version: 66.06
glider: 139
mission: 9
dive: 96
start: 4 15 111 20 25 0
data:
$ID,139
$MISSION,9
$DIVE,96
$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,-2176604.2
$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,19
$R_STBD_OVSHOOT,60
$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
$GPS1,201836,2105.259,-15755.124,41,1.0,41,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-73.2
$GPS2,202407,2105.246,-15755.118,11,1.3,17,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.212,0.063
$KALMAN_X,-18368.0,93.0,695.2,20218.4,-3722.5
$KALMAN_Y,-4846.7,160.4,350.2,4727.9,-774.8
$MHEAD_RNG_PITCHd_Wd,63.7,21107,-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,-71.32,0.000,6,0.000,0.000,429,2122,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.0,-3.9,14,114,13.23,2.28,0.00,0.000,4,0.137,0.028,2868,3482,3114,0,0,0,0,0,0
$GC,259,-1.19,-116.8,36.9,-15.6,46,264,0.00,2.33,0.00,0.000,6,0.000,0.028,2868,2082,3115,0,0,0,0,0,0
$GC,522,-1.19,-116.8,79.2,-14.1,70,526,0.00,2.35,0.00,0.000,4,0.000,0.038,2868,690,3116,0,0,0,0,0,0
$GC,538,-1.19,-116.8,81.6,-14.2,71,543,0.00,2.28,0.00,0.000,6,0.000,0.020,2868,2087,3116,0,0,0,0,0,0
$GC,803,-1.19,-116.8,115.8,-11.6,95,807,0.00,2.35,0.00,0.000,4,0.000,0.029,2868,3498,3117,0,0,0,0,0,0
$GC,885,-1.19,-116.8,126.7,-13.2,103,890,0.00,2.33,0.00,0.000,6,0.000,0.028,2868,2099,3117,0,0,0,0,0,0
$GC,1148,-1.19,-116.8,156.0,-10.7,128,1152,0.00,2.38,0.00,0.000,4,0.000,0.039,2868,688,3117,0,0,0,0,0,0
$GC,1161,-1.19,-116.8,157.6,-10.0,129,1167,0.00,2.28,0.00,0.000,6,0.000,0.021,2868,2101,3117,0,0,0,0,0,0
$GC,1424,-1.19,-116.8,184.0,-8.4,154,1425,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2105,3118,0,0,0,0,0,0
$GC,1677,-1.19,-116.8,204.0,-7.9,176,1681,0.00,2.38,0.00,0.000,4,0.000,0.039,2868,688,3118,0,0,0,0,0,0
$GC,1699,-1.19,-116.8,205.8,-8.3,177,1704,0.00,2.28,0.00,0.000,6,0.000,0.021,2868,2104,3118,0,0,0,0,0,0
$GC,2025,-1.19,-116.8,232.3,-9.1,193,2029,0.00,2.40,0.00,0.000,4,0.000,0.040,2868,692,3118,0,0,0,0,0,0
$GC,2053,-1.19,-116.8,235.7,-11.2,194,2058,0.00,2.30,0.00,0.000,6,0.000,0.022,2868,2100,3118,0,0,0,0,0,0
$GC,2373,-1.19,-116.8,266.4,-8.8,210,2377,0.00,2.35,0.00,0.000,4,0.000,0.035,2869,3499,3118,0,0,0,0,0,0
$GC,2503,-1.19,-116.8,279.6,-10.4,215,2510,0.00,2.35,0.00,0.000,6,0.000,0.029,2868,2091,3118,0,0,0,0,0,0
$GC,2839,-1.19,-116.8,306.8,-7.9,230,2843,0.00,2.38,0.00,0.000,4,0.000,0.044,2868,687,3116,0,0,0,0,0,0
$GC,2853,-1.19,-116.8,308.3,-8.1,230,2857,0.00,2.30,0.00,0.000,6,0.000,0.025,2868,2095,3117,0,0,0,0,0,0
$GC,3203,-1.19,-116.8,333.2,-6.8,239,3207,0.00,2.40,0.00,0.000,4,0.000,0.044,2868,686,3116,0,0,0,0,0,0
$GC,3222,-1.19,-116.8,334.7,-7.3,239,3226,0.00,2.33,0.00,0.000,6,0.000,0.025,2868,2102,3115,0,0,0,0,0,0
$GC,3572,-1.19,-116.8,360.8,-7.5,248,3577,0.00,2.38,0.00,0.000,4,0.000,0.038,2868,3501,3113,0,0,0,0,0,0
$GC,3592,-1.19,-116.8,362.4,-7.2,248,3596,0.00,2.35,0.00,0.000,6,0.000,0.033,2868,2100,3112,0,0,0,0,0,0
$GC,3942,-1.19,-116.8,389.3,-7.3,257,3946,0.00,2.45,0.00,0.000,4,0.000,0.048,2868,692,3111,0,0,0,0,0,0
$GC,3979,-1.19,-116.8,392.2,-7.8,257,3985,0.00,2.35,0.00,0.000,6,0.000,0.027,2868,2106,3110,0,0,0,0,0,0
$GC,4313,-1.19,-116.8,414.8,-6.4,266,4314,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2109,3108,0,0,0,0,0,0
$GC,4636,-1.19,-116.8,436.4,-7.3,274,4640,0.00,2.45,0.00,0.000,4,0.000,0.050,2868,695,3106,0,0,0,0,0,0
$GC,4669,-1.19,-116.8,439.1,-8.5,274,4673,0.00,2.35,0.00,0.000,6,0.000,0.028,2868,2102,3106,0,0,0,0,0,0
$STATE,4834,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4835,begin apogee
$GC,4842,-0.31,0.0,451.3,7.2,278,4940,0.98,0.00,95.28,0.821,6,0.084,0.000,3069,1806,2635,0,0,0,0,0,0
$STATE,4941,end apogee,CONTROL_FINISHED_OK
$STATE,4941,begin climb
$GC,4944,1.19,116.8,453.1,0.0,280,5056,1.48,2.58,101.15,0.802,4,0.057,0.060,3392,398,2156,0,0,0,0,0,0
$GC,5099,1.19,116.8,438.0,14.9,283,5103,0.00,2.38,0.00,0.000,6,0.000,0.028,3393,1800,2150,0,0,0,0,0,0
$GC,5439,1.19,116.8,395.2,12.5,292,5443,0.00,2.55,0.00,0.000,4,0.000,0.058,3393,390,2144,0,0,0,0,0,0
$GC,5472,1.19,116.8,390.6,14.2,292,5476,0.00,2.40,0.00,0.000,6,0.000,0.028,3393,1814,2142,0,0,0,0,0,0
$GC,5803,1.19,116.8,350.2,11.9,300,5807,0.00,2.55,0.00,0.000,4,0.000,0.057,3393,390,2140,0,0,0,0,0,0
$GC,5840,1.19,116.8,345.4,12.7,300,5846,0.00,2.38,0.00,0.000,6,0.000,0.028,3393,1808,2138,0,0,0,0,0,0
$GC,6172,1.19,116.8,308.9,11.3,309,6176,0.00,2.53,0.00,0.000,4,0.000,0.057,3393,390,2137,0,0,0,0,0,0
$GC,6204,1.19,116.8,305.1,12.0,309,6209,0.00,2.38,0.00,0.000,6,0.000,0.028,3393,1810,2136,0,0,0,0,0,0
$GC,6519,1.19,116.8,272.6,10.1,322,6523,0.00,2.53,0.00,0.000,4,0.000,0.057,3393,388,2136,0,0,0,0,0,0
$GC,6548,1.19,116.8,269.2,12.7,323,6552,0.00,2.35,0.00,0.000,6,0.000,0.027,3393,1794,2135,0,0,0,0,0,0
$GC,6869,1.19,116.8,235.8,10.1,339,6873,0.00,2.38,0.00,0.000,4,0.000,0.034,3393,3206,2134,0,0,0,0,0,0
$GC,6915,1.19,116.8,231.2,11.0,341,6919,0.00,2.45,0.00,0.000,6,0.000,0.039,3393,1794,2134,0,0,0,0,0,0
$GC,7236,1.19,116.8,197.3,10.2,357,7240,0.00,2.47,0.00,0.000,4,0.000,0.053,3393,378,2133,0,0,0,0,0,0
$GC,7300,1.19,116.8,189.9,12.0,363,7305,0.00,2.35,0.00,0.000,6,0.000,0.025,3393,1816,2131,0,0,0,0,0,0
$GC,7563,1.19,116.8,164.6,8.9,388,7567,0.00,2.50,0.00,0.000,4,0.000,0.051,3393,385,2132,0,0,0,0,0,0
$GC,7597,1.19,116.8,161.2,10.2,391,7601,0.00,2.30,0.00,0.000,6,0.000,0.023,3393,1805,2130,0,0,0,0,0,0
$GC,7862,1.19,116.8,137.0,9.1,415,7866,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1810,2131,0,0,0,0,0,0
$GC,8123,1.19,116.8,114.3,8.4,440,8124,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1810,2131,0,0,0,0,0,0
$GC,8378,1.19,116.8,93.2,8.8,464,8382,0.00,2.45,0.00,0.000,4,0.000,0.047,3393,385,2131,0,0,0,0,0,0
$GC,8402,1.19,116.8,90.9,9.7,466,8407,0.00,2.28,0.00,0.000,6,0.000,0.021,3393,1806,2131,0,0,0,0,0,0
$GC,8666,1.19,116.8,69.5,8.6,490,8671,0.00,2.42,0.00,0.000,4,0.000,0.045,3393,384,2132,0,0,0,0,0,0
$GC,8683,1.19,116.8,68.0,8.1,491,8687,0.00,2.28,0.00,0.000,6,0.000,0.020,3393,1817,2131,0,0,0,0,0,0
$GC,8948,1.25,159.1,50.5,6.1,515,8987,0.00,2.53,32.80,0.503,4,0.000,0.045,3393,382,1984,0,0,0,0,0,0
$GC,9026,1.25,159.1,44.8,8.6,523,9030,0.00,2.28,0.00,0.000,6,0.000,0.019,3393,1778,1980,0,0,0,0,0,0
$GC,9294,1.28,186.0,26.1,6.8,553,9323,0.10,2.38,23.85,0.472,4,0.071,0.023,3433,3208,1875,0,0,0,0,0,0
$GC,9340,1.28,186.0,22.3,8.5,561,9347,0.00,2.45,0.00,0.000,6,0.000,0.030,3432,1791,1875,0,0,0,0,0,0
$STATE,9518,end climb,SURFACE_DEPTH_REACHED
$STATE,9519,begin surface coast
$FINISH,0.6,1.017457
$STATE,9546,end surface coast,CONTROL_FINISHED_OK
$STATE,9546,begin surface
$SM_CCo,9570,75.72,0.463,0,0,1288,330.17
$SM_GC,1.25,0.00,0.00,75.72,0.000,0.000,0.463,427,2151,1288,-12.47,1.44,330.17
$IRIDIUM_FIX,2057.14,-15753.90,090700,171721
$TT8_MAMPS,0.029146
$HUMID,53.81
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.80
$XPDR_PINGS,1
$24V_AH,23.4,7.778
$10V_AH,10.6,7.391
$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,28.700,115.450,253.075,75.725,0.000,31.033,33.071,147.688,4.750,0.000,17.369,1097.728,6416.061,403.365,1617.390,445.413,33.334,1107.677,0.000,1599.472,0.000,29.253,0.000
$DEVICE_MAMPS,137.293,59.826,821.457,462.501,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,405.450,388.185,882.086,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31732,599
$CAP_FILE_SIZE,99002,0
$CFSIZE,260165632,251871232
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150411,230638,2105.709,-15754.899,13,1.8,13,9.8