version: 66.06
glider: 139
mission: 9
dive: 130
start: 4 19 111 18 57 59
data:
$ID,139
$MISSION,9
$DIVE,130
$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,-2177298.2
$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,14
$R_STBD_OVSHOOT,86
$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
$GPS1,184810,2107.684,-15749.810,14,7.5,33,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-73.9
$GPS2,185707,2107.616,-15749.770,37,1.4,37,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.215,0.054
$KALMAN_X,-8700.8,-440.4,19.5,10622.4,-2700.1
$KALMAN_Y,-1358.4,-176.0,51.3,-4329.4,-528.3
$MHEAD_RNG_PITCHd_Wd,66.0,12300,-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,-70.90,0.000,6,0.000,0.000,426,2161,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.3,-4.1,14,114,13.15,2.50,0.00,0.000,4,0.136,0.032,2867,673,3114,0,0,0,0,0,0
$GC,122,-1.19,-116.8,12.5,-27.4,18,129,0.00,2.30,0.00,0.000,6,0.000,0.020,2867,2071,3115,0,0,0,0,0,0
$GC,329,-1.19,-116.8,49.7,-17.0,45,333,0.00,2.40,0.00,0.000,4,0.000,0.039,2867,666,3116,0,0,0,0,0,0
$GC,346,-1.19,-116.8,52.6,-17.6,46,350,0.00,2.33,0.00,0.000,6,0.000,0.020,2867,2110,3116,0,0,0,0,0,0
$GC,607,-1.19,-116.8,97.7,-16.4,70,611,0.00,2.28,0.00,0.000,4,0.000,0.027,2867,3497,3116,0,0,0,0,0,0
$GC,624,-1.19,-116.8,100.1,-16.0,71,629,0.00,2.35,0.00,0.000,6,0.000,0.028,2867,2081,3117,0,0,0,0,0,0
$GC,888,-1.19,-116.8,137.5,-11.7,95,893,0.00,2.33,0.00,0.000,4,0.000,0.039,2867,692,3117,0,0,0,0,0,0
$GC,908,-1.19,-116.8,140.4,-12.5,96,915,0.00,2.30,0.00,0.000,6,0.000,0.021,2867,2087,3116,0,0,0,0,0,0
$GC,1172,-1.19,-116.8,168.1,-9.9,121,1176,0.00,2.35,0.00,0.000,4,0.000,0.029,2867,3501,3117,0,0,0,0,0,0
$GC,1234,-1.19,-116.8,174.9,-10.6,127,1238,0.00,2.35,0.00,0.000,6,0.000,0.028,2867,2093,3118,0,0,0,0,0,0
$GC,1496,-1.19,-116.8,203.4,-11.3,150,1501,0.00,2.38,0.00,0.000,4,0.000,0.031,2867,3503,3118,0,0,0,0,0,0
$GC,1557,-1.19,-116.8,210.0,-9.8,152,1563,0.00,2.38,0.00,0.000,6,0.000,0.028,2867,2095,3118,0,0,0,0,0,0
$GC,1872,-1.19,-116.8,237.9,-7.2,168,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2094,3118,0,0,0,0,0,0
$GC,2183,-1.19,-116.8,264.7,-9.0,183,2187,0.00,2.38,0.00,0.000,4,0.000,0.034,2867,3496,3118,0,0,0,0,0,0
$GC,2377,-1.19,-116.8,282.6,-8.4,191,2381,0.00,2.33,0.00,0.000,6,0.000,0.031,2867,2098,3117,0,0,0,0,0,0
$GC,2717,-1.19,-116.8,306.0,-6.6,206,2721,0.00,2.38,0.00,0.000,4,0.000,0.045,2867,696,3116,0,0,0,0,0,0
$GC,2749,-1.19,-116.8,308.9,-8.2,206,2753,0.00,2.30,0.00,0.000,6,0.000,0.025,2866,2105,3116,0,0,0,0,0,0
$GC,3081,-1.19,-116.8,336.1,-7.6,214,3085,0.00,2.35,0.00,0.000,4,0.000,0.038,2867,3495,3115,0,0,0,0,0,0
$GC,3224,-1.19,-116.8,347.4,-7.6,217,3228,0.00,2.35,0.00,0.000,6,0.000,0.033,2867,2103,3114,0,0,0,0,0,0
$GC,3542,-1.19,-116.8,369.2,-6.3,225,3547,0.00,2.42,0.00,0.000,4,0.000,0.048,2867,692,3112,0,0,0,0,0,0
$GC,3586,-1.19,-116.8,372.3,-8.0,226,3590,0.00,2.33,0.00,0.000,6,0.000,0.028,2867,2103,3111,0,0,0,0,0,0
$GC,3914,-1.19,-116.8,390.5,-5.4,234,3918,0.00,2.38,0.00,0.000,4,0.000,0.041,2867,3507,3108,0,0,0,0,0,0
$GC,3993,-1.19,-116.8,394.7,-5.5,235,3997,0.00,2.38,0.00,0.000,6,0.000,0.035,2867,2099,3109,0,0,0,0,0,0
$GC,4325,-1.19,-116.8,410.2,-4.8,243,4329,0.00,2.42,0.00,0.000,4,0.000,0.051,2867,694,3106,0,0,0,0,0,0
$GC,4353,-1.19,-116.8,411.8,-6.0,243,4357,0.00,2.33,0.00,0.000,6,0.000,0.028,2867,2107,3106,0,0,0,0,0,0
$GC,4689,-1.19,-116.8,432.8,-6.8,252,4693,0.00,2.45,0.00,0.000,4,0.000,0.051,2866,695,3103,0,0,0,0,0,0
$GC,4768,-1.19,-116.8,439.2,-7.6,253,4773,0.00,2.35,0.00,0.000,6,0.000,0.029,2867,2106,3103,0,0,0,0,0,0
$STATE,4934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4934,begin apogee
$GC,4942,-0.31,0.0,451.5,7.3,257,5040,0.98,0.00,94.80,0.832,6,0.084,0.000,3068,1810,2635,0,0,0,0,0,0
$STATE,5041,end apogee,CONTROL_FINISHED_OK
$STATE,5041,begin climb
$GC,5043,1.19,116.8,453.5,0.0,259,5155,1.48,2.65,100.88,0.812,4,0.058,0.061,3391,390,2156,0,0,0,0,0,0
$GC,5166,1.19,116.8,444.0,11.9,261,5171,0.00,2.38,0.00,0.000,6,0.000,0.028,3392,1801,2153,0,0,0,0,0,0
$GC,5497,1.19,116.8,405.4,11.2,270,5501,0.00,2.55,0.00,0.000,4,0.000,0.059,3391,390,2145,0,0,0,0,0,0
$GC,5553,1.19,116.8,398.4,12.4,271,5557,0.00,2.40,0.00,0.000,6,0.000,0.028,3391,1816,2142,0,0,0,0,0,0
$GC,5866,1.19,116.8,361.6,12.0,279,5870,0.00,2.38,0.00,0.000,4,0.000,0.038,3392,3205,2141,0,0,0,0,0,0
$GC,5909,1.19,116.8,356.8,10.8,280,5914,0.00,2.47,0.00,0.000,6,0.000,0.043,3392,1799,2140,0,0,0,0,0,0
$GC,6237,1.19,116.8,324.5,9.7,288,6241,0.00,2.50,0.00,0.000,4,0.000,0.058,3391,383,2138,0,0,0,0,0,0
$GC,6289,1.19,116.8,318.4,12.2,289,6293,0.00,2.38,0.00,0.000,6,0.000,0.028,3392,1797,2136,0,0,0,0,0,0
$GC,6609,1.19,116.8,286.8,9.6,300,6613,0.00,2.50,0.00,0.000,4,0.000,0.058,3391,382,2136,0,0,0,0,0,0
$GC,6660,1.19,116.8,281.8,9.7,302,6664,0.00,2.38,0.00,0.000,6,0.000,0.028,3392,1806,2134,0,0,0,0,0,0
$GC,6980,1.19,116.8,253.9,9.7,318,6984,0.00,2.35,0.00,0.000,4,0.000,0.035,3392,3211,2134,0,0,0,0,0,0
$GC,7086,1.19,116.8,244.6,8.1,322,7092,0.00,2.47,0.00,0.000,6,0.000,0.039,3391,1798,2134,0,0,0,0,0,0
$GC,7401,1.19,116.8,218.7,8.2,338,7406,0.00,2.38,0.00,0.000,4,0.000,0.031,3392,3209,2133,0,0,0,0,0,0
$GC,7429,1.19,116.8,216.0,9.4,339,7434,0.00,2.45,0.00,0.000,6,0.000,0.038,3392,1789,2133,0,0,0,0,0,0
$GC,7756,1.19,116.8,184.1,10.9,362,7760,0.00,2.38,0.00,0.000,4,0.000,0.030,3392,3210,2132,0,0,0,0,0,0
$GC,7800,1.19,116.8,179.1,11.2,366,7804,0.00,2.42,0.00,0.000,6,0.000,0.035,3392,1796,2133,0,0,0,0,0,0
$GC,8063,1.20,119.0,156.2,7.9,390,8067,0.00,2.45,0.00,0.000,4,0.000,0.051,3392,381,2132,0,0,0,0,0,0
$GC,8123,1.20,119.0,150.2,9.9,396,8127,0.00,2.33,0.00,0.000,6,0.000,0.022,3392,1810,2131,0,0,0,0,0,0
$GC,8386,1.20,119.0,122.9,12.2,420,8387,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1816,2132,0,0,0,0,0,0
$GC,8639,1.20,119.0,97.1,8.1,444,8643,0.00,2.47,0.00,0.000,4,0.000,0.048,3392,380,2132,0,0,0,0,0,0
$GC,8717,1.20,119.0,90.5,9.1,452,8721,0.00,2.30,0.00,0.000,6,0.000,0.021,3392,1798,2131,0,0,0,0,0,0
$GC,8982,1.27,179.5,73.5,5.2,476,9041,0.10,2.55,50.03,0.535,4,0.074,0.048,3429,384,1902,0,0,0,0,0,0
$GC,9106,1.27,179.5,63.3,10.8,489,9110,0.00,2.30,0.00,0.000,6,0.000,0.020,3429,1805,1896,0,0,0,0,0,0
$GC,9370,1.27,179.5,36.4,12.4,513,9374,0.00,2.47,0.00,0.000,4,0.000,0.046,3429,382,1896,0,0,0,0,0,0
$GC,9398,1.27,179.5,32.4,12.9,515,9405,0.00,2.33,0.00,0.000,6,0.000,0.019,3429,1796,1894,0,0,0,0,0,0
$GC,9665,1.27,179.5,4.8,9.0,562,9672,0.00,2.47,0.00,0.000,4,0.000,0.045,3429,380,1895,0,0,0,0,0,0
$STATE,9682,end climb,SURFACE_DEPTH_REACHED
$STATE,9682,begin surface coast
$FINISH,1.1,1.023080
$STATE,9712,end surface coast,CONTROL_FINISHED_OK
$STATE,9713,begin surface
$SM_CCo,9739,76.00,0.465,0,0,1288,330.17
$SM_GC,1.49,0.00,0.00,76.00,0.000,0.000,0.465,424,2108,1288,-12.48,0.23,330.17
$IRIDIUM_FIX,2059.45,-15748.75,130700,181844
$TT8_MAMPS,0.029146
$HUMID,53.97
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.70
$XPDR_PINGS,1
$24V_AH,23.4,10.458
$10V_AH,10.6,10.026
$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,28.475,125.425,245.700,76.000,0.000,55.389,65.501,207.368,4.750,0.000,37.093,1104.401,6541.435,405.615,1734.350,568.060,33.344,1168.310,0.000,1688.275,0.000,29.248,0.000
$DEVICE_MAMPS,135.759,61.360,832.195,464.802,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,387.689,364.080,809.747,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31751,572
$CAP_FILE_SIZE,108236,0
$CFSIZE,260165632,250200064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190411,214246,2107.790,-15748.858,13,4.0,32,9.8