version: 66.06
glider: 139
mission: 9
dive: 94
start: 4 15 111 14 47 48
data:
$ID,139
$MISSION,9
$DIVE,94
$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,-2176554.2
$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,15
$R_STBD_OVSHOOT,52
$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
$GPS1,144137,2104.512,-15755.829,39,1.0,39,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-75.4
$GPS2,144655,2104.520,-15755.791,11,1.0,16,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.208,0.076
$KALMAN_X,-15478.8,1212.9,4.8,15740.3,-4019.0
$KALMAN_Y,-4408.4,201.0,-97.6,3356.2,-1038.6
$MHEAD_RNG_PITCHd_Wd,60.0,22372,-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,-71.62,0.000,6,0.000,0.000,426,2112,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,2.9,-3.8,14,115,13.23,2.33,0.00,0.000,4,0.137,0.027,2868,3502,3114,0,0,0,0,0,0
$GC,365,-1.19,-116.8,54.2,-16.3,58,369,0.00,2.35,0.00,0.000,6,0.000,0.028,2868,2085,3116,0,0,0,0,0,0
$GC,626,-1.19,-116.8,94.3,-13.2,82,630,0.00,2.33,0.00,0.000,4,0.000,0.028,2868,3488,3116,0,0,0,0,0,0
$GC,705,-1.19,-116.8,105.1,-13.8,90,709,0.00,2.35,0.00,0.000,6,0.000,0.029,2868,2094,3116,0,0,0,0,0,0
$GC,968,-1.19,-116.8,137.6,-11.3,114,972,0.00,2.35,0.00,0.000,4,0.000,0.029,2868,3496,3117,0,0,0,0,0,0
$GC,1088,-1.19,-116.8,152.8,-11.1,126,1095,0.00,2.35,0.00,0.000,6,0.000,0.027,2868,2099,3117,0,0,0,0,0,0
$GC,1352,-1.19,-116.8,182.7,-10.1,151,1356,0.00,2.38,0.00,0.000,4,0.000,0.041,2868,692,3117,0,0,0,0,0,0
$GC,1378,-1.19,-116.8,185.8,-11.6,153,1382,0.00,2.28,0.00,0.000,6,0.000,0.021,2868,2095,3118,0,0,0,0,0,0
$GC,1636,-1.19,-116.8,209.0,-8.3,172,1640,0.00,2.38,0.00,0.000,4,0.000,0.040,2868,693,3118,0,0,0,0,0,0
$GC,1659,-1.19,-116.8,210.7,-8.0,173,1663,0.00,2.30,0.00,0.000,6,0.000,0.021,2868,2107,3118,0,0,0,0,0,0
$GC,1990,-1.19,-116.8,239.8,-9.0,189,1994,0.00,2.40,0.00,0.000,4,0.000,0.041,2868,693,3118,0,0,0,0,0,0
$GC,2023,-1.19,-116.8,243.4,-10.7,190,2027,0.00,2.30,0.00,0.000,6,0.000,0.021,2868,2104,3119,0,0,0,0,0,0
$GC,2343,-1.19,-116.8,275.6,-11.2,206,2347,0.00,2.33,0.00,0.000,4,0.000,0.034,2868,3494,3118,0,0,0,0,0,0
$GC,2553,-1.19,-116.8,294.3,-7.4,215,2557,0.00,2.35,0.00,0.000,6,0.000,0.029,2868,2093,3118,0,0,0,0,0,0
$GC,2870,-1.19,-116.8,312.9,-6.4,226,2874,0.00,2.38,0.00,0.000,4,0.000,0.044,2868,689,3117,0,0,0,0,0,0
$GC,2940,-1.19,-116.8,319.2,-8.6,227,2944,0.00,2.30,0.00,0.000,6,0.000,0.024,2868,2097,3116,0,0,0,0,0,0
$GC,3282,-1.19,-116.8,347.4,-8.1,236,3286,0.00,2.38,0.00,0.000,4,0.000,0.038,2869,3500,3116,0,0,0,0,0,0
$GC,3464,-1.19,-116.8,362.5,-7.3,240,3468,0.00,2.35,0.00,0.000,6,0.000,0.032,2868,2102,3114,0,0,0,0,0,0
$GC,3792,-1.19,-116.8,384.5,-6.6,248,3793,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2101,3112,0,0,0,0,0,0
$GC,4117,-1.19,-116.8,406.8,-7.3,256,4121,0.00,2.42,0.00,0.000,4,0.000,0.049,2868,685,3110,0,0,0,0,0,0
$GC,4177,-1.19,-116.8,412.0,-8.4,257,4182,0.00,2.35,0.00,0.000,6,0.000,0.028,2868,2098,3109,0,0,0,0,0,0
$GC,4527,-1.19,-116.8,439.1,-7.5,266,4532,0.00,2.42,0.00,0.000,4,0.000,0.050,2868,695,3107,0,0,0,0,0,0
$GC,4547,-1.19,-116.8,440.6,-7.1,266,4551,0.00,2.35,0.00,0.000,6,0.000,0.028,2868,2104,3107,0,0,0,0,0,0
$STATE,4686,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4686,begin apogee
$GC,4693,-0.31,0.0,450.8,7.2,270,4792,0.95,0.00,95.47,0.823,6,0.084,0.000,3064,1808,2635,0,0,0,0,0,0
$STATE,4792,end apogee,CONTROL_FINISHED_OK
$STATE,4793,begin climb
$GC,4795,1.19,116.8,453.1,0.0,272,4907,1.50,2.58,100.95,0.804,4,0.058,0.059,3393,397,2156,0,0,0,0,0,0
$GC,4940,1.19,116.8,440.4,14.1,275,4945,0.00,2.40,0.00,0.000,6,0.000,0.028,3393,1812,2150,0,0,0,0,0,0
$GC,5290,1.19,116.8,397.8,12.3,284,5295,0.00,2.55,0.00,0.000,4,0.000,0.059,3393,393,2144,0,0,0,0,0,0
$GC,5341,1.19,116.8,390.8,13.5,285,5346,0.00,2.38,0.00,0.000,6,0.000,0.028,3393,1801,2142,0,0,0,0,0,0
$GC,5660,1.19,116.8,351.7,12.2,293,5664,0.00,2.38,0.00,0.000,4,0.000,0.035,3393,3204,2141,0,0,0,0,0,0
$GC,5674,1.19,116.8,349.9,12.3,293,5678,0.00,2.42,0.00,0.000,6,0.000,0.038,3393,1798,2141,0,0,0,0,0,0
$GC,6024,1.19,116.8,308.8,12.1,302,6025,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1798,2138,0,0,0,0,0,0
$GC,6333,1.19,116.8,274.6,10.3,315,6334,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1798,2137,0,0,0,0,0,0
$GC,6641,1.19,116.8,242.2,10.7,330,6645,0.00,2.47,0.00,0.000,4,0.000,0.056,3393,382,2135,0,0,0,0,0,0
$GC,6669,1.19,116.8,238.8,11.8,331,6673,0.00,2.38,0.00,0.000,6,0.000,0.026,3393,1819,2133,0,0,0,0,0,0
$GC,6990,1.19,116.8,207.2,9.4,347,6995,0.00,2.53,0.00,0.000,4,0.000,0.053,3393,384,2133,0,0,0,0,0,0
$GC,7014,1.19,116.8,204.3,11.7,348,7018,0.00,2.33,0.00,0.000,6,0.000,0.024,3393,1794,2132,0,0,0,0,0,0
$GC,7348,1.19,116.8,170.1,10.8,377,7352,0.00,2.47,0.00,0.000,4,0.000,0.051,3393,381,2132,0,0,0,0,0,0
$GC,7418,1.19,116.8,161.8,11.1,384,7423,0.00,2.35,0.00,0.000,6,0.000,0.023,3393,1823,2131,0,0,0,0,0,0
$GC,7681,1.19,116.8,138.9,8.2,408,7682,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1829,2131,0,0,0,0,0,0
$GC,7935,1.21,132.0,120.2,7.3,432,7953,0.00,2.50,9.90,0.517,4,0.000,0.047,3393,385,2094,0,0,0,0,0,0
$GC,7991,1.21,132.0,115.3,9.3,438,7995,0.00,2.28,0.00,0.000,6,0.000,0.021,3393,1788,2093,0,0,0,0,0,0
$GC,8254,1.21,132.0,96.9,8.1,462,8258,0.00,2.42,0.00,0.000,4,0.000,0.048,3393,385,2093,0,0,0,0,0,0
$GC,8325,1.21,132.0,90.0,10.2,469,8329,0.00,2.30,0.00,0.000,6,0.000,0.021,3393,1819,2092,0,0,0,0,0,0
$GC,8589,1.21,132.0,67.0,9.4,493,8593,0.00,2.50,0.00,0.000,4,0.000,0.047,3393,376,2093,0,0,0,0,0,0
$GC,8677,1.21,132.0,58.8,8.8,502,8684,0.00,2.33,0.00,0.000,6,0.000,0.019,3393,1799,2092,0,0,0,0,0,0
$GC,8942,1.24,156.3,41.5,6.9,527,8972,0.00,2.53,22.12,0.486,4,0.000,0.046,3393,383,1995,0,0,0,0,0,0
$GC,8993,1.24,156.3,37.6,8.4,532,8997,0.00,2.30,0.00,0.000,6,0.000,0.019,3393,1812,1994,0,0,0,0,0,0
$GC,9263,1.25,162.5,17.5,7.7,572,9276,0.00,2.47,6.57,0.390,4,0.000,0.045,3393,384,1971,0,0,0,0,0,0
$GC,9292,1.25,162.5,14.8,8.9,577,9299,0.00,2.30,0.00,0.000,6,0.000,0.019,3393,1783,1969,0,0,0,0,0,0
$STATE,9441,end climb,SURFACE_DEPTH_REACHED
$STATE,9441,begin surface coast
$FINISH,0.6,1.022906
$STATE,9480,end surface coast,CONTROL_FINISHED_OK
$STATE,9480,begin surface
$SM_CCo,9504,84.80,0.460,0,0,1288,330.17
$SM_GC,1.35,0.00,0.00,84.80,0.000,0.000,0.460,426,2131,1288,-12.47,0.88,330.17
$IRIDIUM_FIX,2054.83,-15753.90,090700,121231
$TT8_MAMPS,0.028379
$HUMID,52.75
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.4,7.629
$10V_AH,10.6,7.235
$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,28.425,105.875,235.025,84.800,0.000,23.831,38.219,139.847,4.500,0.000,16.110,1140.616,6167.129,394.659,1786.705,421.544,33.342,1149.545,0.000,1760.453,0.000,29.252,0.000
$DEVICE_MAMPS,136.526,59.059,822.991,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,414.222,396.982,917.775,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,34985,611
$CAP_FILE_SIZE,100839,0
$CFSIZE,260165632,251965440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150411,172851,2104.806,-15755.518,15,2.5,34,9.8