version: 66.06
glider: 139
mission: 9
dive: 119
start: 4 18 111 12 22 24
data:
$ID,139
$MISSION,9
$DIVE,119
$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,-2177088.2
$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,16
$R_STBD_OVSHOOT,95
$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
$GPS1,121600,2107.631,-15750.945,39,1.0,44,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-74.8
$GPS2,122132,2107.654,-15750.979,18,1.0,18,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.142,0.170
$KALMAN_X,-62819.1,206.5,550.9,71857.2,-4071.5
$KALMAN_Y,-17006.0,-119.9,-91.6,22073.6,-1306.5
$MHEAD_RNG_PITCHd_Wd,29.9,14338,-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,15,-1.19,-116.8,0.0,0.0,0,93,0.00,0.00,-70.75,0.000,6,0.000,0.000,426,2147,3111,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.6,-5.3,14,114,13.18,2.17,0.00,0.000,4,0.137,0.025,2868,3449,3112,0,0,0,0,0,0
$GC,227,-1.19,-116.8,35.6,-17.6,40,234,0.00,2.33,0.00,0.000,6,0.000,0.028,2868,2082,3114,0,0,0,0,0,0
$GC,489,-1.19,-116.8,82.4,-16.2,65,490,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2082,3115,0,0,0,0,0,0
$GC,745,-1.19,-116.8,116.6,-13.9,89,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2082,3115,0,0,0,0,0,0
$GC,1001,-1.19,-116.8,148.2,-11.1,113,1005,0.00,2.28,0.00,0.000,4,0.000,0.029,2868,3453,3116,0,0,0,0,0,0
$GC,1189,-1.19,-116.8,169.8,-11.1,133,1193,0.00,2.28,0.00,0.000,6,0.000,0.027,2868,2087,3116,0,0,0,0,0,0
$GC,1453,-1.19,-116.8,196.0,-10.1,157,1457,0.00,2.28,0.00,0.000,4,0.000,0.030,2868,3447,3117,0,0,0,0,0,0
$GC,1472,-1.19,-116.8,198.3,-9.6,158,1478,0.00,2.28,0.00,0.000,6,0.000,0.028,2868,2096,3117,0,0,0,0,0,0
$GC,1726,-1.19,-116.8,223.2,-9.0,172,1730,0.00,2.25,0.00,0.000,4,0.000,0.031,2868,3449,3117,0,0,0,0,0,0
$GC,1901,-1.19,-116.8,238.6,-9.0,179,1906,0.00,2.22,0.00,0.000,6,0.000,0.028,2868,2101,3117,0,0,0,0,0,0
$GC,2217,-1.19,-116.8,266.2,-9.6,195,2222,0.00,2.38,0.00,0.000,4,0.000,0.043,2868,691,3117,0,0,0,0,0,0
$GC,2250,-1.19,-116.8,270.0,-11.2,196,2254,0.00,2.20,0.00,0.000,6,0.000,0.023,2868,2048,3117,0,0,0,0,0,0
$GC,2568,-1.19,-116.8,301.1,-9.6,211,2572,0.00,2.33,0.00,0.000,4,0.000,0.034,2868,3451,3116,0,0,0,0,0,0
$GC,2633,-1.19,-116.8,307.6,-9.3,212,2637,0.00,2.25,0.00,0.000,6,0.000,0.031,2868,2099,3115,0,0,0,0,0,0
$GC,2978,-1.19,-116.8,334.7,-8.0,221,2982,0.00,2.28,0.00,0.000,4,0.000,0.035,2868,3443,3115,0,0,0,0,0,0
$GC,3074,-1.19,-116.8,342.0,-7.3,223,3078,0.00,2.28,0.00,0.000,6,0.000,0.031,2868,2093,3114,0,0,0,0,0,0
$GC,3402,-1.19,-116.8,366.0,-7.8,231,3406,0.00,2.28,0.00,0.000,4,0.000,0.038,2868,3442,3112,0,0,0,0,0,0
$GC,3415,-1.19,-116.8,367.4,-8.8,231,3420,0.00,2.25,0.00,0.000,6,0.000,0.033,2868,2096,3112,0,0,0,0,0,0
$GC,3766,-1.19,-116.8,400.2,-10.0,240,3770,0.00,2.40,0.00,0.000,4,0.000,0.049,2868,693,3110,0,0,0,0,0,0
$GC,3855,-1.19,-116.8,409.3,-9.6,242,3859,0.00,2.25,0.00,0.000,6,0.000,0.027,2868,2049,3109,0,0,0,0,0,0
$GC,4182,-1.19,-116.8,437.9,-8.6,250,4183,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2052,3107,0,0,0,0,0,0
$STATE,4342,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4342,begin apogee
$GC,4349,-0.31,0.0,451.8,8.6,254,4448,0.95,0.00,95.30,0.818,6,0.082,0.000,3065,1809,2635,0,0,0,0,0,0
$STATE,4449,end apogee,CONTROL_FINISHED_OK
$STATE,4449,begin climb
$GC,4452,1.19,116.8,454.4,0.0,256,4558,1.52,0.00,101.85,0.798,6,0.056,0.000,3397,1809,2157,0,0,0,0,0,0
$GC,4870,1.19,116.8,407.0,12.9,267,4875,0.00,2.53,0.00,0.000,4,0.000,0.059,3397,392,2146,0,0,0,0,0,0
$GC,4913,1.19,116.8,401.1,13.9,268,4917,0.00,2.25,0.00,0.000,6,0.000,0.026,3397,1727,2143,0,0,0,0,0,0
$GC,5241,1.19,116.8,359.3,12.7,276,5245,0.00,2.40,0.00,0.000,4,0.000,0.058,3397,385,2141,0,0,0,0,0,0
$GC,5259,1.19,116.8,356.6,13.3,276,5264,0.00,2.28,0.00,0.000,6,0.000,0.027,3397,1728,2139,0,0,0,0,0,0
$GC,5604,1.19,116.8,312.0,13.3,285,5608,0.00,2.40,0.00,0.000,4,0.000,0.035,3397,3147,2138,0,0,0,0,0,0
$GC,5674,1.19,116.8,303.6,11.8,286,5678,0.00,2.35,0.00,0.000,6,0.000,0.038,3397,1800,2138,0,0,0,0,0,0
$GC,6000,1.19,116.8,266.5,10.8,301,6004,0.00,2.28,0.00,0.000,4,0.000,0.031,3397,3139,2136,0,0,0,0,0,0
$GC,6070,1.19,116.8,258.7,11.2,304,6074,0.00,2.33,0.00,0.000,6,0.000,0.038,3397,1800,2135,0,0,0,0,0,0
$GC,6395,1.19,116.8,226.6,9.7,320,6399,0.00,2.47,0.00,0.000,4,0.000,0.054,3397,381,2134,0,0,0,0,0,0
$GC,6416,1.19,116.8,224.4,11.3,321,6420,0.00,2.25,0.00,0.000,6,0.000,0.024,3397,1731,2133,0,0,0,0,0,0
$GC,6737,1.19,116.8,191.7,11.4,340,6741,0.00,2.38,0.00,0.000,4,0.000,0.030,3397,3151,2133,0,0,0,0,0,0
$GC,6800,1.19,116.8,185.1,9.1,346,6807,0.00,2.35,0.00,0.000,6,0.000,0.034,3397,1794,2133,0,0,0,0,0,0
$GC,7063,1.19,116.8,162.9,8.4,371,7067,0.00,2.25,0.00,0.000,4,0.000,0.027,3398,3155,2132,0,0,0,0,0,0
$GC,7096,1.19,116.8,159.9,9.2,374,7100,0.00,2.33,0.00,0.000,6,0.000,0.033,3397,1794,2132,0,0,0,0,0,0
$GC,7365,1.19,116.8,136.7,8.7,399,7369,0.00,2.25,0.00,0.000,4,0.000,0.026,3397,3156,2132,0,0,0,0,0,0
$GC,7446,1.21,130.8,129.6,7.4,407,7462,0.00,2.33,8.73,0.511,6,0.000,0.032,3397,1790,2100,0,0,0,0,0,0
$GC,7717,1.25,159.6,113.3,6.7,433,7754,0.00,2.47,26.30,0.553,4,0.000,0.047,3397,388,1982,0,0,0,0,0,0
$GC,7775,1.25,159.6,108.0,11.0,439,7779,0.00,2.22,0.00,0.000,6,0.000,0.019,3397,1746,1979,0,0,0,0,0,0
$GC,8040,1.25,159.6,80.8,9.3,463,8044,0.00,2.38,0.00,0.000,4,0.000,0.046,3397,379,1978,0,0,0,0,0,0
$GC,8058,1.25,159.6,78.9,9.5,464,8062,0.00,2.22,0.00,0.000,6,0.000,0.019,3397,1753,1977,0,0,0,0,0,0
$GC,8324,1.25,162.8,58.0,7.9,488,8328,0.00,2.35,0.00,0.000,4,0.000,0.045,3397,381,1977,0,0,0,0,0,0
$GC,8404,1.26,170.8,51.3,7.7,496,8421,0.00,2.33,10.10,0.451,6,0.000,0.019,3397,1815,1937,0,0,0,0,0,0
$GC,8676,1.27,175.0,31.8,7.8,522,8687,0.00,2.47,5.50,0.375,4,0.000,0.044,3397,384,1920,0,0,0,0,0,0
$GC,8729,1.27,175.0,27.4,9.0,530,8736,0.00,2.30,0.00,0.000,6,0.000,0.018,3398,1786,1918,0,0,0,0,0,0
$GC,8931,1.27,175.0,13.1,8.3,567,8937,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1791,1917,0,0,0,0,0,0
$STATE,9066,end climb,SURFACE_DEPTH_REACHED
$STATE,9066,begin surface coast
$FINISH,0.7,1.023112
$STATE,9107,end surface coast,CONTROL_FINISHED_OK
$STATE,9107,begin surface
$SM_CCo,9131,78.85,0.457,0,0,1289,330.17
$SM_GC,1.31,0.00,0.00,78.85,0.000,0.000,0.457,425,2156,1289,-12.48,1.58,330.17
$IRIDIUM_FIX,2057.14,-15748.75,120700,090915
$TT8_MAMPS,0.029146
$HUMID,53.26
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.4,9.574
$10V_AH,10.5,9.174
$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,28.275,98.000,247.775,78.850,0.000,27.074,33.816,147.314,4.500,0.000,19.049,1111.276,5871.682,432.564,1698.220,430.241,33.342,1132.563,0.000,1680.726,0.000,29.248,0.000
$DEVICE_MAMPS,136.526,59.059,817.622,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,405.240,393.357,904.854,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,31767,599
$CAP_FILE_SIZE,95688,0
$CFSIZE,260165632,250748928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180411,145706,2108.251,-15752.101,15,1.1,32,9.8