version: 66.06
glider: 139
mission: 9
dive: 135
start: 4 20 111 8 53 55
data:
$ID,139
$MISSION,9
$DIVE,135
$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,-2177426
$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,18
$R_STBD_OVSHOOT,82
$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
$GPS1,084731,2107.551,-15748.260,42,0.9,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-75.6
$GPS2,085302,2107.519,-15748.233,11,1.7,11,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.149,0.164
$KALMAN_X,-19452.3,720.8,532.8,22345.3,-3032.1
$KALMAN_Y,-5719.8,114.5,181.6,-570.3,-1372.7
$MHEAD_RNG_PITCHd_Wd,32.5,9712,-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,-70.50,0.000,6,0.000,0.000,425,2145,3111,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.8,-5.9,14,115,13.12,2.22,0.00,0.000,4,0.135,0.029,2867,3469,3113,0,0,0,0,0,0
$GC,202,-1.19,-116.8,27.8,-16.1,37,209,0.00,2.35,0.00,0.000,6,0.000,0.026,2867,2080,3114,0,0,0,0,0,0
$GC,403,-1.19,-116.8,61.9,-18.4,57,407,0.00,2.28,0.00,0.000,4,0.000,0.026,2868,3461,3115,0,0,0,0,0,0
$GC,500,-1.19,-116.8,78.3,-15.3,67,507,0.00,2.30,0.00,0.000,6,0.000,0.028,2868,2096,3115,0,0,0,0,0,0
$GC,761,-1.19,-116.8,114.1,-14.1,92,766,0.00,2.35,0.00,0.000,4,0.000,0.040,2867,693,3116,0,0,0,0,0,0
$GC,814,-1.19,-116.8,122.0,-15.6,97,818,0.00,2.22,0.00,0.000,6,0.000,0.020,2867,2076,3116,0,0,0,0,0,0
$GC,1081,-1.19,-116.8,157.6,-13.2,122,1085,0.00,2.33,0.00,0.000,4,0.000,0.040,2867,693,3116,0,0,0,0,0,0
$GC,1164,-1.19,-116.8,168.8,-13.3,131,1168,0.00,2.28,0.00,0.000,6,0.000,0.021,2868,2105,3117,0,0,0,0,0,0
$GC,1428,-1.19,-116.8,196.0,-9.9,155,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2109,3117,0,0,0,0,0,0
$GC,1693,-1.19,-116.8,224.1,-11.1,170,1695,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2109,3118,0,0,0,0,0,0
$GC,2004,-1.19,-116.8,250.6,-7.7,185,2008,0.00,2.30,0.00,0.000,4,0.000,0.034,2867,3496,3118,0,0,0,0,0,0
$GC,2019,-1.19,-116.8,251.7,-7.5,185,2024,0.00,2.30,0.00,0.000,6,0.000,0.029,2867,2099,3118,0,0,0,0,0,0
$GC,2337,-1.19,-116.8,276.9,-7.5,201,2341,0.00,2.35,0.00,0.000,4,0.000,0.035,2868,3503,3118,0,0,0,0,0,0
$GC,2498,-1.19,-116.8,288.5,-7.7,208,2502,0.00,2.35,0.00,0.000,6,0.000,0.031,2867,2102,3118,0,0,0,0,0,0
$GC,2841,-1.19,-116.8,314.2,-7.9,221,2845,0.00,2.40,0.00,0.000,4,0.000,0.045,2867,686,3116,0,0,0,0,0,0
$GC,2934,-1.19,-116.8,322.4,-8.4,223,2938,0.00,2.30,0.00,0.000,6,0.000,0.025,2868,2099,3116,0,0,0,0,0,0
$GC,3258,-1.19,-116.8,347.2,-7.3,231,3263,0.00,2.40,0.00,0.000,4,0.000,0.047,2867,695,3115,0,0,0,0,0,0
$GC,3305,-1.19,-116.8,351.1,-8.1,232,3309,0.00,2.30,0.00,0.000,6,0.000,0.027,2867,2098,3114,0,0,0,0,0,0
$GC,3628,-1.19,-116.8,371.9,-5.9,240,3629,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2101,3112,0,0,0,0,0,0
$GC,3953,-1.19,-116.8,395.6,-7.7,248,3958,0.00,2.42,0.00,0.000,4,0.000,0.049,2867,690,3109,0,0,0,0,0,0
$GC,3972,-1.19,-116.8,397.3,-8.0,248,3977,0.00,2.35,0.00,0.000,6,0.000,0.028,2867,2103,3109,0,0,0,0,0,0
$GC,4322,-1.19,-116.8,425.0,-8.1,257,4326,0.00,2.45,0.00,0.000,4,0.000,0.051,2867,695,3106,0,0,0,0,0,0
$GC,4475,-1.19,-116.8,439.5,-9.5,260,4479,0.00,2.35,0.00,0.000,6,0.000,0.029,2867,2102,3105,0,0,0,0,0,0
$STATE,4618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4618,begin apogee
$GC,4625,-0.31,0.0,451.5,8.2,264,4724,0.98,0.00,94.93,0.824,6,0.084,0.000,3068,1808,2635,0,0,0,0,0,0
$STATE,4724,end apogee,CONTROL_FINISHED_OK
$STATE,4725,begin climb
$GC,4727,1.19,116.8,453.5,0.0,266,4839,1.50,2.62,100.75,0.804,4,0.055,0.061,3395,393,2157,0,0,0,0,0,0
$GC,4849,1.19,116.8,443.3,12.3,269,4853,0.00,2.38,0.00,0.000,6,0.000,0.028,3395,1812,2153,0,0,0,0,0,0
$GC,5189,1.19,116.8,399.4,12.8,278,5194,0.00,2.55,0.00,0.000,4,0.000,0.061,3395,389,2146,0,0,0,0,0,0
$GC,5273,1.19,116.8,387.6,13.6,279,5278,0.00,2.38,0.00,0.000,6,0.000,0.028,3395,1796,2142,0,0,0,0,0,0
$GC,5604,1.19,116.8,350.1,11.2,288,5605,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1800,2140,0,0,0,0,0,0
$GC,5929,1.19,116.8,313.4,11.4,296,5933,0.00,2.53,0.00,0.000,4,0.000,0.059,3395,385,2138,0,0,0,0,0,0
$GC,6040,1.19,116.8,298.7,13.5,298,6045,0.00,2.35,0.00,0.000,6,0.000,0.028,3395,1809,2136,0,0,0,0,0,0
$GC,6370,1.19,116.8,264.6,9.5,314,6371,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1814,2136,0,0,0,0,0,0
$GC,6680,1.19,116.8,235.6,10.3,329,6684,0.00,2.33,0.00,0.000,4,0.000,0.034,3395,3207,2134,0,0,0,0,0,0
$GC,6750,1.19,116.8,227.0,12.0,332,6754,0.00,2.42,0.00,0.000,6,0.000,0.039,3395,1792,2135,0,0,0,0,0,0
$GC,7079,1.19,116.8,189.7,9.5,353,7080,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1792,2133,0,0,0,0,0,0
$GC,7335,1.20,121.2,168.2,7.8,377,7339,0.00,2.42,0.00,0.000,4,0.000,0.051,3395,384,2133,0,0,0,0,0,0
$GC,7372,1.20,121.2,164.5,10.2,380,7378,0.00,2.35,0.00,0.000,6,0.000,0.023,3396,1812,2132,0,0,0,0,0,0
$GC,7636,1.20,121.2,139.2,9.8,405,7640,0.00,2.47,0.00,0.000,4,0.000,0.050,3395,378,2132,0,0,0,0,0,0
$GC,7728,1.20,121.2,128.5,11.8,414,7734,0.00,2.33,0.00,0.000,6,0.000,0.021,3395,1782,2132,0,0,0,0,0,0
$GC,7992,1.20,121.2,100.4,10.5,439,7996,0.00,2.40,0.00,0.000,4,0.000,0.048,3395,382,2132,0,0,0,0,0,0
$GC,8018,1.20,121.2,97.4,11.3,441,8023,0.00,2.30,0.00,0.000,6,0.000,0.021,3396,1820,2132,0,0,0,0,0,0
$GC,8282,1.20,121.2,73.1,8.7,465,8287,0.00,2.45,0.00,0.000,4,0.000,0.047,3395,386,2132,0,0,0,0,0,0
$GC,8361,1.20,123.3,66.3,7.9,473,8365,0.00,2.28,0.00,0.000,6,0.000,0.020,3395,1795,2132,0,0,0,0,0,0
$GC,8630,1.26,168.9,48.6,5.9,498,8679,0.00,2.40,40.92,0.505,4,0.000,0.026,3396,3205,1945,0,0,0,0,0,0
$GC,8692,1.29,192.4,44.5,6.9,504,8723,0.10,2.40,21.58,0.482,6,0.071,0.031,3435,1794,1849,0,0,0,0,0,0
$GC,8980,1.29,192.4,15.7,11.3,543,8986,0.00,2.47,0.00,0.000,4,0.000,0.048,3435,382,1844,0,0,0,0,0,0
$GC,9041,1.29,192.4,8.2,11.9,556,9047,0.00,2.33,0.00,0.000,6,0.000,0.019,3435,1796,1841,0,0,0,0,0,0
$STATE,9085,end climb,SURFACE_DEPTH_REACHED
$STATE,9085,begin surface coast
$FINISH,0.9,1.023277
$STATE,9113,end surface coast,CONTROL_FINISHED_OK
$STATE,9113,begin surface
$SM_CCo,9137,70.85,0.461,0,0,1287,330.17
$SM_GC,1.67,0.00,0.00,70.85,0.000,0.000,0.461,431,2149,1287,-12.45,1.39,330.17
$IRIDIUM_FIX,2101.76,-15750.89,140700,060600
$TT8_MAMPS,0.028379
$HUMID,54.33
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.4,10.850
$10V_AH,10.5,10.410
$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,28.525,95.750,258.175,70.850,0.000,24.473,45.770,142.655,4.500,0.000,11.188,1055.593,6013.140,398.352,1643.512,429.426,33.343,1115.366,0.000,1625.989,0.000,29.249,0.000
$DEVICE_MAMPS,134.992,60.593,823.758,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,384.754,367.837,832.770,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,31831,569
$CAP_FILE_SIZE,94727,0
$CFSIZE,260165632,249966592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200411,112813,2107.687,-15747.891,10,1.5,10,9.8