version: 66.06
glider: 139
mission: 9
dive: 97
start: 4 15 111 23 13 38
data:
$ID,139
$MISSION,9
$DIVE,97
$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,-2176636.5
$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,20
$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
$GPS1,230638,2105.709,-15754.899,13,1.8,13,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-75.0
$GPS2,231246,2105.759,-15754.883,11,2.4,30,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.212,0.065
$KALMAN_X,-19621.9,-129.1,278.6,22518.1,-3047.3
$KALMAN_Y,-4626.0,273.4,307.9,5386.2,-736.9
$MHEAD_RNG_PITCHd_Wd,63.1,20674,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.19,-116.8,0.0,0.0,0,95,0.00,0.00,-70.82,0.000,6,0.000,0.000,426,2152,3112,0,0,0,0,0,0
$GC,98,-1.19,-116.8,3.4,-5.3,14,117,13.23,2.20,0.00,0.000,4,0.137,0.026,2870,3473,3114,0,0,0,0,0,0
$GC,369,-1.19,-116.8,53.8,-13.7,58,373,0.00,2.30,0.00,0.000,6,0.000,0.028,2870,2087,3116,0,0,0,0,0,0
$GC,630,-1.19,-116.8,95.9,-15.6,82,634,0.00,2.30,0.00,0.000,4,0.000,0.029,2870,3472,3116,0,0,0,0,0,0
$GC,892,-1.19,-116.8,130.7,-12.9,110,898,0.00,2.30,0.00,0.000,6,0.000,0.028,2870,2105,3116,0,0,0,0,0,0
$GC,1156,-1.19,-116.8,156.4,-9.0,135,1160,0.00,2.28,0.00,0.000,4,0.000,0.029,2870,3467,3117,0,0,0,0,0,0
$GC,1231,-1.19,-116.8,164.3,-11.2,142,1238,0.00,2.30,0.00,0.000,6,0.000,0.026,2870,2099,3117,0,0,0,0,0,0
$GC,1496,-1.19,-116.8,189.4,-9.0,167,1500,0.00,2.28,0.00,0.000,4,0.000,0.030,2869,3469,3118,0,0,0,0,0,0
$GC,1560,-1.19,-116.8,196.0,-9.4,173,1565,0.00,2.28,0.00,0.000,6,0.000,0.027,2870,2099,3119,0,0,0,0,0,0
$GC,1815,-1.19,-116.8,218.1,-8.3,188,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2098,3118,0,0,0,0,0,0
$GC,2125,-1.19,-116.8,243.0,-9.4,203,2129,0.00,2.28,0.00,0.000,4,0.000,0.031,2870,3465,3118,0,0,0,0,0,0
$GC,2209,-1.19,-116.8,251.8,-9.7,206,2213,0.00,2.25,0.00,0.000,6,0.000,0.028,2870,2099,3118,0,0,0,0,0,0
$GC,2525,-1.19,-116.8,279.3,-8.2,221,2526,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2100,3118,0,0,0,0,0,0
$GC,2833,-1.19,-116.8,305.4,-8.7,235,2837,0.00,2.40,0.00,0.000,4,0.000,0.044,2869,693,3116,0,0,0,0,0,0
$GC,2876,-1.19,-116.8,309.8,-10.2,236,2880,0.00,2.22,0.00,0.000,6,0.000,0.024,2870,2066,3116,0,0,0,0,0,0
$GC,3203,-1.19,-116.8,337.5,-8.2,244,3208,0.00,2.40,0.00,0.000,4,0.000,0.037,2870,3498,3115,0,0,0,0,0,0
$GC,3218,-1.19,-116.8,338.8,-7.9,244,3222,0.00,2.35,0.00,0.000,6,0.000,0.032,2870,2103,3115,0,0,0,0,0,0
$GC,3568,-1.19,-116.8,369.0,-8.5,253,3572,0.00,2.35,0.00,0.000,4,0.000,0.038,2869,3494,3113,0,0,0,0,0,0
$GC,3582,-1.19,-116.8,370.2,-7.9,253,3586,0.00,2.35,0.00,0.000,6,0.000,0.032,2870,2100,3112,0,0,0,0,0,0
$GC,3933,-1.19,-116.8,398.3,-8.2,262,3937,0.00,2.42,0.00,0.000,4,0.000,0.048,2870,691,3110,0,0,0,0,0,0
$GC,3962,-1.19,-116.8,400.9,-9.3,262,3966,0.00,2.35,0.00,0.000,6,0.000,0.027,2869,2105,3110,0,0,0,0,0,0
$GC,4298,-1.19,-116.8,427.1,-7.5,271,4302,0.00,2.38,0.00,0.000,4,0.000,0.041,2870,3509,3107,0,0,0,0,0,0
$GC,4317,-1.19,-116.8,428.5,-6.9,271,4321,0.00,2.40,0.00,0.000,6,0.000,0.034,2869,2098,3108,0,0,0,0,0,0
$STATE,4659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4660,begin apogee
$GC,4666,-0.31,0.0,451.3,6.5,280,4765,0.95,0.00,95.22,0.822,6,0.085,0.000,3065,1808,2635,0,0,0,0,0,0
$STATE,4766,end apogee,CONTROL_FINISHED_OK
$STATE,4766,begin climb
$GC,4769,1.19,116.8,452.7,0.0,282,4874,1.52,0.00,101.18,0.802,6,0.058,0.000,3395,1808,2158,0,0,0,0,0,0
$GC,5187,1.19,116.8,404.4,12.3,293,5192,0.00,2.55,0.00,0.000,4,0.000,0.059,3395,390,2146,0,0,0,0,0,0
$GC,5220,1.19,116.8,399.6,14.2,293,5225,0.00,2.38,0.00,0.000,6,0.000,0.028,3395,1813,2143,0,0,0,0,0,0
$GC,5551,1.19,116.8,354.6,13.7,301,5556,0.00,2.53,0.00,0.000,4,0.000,0.058,3395,390,2141,0,0,0,0,0,0
$GC,5584,1.19,116.8,349.9,14.4,301,5588,0.00,2.38,0.00,0.000,6,0.000,0.028,3395,1805,2139,0,0,0,0,0,0
$GC,5915,1.19,116.8,306.8,12.8,309,5919,0.00,2.53,0.00,0.000,4,0.000,0.056,3395,389,2138,0,0,0,0,0,0
$GC,5930,1.19,116.8,305.0,11.9,309,5934,0.00,2.35,0.00,0.000,6,0.000,0.028,3395,1801,2138,0,0,0,0,0,0
$GC,6263,1.19,116.8,269.4,9.8,324,6266,0.00,2.38,0.00,0.000,4,0.000,0.034,3395,3208,2137,0,0,0,0,0,0
$GC,6299,1.19,116.8,266.2,8.8,325,6304,0.00,2.45,0.00,0.000,6,0.000,0.039,3395,1800,2136,0,0,0,0,0,0
$GC,6615,1.19,116.8,234.8,9.9,340,6619,0.00,2.47,0.00,0.000,4,0.000,0.054,3395,380,2135,0,0,0,0,0,0
$GC,6636,1.19,116.8,232.5,11.0,341,6640,0.00,2.38,0.00,0.000,6,0.000,0.025,3395,1819,2133,0,0,0,0,0,0
$GC,6967,1.19,116.8,199.9,9.5,357,6968,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1825,2133,0,0,0,0,0,0
$GC,7222,1.19,116.8,177.4,9.2,381,7223,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1825,2133,0,0,0,0,0,0
$GC,7477,1.19,116.8,154.0,9.9,405,7481,0.00,2.50,0.00,0.000,4,0.000,0.051,3395,388,2132,0,0,0,0,0,0
$GC,7539,1.19,116.8,146.9,12.2,411,7543,0.00,2.30,0.00,0.000,6,0.000,0.022,3395,1792,2131,0,0,0,0,0,0
$GC,7804,1.19,116.8,119.7,9.3,435,7808,0.00,2.42,0.00,0.000,4,0.000,0.048,3395,383,2132,0,0,0,0,0,0
$GC,7832,1.19,116.8,116.8,9.3,437,7838,0.00,2.33,0.00,0.000,6,0.000,0.021,3395,1821,2131,0,0,0,0,0,0
$GC,8095,1.22,139.1,98.6,7.0,462,8117,0.00,2.55,15.62,0.527,4,0.000,0.047,3395,391,2067,0,0,0,0,0,0
$GC,8144,1.22,139.1,94.9,8.8,467,8148,0.00,2.30,0.00,0.000,6,0.000,0.020,3395,1797,2065,0,0,0,0,0,0
$GC,8408,1.23,143.3,70.6,7.8,491,8419,0.00,2.33,4.80,0.385,4,0.000,0.025,3395,3207,2050,0,0,0,0,0,0
$GC,8434,1.23,143.3,68.2,8.8,493,8440,0.00,2.40,0.00,0.000,6,0.000,0.028,3395,1803,2051,0,0,0,0,0,0
$GC,8698,1.25,165.4,49.0,7.0,518,8729,0.00,2.50,20.85,0.492,4,0.000,0.046,3395,393,1958,0,0,0,0,0,0
$GC,8741,1.27,175.6,45.9,7.6,522,8756,0.00,2.30,9.98,0.449,6,0.000,0.019,3395,1811,1919,0,0,0,0,0,0
$GC,9017,1.28,186.6,25.6,7.5,552,9035,0.00,2.53,10.70,0.439,4,0.000,0.047,3395,388,1873,0,0,0,0,0,0
$GC,9059,1.28,186.6,22.1,8.4,560,9066,0.00,2.30,0.00,0.000,6,0.000,0.018,3395,1783,1871,0,0,0,0,0,0
$GC,9263,1.30,203.6,7.7,7.2,597,9281,0.10,0.00,15.55,0.444,6,0.071,0.000,3436,1789,1804,0,0,0,0,0,0
$STATE,9318,end climb,SURFACE_DEPTH_REACHED
$STATE,9319,begin surface coast
$FINISH,0.6,1.013892
$STATE,9354,end surface coast,CONTROL_FINISHED_OK
$STATE,9354,begin surface
$SM_CCo,9378,66.28,0.460,0,0,1288,330.17
$SM_GC,1.36,0.00,0.00,66.28,0.000,0.000,0.460,426,2143,1288,-12.47,1.22,330.17
$IRIDIUM_FIX,2054.83,-15756.91,090700,202014
$TT8_MAMPS,0.029146
$HUMID,53.18
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.4,7.855
$10V_AH,10.6,7.469
$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,28.700,100.500,273.900,66.275,0.000,29.107,43.685,160.135,4.500,0.000,31.601,1110.666,6149.835,420.787,1669.688,463.392,33.344,1118.375,0.000,1640.991,0.000,29.247,0.000
$DEVICE_MAMPS,136.526,59.059,822.224,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,414.653,404.436,925.285,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,34857,613
$CAP_FILE_SIZE,96374,0
$CFSIZE,260165632,251822080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160411,015225,2106.051,-15754.889,43,2.0,43,9.8