version: 66.06
glider: 139
mission: 9
dive: 116
start: 4 18 111 3 58 19
data:
$ID,139
$MISSION,9
$DIVE,116
$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,-2177015.5
$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,16
$R_STBD_OVSHOOT,89
$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
$GPS1,035207,2106.310,-15750.385,40,0.8,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-76.0
$GPS2,035726,2106.339,-15750.380,16,1.3,16,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.188,0.118
$KALMAN_X,-56560.7,606.1,-692.5,67484.6,-2185.4
$KALMAN_Y,-14562.3,448.0,9.4,16527.6,-1313.7
$MHEAD_RNG_PITCHd_Wd,48.2,12929,-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,-116.8,0.0,0.0,0,93,0.00,0.00,-70.30,0.000,6,0.000,0.000,430,2168,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.8,-5.9,14,114,13.18,2.15,0.00,0.000,4,0.137,0.025,2869,3462,3114,0,0,0,0,0,0
$GC,368,-1.19,-116.8,56.8,-16.3,57,372,0.00,2.33,0.00,0.000,6,0.000,0.028,2869,2076,3116,0,0,0,0,0,0
$GC,630,-1.19,-116.8,96.6,-13.7,81,634,0.00,2.30,0.00,0.000,4,0.000,0.028,2868,3452,3117,0,0,0,0,0,0
$GC,893,-1.19,-116.8,130.0,-14.1,109,898,0.00,2.25,0.00,0.000,6,0.000,0.027,2869,2096,3117,0,0,0,0,0,0
$GC,1158,-1.19,-116.8,160.7,-11.4,134,1162,0.00,2.28,0.00,0.000,4,0.000,0.028,2869,3458,3118,0,0,0,0,0,0
$GC,1363,-1.19,-116.8,184.4,-11.1,156,1367,0.00,2.25,0.00,0.000,6,0.000,0.027,2869,2101,3118,0,0,0,0,0,0
$GC,1626,-1.19,-116.8,210.1,-8.8,176,1630,0.00,2.28,0.00,0.000,4,0.000,0.031,2869,3457,3119,0,0,0,0,0,0
$GC,1727,-1.19,-116.8,220.1,-10.1,180,1731,0.00,2.22,0.00,0.000,6,0.000,0.029,2869,2101,3119,0,0,0,0,0,0
$GC,2045,-1.19,-116.8,245.6,-7.6,195,2049,0.00,2.38,0.00,0.000,4,0.000,0.041,2869,695,3119,0,0,0,0,0,0
$GC,2059,-1.19,-116.8,247.1,-7.8,195,2065,0.00,2.20,0.00,0.000,6,0.000,0.022,2869,2057,3119,0,0,0,0,0,0
$GC,2376,-1.19,-116.8,271.0,-7.4,211,2381,0.00,2.40,0.00,0.000,4,0.000,0.035,2869,3498,3118,0,0,0,0,0,0
$GC,2641,-1.19,-116.8,293.2,-8.2,222,2648,0.00,2.38,0.00,0.000,6,0.000,0.031,2869,2100,3117,0,0,0,0,0,0
$GC,2954,-1.19,-116.8,315.8,-7.1,233,2958,0.00,2.40,0.00,0.000,4,0.000,0.036,2869,3496,3116,0,0,0,0,0,0
$GC,3038,-1.19,-116.8,321.8,-7.7,234,3043,0.00,2.35,0.00,0.000,6,0.000,0.031,2868,2101,3116,0,0,0,0,0,0
$GC,3370,-1.19,-116.8,344.2,-7.0,243,3374,0.00,2.42,0.00,0.000,4,0.000,0.048,2869,689,3114,0,0,0,0,0,0
$GC,3432,-1.19,-116.8,349.3,-8.4,244,3436,0.00,2.30,0.00,0.000,6,0.000,0.026,2869,2095,3113,0,0,0,0,0,0
$GC,3781,-1.19,-116.8,377.6,-8.0,253,3786,0.00,2.38,0.00,0.000,4,0.000,0.038,2869,3495,3111,0,0,0,0,0,0
$GC,3815,-1.19,-116.8,380.3,-8.2,253,3819,0.00,2.33,0.00,0.000,6,0.000,0.034,2869,2102,3110,0,0,0,0,0,0
$GC,4146,-1.19,-116.8,402.9,-6.3,261,4151,0.00,2.38,0.00,0.000,4,0.000,0.039,2869,3499,3108,0,0,0,0,0,0
$GC,4240,-1.19,-116.8,409.6,-7.3,263,4244,0.00,2.38,0.00,0.000,6,0.000,0.035,2869,2101,3107,0,0,0,0,0,0
$GC,4563,-1.19,-116.8,433.7,-8.0,271,4567,0.00,2.45,0.00,0.000,4,0.000,0.052,2869,691,3105,0,0,0,0,0,0
$GC,4586,-1.19,-116.8,435.9,-9.0,271,4591,0.00,2.35,0.00,0.000,6,0.000,0.028,2869,2100,3105,0,0,0,0,0,0
$STATE,4802,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4802,begin apogee
$GC,4809,-0.31,0.0,453.0,7.9,277,4908,0.95,0.00,95.15,0.829,6,0.084,0.000,3065,1805,2635,0,0,0,0,0,0
$STATE,4909,end apogee,CONTROL_FINISHED_OK
$STATE,4909,begin climb
$GC,4911,1.19,116.8,455.0,0.0,279,5023,1.50,2.58,101.43,0.808,4,0.058,0.059,3393,397,2156,0,0,0,0,0,0
$GC,5061,1.19,116.8,442.4,13.2,282,5066,0.00,2.40,0.00,0.000,6,0.000,0.028,3393,1814,2151,0,0,0,0,0,0
$GC,5406,1.19,116.8,402.7,11.6,291,5411,0.00,2.58,0.00,0.000,4,0.000,0.059,3393,389,2144,0,0,0,0,0,0
$GC,5458,1.19,116.8,395.7,12.8,292,5462,0.00,2.38,0.00,0.000,6,0.000,0.028,3393,1794,2142,0,0,0,0,0,0
$GC,5776,1.19,116.8,360.0,11.2,300,5780,0.00,2.40,0.00,0.000,4,0.000,0.035,3393,3213,2141,0,0,0,0,0,0
$GC,5799,1.19,116.8,357.6,10.0,300,5804,0.00,2.47,0.00,0.000,6,0.000,0.041,3393,1800,2140,0,0,0,0,0,0
$GC,6140,1.19,116.8,320.1,12.0,309,6144,0.00,2.50,0.00,0.000,4,0.000,0.058,3393,382,2138,0,0,0,0,0,0
$GC,6242,1.19,116.8,306.6,13.8,311,6246,0.00,2.38,0.00,0.000,6,0.000,0.028,3393,1820,2136,0,0,0,0,0,0
$GC,6561,1.19,116.8,268.7,10.6,325,6565,0.00,2.33,0.00,0.000,4,0.000,0.034,3393,3210,2136,0,0,0,0,0,0
$GC,6575,1.19,116.8,267.1,10.2,325,6580,0.00,2.45,0.00,0.000,6,0.000,0.038,3393,1793,2136,0,0,0,0,0,0
$GC,6892,1.19,116.8,237.8,9.9,341,6896,0.00,2.40,0.00,0.000,4,0.000,0.033,3393,3210,2134,0,0,0,0,0,0
$GC,6920,1.19,116.8,234.7,10.3,342,6924,0.00,2.45,0.00,0.000,6,0.000,0.038,3393,1793,2134,0,0,0,0,0,0
$GC,7240,1.19,116.8,204.1,9.6,358,7244,0.00,2.45,0.00,0.000,4,0.000,0.054,3393,383,2133,0,0,0,0,0,0
$GC,7277,1.19,116.8,199.7,12.0,359,7283,0.00,2.35,0.00,0.000,6,0.000,0.025,3393,1805,2132,0,0,0,0,0,0
$GC,7602,1.19,116.8,166.2,8.9,390,7606,0.00,2.33,0.00,0.000,4,0.000,0.031,3393,3204,2132,0,0,0,0,0,0
$GC,7673,1.19,116.8,160.2,8.1,397,7677,0.00,2.42,0.00,0.000,6,0.000,0.035,3393,1791,2132,0,0,0,0,0,0
$GC,7937,1.21,133.1,138.9,7.3,421,7950,0.00,0.00,10.60,0.550,6,0.000,0.000,3393,1791,2092,0,0,0,0,0,0
$GC,8205,1.24,154.3,119.0,7.0,446,8227,0.00,0.00,19.98,0.562,6,0.000,0.000,3393,1791,2005,0,0,0,0,0,0
$GC,8480,1.24,154.3,97.1,8.5,472,8484,0.00,2.42,0.00,0.000,4,0.000,0.049,3393,381,2002,0,0,0,0,0,0
$GC,8551,1.24,154.3,90.2,10.0,479,8555,0.00,2.33,0.00,0.000,6,0.000,0.020,3393,1822,2000,0,0,0,0,0,0
$GC,8816,1.28,185.1,71.8,6.6,503,8849,0.10,2.55,27.40,0.520,4,0.072,0.048,3432,379,1879,0,0,0,0,0,0
$GC,8917,1.28,185.1,61.3,11.0,514,8922,0.00,2.30,0.00,0.000,6,0.000,0.019,3432,1790,1875,0,0,0,0,0,0
$GC,9187,1.28,185.1,31.2,13.8,539,9191,0.00,2.45,0.00,0.000,4,0.000,0.048,3432,384,1875,0,0,0,0,0,0
$GC,9283,1.28,185.1,17.3,12.4,560,9289,0.00,2.33,0.00,0.000,6,0.000,0.019,3432,1809,1873,0,0,0,0,0,0
$STATE,9418,end climb,SURFACE_DEPTH_REACHED
$STATE,9418,begin surface coast
$FINISH,0.7,1.021734
$STATE,9453,end surface coast,CONTROL_FINISHED_OK
$STATE,9453,begin surface
$SM_CCo,9477,76.82,0.466,0,0,1287,330.17
$SM_GC,1.55,0.00,0.00,76.82,0.000,0.000,0.466,426,2149,1287,-12.48,1.36,330.17
$IRIDIUM_FIX,2057.14,-15748.75,120700,010107
$TT8_MAMPS,0.029146
$HUMID,53.78
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.4,9.335
$10V_AH,10.6,8.935
$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,28.475,105.300,254.550,76.825,0.000,28.250,32.798,138.537,4.500,0.000,16.751,1126.112,6120.659,403.430,1801.685,424.486,33.348,1172.929,0.000,1778.170,0.000,31.121,0.000
$DEVICE_MAMPS,136.526,59.059,829.127,465.569,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,400.553,381.695,842.268,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31800,591
$CAP_FILE_SIZE,101228,0
$CFSIZE,260165632,250892288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180411,063854,2106.605,-15750.363,42,1.0,42,9.8