version: 66.06
glider: 139
mission: 9
dive: 120
start: 4 18 111 15 13 31
data:
$ID,139
$MISSION,9
$DIVE,120
$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,-2177102.8
$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,86
$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
$GPS1,145706,2108.251,-15752.101,15,1.1,32,9.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-73.9
$GPS2,151238,2108.363,-15752.232,13,1.4,13,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.206,0.082
$KALMAN_X,-65298.7,-23.6,-475.4,73434.8,-3111.2
$KALMAN_Y,-17589.4,-129.8,-74.5,23960.3,-681.5
$MHEAD_RNG_PITCHd_Wd,58.6,16772,-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,-116.8,0.0,0.0,0,94,0.00,0.00,-71.00,0.000,6,0.000,0.000,424,2156,3111,0,0,0,0,0,0
$GC,98,-1.19,-116.8,3.1,-3.8,14,116,13.18,2.17,0.00,0.000,4,0.136,0.026,2869,3463,3114,0,0,0,0,0,0
$GC,183,-1.19,-116.8,24.9,-19.7,32,189,0.00,2.35,0.00,0.000,6,0.000,0.031,2869,2089,3115,0,0,0,0,0,0
$GC,384,-1.19,-116.8,61.7,-18.8,53,388,0.00,2.30,0.00,0.000,4,0.000,0.028,2869,3461,3115,0,0,0,0,0,0
$GC,643,-1.19,-116.8,106.1,-16.3,81,649,0.00,2.25,0.00,0.000,6,0.000,0.028,2869,2096,3115,0,0,0,0,0,0
$GC,908,-1.19,-116.8,146.4,-15.7,106,912,0.00,2.25,0.00,0.000,4,0.000,0.027,2869,3461,3115,0,0,0,0,0,0
$GC,961,-1.19,-116.8,153.3,-10.8,111,965,0.00,2.25,0.00,0.000,6,0.000,0.026,2869,2097,3115,0,0,0,0,0,0
$GC,1225,-1.19,-116.8,177.7,-9.4,135,1229,0.00,2.28,0.00,0.000,4,0.000,0.029,2869,3460,3116,0,0,0,0,0,0
$GC,1422,-1.19,-116.8,196.4,-9.3,156,1427,0.00,2.28,0.00,0.000,6,0.000,0.028,2869,2095,3116,0,0,0,0,0,0
$GC,1678,-1.19,-116.8,220.2,-9.4,170,1682,0.00,2.25,0.00,0.000,4,0.000,0.031,2869,3454,3117,0,0,0,0,0,0
$GC,1715,-1.19,-116.8,223.8,-9.5,171,1721,0.00,2.28,0.00,0.000,6,0.000,0.028,2869,2089,3117,0,0,0,0,0,0
$GC,2034,-1.19,-116.8,250.0,-7.4,187,2038,0.00,2.28,0.00,0.000,4,0.000,0.031,2869,3457,3116,0,0,0,0,0,0
$GC,2176,-1.19,-116.8,260.9,-7.4,193,2180,0.00,2.28,0.00,0.000,6,0.000,0.029,2869,2094,3116,0,0,0,0,0,0
$GC,2503,-1.19,-116.8,286.8,-7.5,209,2504,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2094,3115,0,0,0,0,0,0
$GC,2828,-1.19,-116.8,313.0,-7.6,221,2832,0.00,2.28,0.00,0.000,4,0.000,0.035,2869,3451,3114,0,0,0,0,0,0
$GC,2980,-1.19,-116.8,326.5,-10.2,224,2984,0.00,2.25,0.00,0.000,6,0.000,0.033,2869,2100,3113,0,0,0,0,0,0
$GC,3332,-1.19,-116.8,354.9,-7.7,233,3336,0.00,2.30,0.00,0.000,4,0.000,0.038,2869,3452,3111,0,0,0,0,0,0
$GC,3375,-1.19,-116.8,357.7,-6.5,234,3379,0.00,2.28,0.00,0.000,6,0.000,0.034,2869,2098,3110,0,0,0,0,0,0
$GC,3702,-1.19,-116.8,375.2,-5.4,242,3706,0.00,2.30,0.00,0.000,4,0.000,0.038,2869,3454,3108,0,0,0,0,0,0
$GC,3726,-1.19,-116.8,376.7,-6.5,242,3730,0.00,2.30,0.00,0.000,6,0.000,0.035,2869,2097,3107,0,0,0,0,0,0
$GC,4067,-1.19,-116.8,398.4,-6.8,251,4071,0.00,2.42,0.00,0.000,4,0.000,0.049,2869,693,3105,0,0,0,0,0,0
$GC,4113,-1.19,-116.8,401.9,-7.8,252,4118,0.00,2.25,0.00,0.000,6,0.000,0.028,2869,2054,3105,0,0,0,0,0,0
$GC,4436,-1.19,-116.8,425.6,-7.5,260,4440,0.00,2.35,0.00,0.000,4,0.000,0.049,2869,691,3102,0,0,0,0,0,0
$GC,4552,-1.19,-116.8,436.2,-8.8,262,4557,0.00,2.35,0.00,0.000,6,0.000,0.028,2869,2101,3101,0,0,0,0,0,0
$STATE,4732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4732,begin apogee
$GC,4739,-0.31,0.0,451.1,8.2,267,4837,0.95,0.00,94.20,0.822,6,0.085,0.000,3064,1806,2635,0,0,0,0,0,0
$STATE,4837,end apogee,CONTROL_FINISHED_OK
$STATE,4837,begin climb
$GC,4840,1.19,116.8,453.8,0.0,269,4952,1.50,2.58,100.80,0.802,4,0.057,0.060,3393,389,2156,0,0,0,0,0,0
$GC,4968,1.19,116.8,443.8,12.3,272,4972,0.00,2.40,0.00,0.000,6,0.000,0.027,3394,1800,2152,0,0,0,0,0,0
$GC,5296,1.19,116.8,403.1,12.2,280,5300,0.00,2.55,0.00,0.000,4,0.000,0.059,3393,389,2145,0,0,0,0,0,0
$GC,5351,1.19,116.8,395.3,13.4,281,5356,0.00,2.38,0.00,0.000,6,0.000,0.028,3394,1806,2142,0,0,0,0,0,0
$GC,5665,1.19,116.8,357.2,12.0,289,5669,0.00,2.53,0.00,0.000,4,0.000,0.058,3393,391,2141,0,0,0,0,0,0
$GC,5726,1.19,116.8,348.4,14.4,290,5730,0.00,2.38,0.00,0.000,6,0.000,0.028,3394,1802,2138,0,0,0,0,0,0
$GC,6075,1.19,116.8,305.5,12.7,299,6080,0.00,2.53,0.00,0.000,4,0.000,0.057,3394,388,2138,0,0,0,0,0,0
$GC,6090,1.19,116.8,303.5,12.3,299,6094,0.00,2.38,0.00,0.000,6,0.000,0.028,3393,1817,2137,0,0,0,0,0,0
$GC,6424,1.19,116.8,264.4,11.0,314,6428,0.00,2.33,0.00,0.000,4,0.000,0.035,3394,3205,2136,0,0,0,0,0,0
$GC,6491,1.19,116.8,257.6,10.3,317,6495,0.00,2.45,0.00,0.000,6,0.000,0.041,3394,1801,2136,0,0,0,0,0,0
$GC,6824,1.20,120.2,228.7,7.9,333,6828,0.00,2.50,0.00,0.000,4,0.000,0.056,3394,382,2134,0,0,0,0,0,0
$GC,6844,1.20,120.2,226.5,9.5,334,6848,0.00,2.33,0.00,0.000,6,0.000,0.026,3394,1794,2133,0,0,0,0,0,0
$GC,7163,1.20,120.2,197.7,10.1,350,7164,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1799,2133,0,0,0,0,0,0
$GC,7418,1.20,120.2,173.1,10.0,374,7422,0.00,2.33,0.00,0.000,4,0.000,0.030,3394,3207,2133,0,0,0,0,0,0
$GC,7471,1.20,120.2,168.1,8.8,379,7475,0.00,2.40,0.00,0.000,6,0.000,0.036,3394,1796,2132,0,0,0,0,0,0
$GC,7735,1.20,120.2,147.4,8.0,403,7740,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1796,2132,0,0,0,0,0,0
$GC,7997,1.20,120.2,126.7,8.4,428,8001,0.00,2.42,0.00,0.000,4,0.000,0.050,3393,380,2132,0,0,0,0,0,0
$GC,8042,1.20,120.2,122.2,9.7,432,8050,0.00,2.35,0.00,0.000,6,0.000,0.021,3394,1819,2131,0,0,0,0,0,0
$GC,8307,1.20,120.2,95.7,9.9,457,8311,0.00,2.25,0.00,0.000,4,0.000,0.027,3394,3201,2131,0,0,0,0,0,0
$GC,8360,1.23,148.5,91.2,6.7,462,8389,0.00,2.40,23.80,0.532,6,0.000,0.032,3394,1788,2029,0,0,0,0,0,0
$GC,8644,1.30,205.6,76.0,5.4,489,8704,0.12,2.50,49.95,0.525,4,0.061,0.048,3437,395,1795,0,0,0,0,0,0
$GC,8733,1.30,205.6,67.6,15.5,498,8737,0.00,2.30,0.00,0.000,6,0.000,0.019,3437,1808,1791,0,0,0,0,0,0
$GC,8997,1.30,205.6,37.4,11.2,522,9002,0.00,2.47,0.00,0.000,4,0.000,0.047,3438,388,1790,0,0,0,0,0,0
$GC,9061,1.30,205.6,29.5,11.2,528,9067,0.00,2.30,0.00,0.000,6,0.000,0.019,3437,1787,1787,0,0,0,0,0,0
$STATE,9309,end climb,SURFACE_DEPTH_REACHED
$STATE,9310,begin surface coast
$FINISH,0.8,1.023089
$STATE,9332,end surface coast,CONTROL_FINISHED_OK
$STATE,9332,begin surface
$SM_CCo,9356,62.55,0.456,0,0,1288,330.17
$SM_GC,1.41,0.00,0.00,62.55,0.000,0.000,0.456,428,2157,1288,-12.46,1.61,330.17
$IRIDIUM_FIX,2059.45,-15750.89,120700,151528
$TT8_MAMPS,0.028379
$HUMID,54.64
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.4,9.670
$10V_AH,10.5,9.254
$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,28.625,104.300,268.750,62.550,0.000,105.597,188.915,315.141,4.500,0.000,13.799,1104.717,6253.651,393.023,1735.257,867.302,33.359,1155.961,0.000,1717.427,0.000,29.248,0.000
$DEVICE_MAMPS,135.759,59.826,822.224,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,391.372,374.133,817.309,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,31677,578
$CAP_FILE_SIZE,107242,0
$CFSIZE,260165632,250687488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180411,175154,2108.704,-15752.228,27,1.0,45,9.8