version: 66.06
glider: 139
mission: 9
dive: 129
start: 4 19 111 16 8 48
data:
$ID,139
$MISSION,9
$DIVE,129
$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,-2177260.5
$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,18
$R_STBD_OVSHOOT,56
$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
$GPS1,160254,2107.767,-15749.866,41,1.0,41,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-74.5
$GPS2,160756,2107.760,-15749.913,9,2.0,9,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.220,0.027
$KALMAN_X,-6178.3,-204.0,-488.3,8154.7,-2556.4
$KALMAN_Y,-774.9,-19.8,-118.4,-4633.4,-277.0
$MHEAD_RNG_PITCHd_Wd,73.2,12612,-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,-116.8,0.0,0.0,0,92,0.00,0.00,-70.95,0.000,6,0.000,0.000,425,2132,3111,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.5,-4.5,14,114,13.20,2.45,0.00,0.000,4,0.137,0.034,2869,677,3113,0,0,0,0,0,0
$GC,131,-1.19,-116.8,15.4,-32.6,20,137,0.00,2.33,0.00,0.000,6,0.000,0.020,2869,2086,3113,0,0,0,0,0,0
$GC,332,-1.19,-116.8,53.5,-17.6,45,333,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2090,3115,0,0,0,0,0,0
$GC,587,-1.19,-116.8,93.5,-16.3,69,588,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2090,3115,0,0,0,0,0,0
$GC,842,-1.19,-116.8,128.7,-14.2,93,846,0.00,2.40,0.00,0.000,4,0.000,0.040,2869,678,3116,0,0,0,0,0,0
$GC,861,-1.19,-116.8,131.9,-14.7,94,867,0.00,2.33,0.00,0.000,6,0.000,0.021,2869,2099,3116,0,0,0,0,0,0
$GC,1125,-1.19,-116.8,162.3,-11.9,119,1129,0.00,2.33,0.00,0.000,4,0.000,0.030,2869,3498,3116,0,0,0,0,0,0
$GC,1375,-1.19,-116.8,190.2,-9.5,146,1379,0.00,2.33,0.00,0.000,6,0.000,0.027,2869,2086,3117,0,0,0,0,0,0
$GC,1633,-1.19,-116.8,215.1,-10.7,163,1637,0.00,2.35,0.00,0.000,4,0.000,0.031,2869,3498,3117,0,0,0,0,0,0
$GC,1902,-1.19,-116.8,239.4,-6.0,174,1909,0.00,2.35,0.00,0.000,6,0.000,0.028,2869,2103,3118,0,0,0,0,0,0
$GC,2217,-1.19,-116.8,263.1,-8.2,190,2222,0.00,2.33,0.00,0.000,4,0.000,0.033,2869,3492,3118,0,0,0,0,0,0
$GC,2245,-1.19,-116.8,265.6,-8.8,191,2249,0.00,2.33,0.00,0.000,6,0.000,0.031,2869,2095,3118,0,0,0,0,0,0
$GC,2566,-1.19,-116.8,292.5,-8.6,207,2570,0.00,2.38,0.00,0.000,4,0.000,0.035,2869,3497,3116,0,0,0,0,0,0
$GC,2663,-1.19,-116.8,300.4,-6.9,211,2667,0.00,2.33,0.00,0.000,6,0.000,0.030,2869,2099,3116,0,0,0,0,0,0
$GC,2999,-1.19,-116.8,324.8,-7.9,220,3000,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2098,3116,0,0,0,0,0,0
$GC,3324,-1.19,-116.8,352.1,-8.1,228,3328,0.00,2.40,0.00,0.000,4,0.000,0.048,2869,691,3114,0,0,0,0,0,0
$GC,3349,-1.19,-116.8,354.1,-8.4,228,3353,0.00,2.33,0.00,0.000,6,0.000,0.026,2869,2095,3114,0,0,0,0,0,0
$GC,3689,-1.19,-116.8,378.6,-7.0,237,3693,0.00,2.42,0.00,0.000,4,0.000,0.040,2869,3506,3111,0,0,0,0,0,0
$GC,3713,-1.19,-116.8,380.5,-7.8,237,3717,0.00,2.35,0.00,0.000,6,0.000,0.035,2869,2103,3111,0,0,0,0,0,0
$GC,4053,-1.19,-116.8,404.5,-7.1,246,4058,0.00,2.38,0.00,0.000,4,0.000,0.040,2869,3498,3109,0,0,0,0,0,0
$GC,4073,-1.19,-116.8,405.9,-7.1,246,4077,0.00,2.35,0.00,0.000,6,0.000,0.035,2869,2100,3108,0,0,0,0,0,0
$GC,4418,-1.19,-116.8,428.1,-6.4,255,4422,0.00,2.45,0.00,0.000,4,0.000,0.052,2869,688,3106,0,0,0,0,0,0
$GC,4552,-1.19,-116.8,437.6,-7.8,257,4557,0.00,2.35,0.00,0.000,6,0.000,0.028,2869,2101,3105,0,0,0,0,0,0
$STATE,4718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4718,begin apogee
$GC,4725,-0.31,0.0,450.5,7.5,262,4823,0.95,0.00,94.93,0.827,6,0.085,0.000,3065,1806,2635,0,0,0,0,0,0
$STATE,4824,end apogee,CONTROL_FINISHED_OK
$STATE,4824,begin climb
$GC,4827,1.19,116.8,452.5,0.0,264,4938,1.50,2.58,100.38,0.808,4,0.058,0.060,3393,391,2156,0,0,0,0,0,0
$GC,4949,1.19,116.8,442.8,11.4,266,4954,0.00,2.40,0.00,0.000,6,0.000,0.028,3394,1804,2153,0,0,0,0,0,0
$GC,5280,1.19,116.8,402.5,12.7,275,5284,0.00,2.53,0.00,0.000,4,0.000,0.059,3393,390,2146,0,0,0,0,0,0
$GC,5349,1.19,116.8,392.2,15.2,276,5354,0.00,2.35,0.00,0.000,6,0.000,0.028,3393,1794,2142,0,0,0,0,0,0
$GC,5690,1.19,116.8,349.2,12.6,285,5694,0.00,2.50,0.00,0.000,4,0.000,0.058,3393,389,2140,0,0,0,0,0,0
$GC,5713,1.19,116.8,346.0,12.7,285,5718,0.00,2.38,0.00,0.000,6,0.000,0.028,3393,1810,2139,0,0,0,0,0,0
$GC,6054,1.19,116.8,306.0,11.4,294,6058,0.00,2.55,0.00,0.000,4,0.000,0.058,3393,383,2138,0,0,0,0,0,0
$GC,6097,1.19,116.8,300.4,13.4,295,6101,0.00,2.35,0.00,0.000,6,0.000,0.028,3393,1795,2136,0,0,0,0,0,0
$GC,6429,1.19,116.8,267.1,10.7,310,6433,0.00,2.40,0.00,0.000,4,0.000,0.035,3394,3213,2135,0,0,0,0,0,0
$GC,6452,1.19,116.8,264.4,10.9,311,6457,0.00,2.42,0.00,0.000,6,0.000,0.039,3393,1802,2136,0,0,0,0,0,0
$GC,6778,1.19,116.8,227.7,11.1,327,6782,0.00,2.50,0.00,0.000,4,0.000,0.057,3393,385,2134,0,0,0,0,0,0
$GC,6806,1.19,116.8,224.0,12.1,328,6811,0.00,2.35,0.00,0.000,6,0.000,0.026,3393,1811,2133,0,0,0,0,0,0
$GC,7129,1.19,116.8,191.3,9.4,348,7133,0.00,2.33,0.00,0.000,4,0.000,0.031,3394,3205,2133,0,0,0,0,0,0
$GC,7227,1.19,116.8,181.6,10.5,358,7231,0.00,2.42,0.00,0.000,6,0.000,0.037,3393,1798,2133,0,0,0,0,0,0
$GC,7490,1.19,116.8,151.3,9.4,382,7494,0.00,2.45,0.00,0.000,4,0.000,0.051,3393,383,2133,0,0,0,0,0,0
$GC,7512,1.19,116.8,148.9,9.8,384,7519,0.00,2.35,0.00,0.000,6,0.000,0.024,3393,1803,2131,0,0,0,0,0,0
$GC,7777,1.22,136.8,131.4,7.1,409,7796,0.00,2.50,13.82,0.558,4,0.000,0.049,3393,384,2076,0,0,0,0,0,0
$GC,7811,1.22,136.8,128.2,8.0,412,7818,0.00,2.35,0.00,0.000,6,0.000,0.022,3394,1807,2074,0,0,0,0,0,0
$GC,8076,1.22,136.8,106.7,8.7,437,8080,0.00,2.47,0.00,0.000,4,0.000,0.048,3393,384,2073,0,0,0,0,0,0
$GC,8113,1.22,136.8,102.6,10.1,440,8120,0.00,2.33,0.00,0.000,6,0.000,0.021,3394,1790,2072,0,0,0,0,0,0
$GC,8378,1.23,148.1,80.4,7.5,465,8397,0.00,2.50,10.77,0.491,4,0.000,0.046,3393,381,2030,0,0,0,0,0,0
$GC,8428,1.25,162.1,76.1,7.4,470,8449,0.00,2.30,13.80,0.500,6,0.000,0.020,3394,1821,1973,0,0,0,0,0,0
$GC,8704,1.26,172.9,55.5,7.5,496,8724,0.00,2.50,10.57,0.464,4,0.000,0.046,3393,381,1928,0,0,0,0,0,0
$GC,8756,1.26,172.9,51.0,8.5,501,8763,0.00,2.33,0.00,0.000,6,0.000,0.020,3394,1784,1926,0,0,0,0,0,0
$GC,9021,1.27,178.3,31.1,7.8,526,9031,0.00,2.42,5.82,0.383,4,0.000,0.044,3393,384,1907,0,0,0,0,0,0
$GC,9090,1.27,178.3,25.5,8.1,539,9097,0.00,2.33,0.00,0.000,6,0.000,0.019,3394,1810,1905,0,0,0,0,0,0
$GC,9294,1.28,188.8,10.5,7.5,576,9312,0.10,2.53,10.52,0.426,4,0.071,0.046,3434,384,1864,0,0,0,0,0,0
$GC,9358,1.28,188.8,3.5,12.5,589,9365,0.00,2.30,0.00,0.000,6,0.000,0.018,3434,1786,1861,0,0,0,0,0,0
$STATE,9370,end climb,SURFACE_DEPTH_REACHED
$STATE,9370,begin surface coast
$FINISH,0.9,1.023181
$STATE,9393,end surface coast,CONTROL_FINISHED_OK
$STATE,9393,begin surface
$SM_CCo,9417,72.00,0.459,0,0,1288,330.17
$SM_GC,1.43,0.00,0.00,72.00,0.000,0.000,0.459,426,2160,1288,-12.47,1.70,330.17
$IRIDIUM_FIX,2101.76,-15747.88,130700,131304
$TT8_MAMPS,0.028379
$HUMID,52.87
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.4,10.376
$10V_AH,10.5,9.949
$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,28.675,115.925,260.625,72.000,0.000,26.232,31.728,133.828,4.500,0.000,10.055,1110.405,6143.877,417.433,1700.764,420.946,33.345,1170.781,0.000,1686.371,0.000,29.252,0.000
$DEVICE_MAMPS,136.526,59.826,826.826,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,402.054,386.037,876.614,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,31813,595
$CAP_FILE_SIZE,102382,0
$CFSIZE,260165632,250257408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190411,184810,2107.684,-15749.810,14,7.5,33,9.8