version: 66.06
glider: 139
mission: 9
dive: 122
start: 4 18 111 20 43 37
data:
$ID,139
$MISSION,9
$DIVE,122
$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,-2177135.5
$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,88
$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
$GPS1,203725,2108.903,-15751.177,46,0.9,46,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-74.8
$GPS2,204244,2108.896,-15751.086,14,1.4,14,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.187,0.119
$KALMAN_X,-69132.6,6.2,688.0,78047.9,-2364.5
$KALMAN_Y,-18898.7,219.1,282.1,25553.0,-1230.2
$MHEAD_RNG_PITCHd_Wd,47.6,15222,-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,-116.8,0.0,0.0,0,93,0.00,0.00,-70.10,0.000,6,0.000,0.000,426,2167,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.8,-6.2,14,114,13.18,2.15,0.00,0.000,4,0.137,0.026,2868,3459,3114,0,0,0,0,0,0
$GC,330,-1.19,-116.8,53.5,-16.5,52,334,0.00,2.28,0.00,0.000,6,0.000,0.028,2868,2087,3116,0,0,0,0,0,0
$GC,591,-1.19,-116.8,91.3,-13.7,76,595,0.00,2.35,0.00,0.000,4,0.000,0.040,2868,688,3116,0,0,0,0,0,0
$GC,638,-1.19,-116.8,98.1,-13.8,80,644,0.00,2.25,0.00,0.000,6,0.000,0.020,2868,2062,3116,0,0,0,0,0,0
$GC,902,-1.19,-116.8,130.9,-11.9,105,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2066,3117,0,0,0,0,0,0
$GC,1164,-1.19,-116.8,160.3,-10.9,130,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2066,3117,0,0,0,0,0,0
$GC,1419,-1.19,-116.8,190.2,-13.0,154,1423,0.00,2.30,0.00,0.000,4,0.000,0.040,2868,693,3118,0,0,0,0,0,0
$GC,1446,-1.19,-116.8,194.0,-13.6,156,1453,0.00,2.30,0.00,0.000,6,0.000,0.021,2868,2096,3118,0,0,0,0,0,0
$GC,1712,-1.19,-116.8,222.7,-10.0,172,1715,0.00,2.38,0.00,0.000,4,0.000,0.033,2868,3499,3118,0,0,0,0,0,0
$GC,1858,-1.19,-116.8,238.0,-10.4,178,1862,0.00,2.30,0.00,0.000,6,0.000,0.028,2868,2099,3118,0,0,0,0,0,0
$GC,2178,-1.19,-116.8,267.8,-8.1,194,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2098,3118,0,0,0,0,0,0
$GC,2489,-1.19,-116.8,296.8,-9.9,209,2493,0.00,2.35,0.00,0.000,4,0.000,0.034,2867,3492,3117,0,0,0,0,0,0
$GC,2526,-1.19,-116.8,300.9,-10.4,210,2532,0.00,2.35,0.00,0.000,6,0.000,0.030,2868,2103,3117,0,0,0,0,0,0
$GC,2858,-1.19,-116.8,328.6,-8.0,219,2862,0.00,2.33,0.00,0.000,4,0.000,0.035,2868,3491,3116,0,0,0,0,0,0
$GC,2942,-1.19,-116.8,335.3,-7.6,220,2947,0.00,2.33,0.00,0.000,6,0.000,0.031,2868,2094,3116,0,0,0,0,0,0
$GC,3274,-1.19,-116.8,360.4,-7.8,229,3278,0.00,2.38,0.00,0.000,4,0.000,0.046,2868,693,3115,0,0,0,0,0,0
$GC,3307,-1.19,-116.8,363.3,-9.7,229,3311,0.00,2.30,0.00,0.000,6,0.000,0.025,2868,2091,3115,0,0,0,0,0,0
$GC,3638,-1.19,-116.8,389.1,-7.3,237,3643,0.00,2.38,0.00,0.000,4,0.000,0.038,2867,3502,3112,0,0,0,0,0,0
$GC,3695,-1.19,-116.8,392.9,-6.2,238,3699,0.00,2.38,0.00,0.000,6,0.000,0.035,2867,2091,3112,0,0,0,0,0,0
$GC,4009,-1.19,-116.8,412.0,-6.1,246,4013,0.00,2.40,0.00,0.000,4,0.000,0.050,2867,691,3110,0,0,0,0,0,0
$GC,4093,-1.19,-116.8,418.0,-6.9,247,4098,0.00,2.35,0.00,0.000,6,0.000,0.028,2868,2106,3110,0,0,0,0,0,0
$GC,4424,-1.19,-116.8,438.1,-6.2,256,4428,0.00,2.45,0.00,0.000,4,0.000,0.050,2867,690,3107,0,0,0,0,0,0
$GC,4482,-1.19,-116.8,441.9,-7.0,257,4486,0.00,2.33,0.00,0.000,6,0.000,0.028,2868,2096,3107,0,0,0,0,0,0
$STATE,4630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4631,begin apogee
$GC,4637,-0.31,0.0,451.1,5.9,261,4736,0.95,0.00,95.38,0.821,6,0.084,0.000,3065,1802,2635,0,0,0,0,0,0
$STATE,4737,end apogee,CONTROL_FINISHED_OK
$STATE,4737,begin climb
$GC,4740,1.19,116.8,452.1,0.0,263,4846,1.52,0.00,101.95,0.802,6,0.057,0.000,3396,1802,2158,0,0,0,0,0,0
$GC,5158,1.19,116.8,403.5,12.4,274,5163,0.00,2.55,0.00,0.000,4,0.000,0.061,3395,386,2146,0,0,0,0,0,0
$GC,5196,1.19,116.8,398.3,14.3,274,5201,0.00,2.40,0.00,0.000,6,0.000,0.028,3395,1805,2143,0,0,0,0,0,0
$GC,5527,1.19,116.8,356.0,13.4,283,5531,0.00,2.53,0.00,0.000,4,0.000,0.060,3396,390,2141,0,0,0,0,0,0
$GC,5587,1.19,116.8,346.8,14.6,284,5592,0.00,2.38,0.00,0.000,6,0.000,0.028,3395,1806,2139,0,0,0,0,0,0
$GC,5901,1.19,116.8,309.2,11.5,292,5902,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1812,2139,0,0,0,0,0,0
$GC,6209,1.19,116.8,278.4,9.6,304,6210,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1812,2137,0,0,0,0,0,0
$GC,6519,1.19,116.8,245.3,11.9,319,6523,0.00,2.35,0.00,0.000,4,0.000,0.032,3396,3207,2135,0,0,0,0,0,0
$GC,6533,1.19,116.8,243.3,11.9,319,6539,0.00,2.42,0.00,0.000,6,0.000,0.036,3395,1796,2135,0,0,0,0,0,0
$GC,6850,1.19,116.8,209.1,10.5,335,6854,0.00,2.38,0.00,0.000,4,0.000,0.031,3396,3208,2134,0,0,0,0,0,0
$GC,6898,1.19,116.8,203.9,10.3,337,6902,0.00,2.40,0.00,0.000,6,0.000,0.037,3396,1798,2134,0,0,0,0,0,0
$GC,7230,1.19,116.8,171.6,9.1,366,7234,0.00,2.45,0.00,0.000,4,0.000,0.052,3395,379,2134,0,0,0,0,0,0
$GC,7262,1.19,116.8,168.4,10.7,369,7267,0.00,2.33,0.00,0.000,6,0.000,0.023,3396,1811,2131,0,0,0,0,0,0
$GC,7525,1.19,116.8,144.8,9.2,394,7529,0.00,2.47,0.00,0.000,4,0.000,0.051,3395,382,2132,0,0,0,0,0,0
$GC,7609,1.19,116.8,136.7,8.9,403,7613,0.00,2.30,0.00,0.000,6,0.000,0.021,3395,1791,2131,0,0,0,0,0,0
$GC,7874,1.24,152.4,116.5,6.4,427,7911,0.00,2.50,27.33,0.562,4,0.000,0.047,3395,386,2011,0,0,0,0,0,0
$GC,7945,1.24,152.4,109.8,10.4,434,7952,0.00,2.35,0.00,0.000,6,0.000,0.021,3395,1805,2008,0,0,0,0,0,0
$GC,8209,1.24,152.4,84.3,9.4,459,8213,0.00,2.45,0.00,0.000,4,0.000,0.046,3395,381,2008,0,0,0,0,0,0
$GC,8235,1.24,152.4,81.8,9.3,461,8240,0.00,2.30,0.00,0.000,6,0.000,0.021,3396,1806,2006,0,0,0,0,0,0
$GC,8500,1.29,197.9,59.3,5.9,485,8550,0.10,2.35,39.45,0.513,4,0.073,0.023,3433,3210,1827,0,0,0,0,0,0
$GC,8556,1.29,197.9,53.8,10.2,490,8563,0.00,2.45,0.00,0.000,6,0.000,0.032,3433,1803,1827,0,0,0,0,0,0
$GC,8823,1.29,197.9,25.0,11.1,519,8829,0.00,2.47,0.00,0.000,4,0.000,0.048,3433,391,1823,0,0,0,0,0,0
$GC,8922,1.29,197.9,14.1,10.3,541,8928,0.00,2.30,0.00,0.000,6,0.000,0.019,3433,1790,1819,0,0,0,0,0,0
$STATE,9035,end climb,SURFACE_DEPTH_REACHED
$STATE,9036,begin surface coast
$FINISH,0.7,1.009794
$STATE,9064,end surface coast,CONTROL_FINISHED_OK
$STATE,9064,begin surface
$SM_CCo,9088,66.40,0.463,0,0,1289,330.17
$SM_GC,1.40,0.00,0.00,66.40,0.000,0.000,0.463,431,2142,1289,-12.45,1.19,330.17
$IRIDIUM_FIX,2101.76,-15753.03,120700,181828
$TT8_MAMPS,0.029146
$HUMID,54.17
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.4,9.822
$10V_AH,10.5,9.403
$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,28.600,95.725,264.100,66.400,0.000,23.716,41.890,137.627,4.500,0.000,14.471,1038.829,6027.573,436.439,1540.754,432.814,33.346,1093.777,0.000,1532.411,0.000,29.247,0.000
$DEVICE_MAMPS,136.526,60.593,821.457,462.501,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,382.697,364.402,819.718,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31751,567
$CAP_FILE_SIZE,90854,0
$CFSIZE,260165632,250605568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180411,231736,2109.497,-15750.438,35,1.0,45,9.8