version: 66.06
glider: 139
mission: 9
dive: 121
start: 4 18 111 17 58 1
data:
$ID,139
$MISSION,9
$DIVE,121
$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,-2177120.2
$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,18
$R_STBD_OVSHOOT,83
$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
$GPS1,175154,2108.704,-15752.228,27,1.0,45,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-73.9
$GPS2,175708,2108.730,-15752.214,16,1.1,16,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.213,0.063
$KALMAN_X,-67510.3,-65.7,-478.3,75720.8,-2039.9
$KALMAN_Y,-18249.3,9.9,227.5,24861.6,-822.3
$MHEAD_RNG_PITCHd_Wd,63.7,16945,-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,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,92,0.00,0.00,-70.68,0.000,6,0.000,0.000,428,2156,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.6,-5.4,14,115,13.18,2.50,0.00,0.000,4,0.137,0.034,2867,679,3114,0,0,0,0,0,0
$GC,127,-1.19,-116.8,15.0,-32.6,19,133,0.00,2.28,0.00,0.000,6,0.000,0.020,2868,2070,3115,0,0,0,0,0,0
$GC,328,-1.19,-116.8,55.5,-17.6,44,332,0.00,2.38,0.00,0.000,4,0.000,0.028,2868,3498,3116,0,0,0,0,0,0
$GC,523,-1.19,-116.8,87.9,-14.2,65,527,0.00,2.38,0.00,0.000,6,0.000,0.029,2868,2081,3116,0,0,0,0,0,0
$GC,787,-1.19,-116.8,122.8,-13.0,89,791,0.00,2.35,0.00,0.000,4,0.000,0.027,2868,3489,3117,0,0,0,0,0,0
$GC,957,-1.19,-116.8,144.9,-11.6,107,962,0.00,2.33,0.00,0.000,6,0.000,0.026,2868,2086,3117,0,0,0,0,0,0
$GC,1222,-1.19,-116.8,176.4,-11.6,131,1226,0.00,2.35,0.00,0.000,4,0.000,0.028,2868,3492,3118,0,0,0,0,0,0
$GC,1313,-1.19,-116.8,186.7,-10.6,140,1320,0.00,2.35,0.00,0.000,6,0.000,0.028,2867,2096,3118,0,0,0,0,0,0
$GC,1582,-1.19,-116.8,218.2,-12.0,159,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2096,3118,0,0,0,0,0,0
$GC,1890,-1.19,-116.8,248.4,-7.3,174,1894,0.00,2.33,0.00,0.000,4,0.000,0.031,2868,3493,3118,0,0,0,0,0,0
$GC,2037,-1.19,-116.8,261.7,-8.5,180,2042,0.00,2.33,0.00,0.000,6,0.000,0.029,2868,2099,3118,0,0,0,0,0,0
$GC,2354,-1.19,-116.8,283.1,-6.4,195,2358,0.00,2.33,0.00,0.000,4,0.000,0.033,2868,3489,3118,0,0,0,0,0,0
$GC,2437,-1.19,-116.8,289.8,-8.1,198,2441,0.00,2.33,0.00,0.000,6,0.000,0.031,2867,2101,3118,0,0,0,0,0,0
$GC,2752,-1.19,-116.8,314.5,-8.0,209,2756,0.00,2.42,0.00,0.000,4,0.000,0.044,2867,693,3117,0,0,0,0,0,0
$GC,2766,-1.19,-116.8,316.0,-8.6,209,2771,0.00,2.28,0.00,0.000,6,0.000,0.025,2868,2089,3117,0,0,0,0,0,0
$GC,3117,-1.19,-116.8,347.1,-8.8,218,3122,0.00,2.38,0.00,0.000,4,0.000,0.046,2868,694,3116,0,0,0,0,0,0
$GC,3136,-1.19,-116.8,349.0,-8.9,218,3140,0.00,2.33,0.00,0.000,6,0.000,0.025,2868,2100,3115,0,0,0,0,0,0
$GC,3483,-1.19,-116.8,376.3,-7.2,227,3484,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2104,3113,0,0,0,0,0,0
$GC,3807,-1.19,-116.8,395.3,-5.7,235,3811,0.00,2.42,0.00,0.000,4,0.000,0.048,2867,688,3112,0,0,0,0,0,0
$GC,3835,-1.19,-116.8,397.2,-6.4,235,3839,0.00,2.33,0.00,0.000,6,0.000,0.026,2868,2106,3111,0,0,0,0,0,0
$GC,4171,-1.19,-116.8,418.4,-6.6,244,4175,0.00,2.45,0.00,0.000,4,0.000,0.048,2867,694,3109,0,0,0,0,0,0
$GC,4241,-1.19,-116.8,423.6,-7.2,245,4245,0.00,2.35,0.00,0.000,6,0.000,0.028,2867,2106,3108,0,0,0,0,0,0
$GC,4582,-1.19,-116.8,444.3,-5.6,254,4586,0.00,2.45,0.00,0.000,4,0.000,0.050,2868,687,3106,0,0,0,0,0,0
$STATE,4669,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4669,begin apogee
$GC,4677,-0.31,0.0,450.1,6.6,256,4776,0.98,0.00,95.53,0.823,6,0.086,0.000,3068,1822,2634,0,0,0,0,0,0
$STATE,4777,end apogee,CONTROL_FINISHED_OK
$STATE,4777,begin climb
$GC,4780,1.19,116.8,452.0,0.0,258,4892,1.48,2.42,101.05,0.805,4,0.055,0.036,3394,3189,2157,0,0,0,0,0,0
$GC,4930,1.19,116.8,439.1,11.5,261,4934,0.00,2.42,0.00,0.000,6,0.000,0.044,3394,1812,2154,0,0,0,0,0,0
$GC,5275,1.19,116.8,400.0,11.6,270,5279,0.00,2.58,0.00,0.000,4,0.000,0.060,3394,377,2146,0,0,0,0,0,0
$GC,5364,1.19,116.8,387.4,14.5,272,5369,0.00,2.38,0.00,0.000,6,0.000,0.028,3394,1785,2142,0,0,0,0,0,0
$GC,5692,1.19,116.8,344.9,12.5,280,5696,0.00,2.50,0.00,0.000,4,0.000,0.058,3393,385,2140,0,0,0,0,0,0
$GC,5720,1.19,116.8,340.8,13.9,280,5724,0.00,2.38,0.00,0.000,6,0.000,0.028,3394,1825,2139,0,0,0,0,0,0
$GC,6056,1.19,116.8,301.2,11.6,289,6060,0.00,2.58,0.00,0.000,4,0.000,0.058,3393,385,2138,0,0,0,0,0,0
$GC,6075,1.19,116.8,298.7,12.0,289,6079,0.00,2.33,0.00,0.000,6,0.000,0.028,3394,1790,2137,0,0,0,0,0,0
$GC,6405,1.19,116.8,264.8,10.1,305,6410,0.00,2.38,0.00,0.000,4,0.000,0.034,3394,3212,2136,0,0,0,0,0,0
$GC,6425,1.19,116.8,262.6,10.9,306,6430,0.00,2.45,0.00,0.000,6,0.000,0.038,3394,1799,2136,0,0,0,0,0,0
$GC,6755,1.19,116.8,230.9,9.5,322,6759,0.00,2.47,0.00,0.000,4,0.000,0.055,3394,381,2135,0,0,0,0,0,0
$GC,6801,1.19,116.8,226.0,11.2,324,6805,0.00,2.35,0.00,0.000,6,0.000,0.025,3394,1812,2133,0,0,0,0,0,0
$GC,7127,1.19,116.8,194.5,10.7,342,7131,0.00,2.50,0.00,0.000,4,0.000,0.052,3394,382,2133,0,0,0,0,0,0
$GC,7155,1.19,116.8,191.2,11.3,344,7161,0.00,2.35,0.00,0.000,6,0.000,0.024,3394,1796,2132,0,0,0,0,0,0
$GC,7419,1.19,116.8,166.7,8.9,369,7424,0.00,2.45,0.00,0.000,4,0.000,0.050,3394,379,2132,0,0,0,0,0,0
$GC,7475,1.19,116.8,160.7,11.0,374,7481,0.00,2.35,0.00,0.000,6,0.000,0.022,3394,1798,2131,0,0,0,0,0,0
$GC,7739,1.19,116.8,137.4,9.3,399,7743,0.00,2.30,0.00,0.000,4,0.000,0.027,3394,3207,2132,0,0,0,0,0,0
$GC,7794,1.20,120.8,132.1,7.8,404,7801,0.00,2.42,0.00,0.000,6,0.000,0.032,3394,1794,2132,0,0,0,0,0,0
$GC,8058,1.25,160.1,115.3,6.2,429,8098,0.00,2.53,33.85,0.561,4,0.000,0.048,3394,386,1981,0,0,0,0,0,0
$GC,8146,1.25,160.1,107.2,10.8,438,8153,0.00,2.35,0.00,0.000,6,0.000,0.021,3394,1807,1977,0,0,0,0,0,0
$GC,8408,1.25,160.1,82.7,9.4,463,8412,0.00,2.30,0.00,0.000,4,0.000,0.025,3394,3205,1977,0,0,0,0,0,0
$GC,8434,1.25,160.1,80.4,8.8,465,8438,0.00,2.40,0.00,0.000,6,0.000,0.032,3394,1800,1977,0,0,0,0,0,0
$GC,8699,1.26,169.9,60.3,7.6,489,8713,0.00,2.45,9.32,0.452,4,0.000,0.048,3394,382,1942,0,0,0,0,0,0
$GC,8815,1.26,169.9,50.2,9.3,501,8819,0.00,2.28,0.00,0.000,6,0.000,0.019,3394,1805,1938,0,0,0,0,0,0
$GC,9079,1.31,206.9,32.8,6.3,525,9120,0.12,2.50,32.72,0.481,4,0.061,0.045,3440,385,1790,0,0,0,0,0,0
$GC,9163,1.31,206.9,24.4,12.2,538,9170,0.00,2.33,0.00,0.000,6,0.000,0.018,3440,1794,1786,0,0,0,0,0,0
$STATE,9364,end climb,SURFACE_DEPTH_REACHED
$STATE,9364,begin surface coast
$FINISH,0.9,1.023039
$STATE,9391,end surface coast,CONTROL_FINISHED_OK
$STATE,9391,begin surface
$SM_CCo,9415,63.15,0.456,0,0,1288,330.17
$SM_GC,1.53,0.00,0.00,63.15,0.000,0.000,0.456,427,2167,1288,-12.47,1.89,330.17
$IRIDIUM_FIX,2101.76,-15750.89,120700,151513
$TT8_MAMPS,0.029146
$HUMID,53.74
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,22.00
$XPDR_PINGS,1
$24V_AH,23.4,9.746
$10V_AH,10.5,9.330
$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,28.700,114.700,272.475,63.150,0.000,22.297,36.475,136.026,4.750,0.000,16.686,1094.948,6170.335,402.508,1705.840,421.178,33.349,1157.243,0.000,1682.245,0.000,31.322,0.000
$DEVICE_MAMPS,136.526,59.826,822.991,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,392.398,375.417,840.308,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31797,580
$CAP_FILE_SIZE,100983,0
$CFSIZE,260165632,250646528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180411,203725,2108.903,-15751.177,46,0.9,46,9.8