version: 66.06
glider: 139
mission: 9
dive: 99
start: 4 16 111 4 49 31
data:
$ID,139
$MISSION,9
$DIVE,99
$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,-2176664.5
$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,18
$R_STBD_OVSHOOT,94
$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
$GPS1,044255,2106.118,-15754.268,40,1.5,40,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-75.5
$GPS2,044838,2106.129,-15754.129,12,1.5,12,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.222,0.003
$KALMAN_X,-22960.7,69.9,-68.4,27315.9,-1611.2
$KALMAN_Y,-4456.7,268.9,-197.0,6419.9,-57.9
$MHEAD_RNG_PITCHd_Wd,79.5,19379,-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,-70.62,0.000,6,0.000,0.000,428,2149,3112,0,0,0,0,0,0
$GC,98,-1.19,-116.8,3.4,-5.4,14,117,13.18,2.17,0.00,0.000,4,0.136,0.028,2867,3448,3113,0,0,0,0,0,0
$GC,244,-1.19,-116.8,38.7,-20.0,42,251,0.00,2.33,0.00,0.000,6,0.000,0.031,2868,2084,3115,0,0,0,0,0,0
$GC,507,-1.19,-116.8,84.8,-14.1,67,511,0.00,2.25,0.00,0.000,4,0.000,0.028,2867,3447,3116,0,0,0,0,0,0
$GC,770,-1.19,-116.8,121.3,-13.9,95,775,0.00,2.25,0.00,0.000,6,0.000,0.026,2867,2090,3116,0,0,0,0,0,0
$GC,1033,-1.19,-116.8,152.5,-11.2,120,1037,0.00,2.25,0.00,0.000,4,0.000,0.027,2868,3452,3117,0,0,0,0,0,0
$GC,1171,-1.19,-116.8,169.8,-11.6,135,1175,0.00,2.22,0.00,0.000,6,0.000,0.026,2867,2100,3117,0,0,0,0,0,0
$GC,1436,-1.19,-116.8,196.0,-9.0,159,1440,0.00,2.35,0.00,0.000,4,0.000,0.039,2867,692,3118,0,0,0,0,0,0
$GC,1514,-1.19,-116.8,203.7,-9.0,164,1519,0.00,2.20,0.00,0.000,6,0.000,0.020,2867,2064,3118,0,0,0,0,0,0
$GC,1833,-1.19,-116.8,232.9,-8.8,179,1834,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2067,3118,0,0,0,0,0,0
$GC,2139,-1.19,-116.8,258.7,-8.1,194,2143,0.00,2.30,0.00,0.000,4,0.000,0.041,2867,695,3118,0,0,0,0,0,0
$GC,2286,-1.19,-116.8,272.2,-8.6,200,2291,0.00,2.28,0.00,0.000,6,0.000,0.022,2867,2104,3118,0,0,0,0,0,0
$GC,2604,-1.19,-116.8,295.7,-7.1,215,2608,0.00,2.33,0.00,0.000,4,0.000,0.035,2868,3499,3117,0,0,0,0,0,0
$GC,2759,-1.19,-116.8,307.7,-8.2,220,2763,0.00,2.33,0.00,0.000,6,0.000,0.031,2867,2097,3116,0,0,0,0,0,0
$GC,3109,-1.19,-116.8,333.2,-8.0,229,3114,0.00,2.38,0.00,0.000,4,0.000,0.036,2867,3494,3115,0,0,0,0,0,0
$GC,3322,-1.19,-116.8,350.3,-7.9,233,3326,0.00,2.33,0.00,0.000,6,0.000,0.031,2867,2099,3115,0,0,0,0,0,0
$GC,3658,-1.19,-116.8,373.8,-7.0,242,3662,0.00,2.42,0.00,0.000,4,0.000,0.048,2867,690,3112,0,0,0,0,0,0
$GC,3701,-1.19,-116.8,377.0,-7.4,243,3705,0.00,2.30,0.00,0.000,6,0.000,0.026,2867,2095,3112,0,0,0,0,0,0
$GC,4029,-1.19,-116.8,399.5,-6.9,251,4033,0.00,2.40,0.00,0.000,4,0.000,0.040,2867,3505,3109,0,0,0,0,0,0
$GC,4067,-1.19,-116.8,402.3,-7.2,251,4072,0.00,2.35,0.00,0.000,6,0.000,0.034,2867,2102,3109,0,0,0,0,0,0
$GC,4398,-1.19,-116.8,425.9,-7.3,260,4399,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2101,3107,0,0,0,0,0,0
$GC,4723,-1.19,-116.8,449.8,-7.3,268,4727,0.00,2.42,0.00,0.000,4,0.000,0.051,2867,692,3105,0,0,0,0,0,0
$STATE,4730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4730,begin apogee
$GC,4739,-0.31,0.0,450.5,7.2,268,4838,0.95,0.00,95.05,0.828,6,0.087,0.000,3065,1811,2635,0,0,0,0,0,0
$STATE,4838,end apogee,CONTROL_FINISHED_OK
$STATE,4838,begin climb
$GC,4841,1.19,116.8,452.5,0.0,270,4953,1.50,2.47,101.50,0.808,4,0.058,0.037,3393,3214,2157,0,0,0,0,0,0
$GC,4963,1.19,116.8,442.6,10.6,272,4969,0.00,2.50,0.00,0.000,6,0.000,0.041,3393,1811,2156,0,0,0,0,0,0
$GC,5295,1.19,116.8,402.2,12.2,281,5299,0.00,2.58,0.00,0.000,4,0.000,0.060,3393,379,2146,0,0,0,0,0,0
$GC,5360,1.19,116.8,393.4,14.1,282,5364,0.00,2.38,0.00,0.000,6,0.000,0.028,3393,1790,2143,0,0,0,0,0,0
$GC,5705,1.19,116.8,355.1,10.7,291,5709,0.00,2.50,0.00,0.000,4,0.000,0.058,3393,385,2140,0,0,0,0,0,0
$GC,5748,1.19,116.8,350.1,11.5,292,5752,0.00,2.38,0.00,0.000,6,0.000,0.028,3393,1818,2138,0,0,0,0,0,0
$GC,6077,1.19,116.8,313.9,11.2,300,6081,0.00,2.58,0.00,0.000,4,0.000,0.058,3393,378,2138,0,0,0,0,0,0
$GC,6101,1.19,116.8,310.4,13.6,300,6105,0.00,2.35,0.00,0.000,6,0.000,0.028,3393,1789,2137,0,0,0,0,0,0
$GC,6424,1.19,116.8,274.7,10.1,314,6428,0.00,2.40,0.00,0.000,4,0.000,0.034,3393,3210,2136,0,0,0,0,0,0
$GC,6446,1.19,116.8,272.7,10.1,315,6450,0.00,2.45,0.00,0.000,6,0.000,0.038,3392,1798,2136,0,0,0,0,0,0
$GC,6776,1.19,116.8,243.9,9.1,331,6781,0.00,2.50,0.00,0.000,4,0.000,0.056,3393,379,2134,0,0,0,0,0,0
$GC,6878,1.19,116.8,232.6,11.3,335,6882,0.00,2.35,0.00,0.000,6,0.000,0.025,3393,1814,2132,0,0,0,0,0,0
$GC,7193,1.19,116.8,203.6,8.8,350,7197,0.00,2.33,0.00,0.000,4,0.000,0.031,3393,3207,2133,0,0,0,0,0,0
$GC,7236,1.19,116.8,199.5,9.4,352,7240,0.00,2.42,0.00,0.000,6,0.000,0.036,3393,1796,2132,0,0,0,0,0,0
$GC,7499,1.19,116.8,175.0,8.6,376,7503,0.00,2.45,0.00,0.000,4,0.000,0.051,3393,378,2132,0,0,0,0,0,0
$GC,7515,1.19,116.8,173.4,8.5,377,7520,0.00,2.30,0.00,0.000,6,0.000,0.023,3393,1804,2132,0,0,0,0,0,0
$GC,7780,1.19,116.8,150.2,8.3,401,7784,0.00,2.45,0.00,0.000,4,0.000,0.048,3393,381,2132,0,0,0,0,0,0
$GC,7824,1.19,116.8,145.9,9.7,405,7828,0.00,2.30,0.00,0.000,6,0.000,0.022,3393,1809,2131,0,0,0,0,0,0
$GC,8089,1.19,116.8,121.3,10.2,429,8093,0.00,2.28,0.00,0.000,4,0.000,0.027,3393,3204,2131,0,0,0,0,0,0
$GC,8150,1.19,116.8,115.0,9.4,435,8155,0.00,2.38,0.00,0.000,6,0.000,0.032,3393,1793,2132,0,0,0,0,0,0
$GC,8415,1.19,116.8,91.7,8.6,459,8419,0.00,2.40,0.00,0.000,4,0.000,0.048,3393,382,2132,0,0,0,0,0,0
$GC,8484,1.19,116.8,85.0,9.7,466,8489,0.00,2.28,0.00,0.000,6,0.000,0.020,3393,1808,2131,0,0,0,0,0,0
$GC,8750,1.22,133.9,65.2,7.2,490,8771,0.00,2.33,11.23,0.480,4,0.000,0.026,3393,3194,2089,0,0,0,0,0,0
$GC,8810,1.24,153.3,60.6,7.1,496,8833,0.00,2.38,18.33,0.499,6,0.000,0.031,3393,1790,2010,0,0,0,0,0,0
$GC,9096,1.24,153.9,38.7,8.0,523,9100,0.00,2.38,0.00,0.000,4,0.000,0.044,3393,387,2006,0,0,0,0,0,0
$GC,9140,1.24,154.6,35.2,8.0,527,9144,0.00,2.25,0.00,0.000,6,0.000,0.019,3393,1794,2004,0,0,0,0,0,0
$GC,9405,1.28,183.2,15.8,6.7,569,9440,0.00,2.50,26.33,0.468,4,0.000,0.045,3393,392,1887,0,0,0,0,0,0
$GC,9500,1.28,183.2,8.2,8.7,588,9506,0.00,2.30,0.00,0.000,6,0.000,0.018,3393,1790,1883,0,0,0,0,0,0
$STATE,9570,end climb,SURFACE_DEPTH_REACHED
$STATE,9570,begin surface coast
$FINISH,0.7,1.023256
$STATE,9610,end surface coast,CONTROL_FINISHED_OK
$STATE,9610,begin surface
$SM_CCo,9634,75.60,0.462,0,0,1288,330.17
$SM_GC,1.25,0.00,0.00,75.60,0.000,0.000,0.462,429,2160,1288,-12.45,1.70,330.17
$IRIDIUM_FIX,2059.45,-15753.90,100700,020255
$TT8_MAMPS,0.029146
$HUMID,53.22
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.4,8.007
$10V_AH,10.6,7.628
$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,28.350,113.325,252.425,75.600,0.000,30.834,34.960,162.189,4.500,0.000,12.711,1150.509,6201.694,389.360,1844.608,469.884,33.352,1189.643,0.000,1824.170,0.000,29.249,0.000
$DEVICE_MAMPS,135.759,59.826,828.360,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,411.751,394.000,902.770,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,34980,608
$CAP_FILE_SIZE,105073,0
$CFSIZE,260165632,251715584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160411,073234,2105.965,-15753.204,14,6.8,33,9.8