19.08,0.484,6,0.061,0.000,3437,1832,1829,0,0,0,0,0,0
$GC,9260,1.29,197.3,21.7,10.0,553,9267,0.00,2.53,0.00,0.000,4,0.000,0.047,3436,390,1827,0,0,0,0,0,0
$GC,9325,1.29,197.3,13.9,12.4,567,9332,0.00,2.30,0.00,0.000,6,0.000,0.018,3436,1790,1824,0,0,0,0,0,0
$STATE,9422,end climb,SURFACE_DEPTH_REACHED
$STATE,9422,begin surface coast
$FINISH,0.6,1.023424
$STATE,9452,end surface coast,CONTROL_FINISHED_OK
$STATE,9452,begin surface
$SM_CCo,9476,69.20,0.459,0,0,1288,330.17
$SM_GC,1.15,0.00,0.00,69.20,0.000,0.000,0.459,426,2112,1288,-12.47,0.34,330.17
$IRIDIUM_FIX,2059.45,-15756.04,090700,090900
$TT8_MAMPS,0.028379
$HUMID,53.11
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.4,7.555
$10V_AH,10.5,7.156
$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,28.675,90.750,265.175,69.200,0.000,31.265,34.803,142.987,4.500,0.000,14.342,1098.563,6213.947,399.822,1730.338,432.440,33.340,1147.809,0.000,1709.772,0.000,29.247,0.000
$DEVICE_MAMPS,137.293,59.826,828.360,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,399.270,380.468,852.777,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31702,590
$CAP_FILE_SIZE,96520,0
$CFSIZE,260165632,252022784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150411,144137,2104.512,-15755.829,39,1.0,39,9.8