version: 66.06
glider: 139
mission: 9
dive: 127
start: 4 19 111 10 34 47
data:
$ID,139
$MISSION,9
$DIVE,127
$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,0
$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,-2177214
$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,101
$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
$GPS1,102837,2109.369,-15748.768,32,1.3,32,9.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-74.3
$GPS2,103356,2109.348,-15748.723,14,1.6,14,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.191,-0.112
$KALMAN_X,-342.3,-195.5,-95.9,3956.3,-177.9
$KALMAN_Y,106.0,80.3,1.0,-2795.1,-27.3
$MHEAD_RNG_PITCHd_Wd,110.6,11976,-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,15,begin dive
$GC,18,-1.19,-116.8,0.0,0.0,0,94,0.00,0.00,-70.15,0.000,6,0.000,0.000,426,2144,3112,0,0,0,0,0,0
$GC,97,-1.19,-116.8,3.9,-6.6,14,116,13.15,2.47,0.00,0.000,4,0.136,0.033,2869,676,3114,0,0,0,0,0,0
$GC,123,-1.19,-116.8,13.8,-28.9,18,130,0.00,2.28,0.00,0.000,6,0.000,0.021,2869,2056,3114,0,0,0,0,0,0
$GC,331,-1.19,-116.8,51.2,-15.3,44,335,0.00,2.38,0.00,0.000,4,0.000,0.027,2869,3492,3116,0,0,0,0,0,0
$GC,530,-1.19,-116.8,83.3,-13.8,65,535,0.00,2.35,0.00,0.000,6,0.000,0.027,2869,2083,3116,0,0,0,0,0,0
$GC,793,-1.19,-116.8,116.7,-11.3,90,797,0.00,2.35,0.00,0.000,4,0.000,0.029,2869,3496,3117,0,0,0,0,0,0
$GC,990,-1.19,-116.8,136.6,-9.7,111,994,0.00,2.33,0.00,0.000,6,0.000,0.027,2869,2090,3117,0,0,0,0,0,0
$GC,1253,-1.19,-116.8,162.5,-9.3,135,1256,0.00,2.33,0.00,0.000,4,0.000,0.029,2869,3491,3117,0,0,0,0,0,0
$GC,1447,-1.19,-116.8,185.9,-11.7,156,1454,0.00,2.35,0.00,0.000,6,0.000,0.027,2869,2093,3118,0,0,0,0,0,0
$GC,1708,-1.19,-116.8,214.9,-11.8,175,1712,0.00,2.35,0.00,0.000,4,0.000,0.031,2869,3491,3118,0,0,0,0,0,0
$GC,1773,-1.19,-116.8,221.9,-10.3,178,1777,0.00,2.30,0.00,0.000,6,0.000,0.028,2869,2098,3118,0,0,0,0,0,0
$GC,2103,-1.19,-116.8,252.8,-9.2,194,2107,0.00,2.38,0.00,0.000,4,0.000,0.041,2869,694,3118,0,0,0,0,0,0
$GC,2125,-1.19,-116.8,254.8,-9.9,195,2129,0.00,2.28,0.00,0.000,6,0.000,0.022,2869,2095,3118,0,0,0,0,0,0
$GC,2458,-1.19,-116.8,286.0,-7.6,211,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2098,3118,0,0,0,0,0,0
$GC,2783,-1.19,-116.8,310.3,-7.6,224,2784,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2098,3117,0,0,0,0,0,0
$GC,3108,-1.19,-116.8,335.9,-7.7,232,3112,0.00,2.40,0.00,0.000,4,0.000,0.044,2869,694,3116,0,0,0,0,0,0
$GC,3242,-1.19,-116.8,347.6,-9.1,235,3247,0.00,2.33,0.00,0.000,6,0.000,0.025,2869,2107,3116,0,0,0,0,0,0
$GC,3572,-1.19,-116.8,373.2,-7.5,243,3576,0.00,2.38,0.00,0.000,4,0.000,0.038,2869,3505,3114,0,0,0,0,0,0
$GC,3661,-1.19,-116.8,378.8,-5.2,245,3666,0.00,2.38,0.00,0.000,6,0.000,0.034,2869,2097,3113,0,0,0,0,0,0
$GC,3989,-1.19,-116.8,390.3,-3.7,253,3993,0.00,2.42,0.00,0.000,4,0.000,0.049,2869,691,3111,0,0,0,0,0,0
$GC,4018,-1.19,-116.8,391.7,-4.7,253,4022,0.00,2.33,0.00,0.000,6,0.000,0.027,2869,2099,3111,0,0,0,0,0,0
$GC,4354,-1.19,-116.8,416.3,-8.3,262,4355,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2103,3108,0,0,0,0,0,0
$GC,4680,-1.19,-116.8,440.3,-6.7,270,4684,0.00,2.38,0.00,0.000,4,0.000,0.041,2869,3499,3106,0,0,0,0,0,0
$GC,4708,-1.19,-116.8,442.2,-6.4,270,4712,0.00,2.38,0.00,0.000,6,0.000,0.035,2869,2093,3106,0,0,0,0,0,0
$STATE,4879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4879,begin apogee
$GC,4886,-0.31,0.0,452.5,5.9,275,4984,0.95,0.00,95.00,0.825,6,0.083,0.000,3066,1805,2635,0,0,0,0,0,0
$STATE,4985,end apogee,CONTROL_FINISHED_OK
$STATE,4985,begin climb
$GC,4988,1.19,116.8,453.6,0.0,277,5100,1.50,2.58,100.55,0.805,4,0.058,0.061,3394,394,2156,0,0,0,0,0,0
$GC,5116,1.19,116.8,441.1,14.1,280,5120,0.00,2.38,0.00,0.000,6,0.000,0.028,3395,1810,2153,0,0,0,0,0,0
$GC,5443,1.19,116.8,399.5,12.3,288,5448,0.00,2.55,0.00,0.000,4,0.000,0.060,3394,386,2145,0,0,0,0,0,0
$GC,5467,1.19,116.8,396.1,14.1,288,5471,0.00,2.38,0.00,0.000,6,0.000,0.028,3394,1793,2143,0,0,0,0,0,0
$GC,5807,1.19,116.8,354.4,11.7,297,5812,0.00,2.53,0.00,0.000,4,0.000,0.058,3394,387,2141,0,0,0,0,0,0
$GC,5850,1.19,116.8,348.5,14.2,298,5855,0.00,2.38,0.00,0.000,6,0.000,0.028,3394,1805,2139,0,0,0,0,0,0
$GC,6178,1.19,116.8,309.7,11.3,306,6182,0.00,2.53,0.00,0.000,4,0.000,0.058,3394,389,2138,0,0,0,0,0,0
$GC,6202,1.19,116.8,306.8,11.3,306,6206,0.00,2.38,0.00,0.000,6,0.000,0.028,3394,1813,2137,0,0,0,0,0,0
$GC,6525,1.19,116.8,270.6,10.4,320,6530,0.00,2.53,0.00,0.000,4,0.000,0.058,3394,389,2136,0,0,0,0,0,0
$GC,6594,1.19,116.8,263.6,10.6,323,6598,0.00,2.35,0.00,0.000,6,0.000,0.027,3394,1801,2134,0,0,0,0,0,0
$GC,6924,1.19,116.8,231.0,9.8,339,6928,0.00,2.50,0.00,0.000,4,0.000,0.054,3394,383,2133,0,0,0,0,0,0
$GC,6953,1.19,116.8,227.9,10.8,340,6957,0.00,2.35,0.00,0.000,6,0.000,0.025,3395,1813,2132,0,0,0,0,0,0
$GC,7273,1.19,116.8,200.7,8.7,356,7274,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1819,2132,0,0,0,0,0,0
$GC,7594,1.19,116.8,174.4,9.5,385,7598,0.00,2.30,0.00,0.000,4,0.000,0.029,3394,3202,2132,0,0,0,0,0,0
$GC,7692,1.19,116.8,165.1,9.6,395,7696,0.00,2.40,0.00,0.000,6,0.000,0.035,3395,1799,2132,0,0,0,0,0,0
$GC,7957,1.19,116.8,142.4,8.1,419,7961,0.00,2.42,0.00,0.000,4,0.000,0.049,3394,382,2132,0,0,0,0,0,0
$GC,8001,1.19,116.8,138.4,9.1,423,8005,0.00,2.30,0.00,0.000,6,0.000,0.021,3394,1800,2131,0,0,0,0,0,0
$GC,8265,1.19,116.8,117.7,8.7,447,8269,0.00,2.42,0.00,0.000,4,0.000,0.047,3394,385,2132,0,0,0,0,0,0
$GC,8299,1.19,116.8,114.0,10.4,450,8304,0.00,2.28,0.00,0.000,6,0.000,0.021,3394,1813,2132,0,0,0,0,0,0
$GC,8562,1.19,116.8,92.1,8.5,474,8566,0.00,2.45,0.00,0.000,4,0.000,0.048,3395,385,2132,0,0,0,0,0,0
$GC,8604,1.19,116.8,87.8,10.3,478,8609,0.00,2.25,0.00,0.000,6,0.000,0.020,3395,1784,2132,0,0,0,0,0,0
$GC,8869,1.23,148.6,68.4,6.6,502,8899,0.00,0.00,23.98,0.506,6,0.000,0.000,3395,1790,2029,0,0,0,0,0,0
$GC,9158,1.26,173.5,47.4,6.9,529,9188,0.00,2.50,22.45,0.485,4,0.000,0.046,3394,388,1925,0,0,0,0,0,0
$GC,9255,1.26,173.5,39.6,9.4,539,9259,0.00,2.30,0.00,0.000,6,0.000,0.019,3395,1828,1922,0,0,0,0,0,0
$GC,9519,1.34,231.1,22.5,5.4,575,9575,0.15,0.00,49.08,0.477,6,0.054,0.000,3446,1833,1691,0,0,0,0,0,0
$STATE,9705,end climb,SURFACE_DEPTH_REACHED
$STATE,9705,begin surface coast
$FINISH,0.8,1.023143
$STATE,9734,end surface coast,CONTROL_FINISHED_OK
$STATE,9734,begin surface
$SM_CCo,9758,50.85,0.454,0,0,1288,330.17
$SM_GC,1.37,0.00,0.00,50.85,0.000,0.000,0.454,426,2132,1288,-12.47,0.90,330.17
$IRIDIUM_FIX,2101.76,-15750.89,130700,070717
$TT8_MAMPS,0.028379
$HUMID,53.66
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.4,10.225
$10V_AH,10.6,9.797
$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,28.725,101.000,291.050,50.850,0.000,24.339,32.620,143.769,4.500,0.000,14.240,1135.646,6389.635,391.937,1774.088,438.188,31.423,1163.420,0.000,1755.882,0.000,29.250,0.000
$DEVICE_MAMPS,135.759,60.593,824.525,454.064,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,414.970,395.309,894.806,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,34987,614
$CAP_FILE_SIZE,101391,0
$CFSIZE,260165632,250351616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190411,131928,2108.314,-15749.111,13,2.8,32,9.8