version: 66.06
glider: 139
mission: 9
dive: 118
start: 4 18 111 9 40 19
data:
$ID,139
$MISSION,9
$DIVE,118
$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,-2177068.5
$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,17
$R_STBD_OVSHOOT,71
$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
$GPS1,092617,2107.206,-15750.160,16,2.3,35,9.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-74.3
$GPS2,093928,2107.100,-15750.119,17,2.4,36,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.075,0.209
$KALMAN_X,-61213.4,504.9,920.6,71068.5,-3823.7
$KALMAN_Y,-16217.8,58.3,238.8,19748.8,-1771.5
$MHEAD_RNG_PITCHd_Wd,10.0,12668,-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,-116.8,0.0,0.0,0,95,0.00,0.00,-70.12,0.000,6,0.000,0.000,426,2122,3113,0,0,0,0,0,0
$GC,99,-1.19,-116.8,3.9,-6.5,14,117,13.18,2.25,0.00,0.000,4,0.137,0.025,2869,3477,3115,0,0,0,0,0,0
$GC,360,-1.19,-116.8,52.3,-16.6,56,364,0.00,2.33,0.00,0.000,6,0.000,0.029,2869,2087,3117,0,0,0,0,0,0
$GC,621,-1.19,-116.8,87.9,-12.5,80,625,0.00,2.38,0.00,0.000,4,0.000,0.040,2869,686,3117,0,0,0,0,0,0
$GC,684,-1.19,-116.8,97.3,-15.5,86,691,0.00,2.28,0.00,0.000,6,0.000,0.020,2869,2076,3117,0,0,0,0,0,0
$GC,949,-1.19,-116.8,131.6,-11.7,111,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2080,3117,0,0,0,0,0,0
$GC,1210,-1.19,-116.8,166.1,-13.0,136,1214,0.00,2.35,0.00,0.000,4,0.000,0.031,2869,3500,3118,0,0,0,0,0,0
$GC,1435,-1.19,-116.8,193.7,-11.0,160,1439,0.00,2.33,0.00,0.000,6,0.000,0.028,2870,2094,3118,0,0,0,0,0,0
$GC,1703,-1.19,-116.8,220.7,-9.4,175,1707,0.00,2.35,0.00,0.000,4,0.000,0.031,2869,3494,3118,0,0,0,0,0,0
$GC,1777,-1.19,-116.8,227.0,-7.8,178,1781,0.00,2.30,0.00,0.000,6,0.000,0.027,2870,2091,3118,0,0,0,0,0,0
$GC,2097,-1.19,-116.8,256.6,-10.1,194,2101,0.00,2.38,0.00,0.000,4,0.000,0.031,2870,3501,3119,0,0,0,0,0,0
$GC,2218,-1.19,-116.8,267.6,-9.7,199,2222,0.00,2.33,0.00,0.000,6,0.000,0.029,2870,2100,3118,0,0,0,0,0,0
$GC,2544,-1.19,-116.8,293.7,-7.5,215,2549,0.00,2.35,0.00,0.000,4,0.000,0.033,2870,3493,3117,0,0,0,0,0,0
$GC,2709,-1.19,-116.8,309.2,-9.3,220,2713,0.00,2.33,0.00,0.000,6,0.000,0.030,2870,2094,3116,0,0,0,0,0,0
$GC,3045,-1.19,-116.8,336.5,-7.9,229,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2094,3115,0,0,0,0,0,0
$GC,3370,-1.19,-116.8,359.9,-6.7,237,3374,0.00,2.38,0.00,0.000,4,0.000,0.046,2870,694,3114,0,0,0,0,0,0
$GC,3386,-1.19,-116.8,361.1,-6.8,237,3390,0.00,2.33,0.00,0.000,6,0.000,0.025,2869,2101,3114,0,0,0,0,0,0
$GC,3700,-1.19,-116.8,383.9,-7.4,245,3704,0.00,2.42,0.00,0.000,4,0.000,0.047,2869,687,3112,0,0,0,0,0,0
$GC,3775,-1.19,-116.8,390.0,-8.5,246,3778,0.00,2.33,0.00,0.000,6,0.000,0.027,2870,2102,3111,0,0,0,0,0,0
$GC,4116,-1.19,-116.8,417.9,-8.1,255,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2103,3108,0,0,0,0,0,0
$GC,4442,-1.19,-116.8,441.8,-7.3,263,4447,0.00,2.42,0.00,0.000,4,0.000,0.050,2869,697,3107,0,0,0,0,0,0
$GC,4461,-1.19,-116.8,443.5,-7.0,263,4466,0.00,2.33,0.00,0.000,6,0.000,0.028,2869,2104,3106,0,0,0,0,0,0
$STATE,4560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4560,begin apogee
$GC,4567,-0.31,0.0,450.8,7.3,266,4665,0.95,0.00,95.05,0.819,6,0.084,0.000,3066,1809,2635,0,0,0,0,0,0
$STATE,4666,end apogee,CONTROL_FINISHED_OK
$STATE,4666,begin climb
$GC,4669,1.19,116.8,452.7,0.0,268,4781,1.50,2.62,100.55,0.800,4,0.057,0.060,3395,398,2156,0,0,0,0,0,0
$GC,4797,1.19,116.8,441.4,13.0,271,4801,0.00,2.40,0.00,0.000,6,0.000,0.028,3395,1813,2152,0,0,0,0,0,0
$GC,5125,1.19,116.8,398.9,12.6,279,5129,0.00,2.55,0.00,0.000,4,0.000,0.060,3395,391,2146,0,0,0,0,0,0
$GC,5162,1.19,116.8,394.0,12.9,279,5168,0.00,2.38,0.00,0.000,6,0.000,0.028,3395,1791,2143,0,0,0,0,0,0
$GC,5494,1.19,116.8,354.9,11.7,288,5498,0.00,2.53,0.00,0.000,4,0.000,0.060,3395,389,2141,0,0,0,0,0,0
$GC,5591,1.19,116.8,341.6,13.8,290,5595,0.00,2.38,0.00,0.000,6,0.000,0.028,3395,1815,2138,0,0,0,0,0,0
$GC,5909,1.19,116.8,301.9,13.3,298,5914,0.00,2.33,0.00,0.000,4,0.000,0.035,3395,3204,2137,0,0,0,0,0,0
$GC,5947,1.19,116.8,297.0,12.3,298,5953,0.00,2.42,0.00,0.000,6,0.000,0.041,3395,1803,2137,0,0,0,0,0,0
$GC,6262,1.19,116.8,261.8,10.1,314,6267,0.00,2.38,0.00,0.000,4,0.000,0.034,3395,3206,2136,0,0,0,0,0,0
$GC,6322,1.19,116.8,255.8,9.2,316,6329,0.00,2.47,0.00,0.000,6,0.000,0.040,3395,1797,2135,0,0,0,0,0,0
$GC,6638,1.19,116.8,226.1,9.6,332,6642,0.00,2.47,0.00,0.000,4,0.000,0.055,3395,381,2134,0,0,0,0,0,0
$GC,6661,1.19,116.8,223.3,11.4,333,6665,0.00,2.33,0.00,0.000,6,0.000,0.026,3395,1804,2132,0,0,0,0,0,0
$GC,6989,1.19,116.8,186.5,10.1,354,6993,0.00,2.35,0.00,0.000,4,0.000,0.031,3395,3212,2133,0,0,0,0,0,0
$GC,7041,1.19,116.8,182.1,8.5,359,7046,0.00,2.42,0.00,0.000,6,0.000,0.037,3395,1791,2133,0,0,0,0,0,0
$GC,7306,1.19,116.8,161.5,8.9,383,7310,0.00,2.42,0.00,0.000,4,0.000,0.051,3395,384,2132,0,0,0,0,0,0
$GC,7332,1.19,116.8,158.6,10.9,385,7336,0.00,2.30,0.00,0.000,6,0.000,0.023,3395,1808,2130,0,0,0,0,0,0
$GC,7596,1.19,116.8,133.0,9.3,409,7600,0.00,2.28,0.00,0.000,4,0.000,0.028,3396,3201,2131,0,0,0,0,0,0
$GC,7615,1.19,116.8,130.9,9.6,410,7621,0.00,2.40,0.00,0.000,6,0.000,0.033,3395,1805,2131,0,0,0,0,0,0
$GC,7877,1.19,116.8,106.4,9.6,435,7882,0.00,2.42,0.00,0.000,4,0.000,0.048,3395,385,2131,0,0,0,0,0,0
$GC,7904,1.19,116.8,103.6,11.1,437,7908,0.00,2.30,0.00,0.000,6,0.000,0.021,3395,1804,2131,0,0,0,0,0,0
$GC,8166,1.19,116.8,75.6,9.0,461,8170,0.00,2.42,0.00,0.000,4,0.000,0.047,3395,385,2131,0,0,0,0,0,0
$GC,8237,1.19,116.8,69.2,9.4,468,8241,0.00,2.28,0.00,0.000,6,0.000,0.020,3395,1811,2131,0,0,0,0,0,0
$GC,8503,1.27,176.9,53.5,5.3,492,8561,0.00,2.50,47.72,0.514,4,0.000,0.044,3395,385,1910,0,0,0,0,0,0
$GC,8601,1.27,176.9,46.0,9.6,502,8608,0.00,2.33,0.00,0.000,6,0.000,0.019,3395,1784,1906,0,0,0,0,0,0
$GC,8866,1.27,176.9,23.2,8.4,534,8872,0.00,2.45,0.00,0.000,4,0.000,0.046,3395,386,1906,0,0,0,0,0,0
$GC,8880,1.27,176.9,21.9,8.6,536,8887,0.00,2.33,0.00,0.000,6,0.000,0.019,3396,1821,1904,0,0,0,0,0,0
$GC,9083,1.29,196.1,7.0,7.1,573,9107,0.10,0.00,16.55,0.444,6,0.072,0.000,3435,1827,1834,0,0,0,0,0,0
$STATE,9128,end climb,SURFACE_DEPTH_REACHED
$STATE,9128,begin surface coast
$FINISH,0.8,0.999569
$STATE,9163,end surface coast,CONTROL_FINISHED_OK
$STATE,9164,begin surface
$SM_CCo,9187,70.55,0.460,0,0,1288,330.17
$SM_GC,1.55,0.00,0.00,70.55,0.000,0.000,0.460,426,2146,1288,-12.47,1.30,330.17
$IRIDIUM_FIX,2059.45,-15748.75,120700,090925
$TT8_MAMPS,0.027612
$HUMID,52.79
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.4,9.499
$10V_AH,10.5,9.096
$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,28.550,105.500,259.875,70.550,0.000,85.279,133.062,257.446,4.500,0.000,37.591,1099.229,6044.007,400.642,1751.862,754.140,33.349,1151.865,0.000,1703.222,0.000,29.263,0.000
$DEVICE_MAMPS,136.526,59.826,819.156,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,396.755,377.717,889.834,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,31759,587
$CAP_FILE_SIZE,103265,0
$CFSIZE,260165632,250789888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180411,121600,2107.631,-15750.945,39,1.0,44,9.8