version: 66.06
glider: 139
mission: 9
dive: 133
start: 4 20 111 3 17 25
data:
$ID,139
$MISSION,9
$DIVE,133
$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,-2177383.8
$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,15
$R_STBD_OVSHOOT,85
$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
$GPS1,030746,2107.499,-15748.705,12,4.3,31,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-75.3
$GPS2,031633,2107.493,-15748.860,14,2.3,33,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.206,0.081
$KALMAN_X,-14526.8,376.3,-478.2,17705.2,-2867.1
$KALMAN_Y,-3635.3,-43.0,-200.5,-2160.4,-745.9
$MHEAD_RNG_PITCHd_Wd,58.6,10729,-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,-116.8,0.0,0.0,0,94,0.00,0.00,-71.12,0.000,6,0.000,0.000,425,2165,3112,0,0,0,0,0,0
$GC,97,-1.19,-116.8,3.2,-4.1,14,116,13.20,2.50,0.00,0.000,4,0.137,0.031,2868,673,3114,0,0,0,0,0,0
$GC,140,-1.19,-116.8,16.9,-29.8,22,147,0.00,2.30,0.00,0.000,6,0.000,0.021,2868,2062,3114,0,0,0,0,0,0
$GC,347,-1.19,-116.8,55.2,-17.8,47,351,0.00,2.38,0.00,0.000,4,0.000,0.028,2868,3503,3116,0,0,0,0,0,0
$GC,372,-1.19,-116.8,59.7,-18.0,49,377,0.00,2.38,0.00,0.000,6,0.000,0.029,2868,2078,3116,0,0,0,0,0,0
$GC,637,-1.19,-116.8,102.2,-16.6,73,641,0.00,2.35,0.00,0.000,4,0.000,0.029,2868,3497,3116,0,0,0,0,0,0
$GC,712,-1.19,-116.8,116.1,-17.3,81,716,0.00,2.33,0.00,0.000,6,0.000,0.027,2868,2096,3116,0,0,0,0,0,0
$GC,976,-1.19,-116.8,153.9,-13.4,105,980,0.00,2.33,0.00,0.000,4,0.000,0.028,2868,3499,3117,0,0,0,0,0,0
$GC,1066,-1.19,-116.8,164.7,-11.7,114,1073,0.00,2.35,0.00,0.000,6,0.000,0.028,2868,2106,3117,0,0,0,0,0,0
$GC,1330,-1.19,-116.8,189.9,-10.7,139,1334,0.00,2.33,0.00,0.000,4,0.000,0.030,2868,3495,3117,0,0,0,0,0,0
$GC,1554,-1.19,-116.8,218.9,-12.7,154,1559,0.00,2.30,0.00,0.000,6,0.000,0.028,2868,2097,3118,0,0,0,0,0,0
$GC,1886,-1.19,-116.8,245.9,-5.4,170,1890,0.00,2.38,0.00,0.000,4,0.000,0.041,2868,692,3118,0,0,0,0,0,0
$GC,1923,-1.19,-116.8,248.4,-6.7,171,1929,0.00,2.30,0.00,0.000,6,0.000,0.021,2868,2109,3118,0,0,0,0,0,0
$GC,2240,-1.19,-116.8,270.5,-8.7,187,2241,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2112,3118,0,0,0,0,0,0
$GC,2548,-1.19,-116.8,297.4,-7.9,202,2552,0.00,2.30,0.00,0.000,4,0.000,0.035,2867,3491,3117,0,0,0,0,0,0
$GC,2674,-1.19,-116.8,308.5,-8.6,205,2678,0.00,2.33,0.00,0.000,6,0.000,0.032,2868,2104,3117,0,0,0,0,0,0
$GC,3016,-1.19,-116.8,335.1,-7.8,214,3020,0.00,2.40,0.00,0.000,4,0.000,0.044,2868,681,3116,0,0,0,0,0,0
$GC,3044,-1.19,-116.8,337.7,-9.0,214,3048,0.00,2.33,0.00,0.000,6,0.000,0.026,2868,2089,3116,0,0,0,0,0,0
$GC,3386,-1.19,-116.8,362.3,-7.0,223,3390,0.00,2.38,0.00,0.000,4,0.000,0.039,2867,3503,3113,0,0,0,0,0,0
$GC,3466,-1.19,-116.8,367.6,-6.2,224,3471,0.00,2.38,0.00,0.000,6,0.000,0.033,2868,2096,3112,0,0,0,0,0,0
$GC,3799,-1.19,-116.8,385.5,-5.5,232,3801,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2095,3110,0,0,0,0,0,0
$GC,4123,-1.19,-116.8,403.2,-5.7,240,4127,0.00,2.42,0.00,0.000,4,0.000,0.051,2867,693,3107,0,0,0,0,0,0
$GC,4179,-1.19,-116.8,407.6,-7.5,241,4183,0.00,2.35,0.00,0.000,6,0.000,0.028,2867,2110,3107,0,0,0,0,0,0
$GC,4493,-1.19,-116.8,428.1,-6.6,249,4498,0.00,2.38,0.00,0.000,4,0.000,0.042,2867,3500,3105,0,0,0,0,0,0
$GC,4626,-1.19,-116.8,439.5,-9.5,251,4633,0.00,2.40,0.00,0.000,6,0.000,0.037,2867,2093,3105,0,0,0,0,0,0
$STATE,4752,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4752,begin apogee
$GC,4759,-0.31,0.0,451.8,9.4,255,4857,0.98,0.00,95.07,0.828,6,0.083,0.000,3069,1806,2635,0,0,0,0,0,0
$STATE,4858,end apogee,CONTROL_FINISHED_OK
$STATE,4858,begin climb
$GC,4861,1.19,116.8,455.5,0.0,257,4967,1.50,0.00,102.10,0.808,6,0.056,0.000,3395,1806,2158,0,0,0,0,0,0
$GC,5280,1.19,116.8,412.1,13.0,268,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1806,2146,0,0,0,0,0,0
$GC,5605,1.19,116.8,371.0,12.6,276,5609,0.00,2.55,0.00,0.000,4,0.000,0.061,3395,382,2143,0,0,0,0,0,0
$GC,5642,1.19,116.8,365.6,14.5,276,5648,0.00,2.38,0.00,0.000,6,0.000,0.028,3395,1799,2140,0,0,0,0,0,0
$GC,5973,1.19,116.8,323.9,12.7,285,5977,0.00,2.38,0.00,0.000,4,0.000,0.037,3395,3208,2139,0,0,0,0,0,0
$GC,6076,1.19,116.8,310.4,13.7,287,6080,0.00,2.45,0.00,0.000,6,0.000,0.042,3395,1795,2139,0,0,0,0,0,0
$GC,6392,1.19,116.8,272.5,11.0,300,6397,0.00,2.47,0.00,0.000,4,0.000,0.058,3395,385,2137,0,0,0,0,0,0
$GC,6444,1.19,116.8,266.3,11.5,302,6448,0.00,2.35,0.00,0.000,6,0.000,0.028,3395,1811,2135,0,0,0,0,0,0
$GC,6764,1.19,116.8,231.6,11.2,318,6768,0.00,2.33,0.00,0.000,4,0.000,0.032,3395,3212,2135,0,0,0,0,0,0
$GC,6820,1.19,116.8,225.3,10.9,320,6824,0.00,2.45,0.00,0.000,6,0.000,0.042,3395,1794,2135,0,0,0,0,0,0
$GC,7138,1.19,116.8,195.2,9.9,337,7139,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1794,2134,0,0,0,0,0,0
$GC,7392,1.19,116.8,169.8,9.3,361,7396,0.00,2.45,0.00,0.000,4,0.000,0.054,3395,378,2133,0,0,0,0,0,0
$GC,7436,1.19,116.8,165.3,10.8,365,7440,0.00,2.35,0.00,0.000,6,0.000,0.024,3395,1813,2131,0,0,0,0,0,0
$GC,7700,1.19,116.8,141.1,8.1,389,7705,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1818,2132,0,0,0,0,0,0
$GC,7961,1.23,147.2,122.6,6.6,414,7990,0.00,2.53,23.02,0.565,4,0.000,0.049,3395,385,2032,0,0,0,0,0,0
$GC,8013,1.23,147.2,118.3,9.3,419,8019,0.00,2.33,0.00,0.000,6,0.000,0.021,3395,1795,2029,0,0,0,0,0,0
$GC,8277,1.27,174.8,100.0,6.8,444,8308,0.00,2.53,24.55,0.541,4,0.000,0.048,3395,390,1921,0,0,0,0,0,0
$GC,8319,1.27,174.8,96.2,8.7,448,8326,0.00,2.35,0.00,0.000,6,0.000,0.021,3395,1812,1919,0,0,0,0,0,0
$GC,8581,1.27,174.8,71.5,8.9,473,8586,0.00,2.50,0.00,0.000,4,0.000,0.048,3395,380,1918,0,0,0,0,0,0
$GC,8616,1.27,174.8,68.3,9.8,476,8620,0.00,2.30,0.00,0.000,6,0.000,0.020,3395,1789,1916,0,0,0,0,0,0
$GC,8882,1.27,174.8,45.7,10.0,500,8886,0.00,2.42,0.00,0.000,4,0.000,0.048,3395,380,1916,0,0,0,0,0,0
$GC,8942,1.27,174.8,39.3,9.9,506,8947,0.00,2.33,0.00,0.000,6,0.000,0.019,3395,1836,1916,0,0,0,0,0,0
$GC,9207,1.27,175.1,18.8,8.0,543,9214,0.00,2.53,0.00,0.000,4,0.000,0.047,3395,390,1915,0,0,0,0,0,0
$GC,9243,1.27,175.1,15.4,9.8,550,9250,0.00,2.25,0.00,0.000,6,0.000,0.018,3395,1757,1915,0,0,0,0,0,0
$STATE,9396,end climb,SURFACE_DEPTH_REACHED
$STATE,9396,begin surface coast
$FINISH,0.9,1.023310
$STATE,9428,end surface coast,CONTROL_FINISHED_OK
$STATE,9428,begin surface
$SM_CCo,9452,78.47,0.459,0,0,1288,330.17
$SM_GC,1.37,0.00,0.00,78.47,0.000,0.000,0.459,428,2168,1288,-12.46,1.92,330.17
$IRIDIUM_FIX,2057.14,-15748.75,140700,030325
$TT8_MAMPS,0.029146
$HUMID,52.99
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.4,10.692
$10V_AH,10.5,10.255
$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,28.250,101.075,244.750,78.475,0.000,55.352,69.129,194.859,4.500,0.000,34.150,1091.776,6309.578,432.909,1655.238,570.911,33.343,1121.385,0.000,1631.270,0.000,29.255,0.000
$DEVICE_MAMPS,137.293,60.593,827.593,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,395.178,381.805,846.818,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,31729,584
$CAP_FILE_SIZE,98105,0
$CFSIZE,260165632,250064896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200411,055708,2107.652,-15748.987,13,1.8,13,9.8