version: 66.06
glider: 139
mission: 9
dive: 123
start: 4 18 111 23 24 0
data:
$ID,139
$MISSION,9
$DIVE,123
$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,-2177153.8
$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,76
$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
$GPS1,231736,2109.497,-15750.438,35,1.0,45,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-74.1
$GPS2,232307,2109.485,-15750.405,12,1.0,17,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.150,0.163
$KALMAN_X,-70656.9,292.6,1058.4,80092.3,-3558.4
$KALMAN_Y,-19037.7,423.3,1.1,26856.7,-848.0
$MHEAD_RNG_PITCHd_Wd,32.7,14615,-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,-70.25,0.000,6,0.000,0.000,431,2142,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.8,-6.1,14,114,13.15,2.22,0.00,0.000,4,0.136,0.028,2869,3474,3114,0,0,0,0,0,0
$GC,227,-1.19,-116.8,35.4,-16.6,39,231,0.00,2.33,0.00,0.000,6,0.000,0.028,2869,2080,3115,0,0,0,0,0,0
$GC,489,-1.19,-116.8,76.2,-14.9,63,490,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2080,3116,0,0,0,0,0,0
$GC,745,-1.19,-116.8,112.0,-13.9,87,749,0.00,2.33,0.00,0.000,4,0.000,0.026,2869,3475,3117,0,0,0,0,0,0
$GC,798,-1.19,-116.8,118.3,-11.5,92,802,0.00,2.28,0.00,0.000,6,0.000,0.028,2869,2098,3117,0,0,0,0,0,0
$GC,1061,-1.19,-116.8,151.8,-14.3,116,1065,0.00,2.28,0.00,0.000,4,0.000,0.028,2869,3466,3117,0,0,0,0,0,0
$GC,1113,-1.19,-116.8,158.4,-12.6,121,1117,0.00,2.25,0.00,0.000,6,0.000,0.026,2869,2098,3117,0,0,0,0,0,0
$GC,1375,-1.19,-116.8,188.8,-11.1,145,1380,0.00,2.38,0.00,0.000,4,0.000,0.041,2869,694,3118,0,0,0,0,0,0
$GC,1483,-1.19,-116.8,200.8,-10.6,156,1490,0.00,2.25,0.00,0.000,6,0.000,0.021,2869,2067,3118,0,0,0,0,0,0
$GC,1799,-1.19,-116.8,232.8,-9.6,172,1803,0.00,2.38,0.00,0.000,4,0.000,0.032,2869,3500,3119,0,0,0,0,0,0
$GC,1882,-1.19,-116.8,241.4,-10.0,175,1887,0.00,2.30,0.00,0.000,6,0.000,0.028,2869,2103,3119,0,0,0,0,0,0
$GC,2199,-1.19,-116.8,270.4,-9.5,191,2203,0.00,2.35,0.00,0.000,4,0.000,0.035,2869,3502,3119,0,0,0,0,0,0
$GC,2448,-1.19,-116.8,295.0,-9.1,202,2452,0.00,2.33,0.00,0.000,6,0.000,0.030,2869,2100,3118,0,0,0,0,0,0
$GC,2793,-1.19,-116.8,323.9,-8.1,212,2797,0.00,2.38,0.00,0.000,4,0.000,0.035,2869,3500,3117,0,0,0,0,0,0
$GC,2840,-1.19,-116.8,328.4,-9.7,213,2844,0.00,2.35,0.00,0.000,6,0.000,0.031,2869,2101,3117,0,0,0,0,0,0
$GC,3163,-1.19,-116.8,356.0,-8.0,221,3164,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2100,3116,0,0,0,0,0,0
$GC,3490,-1.19,-116.8,380.7,-7.2,229,3494,0.00,2.40,0.00,0.000,4,0.000,0.037,2869,3492,3114,0,0,0,0,0,0
$GC,3518,-1.19,-116.8,383.2,-8.5,229,3522,0.00,2.35,0.00,0.000,6,0.000,0.033,2869,2098,3114,0,0,0,0,0,0
$GC,3860,-1.19,-116.8,406.1,-6.5,238,3864,0.00,2.40,0.00,0.000,4,0.000,0.049,2869,694,3111,0,0,0,0,0,0
$GC,3888,-1.19,-116.8,408.1,-7.0,238,3892,0.00,2.33,0.00,0.000,6,0.000,0.027,2869,2101,3111,0,0,0,0,0,0
$GC,4230,-1.19,-116.8,431.3,-7.0,247,4234,0.00,2.45,0.00,0.000,4,0.000,0.050,2869,684,3109,0,0,0,0,0,0
$GC,4314,-1.19,-116.8,437.7,-7.6,248,4320,0.00,2.38,0.00,0.000,6,0.000,0.028,2869,2109,3107,0,0,0,0,0,0
$STATE,4561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4562,begin apogee
$GC,4568,-0.31,0.0,452.2,5.6,255,4668,0.95,0.00,95.68,0.825,6,0.083,0.000,3065,1810,2635,0,0,0,0,0,0
$STATE,4668,end apogee,CONTROL_FINISHED_OK
$STATE,4668,begin climb
$GC,4671,1.19,116.8,452.9,0.0,257,4783,1.50,2.50,100.93,0.805,4,0.057,0.037,3395,3206,2157,0,0,0,0,0,0
$GC,4799,1.19,116.8,439.9,12.2,260,4803,0.00,2.47,0.00,0.000,6,0.000,0.042,3394,1805,2156,0,0,0,0,0,0
$GC,5127,1.19,116.8,399.4,12.0,268,5131,0.00,2.55,0.00,0.000,4,0.000,0.060,3394,384,2147,0,0,0,0,0,0
$GC,5206,1.19,116.8,388.3,13.9,269,5210,0.00,2.38,0.00,0.000,6,0.000,0.028,3394,1810,2142,0,0,0,0,0,0
$GC,5537,1.19,116.8,348.7,11.5,277,5538,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1815,2141,0,0,0,0,0,0
$GC,5862,1.19,116.8,309.2,12.4,285,5863,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1815,2139,0,0,0,0,0,0
$GC,6170,1.19,116.8,274.9,10.8,298,6171,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1815,2137,0,0,0,0,0,0
$GC,6481,1.19,116.8,240.9,11.2,313,6485,0.00,2.33,0.00,0.000,4,0.000,0.032,3395,3207,2136,0,0,0,0,0,0
$GC,6518,1.19,116.8,236.7,10.2,314,6525,0.00,2.47,0.00,0.000,6,0.000,0.038,3394,1791,2136,0,0,0,0,0,0
$GC,6834,1.19,116.8,208.8,9.2,330,6838,0.00,2.45,0.00,0.000,4,0.000,0.054,3394,386,2134,0,0,0,0,0,0
$GC,6848,1.19,116.8,207.2,9.9,330,6855,0.00,2.35,0.00,0.000,6,0.000,0.025,3395,1813,2134,0,0,0,0,0,0
$GC,7173,1.19,116.8,176.7,10.2,357,7178,0.00,2.50,0.00,0.000,4,0.000,0.051,3394,384,2133,0,0,0,0,0,0
$GC,7201,1.19,116.8,173.4,11.2,359,7207,0.00,2.30,0.00,0.000,6,0.000,0.023,3395,1787,2132,0,0,0,0,0,0
$GC,7464,1.21,126.7,149.7,7.6,384,7476,0.00,2.35,5.10,0.449,4,0.000,0.026,3395,3209,2117,0,0,0,0,0,0
$GC,7482,1.24,150.8,148.4,6.9,385,7514,0.00,2.40,22.73,0.588,6,0.000,0.029,3394,1794,2019,0,0,0,0,0,0
$GC,7770,1.24,150.8,124.6,9.0,413,7774,0.00,2.42,0.00,0.000,4,0.000,0.048,3394,383,2015,0,0,0,0,0,0
$GC,7839,1.24,150.8,117.8,9.4,420,7844,0.00,2.33,0.00,0.000,6,0.000,0.021,3395,1815,2013,0,0,0,0,0,0
$GC,8102,1.24,150.8,93.7,8.3,444,8107,0.00,2.47,0.00,0.000,4,0.000,0.048,3394,377,2013,0,0,0,0,0,0
$GC,8130,1.24,150.8,90.6,9.9,446,8137,0.00,2.33,0.00,0.000,6,0.000,0.020,3395,1784,2012,0,0,0,0,0,0
$GC,8393,1.24,150.8,65.0,9.7,471,8394,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1790,2012,0,0,0,0,0,0
$GC,8648,1.24,150.8,43.4,8.7,495,8652,0.00,2.40,0.00,0.000,4,0.000,0.047,3394,384,2012,0,0,0,0,0,0
$GC,8782,1.24,150.8,30.5,9.4,509,8788,0.00,2.33,0.00,0.000,6,0.000,0.019,3395,1832,2012,0,0,0,0,0,0
$GC,9047,1.29,190.8,13.4,6.2,558,9087,0.00,2.55,34.55,0.470,4,0.000,0.045,3394,383,1856,0,0,0,0,0,0
$GC,9137,1.29,190.8,6.9,8.4,576,9144,0.00,2.30,0.00,0.000,6,0.000,0.018,3395,1773,1852,0,0,0,0,0,0
$STATE,9187,end climb,SURFACE_DEPTH_REACHED
$STATE,9187,begin surface coast
$FINISH,0.7,1.009770
$STATE,9225,end surface coast,CONTROL_FINISHED_OK
$STATE,9225,begin surface
$SM_CCo,9249,71.72,0.459,0,0,1288,330.17
$SM_GC,1.45,0.00,0.00,71.72,0.000,0.000,0.459,431,2150,1288,-12.45,1.44,330.17
$IRIDIUM_FIX,2059.45,-15745.74,120700,202006
$TT8_MAMPS,0.029146
$HUMID,52.87
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.4,9.898
$10V_AH,10.6,9.480
$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,28.275,95.900,258.975,71.725,0.000,28.414,37.387,145.915,4.500,0.000,17.612,1082.473,6078.764,396.810,1670.962,426.976,33.350,1113.782,0.000,1648.735,0.000,29.244,0.000
$DEVICE_MAMPS,135.759,59.826,825.292,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,399.952,383.612,887.263,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,31798,592
$CAP_FILE_SIZE,94508,0
$CFSIZE,260165632,250556416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190411,020037,2110.087,-15750.579,37,0.9,37,9.8