version: 66.06
glider: 139
mission: 9
dive: 83
start: 4 14 111 8 29 50
data:
$ID,139
$MISSION,9
$DIVE,83
$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,2
$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,-2176292
$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,21
$R_STBD_OVSHOOT,60
$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
$GPS1,082407,2106.209,-15757.799,42,1.4,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-74.8
$GPS2,082931,2106.212,-15757.794,12,1.8,12,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,81.8,25713,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,93,0.00,0.00,-71.30,0.000,6,0.000,0.000,426,2116,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,2.9,-3.6,14,115,13.25,2.30,0.00,0.000,4,0.137,0.028,2867,3486,3114,0,0,0,0,0,0
$GC,366,-1.19,-116.8,52.8,-16.4,59,371,0.00,2.33,0.00,0.000,6,0.000,0.028,2867,2091,3116,0,0,0,0,0,0
$GC,629,-1.19,-116.8,93.2,-13.9,83,633,0.00,2.30,0.00,0.000,4,0.000,0.027,2868,3482,3116,0,0,0,0,0,0
$GC,644,-1.19,-116.8,95.6,-14.8,84,648,0.00,2.30,0.00,0.000,6,0.000,0.026,2867,2094,3116,0,0,0,0,0,0
$GC,907,-1.19,-116.8,130.2,-12.8,108,911,0.00,2.33,0.00,0.000,4,0.000,0.030,2867,3480,3117,0,0,0,0,0,0
$GC,1027,-1.19,-116.8,145.6,-11.2,120,1034,0.00,2.33,0.00,0.000,6,0.000,0.027,2867,2101,3117,0,0,0,0,0,0
$GC,1292,-1.19,-116.8,175.4,-11.4,145,1296,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2100,3117,0,0,0,0,0,0
$GC,1564,-1.19,-116.8,212.2,-13.8,167,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2101,3118,0,0,0,0,0,0
$GC,1871,-1.19,-116.8,243.4,-7.3,182,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2099,3119,0,0,0,0,0,0
$GC,2181,-1.19,-116.8,261.5,-7.4,197,2185,0.00,2.33,0.00,0.000,4,0.000,0.034,2867,3480,3118,0,0,0,0,0,0
$GC,2324,-1.19,-116.8,276.3,-11.5,203,2328,0.00,2.30,0.00,0.000,6,0.000,0.030,2867,2097,3119,0,0,0,0,0,0
$GC,2673,-1.19,-116.8,306.3,-7.5,218,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2096,3118,0,0,0,0,0,0
$GC,2998,-1.19,-116.8,328.0,-6.9,226,3002,0.00,2.40,0.00,0.000,4,0.000,0.046,2867,693,3116,0,0,0,0,0,0
$GC,3017,-1.19,-116.8,329.5,-7.2,226,3022,0.00,2.28,0.00,0.000,6,0.000,0.025,2867,2090,3116,0,0,0,0,0,0
$GC,3363,-1.19,-116.8,349.8,-5.9,235,3364,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2092,3114,0,0,0,0,0,0
$GC,3689,-1.19,-116.8,370.4,-6.6,243,3693,0.00,2.40,0.00,0.000,4,0.000,0.048,2867,693,3112,0,0,0,0,0,0
$GC,3704,-1.19,-116.8,371.6,-6.3,243,3708,0.00,2.35,0.00,0.000,6,0.000,0.028,2867,2105,3112,0,0,0,0,0,0
$GC,4056,-1.19,-116.8,400.2,-9.0,252,4057,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2107,3109,0,0,0,0,0,0
$GC,4379,-1.19,-116.8,426.9,-7.8,260,4383,0.00,2.45,0.00,0.000,4,0.000,0.049,2867,689,3107,0,0,0,0,0,0
$GC,4398,-1.19,-116.8,428.4,-7.3,260,4402,0.00,2.38,0.00,0.000,6,0.000,0.028,2867,2109,3107,0,0,0,0,0,0
$STATE,4700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4700,begin apogee
$GC,4707,-0.31,0.0,450.1,7.4,268,4805,0.98,0.00,95.30,0.831,6,0.086,0.000,3067,1810,2635,0,0,0,0,0,0
$STATE,4806,end apogee,CONTROL_FINISHED_OK
$STATE,4806,begin climb
$GC,4809,1.19,116.8,452.2,0.0,270,4921,1.50,2.60,101.20,0.810,4,0.058,0.060,3394,391,2156,0,0,0,0,0,0
$GC,4945,1.19,116.8,440.6,13.4,273,4950,0.00,2.40,0.00,0.000,6,0.000,0.028,3395,1797,2151,0,0,0,0,0,0
$GC,5264,1.19,116.8,399.1,13.4,281,5268,0.00,2.53,0.00,0.000,4,0.000,0.059,3395,393,2145,0,0,0,0,0,0
$GC,5283,1.19,116.8,396.1,14.3,281,5287,0.00,2.40,0.00,0.000,6,0.000,0.028,3395,1820,2143,0,0,0,0,0,0
$GC,5628,1.19,116.8,354.1,11.6,290,5632,0.00,2.55,0.00,0.000,4,0.000,0.058,3395,391,2141,0,0,0,0,0,0
$GC,5665,1.19,116.8,349.0,14.3,290,5671,0.00,2.35,0.00,0.000,6,0.000,0.028,3395,1793,2138,0,0,0,0,0,0
$GC,5997,1.19,116.8,307.8,12.2,299,6001,0.00,2.40,0.00,0.000,4,0.000,0.036,3395,3212,2138,0,0,0,0,0,0
$GC,6029,1.19,116.8,304.1,10.8,299,6034,0.00,2.47,0.00,0.000,6,0.000,0.041,3395,1798,2138,0,0,0,0,0,0
$GC,6346,1.19,116.8,274.0,9.4,313,6350,0.00,2.50,0.00,0.000,4,0.000,0.058,3395,386,2136,0,0,0,0,0,0
$GC,6366,1.19,116.8,271.9,9.7,314,6370,0.00,2.38,0.00,0.000,6,0.000,0.028,3395,1808,2134,0,0,0,0,0,0
$GC,6695,1.19,116.8,239.7,10.1,330,6699,0.00,2.35,0.00,0.000,4,0.000,0.033,3395,3203,2134,0,0,0,0,0,0
$GC,6717,1.19,116.8,237.8,10.0,331,6721,0.00,2.42,0.00,0.000,6,0.000,0.038,3395,1791,2134,0,0,0,0,0,0
$GC,7047,1.19,116.8,204.1,10.4,347,7052,0.00,2.45,0.00,0.000,4,0.000,0.053,3395,379,2133,0,0,0,0,0,0
$GC,7092,1.19,116.8,199.1,11.3,349,7096,0.00,2.35,0.00,0.000,6,0.000,0.025,3395,1813,2131,0,0,0,0,0,0
$GC,7357,1.22,139.6,176.4,7.0,373,7380,0.00,2.58,16.45,0.607,4,0.000,0.051,3395,386,2064,0,0,0,0,0,0
$GC,7400,1.22,139.6,172.4,9.1,378,7404,0.00,2.35,0.00,0.000,6,0.000,0.023,3395,1807,2062,0,0,0,0,0,0
$GC,7663,1.22,139.6,151.7,9.7,402,7664,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1811,2061,0,0,0,0,0,0
$GC,7915,1.22,139.6,125.7,9.1,426,7920,0.00,2.45,0.00,0.000,4,0.000,0.048,3395,384,2061,0,0,0,0,0,0
$GC,7932,1.22,139.6,124.3,9.3,427,7936,0.00,2.33,0.00,0.000,6,0.000,0.021,3395,1818,2060,0,0,0,0,0,0
$GC,8197,1.22,139.6,99.3,10.2,451,8201,0.00,2.25,0.00,0.000,4,0.000,0.027,3395,3200,2060,0,0,0,0,0,0
$GC,8240,1.22,139.6,94.6,10.7,455,8245,0.00,2.38,0.00,0.000,6,0.000,0.033,3395,1792,2060,0,0,0,0,0,0
$GC,8505,1.22,139.6,73.8,8.2,479,8509,0.00,2.40,0.00,0.000,4,0.000,0.046,3395,382,2060,0,0,0,0,0,0
$GC,8567,1.22,139.6,67.3,10.3,485,8574,0.00,2.30,0.00,0.000,6,0.000,0.020,3395,1776,2059,0,0,0,0,0,0
$GC,8832,1.29,192.0,48.7,5.6,510,8884,0.10,2.45,45.45,0.506,4,0.073,0.025,3434,3215,1851,0,0,0,0,0,0
$GC,8957,1.29,192.0,38.1,8.7,523,8963,0.00,2.45,0.00,0.000,6,0.000,0.033,3434,1802,1851,0,0,0,0,0,0
$GC,9222,1.29,192.0,13.5,10.1,564,9229,0.00,2.45,0.00,0.000,4,0.000,0.044,3434,390,1848,0,0,0,0,0,0
$GC,9245,1.29,192.0,11.2,9.5,568,9251,0.00,2.33,0.00,0.000,6,0.000,0.019,3433,1818,1845,0,0,0,0,0,0
$STATE,9321,end climb,SURFACE_DEPTH_REACHED
$STATE,9321,begin surface coast
$FINISH,0.5,1.010461
$STATE,9351,end surface coast,CONTROL_FINISHED_OK
$STATE,9351,begin surface
$SM_CCo,9375,71.15,0.462,0,0,1289,330.17
$SM_GC,1.27,0.00,0.00,71.15,0.000,0.000,0.462,426,2142,1289,-12.47,1.19,330.17
$IRIDIUM_FIX,2059.45,-15758.18,080700,050513
$TT8_MAMPS,0.028379
$HUMID,52.91
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.80
$XPDR_PINGS,1
$24V_AH,23.4,6.779
$10V_AH,10.6,6.392
$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,28.675,96.525,258.400,71.150,0.000,26.283,33.903,149.665,4.750,0.000,12.358,1071.289,6286.151,394.272,1581.249,439.250,0.000,1078.525,0.000,1572.311,0.000,29.243,0.000
$DEVICE_MAMPS,137.293,59.826,831.428,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,397.454,377.868,864.832,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31867,587
$CAP_FILE_SIZE,93692,0
$CFSIZE,260165632,252506112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140411,110831,2106.144,-15757.759,36,1.9,36,9.8