version: 66.06
glider: 139
mission: 9
dive: 137
start: 4 20 111 14 10 42
data:
$ID,139
$MISSION,9
$DIVE,137
$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,-2177458
$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,15
$R_STBD_OVSHOOT,81
$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
$GPS1,140437,2106.822,-15748.271,38,1.0,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-75.5
$GPS2,140949,2106.783,-15748.333,12,1.0,17,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.102,0.197
$KALMAN_X,-22799.3,145.7,226.2,26403.5,-4391.4
$KALMAN_Y,-8223.9,25.1,-147.4,982.7,-1586.1
$MHEAD_RNG_PITCHd_Wd,17.7,9527,-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,-70.55,0.000,6,0.000,0.000,430,2158,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.8,-6.1,14,114,13.12,2.17,0.00,0.000,4,0.136,0.025,2869,3469,3113,0,0,0,0,0,0
$GC,216,-1.19,-116.8,31.1,-17.3,40,220,0.00,2.30,0.00,0.000,6,0.000,0.028,2869,2085,3115,0,0,0,0,0,0
$GC,479,-1.19,-116.8,76.2,-17.3,64,483,0.00,2.28,0.00,0.000,4,0.000,0.028,2869,3461,3116,0,0,0,0,0,0
$GC,643,-1.19,-116.8,102.1,-14.3,81,648,0.00,2.25,0.00,0.000,6,0.000,0.028,2869,2098,3116,0,0,0,0,0,0
$GC,904,-1.19,-116.8,135.3,-12.5,106,908,0.00,2.38,0.00,0.000,4,0.000,0.041,2869,682,3116,0,0,0,0,0,0
$GC,929,-1.19,-116.8,138.6,-14.4,108,933,0.00,2.22,0.00,0.000,6,0.000,0.021,2869,2073,3116,0,0,0,0,0,0
$GC,1190,-1.19,-116.8,171.0,-11.4,132,1194,0.00,2.35,0.00,0.000,4,0.000,0.040,2869,693,3117,0,0,0,0,0,0
$GC,1269,-1.19,-116.8,180.1,-11.9,140,1273,0.00,2.30,0.00,0.000,6,0.000,0.021,2869,2109,3117,0,0,0,0,0,0
$GC,1540,-1.19,-116.8,212.2,-13.4,161,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2112,3118,0,0,0,0,0,0
$GC,1850,-1.19,-116.8,242.5,-9.1,176,1854,0.00,2.33,0.00,0.000,4,0.000,0.034,2869,3496,3118,0,0,0,0,0,0
$GC,2009,-1.19,-116.8,255.6,-7.8,183,2013,0.00,2.33,0.00,0.000,6,0.000,0.028,2869,2090,3119,0,0,0,0,0,0
$GC,2340,-1.19,-116.8,281.8,-8.5,199,2341,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2090,3119,0,0,0,0,0,0
$GC,2647,-1.19,-116.8,308.1,-8.1,212,2651,0.00,2.35,0.00,0.000,4,0.000,0.044,2869,694,3118,0,0,0,0,0,0
$GC,2661,-1.19,-116.8,309.4,-8.7,212,2665,0.00,2.28,0.00,0.000,6,0.000,0.025,2869,2096,3118,0,0,0,0,0,0
$GC,3011,-1.19,-116.8,333.8,-6.8,221,3015,0.00,2.38,0.00,0.000,4,0.000,0.038,2869,3498,3117,0,0,0,0,0,0
$GC,3030,-1.19,-116.8,335.3,-7.2,221,3034,0.00,2.35,0.00,0.000,6,0.000,0.033,2869,2096,3116,0,0,0,0,0,0
$GC,3380,-1.19,-116.8,357.4,-5.9,230,3385,0.00,2.38,0.00,0.000,4,0.000,0.038,2869,3498,3115,0,0,0,0,0,0
$GC,3498,-1.19,-116.8,365.8,-7.6,232,3502,0.00,2.38,0.00,0.000,6,0.000,0.035,2869,2096,3114,0,0,0,0,0,0
$GC,3844,-1.19,-116.8,391.7,-7.0,241,3848,0.00,2.38,0.00,0.000,4,0.000,0.041,2869,3492,3111,0,0,0,0,0,0
$GC,3891,-1.19,-116.8,395.1,-7.5,242,3895,0.00,2.35,0.00,0.000,6,0.000,0.035,2869,2099,3111,0,0,0,0,0,0
$GC,4214,-1.19,-116.8,416.5,-6.5,250,4218,0.00,2.40,0.00,0.000,4,0.000,0.042,2869,3492,3109,0,0,0,0,0,0
$GC,4293,-1.19,-116.8,421.5,-6.1,251,4297,0.00,2.35,0.00,0.000,6,0.000,0.036,2869,2098,3108,0,0,0,0,0,0
$GC,4624,-1.19,-116.8,445.1,-7.4,259,4628,0.00,2.42,0.00,0.000,4,0.000,0.053,2869,694,3106,0,0,0,0,0,0
$GC,4657,-1.19,-116.8,447.8,-7.5,259,4662,0.00,2.35,0.00,0.000,6,0.000,0.029,2869,2100,3106,0,0,0,0,0,0
$STATE,4701,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4701,begin apogee
$GC,4709,-0.31,0.0,451.2,7.3,260,4808,0.95,0.00,95.55,0.822,6,0.084,0.000,3066,1806,2635,0,0,0,0,0,0
$STATE,4808,end apogee,CONTROL_FINISHED_OK
$STATE,4808,begin climb
$GC,4811,1.19,116.8,452.4,0.0,262,4919,1.50,0.00,101.15,0.805,6,0.057,0.000,3395,1806,2158,0,0,0,0,0,0
$GC,5219,1.19,116.8,399.0,14.4,272,5223,0.00,2.55,0.00,0.000,4,0.000,0.061,3394,388,2147,0,0,0,0,0,0
$GC,5242,1.19,116.8,395.1,15.8,272,5247,0.00,2.40,0.00,0.000,6,0.000,0.028,3394,1817,2144,0,0,0,0,0,0
$GC,5583,1.19,116.8,350.2,13.1,281,5587,0.00,2.35,0.00,0.000,4,0.000,0.038,3395,3205,2142,0,0,0,0,0,0
$GC,5630,1.19,116.8,344.9,11.4,282,5634,0.00,2.47,0.00,0.000,6,0.000,0.041,3394,1795,2142,0,0,0,0,0,0
$GC,5953,1.19,116.8,305.9,12.0,290,5957,0.00,2.47,0.00,0.000,4,0.000,0.058,3394,386,2139,0,0,0,0,0,0
$GC,5986,1.19,116.8,301.6,13.2,290,5990,0.00,2.38,0.00,0.000,6,0.000,0.028,3394,1800,2138,0,0,0,0,0,0
$GC,6301,1.19,116.8,270.5,9.9,304,6305,0.00,2.53,0.00,0.000,4,0.000,0.057,3394,379,2137,0,0,0,0,0,0
$GC,6347,1.19,116.8,265.1,10.8,306,6351,0.00,2.35,0.00,0.000,6,0.000,0.028,3394,1801,2135,0,0,0,0,0,0
$GC,6672,1.19,116.8,229.7,11.3,322,6673,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1807,2134,0,0,0,0,0,0
$GC,6984,1.19,116.8,194.6,10.4,339,6988,0.00,2.35,0.00,0.000,4,0.000,0.031,3395,3211,2133,0,0,0,0,0,0
$GC,7046,1.19,116.8,188.9,8.9,345,7050,0.00,2.42,0.00,0.000,6,0.000,0.035,3395,1797,2133,0,0,0,0,0,0
$GC,7310,1.19,116.8,167.5,9.0,369,7314,0.00,2.42,0.00,0.000,4,0.000,0.051,3394,388,2133,0,0,0,0,0,0
$GC,7329,1.19,116.8,165.5,8.4,370,7336,0.00,2.35,0.00,0.000,6,0.000,0.023,3394,1817,2132,0,0,0,0,0,0
$GC,7594,1.23,142.6,145.3,6.8,395,7621,0.00,2.58,18.98,0.577,4,0.000,0.050,3395,389,2051,0,0,0,0,0,0
$GC,7692,1.23,142.6,137.1,8.9,405,7697,0.00,2.30,0.00,0.000,6,0.000,0.021,3395,1793,2047,0,0,0,0,0,0
$GC,7955,1.23,142.6,115.8,8.2,430,7959,0.00,2.42,0.00,0.000,4,0.000,0.048,3394,386,2048,0,0,0,0,0,0
$GC,7990,1.23,142.6,111.9,11.4,433,7994,0.00,2.30,0.00,0.000,6,0.000,0.021,3395,1807,2047,0,0,0,0,0,0
$GC,8254,1.23,142.6,84.3,10.2,457,8259,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1813,2047,0,0,0,0,0,0
$GC,8517,1.23,142.6,60.2,8.7,482,8521,0.00,2.28,0.00,0.000,4,0.000,0.026,3395,3207,2047,0,0,0,0,0,0
$GC,8539,1.23,142.6,58.2,8.3,484,8546,0.00,2.40,0.00,0.000,6,0.000,0.031,3395,1803,2047,0,0,0,0,0,0
$GC,8804,1.30,206.2,41.4,5.1,509,8866,0.12,2.53,54.78,0.496,4,0.061,0.048,3440,393,1793,0,0,0,0,0,0
$GC,8930,1.30,206.2,28.5,13.3,523,8936,0.00,2.33,0.00,0.000,6,0.000,0.019,3439,1805,1787,0,0,0,0,0,0
$GC,9134,1.30,206.2,4.8,11.5,560,9140,0.00,2.30,0.00,0.000,4,0.000,0.024,3439,3195,1786,0,0,0,0,0,0
$STATE,9150,end climb,SURFACE_DEPTH_REACHED
$STATE,9150,begin surface coast
$FINISH,0.7,1.023403
$STATE,9172,end surface coast,CONTROL_FINISHED_OK
$STATE,9172,begin surface
$SM_CCo,9198,63.55,0.458,0,0,1288,330.17
$SM_GC,1.51,0.00,0.00,63.55,0.000,0.000,0.458,424,2075,1288,-12.48,-0.74,330.17
$IRIDIUM_FIX,2057.14,-15748.75,140700,111149
$TT8_MAMPS,0.028379
$HUMID,54.29
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.4,11.002
$10V_AH,10.5,10.553
$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,28.575,104.125,270.450,63.550,0.000,25.842,33.361,134.965,4.500,0.000,17.458,1058.712,6067.943,407.572,1616.019,428.135,33.347,1111.151,0.000,1599.696,0.000,29.247,0.000
$DEVICE_MAMPS,135.759,60.593,822.224,457.899,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,384.041,368.485,822.300,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31885,568
$CAP_FILE_SIZE,96051,0
$CFSIZE,260165632,249872384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200411,164616,2107.111,-15749.675,13,2.4,32,9.8