version: 66.06
glider: 139
mission: 9
dive: 138
start: 4 20 111 16 52 52
data:
$ID,139
$MISSION,9
$DIVE,138
$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,-2177510
$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,36
$R_STBD_OVSHOOT,51
$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
$GPS1,164616,2107.111,-15749.675,13,2.4,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-73.4
$GPS2,165200,2107.104,-15749.774,35,1.3,51,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.144,0.169
$KALMAN_X,-25098.8,-49.1,-891.6,27529.4,-2678.4
$KALMAN_Y,-9864.6,-62.9,-24.6,3189.4,-1678.4
$MHEAD_RNG_PITCHd_Wd,30.6,12086,-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,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,93,0.00,0.00,-71.30,0.000,6,0.000,0.000,424,2072,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.2,-4.2,14,114,13.20,2.33,0.00,0.000,4,0.137,0.034,2867,691,3113,0,0,0,0,0,0
$GC,139,-1.19,-116.8,16.8,-30.5,22,146,0.00,2.30,0.00,0.000,6,0.000,0.021,2867,2089,3114,0,0,0,0,0,0
$GC,346,-1.19,-116.8,53.8,-17.0,47,350,0.00,2.35,0.00,0.000,4,0.000,0.027,2867,3505,3115,0,0,0,0,0,0
$GC,362,-1.19,-116.8,56.7,-17.2,48,366,0.00,2.33,0.00,0.000,6,0.000,0.028,2868,2103,3115,0,0,0,0,0,0
$GC,629,-1.19,-116.8,97.2,-14.0,73,633,0.00,2.33,0.00,0.000,4,0.000,0.029,2867,3502,3115,0,0,0,0,0,0
$GC,776,-1.19,-116.8,116.1,-12.3,88,783,0.00,2.35,0.00,0.000,6,0.000,0.028,2867,2103,3116,0,0,0,0,0,0
$GC,1040,-1.19,-116.8,147.6,-12.3,113,1044,0.00,2.38,0.00,0.000,4,0.000,0.041,2867,687,3116,0,0,0,0,0,0
$GC,1104,-1.19,-116.8,156.7,-14.1,119,1109,0.00,2.28,0.00,0.000,6,0.000,0.021,2868,2101,3117,0,0,0,0,0,0
$GC,1367,-1.19,-116.8,190.2,-12.3,144,1371,0.00,2.33,0.00,0.000,4,0.000,0.033,2867,3495,3117,0,0,0,0,0,0
$GC,1414,-1.19,-116.8,195.5,-10.7,148,1421,0.00,2.35,0.00,0.000,6,0.000,0.028,2867,2096,3117,0,0,0,0,0,0
$GC,1670,-1.19,-116.8,218.7,-8.6,163,1674,0.00,2.35,0.00,0.000,4,0.000,0.031,2868,3496,3118,0,0,0,0,0,0
$GC,1859,-1.19,-116.8,237.9,-10.6,171,1863,0.00,2.33,0.00,0.000,6,0.000,0.029,2867,2101,3118,0,0,0,0,0,0
$GC,2181,-1.19,-116.8,265.7,-8.6,187,2185,0.00,2.35,0.00,0.000,4,0.000,0.035,2867,3497,3118,0,0,0,0,0,0
$GC,2236,-1.19,-116.8,270.6,-7.8,189,2240,0.00,2.33,0.00,0.000,6,0.000,0.030,2867,2094,3118,0,0,0,0,0,0
$GC,2552,-1.19,-116.8,295.7,-7.9,204,2556,0.00,2.38,0.00,0.000,4,0.000,0.036,2867,3493,3118,0,0,0,0,0,0
$GC,2640,-1.19,-116.8,302.0,-7.4,208,2645,0.00,2.35,0.00,0.000,6,0.000,0.032,2867,2093,3117,0,0,0,0,0,0
$GC,2973,-1.19,-116.8,324.9,-6.6,216,2977,0.00,2.38,0.00,0.000,4,0.000,0.039,2867,3497,3116,0,0,0,0,0,0
$GC,3056,-1.19,-116.8,331.8,-8.6,217,3062,0.00,2.35,0.00,0.000,6,0.000,0.032,2867,2100,3115,0,0,0,0,0,0
$GC,3388,-1.19,-116.8,357.6,-7.5,226,3392,0.00,2.42,0.00,0.000,4,0.000,0.050,2867,694,3114,0,0,0,0,0,0
$GC,3430,-1.19,-116.8,361.1,-8.4,227,3435,0.00,2.30,0.00,0.000,6,0.000,0.027,2867,2096,3114,0,0,0,0,0,0
$GC,3758,-1.19,-116.8,387.6,-8.0,235,3762,0.00,2.40,0.00,0.000,4,0.000,0.041,2867,3505,3111,0,0,0,0,0,0
$GC,3777,-1.19,-116.8,389.2,-8.2,235,3782,0.00,2.38,0.00,0.000,6,0.000,0.035,2867,2096,3111,0,0,0,0,0,0
$GC,4123,-1.19,-116.8,417.7,-7.9,244,4127,0.00,2.42,0.00,0.000,4,0.000,0.042,2868,3503,3108,0,0,0,0,0,0
$GC,4160,-1.19,-116.8,420.8,-7.9,244,4166,0.00,2.38,0.00,0.000,6,0.000,0.037,2867,2100,3108,0,0,0,0,0,0
$GC,4492,-1.19,-116.8,444.1,-6.7,253,4496,0.00,2.45,0.00,0.000,4,0.000,0.054,2867,693,3106,0,0,0,0,0,0
$STATE,4579,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4579,begin apogee
$GC,4587,-0.31,0.0,450.0,7.3,255,4686,0.98,0.00,95.65,0.821,6,0.084,0.000,3069,1800,2635,0,0,0,0,0,0
$STATE,4687,end apogee,CONTROL_FINISHED_OK
$STATE,4687,begin climb
$GC,4690,1.19,116.8,451.0,0.0,257,4800,1.50,2.50,101.53,0.803,4,0.056,0.038,3395,3204,2157,0,0,0,0,0,0
$GC,4815,1.19,116.8,437.5,13.3,260,4819,0.00,2.47,0.00,0.000,6,0.000,0.044,3395,1807,2156,0,0,0,0,0,0
$GC,5146,1.19,116.8,389.4,14.8,268,5150,0.00,2.53,0.00,0.000,4,0.000,0.061,3395,386,2146,0,0,0,0,0,0
$GC,5216,1.19,116.8,377.9,15.6,269,5220,0.00,2.38,0.00,0.000,6,0.000,0.028,3395,1801,2143,0,0,0,0,0,0
$GC,5557,1.19,116.8,331.2,13.1,278,5561,0.00,2.55,0.00,0.000,4,0.000,0.059,3395,380,2141,0,0,0,0,0,0
$GC,5585,1.19,116.8,327.2,14.0,278,5589,0.00,2.38,0.00,0.000,6,0.000,0.028,3395,1810,2139,0,0,0,0,0,0
$GC,5901,1.19,116.8,291.1,10.3,288,5902,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1815,2138,0,0,0,0,0,0
$GC,6212,1.19,116.8,256.8,12.3,303,6216,0.00,2.53,0.00,0.000,4,0.000,0.058,3395,379,2137,0,0,0,0,0,0
$GC,6240,1.19,116.8,252.7,13.8,304,6244,0.00,2.35,0.00,0.000,6,0.000,0.028,3395,1801,2135,0,0,0,0,0,0
$GC,6560,1.19,116.8,214.0,12.5,320,6564,0.00,2.35,0.00,0.000,4,0.000,0.034,3395,3208,2134,0,0,0,0,0,0
$GC,6601,1.19,116.8,208.9,12.4,321,6607,0.00,2.40,0.00,0.000,6,0.000,0.038,3395,1799,2134,0,0,0,0,0,0
$GC,6926,1.22,134.1,176.0,7.2,348,6945,0.00,2.42,11.70,0.593,4,0.000,0.031,3395,3203,2088,0,0,0,0,0,0
$GC,7025,1.24,154.2,168.8,7.1,358,7050,0.00,2.45,19.33,0.611,6,0.000,0.038,3395,1801,2006,0,0,0,0,0,0
$GC,7305,1.24,154.2,145.0,9.2,385,7310,0.00,2.47,0.00,0.000,4,0.000,0.052,3395,376,2001,0,0,0,0,0,0
$GC,7387,1.24,154.2,136.1,11.3,393,7393,0.00,2.33,0.00,0.000,6,0.000,0.022,3395,1812,1998,0,0,0,0,0,0
$GC,7651,1.24,154.2,110.4,10.6,418,7655,0.00,2.47,0.00,0.000,4,0.000,0.050,3395,383,1998,0,0,0,0,0,0
$GC,7704,1.24,154.2,104.1,11.5,423,7708,0.00,2.30,0.00,0.000,6,0.000,0.021,3395,1801,1997,0,0,0,0,0,0
$GC,7968,1.24,154.2,81.7,8.7,447,7972,0.00,2.45,0.00,0.000,4,0.000,0.048,3395,376,1997,0,0,0,0,0,0
$GC,8021,1.24,154.2,76.3,10.4,452,8025,0.00,2.30,0.00,0.000,6,0.000,0.020,3395,1810,1997,0,0,0,0,0,0
$GC,8287,1.27,181.5,56.3,6.8,476,8317,0.00,2.53,23.77,0.502,4,0.000,0.047,3395,379,1894,0,0,0,0,0,0
$GC,8364,1.27,181.5,50.3,8.2,484,8369,0.00,2.30,0.00,0.000,6,0.000,0.020,3395,1795,1890,0,0,0,0,0,0
$GC,8628,1.27,181.5,29.1,9.3,508,8635,0.00,2.50,0.00,0.000,4,0.000,0.048,3395,381,1890,0,0,0,0,0,0
$GC,8710,1.27,181.5,21.4,9.0,526,8717,0.00,2.33,0.00,0.000,6,0.000,0.020,3395,1793,1889,0,0,0,0,0,0
$GC,8914,1.29,192.8,6.6,7.5,563,8927,0.10,0.00,10.55,0.421,6,0.071,0.000,3436,1799,1849,0,0,0,0,0,0
$STATE,8954,end climb,SURFACE_DEPTH_REACHED
$STATE,8954,begin surface coast
$FINISH,0.8,1.023283
$STATE,8988,end surface coast,CONTROL_FINISHED_OK
$STATE,8988,begin surface
$SM_CCo,9012,70.32,0.459,0,0,1288,330.17
$SM_GC,1.56,0.00,0.00,70.32,0.000,0.000,0.459,430,2146,1288,-12.45,1.30,330.17
$IRIDIUM_FIX,2057.14,-15746.61,140700,141409
$TT8_MAMPS,0.028379
$HUMID,53.93
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.90
$XPDR_PINGS,1
$24V_AH,23.4,11.078
$10V_AH,10.5,10.630
$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,28.600,114.475,262.525,70.325,0.000,27.991,32.014,131.289,4.750,0.000,51.258,1078.443,5800.139,437.949,1695.807,417.053,33.345,1144.439,0.000,1642.364,0.000,29.245,0.000
$DEVICE_MAMPS,137.293,60.593,821.457,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,389.223,376.522,859.813,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,31857,576
$CAP_FILE_SIZE,98310,0
$CFSIZE,260165632,249819136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200411,192537,2107.662,-15750.122,43,1.0,43,9.8