version: 66.06
glider: 139
mission: 9
dive: 141
start: 4 21 111 0 52 55
data:
$ID,139
$MISSION,9
$DIVE,141
$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,-2177558.5
$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,71
$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
$GPS1,004624,2107.573,-15749.132,30,1.1,47,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-76.0
$GPS2,005202,2107.561,-15749.189,17,1.9,17,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.220,-0.023
$KALMAN_X,-31591.4,277.6,1085.3,32721.8,-4446.9
$KALMAN_Y,-13032.9,261.3,117.5,6724.7,-1597.9
$MHEAD_RNG_PITCHd_Wd,86.3,11309,-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,13,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,-70.75,0.000,6,0.000,0.000,430,2152,3111,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.5,-4.6,14,115,13.10,2.20,0.00,0.000,4,0.135,0.026,2868,3474,3114,0,0,0,0,0,0
$GC,164,-1.19,-116.8,20.4,-17.6,28,171,0.00,2.38,0.00,0.000,6,0.000,0.030,2868,2084,3115,0,0,0,0,0,0
$GC,365,-1.19,-116.8,57.1,-16.1,51,369,0.00,2.33,0.00,0.000,4,0.000,0.027,2868,3480,3116,0,0,0,0,0,0
$GC,397,-1.19,-116.8,62.3,-15.8,54,403,0.00,2.35,0.00,0.000,6,0.000,0.031,2868,2101,3115,0,0,0,0,0,0
$GC,659,-1.19,-116.8,98.3,-11.9,79,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2101,3116,0,0,0,0,0,0
$GC,914,-1.19,-116.8,127.8,-12.9,103,918,0.00,2.28,0.00,0.000,4,0.000,0.029,2868,3472,3116,0,0,0,0,0,0
$GC,1179,-1.19,-116.8,158.5,-10.2,132,1183,0.00,2.30,0.00,0.000,6,0.000,0.028,2868,2094,3117,0,0,0,0,0,0
$GC,1440,-1.19,-116.8,186.4,-11.1,156,1444,0.00,2.28,0.00,0.000,4,0.000,0.029,2868,3471,3117,0,0,0,0,0,0
$GC,1518,-1.19,-116.8,194.9,-10.9,164,1522,0.00,2.28,0.00,0.000,6,0.000,0.028,2867,2091,3117,0,0,0,0,0,0
$GC,1773,-1.19,-116.8,223.1,-11.0,178,1777,0.00,2.30,0.00,0.000,4,0.000,0.031,2868,3475,3117,0,0,0,0,0,0
$GC,1900,-1.19,-116.8,235.1,-9.0,183,1904,0.00,2.30,0.00,0.000,6,0.000,0.028,2868,2097,3118,0,0,0,0,0,0
$GC,2219,-1.19,-116.8,260.9,-7.1,198,2223,0.00,2.33,0.00,0.000,4,0.000,0.033,2868,3478,3118,0,0,0,0,0,0
$GC,2233,-1.19,-116.8,262.1,-6.7,198,2240,0.00,2.33,0.00,0.000,6,0.000,0.031,2868,2104,3117,0,0,0,0,0,0
$GC,2549,-1.19,-116.8,279.6,-6.5,214,2550,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2104,3117,0,0,0,0,0,0
$GC,2857,-1.19,-116.8,304.2,-8.6,228,2861,0.00,2.40,0.00,0.000,4,0.000,0.044,2868,686,3116,0,0,0,0,0,0
$GC,2941,-1.19,-116.8,312.8,-10.9,229,2946,0.00,2.25,0.00,0.000,6,0.000,0.024,2868,2071,3116,0,0,0,0,0,0
$GC,3272,-1.19,-116.8,338.4,-7.3,238,3277,0.00,2.38,0.00,0.000,4,0.000,0.045,2868,690,3114,0,0,0,0,0,0
$GC,3316,-1.19,-116.8,341.7,-7.7,239,3320,0.00,2.30,0.00,0.000,6,0.000,0.025,2868,2100,3115,0,0,0,0,0,0
$GC,3644,-1.19,-116.8,361.8,-5.9,247,3648,0.00,2.45,0.00,0.000,4,0.000,0.048,2868,682,3113,0,0,0,0,0,0
$GC,3669,-1.19,-116.8,363.4,-6.6,247,3674,0.00,2.33,0.00,0.000,6,0.000,0.027,2868,2105,3112,0,0,0,0,0,0
$GC,4010,-1.19,-116.8,384.3,-6.5,256,4014,0.00,2.45,0.00,0.000,4,0.000,0.048,2868,690,3110,0,0,0,0,0,0
$GC,4117,-1.19,-116.8,393.3,-8.8,258,4121,0.00,2.33,0.00,0.000,6,0.000,0.028,2868,2105,3109,0,0,0,0,0,0
$GC,4467,-1.19,-116.8,419.2,-6.6,267,4471,0.00,2.40,0.00,0.000,4,0.000,0.041,2868,3507,3107,0,0,0,0,0,0
$GC,4662,-1.19,-116.8,431.3,-6.2,271,4666,0.00,2.40,0.00,0.000,6,0.000,0.037,2868,2095,3105,0,0,0,0,0,0
$GC,4980,-1.19,-116.8,448.0,-5.4,279,4984,0.00,2.42,0.00,0.000,4,0.000,0.053,2868,688,3103,0,0,0,0,0,0
$STATE,5015,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5015,begin apogee
$GC,5024,-0.31,0.0,450.2,5.8,279,5123,0.93,0.00,95.10,0.825,6,0.085,0.000,3062,1828,2635,0,0,0,0,0,0
$STATE,5123,end apogee,CONTROL_FINISHED_OK
$STATE,5124,begin climb
$GC,5126,1.19,116.8,450.6,0.0,282,5235,1.50,0.00,101.40,0.805,6,0.058,0.000,3392,1828,2158,0,0,0,0,0,0
$GC,5534,1.19,116.8,394.4,14.9,292,5538,0.00,2.58,0.00,0.000,4,0.000,0.061,3391,398,2146,0,0,0,0,0,0
$GC,5623,1.19,116.8,382.2,13.3,294,5628,0.00,2.35,0.00,0.000,6,0.000,0.028,3392,1779,2142,0,0,0,0,0,0
$GC,5951,1.19,116.8,348.7,9.7,302,5955,0.00,2.47,0.00,0.000,4,0.000,0.058,3391,399,2141,0,0,0,0,0,0
$GC,6007,1.19,116.8,342.1,11.6,303,6011,0.00,2.35,0.00,0.000,6,0.000,0.028,3392,1816,2138,0,0,0,0,0,0
$GC,6321,1.19,116.8,306.3,11.2,311,6325,0.00,2.53,0.00,0.000,4,0.000,0.058,3391,399,2137,0,0,0,0,0,0
$GC,6344,1.19,116.8,303.4,12.7,311,6349,0.00,2.35,0.00,0.000,6,0.000,0.028,3391,1804,2137,0,0,0,0,0,0
$GC,6669,1.21,128.6,272.8,7.5,326,6682,0.00,2.53,7.72,0.608,4,0.000,0.058,3391,394,2110,0,0,0,0,0,0
$GC,6782,1.21,128.6,262.6,9.3,331,6787,0.00,2.35,0.00,0.000,6,0.000,0.027,3392,1808,2107,0,0,0,0,0,0
$GC,7113,1.21,128.6,233.5,10.2,347,7117,0.00,2.47,0.00,0.000,4,0.000,0.056,3391,399,2106,0,0,0,0,0,0
$GC,7173,1.21,128.6,225.3,13.5,349,7178,0.00,2.33,0.00,0.000,6,0.000,0.025,3392,1807,2104,0,0,0,0,0,0
$GC,7490,1.21,128.6,192.0,9.3,368,7494,0.00,2.33,0.00,0.000,4,0.000,0.031,3392,3204,2104,0,0,0,0,0,0
$GC,7544,1.21,128.6,187.1,9.2,373,7550,0.00,2.40,0.00,0.000,6,0.000,0.036,3392,1809,2104,0,0,0,0,0,0
$GC,7808,1.22,138.8,166.9,7.6,398,7826,0.00,2.50,9.85,0.548,4,0.000,0.050,3391,388,2066,0,0,0,0,0,0
$GC,7913,1.22,138.8,156.5,10.2,409,7917,0.00,2.33,0.00,0.000,6,0.000,0.022,3392,1811,2064,0,0,0,0,0,0
$GC,8177,1.22,138.8,127.4,12.0,433,8182,0.00,2.47,0.00,0.000,4,0.000,0.049,3391,379,2064,0,0,0,0,0,0
$GC,8257,1.22,138.8,117.1,12.7,441,8261,0.00,2.30,0.00,0.000,6,0.000,0.021,3392,1805,2063,0,0,0,0,0,0
$GC,8522,1.23,145.1,93.1,7.7,465,8535,0.00,2.35,6.50,0.444,4,0.000,0.026,3392,3201,2042,0,0,0,0,0,0
$GC,8619,1.27,179.3,86.1,6.5,475,8655,0.00,2.40,30.88,0.530,6,0.000,0.033,3392,1793,1904,0,0,0,0,0,0
$GC,8918,1.28,189.4,65.1,7.6,504,8938,0.10,2.45,10.05,0.463,4,0.073,0.047,3429,382,1860,0,0,0,0,0,0
$GC,8970,1.28,189.4,59.1,11.9,509,8977,0.00,2.35,0.00,0.000,6,0.000,0.020,3430,1808,1857,0,0,0,0,0,0
$GC,9237,1.28,189.4,28.3,11.0,535,9243,0.00,2.50,0.00,0.000,4,0.000,0.046,3430,382,1857,0,0,0,0,0,0
$GC,9285,1.28,189.4,22.4,11.2,545,9292,0.00,2.33,0.00,0.000,6,0.000,0.019,3430,1797,1856,0,0,0,0,0,0
$STATE,9470,end climb,SURFACE_DEPTH_REACHED
$STATE,9470,begin surface coast
$FINISH,0.8,1.012648
$STATE,9500,end surface coast,CONTROL_FINISHED_OK
$STATE,9500,begin surface
$SM_CCo,9524,72.15,0.463,0,0,1288,330.17
$SM_GC,1.52,0.00,0.00,72.15,0.000,0.000,0.463,424,2152,1288,-12.48,1.47,330.17
$IRIDIUM_FIX,2059.45,-15750.89,140700,222228
$TT8_MAMPS,0.029146
$HUMID,54.05
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.4,11.307
$10V_AH,10.6,10.858
$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,28.425,109.075,261.500,72.150,0.000,30.870,35.946,148.803,4.500,0.000,17.951,1119.719,6182.947,413.976,1773.001,447.389,33.344,1185.936,0.000,1747.815,0.000,29.247,0.000
$DEVICE_MAMPS,134.992,60.593,824.525,462.501,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,394.861,374.308,830.288,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,31748,584
$CAP_FILE_SIZE,102565,0
$CFSIZE,260165632,249671680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210411,033404,2106.779,-15749.510,14,2.2,33,9.8