version: 66.06
glider: 139
mission: 9
dive: 128
start: 4 19 111 13 26 2
data:
$ID,139
$MISSION,9
$DIVE,128
$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,-2177249.8
$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,92
$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
$GPS1,131928,2108.314,-15749.111,13,2.8,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-74.8
$GPS2,132511,2108.268,-15749.149,15,2.7,34,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.217,-0.045
$KALMAN_X,-2426.1,-201.2,-612.1,5845.9,-883.6
$KALMAN_Y,-318.1,45.8,-206.7,-4120.8,-159.0
$MHEAD_RNG_PITCHd_Wd,91.8,11686,-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,15,-1.19,-116.8,0.0,0.0,0,93,0.00,0.00,-70.60,0.000,6,0.000,0.000,426,2132,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.8,-5.6,14,114,13.15,0.00,0.00,0.000,6,0.135,0.000,2870,2132,3113,0,0,0,0,0,0
$GC,314,-1.19,-116.8,50.5,-14.8,43,318,0.00,2.17,0.00,0.000,4,0.000,0.027,2870,3451,3115,0,0,0,0,0,0
$GC,502,-1.19,-116.8,80.4,-16.8,63,506,0.00,2.28,0.00,0.000,6,0.000,0.028,2870,2082,3115,0,0,0,0,0,0
$GC,766,-1.19,-116.8,115.8,-13.1,87,770,0.00,2.30,0.00,0.000,4,0.000,0.028,2870,3458,3116,0,0,0,0,0,0
$GC,803,-1.19,-116.8,120.7,-11.9,90,810,0.00,2.28,0.00,0.000,6,0.000,0.027,2870,2100,3116,0,0,0,0,0,0
$GC,1067,-1.19,-116.8,154.2,-12.6,115,1071,0.00,2.28,0.00,0.000,4,0.000,0.030,2870,3451,3117,0,0,0,0,0,0
$GC,1159,-1.19,-116.8,165.9,-12.1,124,1165,0.00,2.28,0.00,0.000,6,0.000,0.028,2870,2099,3117,0,0,0,0,0,0
$GC,1423,-1.19,-116.8,192.5,-11.3,149,1427,0.00,2.25,0.00,0.000,4,0.000,0.030,2870,3456,3117,0,0,0,0,0,0
$GC,1688,-1.19,-116.8,219.7,-10.3,165,1694,0.00,2.25,0.00,0.000,6,0.000,0.028,2870,2092,3117,0,0,0,0,0,0
$GC,2004,-1.19,-116.8,249.8,-10.4,181,2005,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2091,3118,0,0,0,0,0,0
$GC,2313,-1.19,-116.8,275.8,-8.8,196,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2092,3118,0,0,0,0,0,0
$GC,2642,-1.19,-116.8,305.0,-8.9,211,2646,0.00,2.30,0.00,0.000,4,0.000,0.035,2870,3448,3117,0,0,0,0,0,0
$GC,2722,-1.19,-116.8,313.3,-10.3,212,2726,0.00,2.25,0.00,0.000,6,0.000,0.031,2870,2095,3116,0,0,0,0,0,0
$GC,3054,-1.19,-116.8,339.5,-7.1,220,3055,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2094,3115,0,0,0,0,0,0
$GC,3380,-1.19,-116.8,366.6,-8.8,228,3384,0.00,2.28,0.00,0.000,4,0.000,0.037,2871,3445,3114,0,0,0,0,0,0
$GC,3394,-1.19,-116.8,367.9,-8.3,228,3398,0.00,2.25,0.00,0.000,6,0.000,0.034,2870,2098,3114,0,0,0,0,0,0
$GC,3744,-1.19,-116.8,393.4,-6.6,237,3747,0.00,2.42,0.00,0.000,4,0.000,0.049,2870,688,3112,0,0,0,0,0,0
$GC,3813,-1.19,-116.8,398.2,-7.0,238,3817,0.00,2.22,0.00,0.000,6,0.000,0.027,2870,2047,3111,0,0,0,0,0,0
$GC,4158,-1.19,-116.8,415.5,-4.7,247,4163,0.00,2.35,0.00,0.000,4,0.000,0.050,2870,685,3108,0,0,0,0,0,0
$GC,4251,-1.19,-116.8,420.5,-5.8,249,4256,0.00,2.28,0.00,0.000,6,0.000,0.028,2870,2053,3108,0,0,0,0,0,0
$GC,4575,-1.19,-116.8,439.3,-6.3,257,4576,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2057,3106,0,0,0,0,0,0
$STATE,4734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4734,begin apogee
$GC,4741,-0.31,0.0,450.5,6.9,261,4839,0.95,0.00,94.75,0.822,6,0.083,0.000,3067,1802,2635,0,0,0,0,0,0
$STATE,4840,end apogee,CONTROL_FINISHED_OK
$STATE,4840,begin climb
$GC,4843,1.19,116.8,452.4,0.0,263,4955,1.48,2.58,100.70,0.805,4,0.058,0.061,3391,389,2156,0,0,0,0,0,0
$GC,4988,1.19,116.8,438.6,15.2,266,4992,0.00,2.40,0.00,0.000,6,0.000,0.028,3391,1802,2150,0,0,0,0,0,0
$GC,5338,1.19,116.8,395.5,11.8,275,5342,0.00,2.53,0.00,0.000,4,0.000,0.059,3391,391,2144,0,0,0,0,0,0
$GC,5394,1.19,116.8,388.4,12.4,276,5398,0.00,2.35,0.00,0.000,6,0.000,0.028,3391,1798,2142,0,0,0,0,0,0
$GC,5707,1.19,116.8,351.5,12.2,284,5712,0.00,2.50,0.00,0.000,4,0.000,0.058,3391,391,2140,0,0,0,0,0,0
$GC,5731,1.19,116.8,348.2,13.4,284,5735,0.00,2.38,0.00,0.000,6,0.000,0.028,3391,1817,2138,0,0,0,0,0,0
$GC,6071,1.19,116.8,304.7,13.1,293,6076,0.00,2.53,0.00,0.000,4,0.000,0.058,3391,390,2137,0,0,0,0,0,0
$GC,6122,1.19,116.8,297.0,16.1,294,6127,0.00,2.33,0.00,0.000,6,0.000,0.028,3391,1785,2136,0,0,0,0,0,0
$GC,6443,1.19,116.8,255.8,11.7,310,6447,0.00,2.42,0.00,0.000,4,0.000,0.035,3391,3218,2135,0,0,0,0,0,0
$GC,6526,1.19,116.8,246.6,10.7,313,6532,0.00,2.47,0.00,0.000,6,0.000,0.041,3391,1795,2135,0,0,0,0,0,0
$GC,6843,1.19,116.8,214.2,9.8,329,6847,0.00,2.45,0.00,0.000,4,0.000,0.055,3391,386,2133,0,0,0,0,0,0
$GC,6863,1.19,116.8,211.9,10.9,330,6867,0.00,2.38,0.00,0.000,6,0.000,0.026,3391,1833,2132,0,0,0,0,0,0
$GC,7189,1.19,116.8,179.6,10.4,354,7193,0.00,2.25,0.00,0.000,4,0.000,0.031,3391,3195,2132,0,0,0,0,0,0
$GC,7242,1.19,116.8,174.3,9.2,359,7246,0.00,2.38,0.00,0.000,6,0.000,0.036,3391,1798,2132,0,0,0,0,0,0
$GC,7506,1.19,116.8,150.2,8.6,383,7511,0.00,2.30,0.00,0.000,4,0.000,0.028,3392,3193,2132,0,0,0,0,0,0
$GC,7569,1.19,116.8,144.8,8.4,389,7573,0.00,2.38,0.00,0.000,6,0.000,0.034,3391,1790,2131,0,0,0,0,0,0
$GC,7833,1.23,142.5,126.3,6.8,413,7861,0.00,2.45,18.62,0.564,4,0.000,0.048,3391,386,2052,0,0,0,0,0,0
$GC,7937,1.23,142.5,118.0,8.7,424,7941,0.00,2.30,0.00,0.000,6,0.000,0.021,3391,1783,2049,0,0,0,0,0,0
$GC,8200,1.23,148.6,98.7,7.7,448,8211,0.00,2.38,6.22,0.442,4,0.000,0.024,3391,3217,2029,0,0,0,0,0,0
$GC,8259,1.25,163.0,94.1,7.4,454,8279,0.00,2.40,14.45,0.514,6,0.000,0.031,3391,1798,1969,0,0,0,0,0,0
$GC,8535,1.30,200.2,75.6,6.3,480,8576,0.12,2.47,32.78,0.521,4,0.062,0.047,3433,389,1818,0,0,0,0,0,0
$GC,8669,1.30,200.2,61.3,12.9,494,8673,0.00,2.30,0.00,0.000,6,0.000,0.019,3433,1822,1813,0,0,0,0,0,0
$GC,8938,1.30,200.2,33.8,9.7,519,8942,0.00,2.47,0.00,0.000,4,0.000,0.045,3433,382,1812,0,0,0,0,0,0
$GC,8989,1.30,200.2,27.5,11.8,526,8996,0.00,2.30,0.00,0.000,6,0.000,0.018,3434,1778,1810,0,0,0,0,0,0
$GC,9192,1.30,200.2,4.9,11.8,563,9198,0.00,2.42,0.00,0.000,4,0.000,0.045,3433,391,1810,0,0,0,0,0,0
$STATE,9208,end climb,SURFACE_DEPTH_REACHED
$STATE,9208,begin surface coast
$FINISH,0.8,1.023113
$STATE,9239,end surface coast,CONTROL_FINISHED_OK
$STATE,9239,begin surface
$SM_CCo,9266,66.03,0.460,0,0,1288,330.17
$SM_GC,1.52,0.00,0.00,66.03,0.000,0.000,0.460,425,2132,1288,-12.48,0.90,330.17
$IRIDIUM_FIX,2059.45,-15748.75,130700,101012
$TT8_MAMPS,0.029146
$HUMID,53.54
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.4,10.301
$10V_AH,10.6,9.872
$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,28.575,99.825,267.525,66.025,0.000,27.905,33.723,142.266,4.500,0.000,35.035,1074.980,6073.223,398.315,1699.173,430.784,32.352,1135.255,0.000,1660.510,0.000,29.254,0.000
$DEVICE_MAMPS,134.992,60.593,822.224,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,387.658,367.304,812.452,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31839,573
$CAP_FILE_SIZE,97395,0
$CFSIZE,260165632,250310656
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190411,160254,2107.767,-15749.866,41,1.0,41,9.8