version: 66.06
glider: 139
mission: 9
dive: 95
start: 4 15 111 17 35 13
data:
$ID,139
$MISSION,9
$DIVE,95
$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,-2176586.2
$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,61
$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
$GPS1,172851,2104.806,-15755.518,15,2.5,34,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-74.0
$GPS2,173422,2104.782,-15755.481,11,2.5,30,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.215,0.055
$KALMAN_X,-16943.1,626.0,396.4,17928.8,-3666.6
$KALMAN_Y,-4809.6,140.7,35.4,4169.2,-730.6
$MHEAD_RNG_PITCHd_Wd,65.8,21792,-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,-71.20,0.000,6,0.000,0.000,425,2132,3112,0,0,0,0,0,0
$GC,97,-1.19,-116.8,3.1,-4.8,14,115,13.23,2.47,0.00,0.000,4,0.137,0.033,2870,666,3113,0,0,0,0,0,0
$GC,281,-1.19,-116.8,42.9,-17.4,47,288,0.00,2.35,0.00,0.000,6,0.000,0.020,2870,2090,3115,0,0,0,0,0,0
$GC,542,-1.19,-116.8,85.0,-14.2,72,546,0.00,2.40,0.00,0.000,4,0.000,0.039,2870,673,3116,0,0,0,0,0,0
$GC,561,-1.19,-116.8,87.7,-13.6,73,566,0.00,2.30,0.00,0.000,6,0.000,0.020,2870,2102,3116,0,0,0,0,0,0
$GC,822,-1.19,-116.8,118.5,-11.5,98,826,0.00,2.40,0.00,0.000,4,0.000,0.039,2870,677,3117,0,0,0,0,0,0
$GC,940,-1.19,-116.8,132.7,-13.0,110,945,0.00,2.33,0.00,0.000,6,0.000,0.020,2870,2107,3117,0,0,0,0,0,0
$GC,1202,-1.19,-116.8,163.3,-10.2,134,1206,0.00,2.30,0.00,0.000,4,0.000,0.030,2870,3502,3117,0,0,0,0,0,0
$GC,1221,-1.19,-116.8,165.1,-9.5,135,1227,0.00,2.38,0.00,0.000,6,0.000,0.027,2870,2079,3117,0,0,0,0,0,0
$GC,1484,-1.19,-116.8,191.8,-10.3,160,1488,0.00,2.35,0.00,0.000,4,0.000,0.040,2870,686,3118,0,0,0,0,0,0
$GC,1585,-1.19,-116.8,203.2,-10.3,169,1589,0.00,2.30,0.00,0.000,6,0.000,0.021,2870,2108,3118,0,0,0,0,0,0
$GC,1900,-1.19,-116.8,231.8,-9.3,184,1902,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2111,3118,0,0,0,0,0,0
$GC,2212,-1.19,-116.8,257.2,-7.5,199,2216,0.00,2.42,0.00,0.000,4,0.000,0.040,2870,683,3118,0,0,0,0,0,0
$GC,2235,-1.19,-116.8,259.3,-8.6,200,2239,0.00,2.33,0.00,0.000,6,0.000,0.022,2870,2105,3118,0,0,0,0,0,0
$GC,2563,-1.19,-116.8,285.5,-7.9,216,2564,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2107,3118,0,0,0,0,0,0
$GC,2867,-1.19,-116.8,310.9,-8.5,228,2871,0.00,2.40,0.00,0.000,4,0.000,0.042,2870,693,3117,0,0,0,0,0,0
$GC,2987,-1.19,-116.8,321.9,-9.0,230,2991,0.00,2.28,0.00,0.000,6,0.000,0.025,2870,2099,3116,0,0,0,0,0,0
$GC,3327,-1.19,-116.8,352.5,-8.0,239,3331,0.00,2.35,0.00,0.000,4,0.000,0.038,2870,3499,3115,0,0,0,0,0,0
$GC,3591,-1.19,-116.8,372.0,-7.8,244,3595,0.00,2.38,0.00,0.000,6,0.000,0.034,2870,2094,3114,0,0,0,0,0,0
$GC,3929,-1.19,-116.8,397.5,-7.7,253,3930,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2093,3111,0,0,0,0,0,0
$GC,4254,-1.19,-116.8,420.1,-6.6,261,4255,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2093,3109,0,0,0,0,0,0
$GC,4577,-1.19,-116.8,437.6,-5.4,269,4581,0.00,2.42,0.00,0.000,4,0.000,0.041,2871,3502,3107,0,0,0,0,0,0
$GC,4743,-1.19,-116.8,446.8,-5.7,272,4748,0.00,2.38,0.00,0.000,6,0.000,0.036,2870,2097,3106,0,0,0,0,0,0
$STATE,4833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4833,begin apogee
$GC,4840,-0.31,0.0,451.6,5.3,275,4938,0.95,0.00,95.22,0.825,6,0.085,0.000,3066,1807,2634,0,0,0,0,0,0
$STATE,4939,end apogee,CONTROL_FINISHED_OK
$STATE,4939,begin climb
$GC,4942,1.19,116.8,452.3,0.0,277,5054,1.50,2.62,100.72,0.803,4,0.059,0.060,3393,394,2156,0,0,0,0,0,0
$GC,5065,1.19,116.8,441.5,12.6,279,5070,0.00,2.40,0.00,0.000,6,0.000,0.027,3393,1801,2153,0,0,0,0,0,0
$GC,5396,1.19,116.8,401.8,12.1,288,5400,0.00,2.40,0.00,0.000,4,0.000,0.036,3393,3202,2145,0,0,0,0,0,0
$GC,5414,1.19,116.8,399.3,12.3,288,5419,0.00,2.45,0.00,0.000,6,0.000,0.041,3393,1800,2145,0,0,0,0,0,0
$GC,5759,1.19,116.8,355.6,12.7,297,5764,0.00,2.53,0.00,0.000,4,0.000,0.058,3393,386,2142,0,0,0,0,0,0
$GC,5821,1.19,116.8,347.3,12.8,298,5826,0.00,2.38,0.00,0.000,6,0.000,0.028,3393,1802,2139,0,0,0,0,0,0
$GC,6171,1.19,116.8,309.7,10.6,307,6172,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1808,2138,0,0,0,0,0,0
$GC,6480,1.19,116.8,278.3,10.0,319,6484,0.00,2.50,0.00,0.000,4,0.000,0.056,3393,385,2136,0,0,0,0,0,0
$GC,6508,1.19,116.8,275.0,11.4,320,6512,0.00,2.38,0.00,0.000,6,0.000,0.028,3393,1809,2135,0,0,0,0,0,0
$GC,6828,1.19,116.8,240.6,11.1,336,6832,0.00,2.35,0.00,0.000,4,0.000,0.033,3393,3211,2134,0,0,0,0,0,0
$GC,6861,1.19,116.8,237.1,10.7,337,6866,0.00,2.45,0.00,0.000,6,0.000,0.038,3393,1795,2135,0,0,0,0,0,0
$GC,7183,1.19,116.8,207.6,8.4,353,7187,0.00,2.45,0.00,0.000,4,0.000,0.053,3393,382,2134,0,0,0,0,0,0
$GC,7249,1.19,116.8,200.8,11.4,356,7253,0.00,2.35,0.00,0.000,6,0.000,0.025,3393,1812,2132,0,0,0,0,0,0
$GC,7576,1.19,116.8,168.4,10.4,386,7581,0.00,2.50,0.00,0.000,4,0.000,0.051,3393,382,2132,0,0,0,0,0,0
$GC,7659,1.19,116.8,159.2,10.2,394,7665,0.00,2.33,0.00,0.000,6,0.000,0.022,3393,1788,2131,0,0,0,0,0,0
$GC,7923,1.19,116.8,134.0,9.0,419,7927,0.00,2.45,0.00,0.000,4,0.000,0.048,3393,378,2131,0,0,0,0,0,0
$GC,7993,1.19,116.8,127.6,8.1,426,7997,0.00,2.33,0.00,0.000,6,0.000,0.021,3393,1817,2131,0,0,0,0,0,0
$GC,8256,1.20,123.2,109.0,7.7,450,8260,0.00,2.25,0.00,0.000,4,0.000,0.027,3393,3201,2132,0,0,0,0,0,0
$GC,8293,1.20,123.2,105.8,8.5,453,8298,0.00,2.38,0.00,0.000,6,0.000,0.031,3393,1794,2132,0,0,0,0,0,0
$GC,8554,1.20,123.2,82.4,9.9,478,8558,0.00,2.40,0.00,0.000,4,0.000,0.046,3393,379,2132,0,0,0,0,0,0
$GC,8571,1.20,123.2,80.8,10.4,479,8575,0.00,2.30,0.00,0.000,6,0.000,0.020,3393,1811,2132,0,0,0,0,0,0
$GC,8835,1.23,141.7,57.6,7.2,503,8855,0.00,0.00,18.23,0.492,6,0.000,0.000,3393,1817,2057,0,0,0,0,0,0
$GC,9109,1.24,154.5,37.1,7.4,529,9130,0.00,2.53,12.10,0.456,4,0.000,0.045,3393,389,2004,0,0,0,0,0,0
$GC,9180,1.24,154.5,31.1,8.5,536,9187,0.00,2.30,0.00,0.000,6,0.000,0.019,3394,1787,2001,0,0,0,0,0,0
$GC,9446,1.26,168.4,11.9,7.4,584,9464,0.00,0.00,13.38,0.439,6,0.000,0.000,3393,1792,1947,0,0,0,0,0,0
$STATE,9571,end climb,SURFACE_DEPTH_REACHED
$STATE,9571,begin surface coast
$FINISH,0.6,1.020279
$STATE,9615,end surface coast,CONTROL_FINISHED_OK
$STATE,9616,begin surface
$SM_CCo,9639,83.53,0.461,0,0,1288,330.17
$SM_GC,1.25,0.00,0.00,83.53,0.000,0.000,0.461,429,2120,1288,-12.46,0.57,330.17
$IRIDIUM_FIX,2059.45,-15803.33,090700,141412
$TT8_MAMPS,0.029146
$HUMID,52.99
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.4,7.702
$10V_AH,10.5,7.315
$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,28.350,96.500,239.650,83.525,0.000,22.944,32.549,141.117,4.500,0.000,31.313,1143.960,6305.597,398.923,1781.005,425.509,33.344,1140.780,0.000,1747.941,0.000,29.247,0.000
$DEVICE_MAMPS,136.526,59.826,825.292,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,416.525,399.345,917.272,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,35022,615
$CAP_FILE_SIZE,98118,0
$CFSIZE,260165632,251920384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150411,201836,2105.259,-15755.124,41,1.0,41,9.8