version: 66.06
glider: 139
mission: 9
dive: 131
start: 4 19 111 21 49 20
data:
$ID,139
$MISSION,9
$DIVE,131
$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,1
$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,-2177335.2
$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,16
$R_STBD_OVSHOOT,44
$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
$GPS1,214246,2107.790,-15748.858,13,4.0,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-73.7
$GPS2,214828,2107.729,-15748.785,16,4.1,35,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.212,0.065
$KALMAN_X,-10162.1,-417.3,771.9,12993.4,-2672.0
$KALMAN_Y,-1777.7,-235.5,128.4,-3722.0,-622.8
$MHEAD_RNG_PITCHd_Wd,63.2,10740,-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,-70.32,0.000,6,0.000,0.000,424,2108,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.9,-6.5,14,115,13.23,2.33,0.00,0.000,4,0.138,0.025,2868,3507,3113,0,0,0,0,0,0
$GC,127,-1.19,-116.8,15.1,-32.2,19,133,0.00,2.42,0.00,0.000,6,0.000,0.031,2868,2094,3114,0,0,0,0,0,0
$GC,335,-1.19,-116.8,48.4,-13.7,46,339,0.00,2.35,0.00,0.000,4,0.000,0.028,2868,3505,3115,0,0,0,0,0,0
$GC,487,-1.19,-116.8,71.2,-13.6,63,491,0.00,2.35,0.00,0.000,6,0.000,0.027,2868,2096,3115,0,0,0,0,0,0
$GC,752,-1.19,-116.8,107.2,-13.2,87,756,0.00,2.38,0.00,0.000,4,0.000,0.041,2868,681,3116,0,0,0,0,0,0
$GC,939,-1.19,-116.8,134.8,-14.3,107,943,0.00,2.30,0.00,0.000,6,0.000,0.021,2868,2106,3116,0,0,0,0,0,0
$GC,1204,-1.19,-116.8,168.4,-10.6,131,1208,0.00,2.30,0.00,0.000,4,0.000,0.031,2868,3498,3117,0,0,0,0,0,0
$GC,1328,-1.19,-116.8,182.5,-12.2,144,1332,0.00,2.33,0.00,0.000,6,0.000,0.029,2868,2097,3118,0,0,0,0,0,0
$GC,1597,-1.19,-116.8,210.4,-9.6,164,1601,0.00,2.33,0.00,0.000,4,0.000,0.032,2868,3495,3118,0,0,0,0,0,0
$GC,1767,-1.19,-116.8,227.1,-9.5,171,1771,0.00,2.33,0.00,0.000,6,0.000,0.028,2868,2098,3118,0,0,0,0,0,0
$GC,2083,-1.19,-116.8,256.6,-9.5,186,2087,0.00,2.33,0.00,0.000,4,0.000,0.032,2868,3495,3118,0,0,0,0,0,0
$GC,2133,-1.19,-116.8,261.5,-9.9,188,2137,0.00,2.33,0.00,0.000,6,0.000,0.030,2868,2094,3118,0,0,0,0,0,0
$GC,2458,-1.19,-116.8,292.5,-9.3,204,2462,0.00,2.35,0.00,0.000,4,0.000,0.035,2868,3496,3117,0,0,0,0,0,0
$GC,2541,-1.19,-116.8,300.1,-9.4,207,2547,0.00,2.35,0.00,0.000,6,0.000,0.031,2868,2096,3118,0,0,0,0,0,0
$GC,2872,-1.19,-116.8,329.4,-8.7,216,2877,0.00,2.38,0.00,0.000,4,0.000,0.045,2868,693,3116,0,0,0,0,0,0
$GC,2975,-1.19,-116.8,338.3,-8.5,218,2979,0.00,2.33,0.00,0.000,6,0.000,0.025,2868,2103,3116,0,0,0,0,0,0
$GC,3288,-1.19,-116.8,359.1,-6.3,226,3293,0.00,2.35,0.00,0.000,4,0.000,0.038,2868,3500,3115,0,0,0,0,0,0
$GC,3446,-1.19,-116.8,370.2,-7.7,229,3450,0.00,2.35,0.00,0.000,6,0.000,0.033,2868,2098,3114,0,0,0,0,0,0
$GC,3791,-1.19,-116.8,396.1,-8.0,238,3795,0.00,2.40,0.00,0.000,4,0.000,0.049,2869,694,3112,0,0,0,0,0,0
$GC,3888,-1.19,-116.8,405.3,-9.1,240,3892,0.00,2.33,0.00,0.000,6,0.000,0.027,2868,2108,3112,0,0,0,0,0,0
$GC,4208,-1.19,-116.8,429.8,-7.6,248,4212,0.00,2.38,0.00,0.000,4,0.000,0.041,2868,3499,3109,0,0,0,0,0,0
$GC,4347,-1.19,-116.8,440.7,-7.7,251,4352,0.00,2.40,0.00,0.000,6,0.000,0.037,2868,2095,3109,0,0,0,0,0,0
$STATE,4469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4469,begin apogee
$GC,4476,-0.31,0.0,450.2,7.5,254,4575,0.95,0.00,95.93,0.817,6,0.084,0.000,3065,1808,2635,0,0,0,0,0,0
$STATE,4576,end apogee,CONTROL_FINISHED_OK
$STATE,4576,begin climb
$GC,4579,1.19,116.8,452.6,0.0,256,4687,1.50,0.00,101.10,0.798,6,0.058,0.000,3394,1808,2158,0,0,0,0,0,0
$GC,4987,1.19,116.8,410.9,11.5,266,4988,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1808,2147,0,0,0,0,0,0
$GC,5312,1.19,116.8,375.3,10.9,274,5316,0.00,2.55,0.00,0.000,4,0.000,0.061,3393,386,2143,0,0,0,0,0,0
$GC,5386,1.19,116.8,366.3,12.4,275,5391,0.00,2.38,0.00,0.000,6,0.000,0.028,3393,1817,2139,0,0,0,0,0,0
$GC,5722,1.19,116.8,332.3,10.0,284,5726,0.00,2.35,0.00,0.000,4,0.000,0.036,3393,3201,2138,0,0,0,0,0,0
$GC,5765,1.19,116.8,328.0,9.8,285,5769,0.00,2.42,0.00,0.000,6,0.000,0.042,3393,1802,2139,0,0,0,0,0,0
$GC,6093,1.19,116.8,291.5,11.8,294,6097,0.00,2.53,0.00,0.000,4,0.000,0.058,3393,377,2137,0,0,0,0,0,0
$GC,6153,1.19,116.8,283.9,12.0,296,6160,0.00,2.40,0.00,0.000,6,0.000,0.028,3393,1793,2134,0,0,0,0,0,0
$GC,6469,1.19,116.8,245.6,11.1,312,6473,0.00,2.38,0.00,0.000,4,0.000,0.034,3393,3218,2134,0,0,0,0,0,0
$GC,6524,1.19,116.8,240.2,9.8,314,6529,0.00,2.45,0.00,0.000,6,0.000,0.040,3393,1791,2134,0,0,0,0,0,0
$GC,6842,1.19,116.8,213.3,8.9,329,6846,0.00,2.40,0.00,0.000,4,0.000,0.031,3394,3217,2134,0,0,0,0,0,0
$GC,6861,1.19,116.8,211.3,9.4,330,6866,0.00,2.42,0.00,0.000,6,0.000,0.035,3393,1792,2133,0,0,0,0,0,0
$GC,7189,1.19,116.8,180.5,9.6,355,7194,0.00,2.42,0.00,0.000,4,0.000,0.053,3393,388,2132,0,0,0,0,0,0
$GC,7233,1.19,116.8,175.7,11.2,359,7238,0.00,2.35,0.00,0.000,6,0.000,0.023,3393,1841,2131,0,0,0,0,0,0
$GC,7497,1.19,116.8,148.7,8.4,383,7501,0.00,2.20,0.00,0.000,4,0.000,0.029,3393,3186,2131,0,0,0,0,0,0
$GC,7523,1.22,134.3,146.6,7.2,385,7543,0.00,2.38,11.93,0.555,6,0.000,0.032,3393,1790,2086,0,0,0,0,0,0
$GC,7798,1.22,134.3,125.8,8.2,411,7802,0.00,2.40,0.00,0.000,4,0.000,0.048,3393,386,2084,0,0,0,0,0,0
$GC,7860,1.22,134.3,120.0,9.8,417,7864,0.00,2.28,0.00,0.000,6,0.000,0.021,3393,1774,2082,0,0,0,0,0,0
$GC,8125,1.22,134.3,96.1,10.3,441,8129,0.00,2.40,0.00,0.000,4,0.000,0.048,3393,379,2082,0,0,0,0,0,0
$GC,8213,1.22,134.3,86.1,11.8,450,8217,0.00,2.33,0.00,0.000,6,0.000,0.021,3393,1819,2081,0,0,0,0,0,0
$GC,8477,1.22,134.3,59.1,10.0,474,8481,0.00,2.45,0.00,0.000,4,0.000,0.047,3393,387,2081,0,0,0,0,0,0
$GC,8520,1.22,134.3,54.2,12.2,478,8524,0.00,2.28,0.00,0.000,6,0.000,0.020,3393,1798,2082,0,0,0,0,0,0
$GC,8789,1.25,159.9,32.1,6.8,503,8816,0.00,0.00,23.08,0.479,6,0.000,0.000,3394,1804,1983,0,0,0,0,0,0
$GC,9077,1.27,181.9,10.8,7.0,554,9107,0.00,2.53,19.83,0.456,4,0.000,0.046,3393,384,1892,0,0,0,0,0,0
$GC,9131,1.28,184.7,6.8,7.9,564,9138,0.00,2.33,0.00,0.000,6,0.000,0.019,3394,1798,1889,0,0,0,0,0,0
$STATE,9180,end climb,SURFACE_DEPTH_REACHED
$STATE,9180,begin surface coast
$FINISH,0.7,1.009887
$STATE,9224,end surface coast,CONTROL_FINISHED_OK
$STATE,9224,begin surface
$SM_CCo,9248,75.40,0.460,0,0,1288,330.17
$SM_GC,1.49,0.00,0.00,75.40,0.000,0.000,0.460,427,2153,1288,-12.47,1.50,330.17
$IRIDIUM_FIX,2101.76,-15750.89,130700,191907
$TT8_MAMPS,0.029146
$HUMID,52.83
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.4,10.532
$10V_AH,10.6,10.104
$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,28.450,105.200,251.850,75.400,0.000,30.224,32.631,140.400,4.750,0.000,36.285,1112.619,5900.308,406.556,1818.434,428.598,33.347,1170.406,0.000,1768.067,0.000,32.062,0.000
$DEVICE_MAMPS,138.060,60.593,816.855,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,393.177,372.662,862.765,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,31758,581
$CAP_FILE_SIZE,100574,0
$CFSIZE,260165632,250159104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200411,002606,2107.703,-15748.337,39,0.9,44,9.8