version: 66.06
glider: 139
mission: 9
dive: 132
start: 4 20 111 0 32 43
data:
$ID,139
$MISSION,9
$DIVE,132
$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,-2177348.8
$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,89
$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
$GPS1,002606,2107.703,-15748.337,39,0.9,44,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-75.2
$GPS2,003150,2107.677,-15748.327,12,1.6,12,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.210,0.071
$KALMAN_X,-11746.5,-138.9,546.0,15325.1,-2894.5
$KALMAN_Y,-2467.1,-172.2,-74.2,-2988.3,-595.7
$MHEAD_RNG_PITCHd_Wd,61.6,9962,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.19,-116.8,0.0,0.0,0,90,0.00,0.00,-69.90,0.000,2,0.000,0.000,427,2154,3098,0,0,0,0,0,0
$GC,93,-1.19,-116.8,3.1,-4.5,13,113,13.15,2.17,-0.25,0.000,4,0.136,0.038,2869,3462,3113,0,0,0,0,0,0
$GC,141,-1.19,-116.8,16.3,-22.9,22,148,0.00,2.35,0.00,0.000,6,0.000,0.030,2869,2087,3114,0,0,0,0,0,0
$GC,342,-1.19,-116.8,48.5,-13.5,48,346,0.00,2.28,0.00,0.000,4,0.000,0.028,2869,3451,3115,0,0,0,0,0,0
$GC,546,-1.19,-116.8,76.9,-11.3,71,551,0.00,2.25,0.00,0.000,6,0.000,0.028,2869,2094,3115,0,0,0,0,0,0
$GC,811,-1.19,-116.8,110.4,-12.8,95,815,0.00,2.35,0.00,0.000,4,0.000,0.040,2869,693,3116,0,0,0,0,0,0
$GC,902,-1.19,-116.8,124.7,-16.4,104,908,0.00,2.25,0.00,0.000,6,0.000,0.021,2869,2064,3117,0,0,0,0,0,0
$GC,1166,-1.19,-116.8,162.0,-13.4,129,1170,0.00,2.40,0.00,0.000,4,0.000,0.031,2869,3503,3117,0,0,0,0,0,0
$GC,1307,-1.19,-116.8,175.9,-8.0,144,1311,0.00,2.35,0.00,0.000,6,0.000,0.027,2869,2091,3117,0,0,0,0,0,0
$GC,1570,-1.19,-116.8,198.0,-8.2,168,1574,0.00,2.35,0.00,0.000,4,0.000,0.040,2869,694,3117,0,0,0,0,0,0
$GC,1599,-1.19,-116.8,200.9,-10.3,171,1603,0.00,2.28,0.00,0.000,6,0.000,0.022,2869,2107,3117,0,0,0,0,0,0
$GC,1925,-1.19,-116.8,230.4,-9.7,187,1929,0.00,2.30,0.00,0.000,4,0.000,0.033,2869,3495,3117,0,0,0,0,0,0
$GC,2008,-1.19,-116.8,239.9,-11.3,190,2016,0.00,2.35,0.00,0.000,6,0.000,0.030,2869,2103,3117,0,0,0,0,0,0
$GC,2324,-1.19,-116.8,272.4,-9.3,206,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2103,3117,0,0,0,0,0,0
$GC,2635,-1.19,-116.8,296.3,-7.7,221,2639,0.00,2.35,0.00,0.000,4,0.000,0.035,2869,3505,3116,0,0,0,0,0,0
$GC,2659,-1.19,-116.8,298.3,-7.9,222,2663,0.00,2.35,0.00,0.000,6,0.000,0.030,2869,2087,3116,0,0,0,0,0,0
$GC,2979,-1.19,-116.8,326.1,-9.3,231,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2086,3116,0,0,0,0,0,0
$GC,3304,-1.19,-116.8,349.7,-6.9,239,3309,0.00,2.38,0.00,0.000,4,0.000,0.037,2869,3495,3114,0,0,0,0,0,0
$GC,3379,-1.19,-116.8,355.6,-7.5,240,3383,0.00,2.35,0.00,0.000,6,0.000,0.032,2869,2101,3114,0,0,0,0,0,0
$GC,3715,-1.19,-116.8,377.5,-6.1,249,3716,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2101,3112,0,0,0,0,0,0
$GC,4040,-1.19,-116.8,398.9,-6.9,257,4044,0.00,2.42,0.00,0.000,4,0.000,0.049,2869,695,3110,0,0,0,0,0,0
$GC,4083,-1.19,-116.8,402.3,-7.3,258,4088,0.00,2.30,0.00,0.000,6,0.000,0.028,2869,2095,3109,0,0,0,0,0,0
$GC,4411,-1.19,-116.8,427.1,-8.1,266,4412,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2098,3107,0,0,0,0,0,0
$STATE,4733,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4733,begin apogee
$GC,4740,-0.31,0.0,451.3,7.2,274,4839,0.95,0.00,95.57,0.819,6,0.084,0.000,3066,1811,2635,0,0,0,0,0,0
$STATE,4840,end apogee,CONTROL_FINISHED_OK
$STATE,4840,begin climb
$GC,4843,1.19,116.8,453.6,0.0,276,4955,1.50,2.47,100.97,0.800,4,0.055,0.038,3395,3198,2157,0,0,0,0,0,0
$GC,4993,1.19,116.8,441.0,11.4,279,4997,0.00,2.47,0.00,0.000,6,0.000,0.044,3396,1799,2155,0,0,0,0,0,0
$GC,5338,1.19,116.8,399.1,12.3,288,5342,0.00,2.53,0.00,0.000,4,0.000,0.060,3395,381,2146,0,0,0,0,0,0
$GC,5427,1.19,116.8,387.4,13.6,290,5432,0.00,2.40,0.00,0.000,6,0.000,0.028,3395,1798,2142,0,0,0,0,0,0
$GC,5755,1.19,116.8,349.9,11.4,298,5759,0.00,2.38,0.00,0.000,4,0.000,0.037,3395,3205,2141,0,0,0,0,0,0
$GC,5811,1.19,116.8,343.4,11.7,299,5815,0.00,2.47,0.00,0.000,6,0.000,0.042,3396,1799,2140,0,0,0,0,0,0
$GC,6124,1.19,116.8,302.9,13.1,307,6128,0.00,2.50,0.00,0.000,4,0.000,0.058,3395,376,2138,0,0,0,0,0,0
$GC,6192,1.19,116.8,293.3,14.9,309,6196,0.00,2.40,0.00,0.000,6,0.000,0.028,3395,1813,2135,0,0,0,0,0,0
$GC,6523,1.19,116.8,257.8,10.0,325,6527,0.00,2.33,0.00,0.000,4,0.000,0.035,3395,3205,2135,0,0,0,0,0,0
$GC,6573,1.19,116.8,253.0,8.9,327,6577,0.00,2.45,0.00,0.000,6,0.000,0.039,3395,1792,2135,0,0,0,0,0,0
$GC,6895,1.19,116.8,221.1,10.6,343,6899,0.00,2.47,0.00,0.000,4,0.000,0.054,3395,380,2134,0,0,0,0,0,0
$GC,6955,1.19,116.8,213.5,12.0,345,6960,0.00,2.35,0.00,0.000,6,0.000,0.025,3395,1807,2132,0,0,0,0,0,0
$GC,7278,1.19,116.8,179.2,10.7,370,7282,0.00,2.47,0.00,0.000,4,0.000,0.051,3395,379,2132,0,0,0,0,0,0
$GC,7302,1.19,116.8,176.6,10.7,372,7306,0.00,2.33,0.00,0.000,6,0.000,0.024,3395,1813,2131,0,0,0,0,0,0
$GC,7571,1.20,119.1,155.6,7.9,397,7575,0.00,2.30,0.00,0.000,4,0.000,0.028,3395,3205,2132,0,0,0,0,0,0
$GC,7626,1.21,127.2,150.9,7.6,402,7636,0.00,2.42,5.50,0.460,6,0.000,0.034,3396,1798,2116,0,0,0,0,0,0
$GC,7894,1.28,182.2,132.5,5.5,427,7949,0.00,2.50,49.00,0.580,4,0.000,0.048,3395,384,1890,0,0,0,0,0,0
$GC,8008,1.28,182.2,121.3,13.0,439,8012,0.00,2.30,0.00,0.000,6,0.000,0.021,3395,1799,1885,0,0,0,0,0,0
$GC,8273,1.28,189.6,95.6,7.7,463,8285,0.00,2.53,6.85,0.444,4,0.000,0.047,3395,381,1860,0,0,0,0,0,0
$GC,8311,1.28,189.6,91.7,10.4,467,8315,0.00,2.33,0.00,0.000,6,0.000,0.020,3395,1812,1858,0,0,0,0,0,0
$GC,8576,1.31,207.0,70.8,7.2,491,8600,0.12,2.58,16.25,0.492,4,0.061,0.048,3439,382,1790,0,0,0,0,0,0
$GC,8651,1.31,207.0,61.8,12.0,499,8655,0.00,2.30,0.00,0.000,6,0.000,0.019,3439,1807,1786,0,0,0,0,0,0
$GC,8920,1.31,207.0,30.1,11.8,524,8925,0.00,2.47,0.00,0.000,4,0.000,0.046,3439,379,1786,0,0,0,0,0,0
$GC,8991,1.31,207.0,19.3,16.0,539,8998,0.00,2.33,0.00,0.000,6,0.000,0.019,3439,1795,1785,0,0,0,0,0,0
$STATE,9122,end climb,SURFACE_DEPTH_REACHED
$STATE,9122,begin surface coast
$FINISH,0.8,1.022663
$STATE,9146,end surface coast,CONTROL_FINISHED_OK
$STATE,9146,begin surface
$SM_CCo,9170,62.22,0.459,0,0,1288,330.17
$SM_GC,1.52,0.00,0.00,62.22,0.000,0.000,0.459,425,2165,1288,-12.48,1.84,330.17
$IRIDIUM_FIX,2059.45,-15750.89,130700,212125
$TT8_MAMPS,0.028379
$HUMID,54.44
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.4,10.611
$10V_AH,10.5,10.177
$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,28.625,100.875,274.150,62.225,0.000,30.264,34.351,163.418,4.500,0.000,12.691,1062.783,6051.832,390.462,1623.248,450.613,33.344,1105.395,0.000,1601.519,0.000,29.261,0.000
$DEVICE_MAMPS,135.759,59.826,819.156,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,383.567,362.361,802.911,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31847,567
$CAP_FILE_SIZE,96352,0
$CFSIZE,260165632,250114048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200411,030746,2107.499,-15748.705,12,4.3,31,9.8