version: 66.06
glider: 139
mission: 9
dive: 134
start: 4 20 111 6 7 29
data:
$ID,139
$MISSION,9
$DIVE,134
$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,-2177414
$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,77
$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
$GPS1,055708,2107.652,-15748.987,13,1.8,13,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-75.1
$GPS2,060637,2107.650,-15749.057,29,2.0,29,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.213,0.060
$KALMAN_X,-17285.9,704.2,-690.2,20005.5,-2184.2
$KALMAN_Y,-4528.0,91.0,-63.7,-1253.3,-742.4
$MHEAD_RNG_PITCHd_Wd,64.4,11138,-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,-71.20,0.000,6,0.000,0.000,428,2168,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.3,-4.4,14,114,13.12,2.17,0.00,0.000,4,0.136,0.025,2869,3478,3114,0,0,0,0,0,0
$GC,189,-1.19,-116.8,25.2,-17.6,34,196,0.00,2.38,0.00,0.000,6,0.000,0.028,2869,2081,3115,0,0,0,0,0,0
$GC,390,-1.19,-116.8,59.4,-15.6,55,394,0.00,2.30,0.00,0.000,4,0.000,0.027,2869,3474,3115,0,0,0,0,0,0
$GC,425,-1.19,-116.8,65.2,-16.9,58,429,0.00,2.28,0.00,0.000,6,0.000,0.028,2869,2099,3116,0,0,0,0,0,0
$GC,687,-1.19,-116.8,104.9,-14.0,82,692,0.00,2.28,0.00,0.000,4,0.000,0.030,2869,3463,3116,0,0,0,0,0,0
$GC,749,-1.19,-116.8,113.8,-13.7,88,753,0.00,2.28,0.00,0.000,6,0.000,0.027,2869,2098,3116,0,0,0,0,0,0
$GC,1013,-1.19,-116.8,152.5,-12.6,112,1017,0.00,2.28,0.00,0.000,4,0.000,0.030,2869,3471,3117,0,0,0,0,0,0
$GC,1212,-1.19,-116.8,174.7,-8.7,133,1218,0.00,2.28,0.00,0.000,6,0.000,0.028,2869,2098,3117,0,0,0,0,0,0
$GC,1476,-1.19,-116.8,200.3,-10.5,158,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2097,3117,0,0,0,0,0,0
$GC,1784,-1.19,-116.8,232.0,-9.5,173,1789,0.00,2.38,0.00,0.000,4,0.000,0.041,2869,692,3118,0,0,0,0,0,0
$GC,1808,-1.19,-116.8,234.3,-8.3,174,1812,0.00,2.25,0.00,0.000,6,0.000,0.021,2869,2082,3118,0,0,0,0,0,0
$GC,2137,-1.19,-116.8,259.6,-7.6,190,2142,0.00,2.38,0.00,0.000,4,0.000,0.035,2868,3495,3118,0,0,0,0,0,0
$GC,2261,-1.19,-116.8,268.3,-6.3,195,2265,0.00,2.33,0.00,0.000,6,0.000,0.030,2869,2102,3117,0,0,0,0,0,0
$GC,2588,-1.19,-116.8,290.4,-7.6,211,2592,0.00,2.35,0.00,0.000,4,0.000,0.036,2868,3489,3117,0,0,0,0,0,0
$GC,2743,-1.19,-116.8,305.0,-9.6,217,2748,0.00,2.33,0.00,0.000,6,0.000,0.032,2869,2095,3116,0,0,0,0,0,0
$GC,3088,-1.19,-116.8,334.7,-8.6,226,3092,0.00,2.38,0.00,0.000,4,0.000,0.038,2869,3489,3115,0,0,0,0,0,0
$GC,3236,-1.19,-116.8,347.6,-7.7,229,3240,0.00,2.35,0.00,0.000,6,0.000,0.034,2869,2099,3114,0,0,0,0,0,0
$GC,3550,-1.19,-116.8,371.1,-8.0,237,3555,0.00,2.40,0.00,0.000,4,0.000,0.049,2869,694,3111,0,0,0,0,0,0
$GC,3668,-1.19,-116.8,381.7,-8.9,239,3672,0.00,2.30,0.00,0.000,6,0.000,0.028,2869,2090,3110,0,0,0,0,0,0
$GC,4009,-1.19,-116.8,410.2,-8.1,248,4013,0.00,2.40,0.00,0.000,4,0.000,0.041,2869,3495,3108,0,0,0,0,0,0
$GC,4146,-1.19,-116.8,420.5,-7.3,251,4150,0.00,2.38,0.00,0.000,6,0.000,0.036,2869,2102,3107,0,0,0,0,0,0
$GC,4474,-1.19,-116.8,438.5,-4.8,259,4478,0.00,2.42,0.00,0.000,4,0.000,0.052,2869,694,3105,0,0,0,0,0,0
$GC,4572,-1.19,-116.8,443.8,-5.7,261,4576,0.00,2.33,0.00,0.000,6,0.000,0.029,2869,2104,3104,0,0,0,0,0,0
$STATE,4725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4725,begin apogee
$GC,4732,-0.31,0.0,451.4,5.0,265,4830,0.95,0.00,95.18,0.829,6,0.084,0.000,3065,1809,2635,0,0,0,0,0,0
$STATE,4831,end apogee,CONTROL_FINISHED_OK
$STATE,4831,begin climb
$GC,4834,1.19,116.8,452.0,0.0,267,4943,1.50,0.00,101.47,0.808,6,0.057,0.000,3394,1809,2158,0,0,0,0,0,0
$GC,5242,1.19,116.8,404.0,11.5,277,5246,0.00,2.55,0.00,0.000,4,0.000,0.060,3394,391,2146,0,0,0,0,0,0
$GC,5303,1.19,116.8,396.0,12.9,278,5307,0.00,2.38,0.00,0.000,6,0.000,0.028,3394,1823,2143,0,0,0,0,0,0
$GC,5616,1.19,116.8,362.2,10.6,286,5621,0.00,2.58,0.00,0.000,4,0.000,0.060,3393,386,2141,0,0,0,0,0,0
$GC,5635,1.19,116.8,359.9,11.4,286,5640,0.00,2.38,0.00,0.000,6,0.000,0.028,3394,1799,2140,0,0,0,0,0,0
$GC,5981,1.19,116.8,322.7,11.0,295,5985,0.00,2.53,0.00,0.000,4,0.000,0.058,3393,386,2138,0,0,0,0,0,0
$GC,6027,1.19,116.8,316.1,14.5,296,6032,0.00,2.38,0.00,0.000,6,0.000,0.028,3394,1795,2137,0,0,0,0,0,0
$GC,6353,1.19,116.8,275.7,13.0,308,6357,0.00,2.50,0.00,0.000,4,0.000,0.058,3393,383,2136,0,0,0,0,0,0
$GC,6413,1.19,116.8,266.4,16.1,310,6420,0.00,2.40,0.00,0.000,6,0.000,0.028,3394,1806,2135,0,0,0,0,0,0
$GC,6728,1.19,116.8,228.8,10.6,326,6733,0.00,2.35,0.00,0.000,4,0.000,0.036,3394,3208,2134,0,0,0,0,0,0
$GC,6818,1.19,116.8,220.2,10.1,330,6822,0.00,2.42,0.00,0.000,6,0.000,0.041,3394,1801,2134,0,0,0,0,0,0
$GC,7141,1.19,116.8,192.2,8.9,349,7145,0.00,2.50,0.00,0.000,4,0.000,0.055,3394,379,2133,0,0,0,0,0,0
$GC,7223,1.19,116.8,182.1,12.9,357,7229,0.00,2.35,0.00,0.000,6,0.000,0.025,3394,1806,2131,0,0,0,0,0,0
$GC,7486,1.19,116.8,154.1,9.6,382,7487,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1811,2131,0,0,0,0,0,0
$GC,7739,1.20,123.2,135.2,7.7,406,7743,0.00,2.47,0.00,0.000,4,0.000,0.050,3394,384,2131,0,0,0,0,0,0
$GC,7767,1.20,123.2,132.7,8.7,408,7773,0.00,2.33,0.00,0.000,6,0.000,0.022,3394,1793,2130,0,0,0,0,0,0
$GC,8032,1.21,132.9,112.8,7.6,433,8052,0.00,2.40,10.18,0.517,4,0.000,0.028,3394,3208,2093,0,0,0,0,0,0
$GC,8074,1.21,132.9,109.3,8.2,437,8078,0.00,2.42,0.00,0.000,6,0.000,0.033,3394,1790,2092,0,0,0,0,0,0
$GC,8338,1.21,132.9,86.5,8.5,461,8343,0.00,2.40,0.00,0.000,4,0.000,0.048,3394,385,2092,0,0,0,0,0,0
$GC,8427,1.21,132.9,77.2,10.1,470,8431,0.00,2.28,0.00,0.000,6,0.000,0.020,3394,1812,2090,0,0,0,0,0,0
$GC,8696,1.24,155.2,56.6,7.0,495,8719,0.00,0.00,20.77,0.496,6,0.000,0.000,3394,1817,2002,0,0,0,0,0,0
$GC,8975,1.24,156.2,35.0,8.0,521,8979,0.00,2.45,0.00,0.000,4,0.000,0.047,3394,385,1999,0,0,0,0,0,0
$GC,8994,1.24,156.2,33.0,8.8,522,9001,0.00,2.30,0.00,0.000,6,0.000,0.019,3394,1787,1998,0,0,0,0,0,0
$GC,9260,1.26,170.2,13.1,7.4,568,9284,0.00,2.47,14.10,0.443,4,0.000,0.046,3394,393,1940,0,0,0,0,0,0
$GC,9321,1.26,170.2,7.4,10.4,580,9328,0.00,2.30,0.00,0.000,6,0.000,0.018,3394,1795,1936,0,0,0,0,0,0
$STATE,9375,end climb,SURFACE_DEPTH_REACHED
$STATE,9376,begin surface coast
$FINISH,0.8,1.012890
$STATE,9415,end surface coast,CONTROL_FINISHED_OK
$STATE,9415,begin surface
$SM_CCo,9439,81.43,0.461,0,0,1288,330.17
$SM_GC,1.41,0.00,0.00,81.43,0.000,0.000,0.461,426,2145,1288,-12.48,1.27,330.17
$IRIDIUM_FIX,2057.14,-15748.75,140700,060649
$TT8_MAMPS,0.028379
$HUMID,52.91
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.4,10.775
$10V_AH,10.5,10.336
$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,28.225,105.275,241.700,81.425,0.000,57.568,74.229,236.991,4.500,0.000,29.621,1135.356,6095.810,411.274,1828.379,620.217,33.343,1182.626,0.000,1802.091,0.000,31.143,0.000
$DEVICE_MAMPS,135.759,59.826,829.127,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,404.270,388.140,887.220,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355672
$DATA_FILE_SIZE,31793,597
$CAP_FILE_SIZE,105877,0
$CFSIZE,260165632,250007552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200411,084731,2107.551,-15748.260,42,0.9,42,9.8