version: 66.06
glider: 139
mission: 9
dive: 98
start: 4 16 111 1 58 43
data:
$ID,139
$MISSION,9
$DIVE,98
$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,-2176651
$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,72
$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
$GPS1,015225,2106.051,-15754.889,43,2.0,43,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-74.6
$GPS2,015750,2106.115,-15754.799,13,1.9,13,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.220,0.029
$KALMAN_X,-21298.5,-147.0,-224.9,24868.8,-2148.1
$KALMAN_Y,-4386.2,310.2,-18.0,6098.8,-330.6
$MHEAD_RNG_PITCHd_Wd,72.8,20536,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.19,-116.8,0.0,0.0,0,94,0.00,0.00,-71.00,0.000,6,0.000,0.000,426,2143,3111,0,0,0,0,0,0
$GC,98,-1.19,-116.8,3.1,-4.5,14,116,13.25,2.22,0.00,0.000,4,0.137,0.029,2869,3471,3113,0,0,0,0,0,0
$GC,368,-1.19,-116.8,54.7,-16.5,58,372,0.00,2.33,0.00,0.000,6,0.000,0.028,2869,2087,3116,0,0,0,0,0,0
$GC,629,-1.19,-116.8,93.2,-14.4,82,633,0.00,2.30,0.00,0.000,4,0.000,0.028,2868,3473,3116,0,0,0,0,0,0
$GC,893,-1.19,-116.8,130.3,-11.7,110,900,0.00,2.30,0.00,0.000,6,0.000,0.027,2869,2102,3116,0,0,0,0,0,0
$GC,1157,-1.19,-116.8,156.3,-10.3,135,1161,0.00,2.28,0.00,0.000,4,0.000,0.029,2869,3475,3118,0,0,0,0,0,0
$GC,1237,-1.19,-116.8,165.9,-11.4,143,1241,0.00,2.28,0.00,0.000,6,0.000,0.028,2869,2099,3117,0,0,0,0,0,0
$GC,1502,-1.19,-116.8,195.7,-10.8,167,1506,0.00,2.35,0.00,0.000,4,0.000,0.040,2868,693,3118,0,0,0,0,0,0
$GC,1562,-1.19,-116.8,203.5,-12.6,171,1567,0.00,2.22,0.00,0.000,6,0.000,0.021,2869,2081,3118,0,0,0,0,0,0
$GC,1879,-1.19,-116.8,234.4,-8.2,187,1883,0.00,2.38,0.00,0.000,4,0.000,0.040,2869,684,3118,0,0,0,0,0,0
$GC,1944,-1.19,-116.8,240.7,-9.7,190,1949,0.00,2.30,0.00,0.000,6,0.000,0.021,2868,2098,3118,0,0,0,0,0,0
$GC,2274,-1.19,-116.8,271.6,-10.0,206,2278,0.00,2.40,0.00,0.000,4,0.000,0.041,2868,691,3118,0,0,0,0,0,0
$GC,2295,-1.19,-116.8,273.4,-9.6,207,2299,0.00,2.28,0.00,0.000,6,0.000,0.023,2869,2098,3118,0,0,0,0,0,0
$GC,2627,-1.19,-116.8,299.9,-8.5,223,2632,0.00,2.35,0.00,0.000,4,0.000,0.036,2869,3496,3117,0,0,0,0,0,0
$GC,2785,-1.19,-116.8,312.7,-7.4,227,2789,0.00,2.33,0.00,0.000,6,0.000,0.030,2869,2098,3117,0,0,0,0,0,0
$GC,3135,-1.19,-116.8,338.0,-7.6,236,3136,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2096,3115,0,0,0,0,0,0
$GC,3459,-1.19,-116.8,359.7,-6.3,244,3464,0.00,2.35,0.00,0.000,4,0.000,0.036,2869,3495,3114,0,0,0,0,0,0
$GC,3470,-1.19,-116.8,360.3,-6.0,244,3474,0.00,2.33,0.00,0.000,6,0.000,0.032,2869,2102,3113,0,0,0,0,0,0
$GC,3789,-1.19,-116.8,379.5,-6.1,252,3793,0.00,2.42,0.00,0.000,4,0.000,0.048,2869,693,3111,0,0,0,0,0,0
$GC,3808,-1.19,-116.8,380.9,-7.3,252,3812,0.00,2.30,0.00,0.000,6,0.000,0.027,2869,2096,3110,0,0,0,0,0,0
$GC,4154,-1.19,-116.8,404.6,-6.9,261,4155,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2098,3108,0,0,0,0,0,0
$GC,4478,-1.19,-116.8,425.5,-6.2,269,4479,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2098,3106,0,0,0,0,0,0
$GC,4803,-1.19,-116.8,444.1,-5.4,277,4807,0.00,2.45,0.00,0.000,4,0.000,0.051,2869,692,3104,0,0,0,0,0,0
$GC,4869,-1.19,-116.8,448.3,-6.3,278,4873,0.00,2.35,0.00,0.000,6,0.000,0.029,2869,2104,3103,0,0,0,0,0,0
$STATE,4927,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4927,begin apogee
$GC,4934,-0.31,0.0,451.8,5.9,280,5032,0.95,0.00,94.90,0.830,6,0.086,0.000,3064,1806,2635,0,0,0,0,0,0
$STATE,5033,end apogee,CONTROL_FINISHED_OK
$STATE,5033,begin climb
$GC,5036,1.19,116.8,452.7,0.0,282,5144,1.50,0.00,101.00,0.808,6,0.060,0.000,3392,1806,2158,0,0,0,0,0,0
$GC,5485,1.19,116.8,399.4,12.6,293,5489,0.00,2.53,0.00,0.000,4,0.000,0.059,3391,390,2147,0,0,0,0,0,0
$GC,5583,1.19,116.8,385.5,14.2,295,5587,0.00,2.38,0.00,0.000,6,0.000,0.028,3392,1801,2142,0,0,0,0,0,0
$GC,5901,1.19,116.8,345.2,12.7,303,5905,0.00,2.53,0.00,0.000,4,0.000,0.057,3391,385,2140,0,0,0,0,0,0
$GC,5938,1.19,116.8,339.8,13.8,303,5944,0.00,2.38,0.00,0.000,6,0.000,0.028,3391,1810,2138,0,0,0,0,0,0
$GC,6269,1.19,116.8,303.7,10.2,312,6271,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,1815,2138,0,0,0,0,0,0
$GC,6579,1.19,116.8,275.1,9.7,325,6583,0.00,2.35,0.00,0.000,4,0.000,0.035,3392,3202,2136,0,0,0,0,0,0
$GC,6629,1.19,116.8,270.0,9.4,327,6634,0.00,2.45,0.00,0.000,6,0.000,0.039,3391,1795,2137,0,0,0,0,0,0
$GC,6951,1.19,116.8,240.7,9.1,343,6956,0.00,2.47,0.00,0.000,4,0.000,0.055,3391,386,2135,0,0,0,0,0,0
$GC,7019,1.19,116.8,233.5,11.0,346,7023,0.00,2.35,0.00,0.000,6,0.000,0.025,3391,1810,2133,0,0,0,0,0,0
$GC,7348,1.19,116.8,201.6,9.5,362,7352,0.00,2.50,0.00,0.000,4,0.000,0.053,3391,380,2133,0,0,0,0,0,0
$GC,7384,1.19,116.8,197.6,10.8,365,7390,0.00,2.33,0.00,0.000,6,0.000,0.024,3392,1799,2132,0,0,0,0,0,0
$GC,7645,1.19,116.8,172.9,9.2,390,7650,0.00,2.47,0.00,0.000,4,0.000,0.050,3391,382,2132,0,0,0,0,0,0
$GC,7710,1.19,116.8,166.2,11.0,396,7717,0.00,2.35,0.00,0.000,6,0.000,0.023,3391,1799,2131,0,0,0,0,0,0
$GC,7974,1.19,116.8,140.7,10.1,421,7978,0.00,2.30,0.00,0.000,4,0.000,0.029,3392,3204,2132,0,0,0,0,0,0
$GC,8029,1.19,116.8,134.7,10.0,426,8036,0.00,2.42,0.00,0.000,6,0.000,0.034,3391,1797,2132,0,0,0,0,0,0
$GC,8293,1.20,124.6,111.7,7.7,451,8297,0.00,2.40,0.00,0.000,4,0.000,0.048,3391,386,2132,0,0,0,0,0,0
$GC,8348,1.20,124.6,107.0,8.1,456,8355,0.00,2.33,0.00,0.000,6,0.000,0.021,3392,1809,2131,0,0,0,0,0,0
$GC,8612,1.23,146.4,88.0,7.0,481,8640,0.00,2.47,22.15,0.528,4,0.000,0.045,3391,388,2037,0,0,0,0,0,0
$GC,8653,1.23,146.4,84.6,8.8,485,8657,0.00,2.30,0.00,0.000,6,0.000,0.020,3392,1813,2034,0,0,0,0,0,0
$GC,8917,1.23,146.4,63.2,8.5,509,8921,0.00,2.47,0.00,0.000,4,0.000,0.046,3391,386,2034,0,0,0,0,0,0
$GC,8953,1.23,146.4,59.5,10.0,512,8960,0.00,2.30,0.00,0.000,6,0.000,0.019,3392,1788,2032,0,0,0,0,0,0
$GC,9218,1.27,181.8,41.6,6.4,537,9255,0.10,0.00,31.50,0.492,6,0.071,0.000,3431,1793,1893,0,0,0,0,0,0
$GC,9514,1.27,181.8,14.8,9.0,579,9521,0.00,2.45,0.00,0.000,4,0.000,0.045,3431,389,1889,0,0,0,0,0,0
$GC,9562,1.27,181.8,9.9,10.4,589,9569,0.00,2.33,0.00,0.000,6,0.000,0.018,3431,1819,1886,0,0,0,0,0,0
$STATE,9638,end climb,SURFACE_DEPTH_REACHED
$STATE,9638,begin surface coast
$FINISH,0.5,1.009476
$STATE,9673,end surface coast,CONTROL_FINISHED_OK
$STATE,9673,begin surface
$SM_CCo,9697,75.22,0.459,0,0,1289,330.17
$SM_GC,1.17,0.00,0.00,75.22,0.000,0.000,0.459,428,2149,1289,-12.46,1.39,330.17
$IRIDIUM_FIX,2057.14,-15753.90,090700,232324
$TT8_MAMPS,0.029146
$HUMID,52.87
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.4,7.931
$10V_AH,10.5,7.548
$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,28.725,100.275,249.550,75.225,0.000,23.699,35.423,149.378,4.500,0.000,13.691,1128.346,6391.141,403.001,1735.609,442.764,33.349,1149.388,0.000,1719.622,0.000,29.263,0.000
$DEVICE_MAMPS,137.293,59.059,829.894,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,412.170,393.228,887.793,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,34904,609
$CAP_FILE_SIZE,99340,0
$CFSIZE,260165632,251768832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160411,044255,2106.118,-15754.268,40,1.5,40,9.8