version: 66.06
glider: 139
mission: 9
dive: 117
start: 4 18 111 6 45 7
data:
$ID,139
$MISSION,9
$DIVE,117
$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,-2177030.2
$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,17
$R_STBD_OVSHOOT,92
$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
$GPS1,063854,2106.605,-15750.363,42,1.0,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-75.8
$GPS2,064414,2106.608,-15750.347,13,1.4,13,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.138,0.174
$KALMAN_X,-59379.9,685.0,5.1,69587.4,-2761.8
$KALMAN_Y,-15526.3,317.7,299.4,17828.5,-1810.9
$MHEAD_RNG_PITCHd_Wd,28.6,12920,-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,12,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,92,0.00,0.00,-70.72,0.000,6,0.000,0.000,425,2149,3111,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.5,-5.4,14,114,13.20,2.17,0.00,0.000,4,0.137,0.026,2869,3457,3113,0,0,0,0,0,0
$GC,243,-1.19,-116.8,35.6,-15.6,43,247,0.00,2.28,0.00,0.000,6,0.000,0.027,2869,2083,3115,0,0,0,0,0,0
$GC,505,-1.19,-116.8,79.3,-15.7,67,509,0.00,2.35,0.00,0.000,4,0.000,0.041,2869,692,3116,0,0,0,0,0,0
$GC,604,-1.19,-116.8,96.7,-16.6,77,608,0.00,2.22,0.00,0.000,6,0.000,0.019,2868,2068,3115,0,0,0,0,0,0
$GC,869,-1.19,-116.8,134.8,-15.3,101,873,0.00,2.35,0.00,0.000,4,0.000,0.038,2869,686,3116,0,0,0,0,0,0
$GC,895,-1.19,-116.8,139.1,-15.4,103,899,0.00,2.28,0.00,0.000,6,0.000,0.021,2869,2100,3116,0,0,0,0,0,0
$GC,1163,-1.19,-116.8,171.9,-10.9,128,1167,0.00,2.30,0.00,0.000,4,0.000,0.031,2869,3493,3118,0,0,0,0,0,0
$GC,1352,-1.19,-116.8,193.2,-10.6,148,1357,0.00,2.33,0.00,0.000,6,0.000,0.026,2869,2095,3118,0,0,0,0,0,0
$GC,1610,-1.19,-116.8,216.4,-8.5,163,1614,0.00,2.33,0.00,0.000,4,0.000,0.031,2869,3494,3118,0,0,0,0,0,0
$GC,1779,-1.19,-116.8,232.9,-9.5,170,1783,0.00,2.33,0.00,0.000,6,0.000,0.028,2869,2099,3118,0,0,0,0,0,0
$GC,2097,-1.19,-116.8,257.9,-7.4,185,2098,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2099,3118,0,0,0,0,0,0
$GC,2404,-1.19,-116.8,284.6,-9.4,200,2408,0.00,2.35,0.00,0.000,4,0.000,0.034,2869,3492,3118,0,0,0,0,0,0
$GC,2518,-1.19,-116.8,295.7,-8.6,205,2522,0.00,2.33,0.00,0.000,6,0.000,0.029,2869,2102,3118,0,0,0,0,0,0
$GC,2865,-1.19,-116.8,321.0,-7.2,215,2866,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2101,3117,0,0,0,0,0,0
$GC,3188,-1.19,-116.8,344.6,-7.3,223,3193,0.00,2.35,0.00,0.000,4,0.000,0.035,2869,3498,3115,0,0,0,0,0,0
$GC,3330,-1.19,-116.8,355.1,-7.4,226,3334,0.00,2.35,0.00,0.000,6,0.000,0.032,2869,2093,3114,0,0,0,0,0,0
$GC,3655,-1.19,-116.8,375.4,-6.1,234,3659,0.00,2.40,0.00,0.000,4,0.000,0.048,2869,694,3112,0,0,0,0,0,0
$GC,3789,-1.19,-116.8,383.6,-6.7,237,3794,0.00,2.33,0.00,0.000,6,0.000,0.027,2868,2094,3111,0,0,0,0,0,0
$GC,4117,-1.19,-116.8,403.9,-6.5,245,4121,0.00,2.40,0.00,0.000,4,0.000,0.040,2869,3500,3109,0,0,0,0,0,0
$GC,4261,-1.19,-116.8,414.4,-7.5,248,4265,0.00,2.35,0.00,0.000,6,0.000,0.035,2869,2102,3108,0,0,0,0,0,0
$GC,4579,-1.19,-116.8,436.1,-6.7,256,4584,0.00,2.45,0.00,0.000,4,0.000,0.050,2868,689,3106,0,0,0,0,0,0
$GC,4618,-1.19,-116.8,439.2,-8.6,256,4623,0.00,2.35,0.00,0.000,6,0.000,0.028,2868,2097,3106,0,0,0,0,0,0
$STATE,4783,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4784,begin apogee
$GC,4790,-0.31,0.0,452.1,7.7,261,4889,0.95,0.00,95.47,0.829,6,0.083,0.000,3065,1802,2634,0,0,0,0,0,0
$STATE,4890,end apogee,CONTROL_FINISHED_OK
$STATE,4890,begin climb
$GC,4893,1.19,116.8,454.1,0.0,263,5005,1.50,2.62,100.78,0.809,4,0.058,0.059,3393,390,2156,0,0,0,0,0,0
$GC,5025,1.19,116.8,441.9,13.6,266,5029,0.00,2.40,0.00,0.000,6,0.000,0.028,3394,1801,2152,0,0,0,0,0,0
$GC,5348,1.19,116.8,400.4,13.0,274,5352,0.00,2.55,0.00,0.000,4,0.000,0.058,3393,389,2145,0,0,0,0,0,0
$GC,5371,1.19,116.8,397.0,14.1,274,5375,0.00,2.38,0.00,0.000,6,0.000,0.028,3394,1814,2143,0,0,0,0,0,0
$GC,5711,1.19,116.8,354.5,12.7,283,5716,0.00,2.58,0.00,0.000,4,0.000,0.059,3393,384,2141,0,0,0,0,0,0
$GC,5768,1.19,116.8,346.3,14.7,284,5772,0.00,2.35,0.00,0.000,6,0.000,0.028,3394,1791,2139,0,0,0,0,0,0
$GC,6081,1.19,116.8,307.5,11.9,292,6085,0.00,2.40,0.00,0.000,4,0.000,0.035,3394,3216,2138,0,0,0,0,0,0
$GC,6105,1.19,116.8,304.5,11.6,292,6109,0.00,2.47,0.00,0.000,6,0.000,0.041,3394,1796,2138,0,0,0,0,0,0
$GC,6430,1.19,116.8,269.7,10.0,307,6431,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1796,2136,0,0,0,0,0,0
$GC,6738,1.19,116.8,237.7,9.6,322,6742,0.00,2.47,0.00,0.000,4,0.000,0.055,3394,384,2134,0,0,0,0,0,0
$GC,6793,1.19,116.8,231.1,12.6,324,6798,0.00,2.38,0.00,0.000,6,0.000,0.026,3394,1822,2133,0,0,0,0,0,0
$GC,7111,1.19,116.8,198.5,10.1,339,7115,0.00,2.53,0.00,0.000,4,0.000,0.052,3394,386,2133,0,0,0,0,0,0
$GC,7137,1.19,116.8,195.8,10.7,341,7141,0.00,2.30,0.00,0.000,6,0.000,0.025,3394,1791,2132,0,0,0,0,0,0
$GC,7401,1.20,124.3,173.6,7.7,365,7405,0.00,2.33,0.00,0.000,4,0.000,0.029,3394,3208,2132,0,0,0,0,0,0
$GC,7427,1.20,124.3,171.3,8.1,367,7431,0.00,2.40,0.00,0.000,6,0.000,0.035,3395,1794,2132,0,0,0,0,0,0
$GC,7691,1.20,124.3,146.7,10.2,391,7696,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1794,2132,0,0,0,0,0,0
$GC,7953,1.20,124.3,123.6,8.2,416,7957,0.00,2.42,0.00,0.000,4,0.000,0.048,3393,386,2132,0,0,0,0,0,0
$GC,7987,1.20,124.3,120.3,10.7,419,7992,0.00,2.30,0.00,0.000,6,0.000,0.021,3394,1829,2131,0,0,0,0,0,0
$GC,8252,1.20,124.3,98.5,8.7,443,8256,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1835,2132,0,0,0,0,0,0
$GC,8514,1.22,136.7,76.3,7.5,468,8535,0.00,2.53,13.93,0.499,4,0.000,0.046,3394,378,2076,0,0,0,0,0,0
$GC,8654,1.22,136.7,64.8,9.2,483,8659,0.00,2.30,0.00,0.000,6,0.000,0.019,3394,1792,2073,0,0,0,0,0,0
$GC,8919,1.25,160.5,46.2,6.9,507,8949,0.00,2.50,21.50,0.488,4,0.000,0.046,3393,392,1979,0,0,0,0,0,0
$GC,8988,1.25,160.5,40.4,9.6,514,8992,0.00,2.28,0.00,0.000,6,0.000,0.019,3394,1809,1976,0,0,0,0,0,0
$GC,9257,1.29,193.2,21.6,6.5,550,9291,0.10,0.00,28.77,0.471,6,0.071,0.000,3434,1816,1846,0,0,0,0,0,0
$STATE,9467,end climb,SURFACE_DEPTH_REACHED
$STATE,9467,begin surface coast
$FINISH,0.6,1.020718
$STATE,9500,end surface coast,CONTROL_FINISHED_OK
$STATE,9500,begin surface
$SM_CCo,9524,70.53,0.459,0,0,1288,330.17
$SM_GC,1.45,0.00,0.00,70.53,0.000,0.000,0.459,426,2121,1288,-12.47,0.62,330.17
$IRIDIUM_FIX,2059.45,-15751.76,120700,040443
$TT8_MAMPS,0.029146
$HUMID,52.52
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.4,9.411
$10V_AH,10.6,9.013
$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,28.600,96.000,260.450,70.525,0.000,28.540,37.208,138.267,4.500,0.000,14.007,1117.207,6188.774,390.877,1784.764,436.032,33.343,1154.997,0.000,1765.460,0.000,29.255,0.000
$DEVICE_MAMPS,136.526,59.059,829.127,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,402.826,383.248,882.298,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31725,595
$CAP_FILE_SIZE,99456,0
$CFSIZE,260165632,250843136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180411,092617,2107.206,-15750.160,16,2.3,35,9.8