version: 66.06
glider: 139
mission: 9
dive: 142
start: 4 21 111 3 40 19
data:
$ID,139
$MISSION,9
$DIVE,142
$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,-2177575
$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,16
$R_STBD_OVSHOOT,88
$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
$GPS1,033404,2106.779,-15749.510,14,2.2,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-76.1
$GPS2,033926,2106.764,-15749.594,15,1.2,15,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.139,0.172
$KALMAN_X,-33618.6,664.4,-376.6,35128.4,-3402.9
$KALMAN_Y,-14326.2,469.5,19.4,6441.3,-1654.8
$MHEAD_RNG_PITCHd_Wd,29.1,11669,-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,-70.47,0.000,6,0.000,0.000,424,2151,3113,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.8,-5.9,14,114,13.20,2.20,0.00,0.000,4,0.137,0.031,2868,3455,3115,0,0,0,0,0,0
$GC,204,-1.19,-116.8,29.2,-18.1,37,210,0.00,2.35,0.00,0.000,6,0.000,0.032,2868,2087,3117,0,0,0,0,0,0
$GC,402,-1.19,-116.8,63.1,-15.5,56,406,0.00,2.38,0.00,0.000,4,0.000,0.041,2868,688,3117,0,0,0,0,0,0
$GC,432,-1.19,-116.8,67.9,-17.1,59,436,0.00,2.25,0.00,0.000,6,0.000,0.020,2869,2069,3117,0,0,0,0,0,0
$GC,696,-1.19,-116.8,109.7,-14.8,83,700,0.00,2.35,0.00,0.000,4,0.000,0.029,2868,3493,3118,0,0,0,0,0,0
$GC,913,-1.19,-116.8,135.7,-9.6,106,920,0.00,2.35,0.00,0.000,6,0.000,0.028,2868,2096,3118,0,0,0,0,0,0
$GC,1177,-1.19,-116.8,162.4,-10.9,131,1182,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2095,3119,0,0,0,0,0,0
$GC,1439,-1.19,-116.8,190.8,-10.7,156,1440,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2095,3119,0,0,0,0,0,0
$GC,1688,-1.19,-116.8,218.3,-11.2,172,1692,0.00,2.33,0.00,0.000,4,0.000,0.031,2868,3492,3120,0,0,0,0,0,0
$GC,1915,-1.19,-116.8,238.9,-8.3,181,1920,0.00,2.30,0.00,0.000,6,0.000,0.029,2868,2100,3120,0,0,0,0,0,0
$GC,2232,-1.19,-116.8,259.5,-6.1,197,2233,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2100,3120,0,0,0,0,0,0
$GC,2541,-1.19,-116.8,282.3,-7.5,212,2545,0.00,2.35,0.00,0.000,4,0.000,0.035,2868,3499,3119,0,0,0,0,0,0
$GC,2637,-1.19,-116.8,290.1,-8.2,216,2641,0.00,2.33,0.00,0.000,6,0.000,0.031,2868,2101,3119,0,0,0,0,0,0
$GC,2975,-1.19,-116.8,319.4,-9.4,228,2979,0.00,2.40,0.00,0.000,4,0.000,0.046,2867,687,3118,0,0,0,0,0,0
$GC,3077,-1.19,-116.8,329.7,-9.7,230,3081,0.00,2.30,0.00,0.000,6,0.000,0.025,2868,2102,3117,0,0,0,0,0,0
$GC,3391,-1.19,-116.8,354.1,-7.4,238,3395,0.00,2.35,0.00,0.000,4,0.000,0.038,2868,3500,3116,0,0,0,0,0,0
$GC,3557,-1.19,-116.8,364.2,-5.7,241,3562,0.00,2.35,0.00,0.000,6,0.000,0.035,2869,2102,3115,0,0,0,0,0,0
$GC,3894,-1.19,-116.8,382.8,-5.6,250,3895,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2101,3113,0,0,0,0,0,0
$GC,4220,-1.19,-116.8,404.2,-7.1,258,4224,0.00,2.45,0.00,0.000,4,0.000,0.051,2868,686,3110,0,0,0,0,0,0
$GC,4276,-1.19,-116.8,409.0,-9.1,259,4280,0.00,2.35,0.00,0.000,6,0.000,0.028,2868,2106,3110,0,0,0,0,0,0
$GC,4590,-1.19,-116.8,432.4,-7.1,267,4594,0.00,2.40,0.00,0.000,4,0.000,0.043,2868,3508,3108,0,0,0,0,0,0
$GC,4733,-1.19,-116.8,442.1,-7.2,270,4737,0.00,2.40,0.00,0.000,6,0.000,0.038,2868,2099,3107,0,0,0,0,0,0
$STATE,4886,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4886,begin apogee
$GC,4893,-0.31,0.0,452.1,6.4,274,4993,0.95,0.00,95.80,0.825,6,0.084,0.000,3065,1809,2635,0,0,0,0,0,0
$STATE,4993,end apogee,CONTROL_FINISHED_OK
$STATE,4993,begin climb
$GC,4996,1.19,116.8,453.7,0.0,276,5109,1.50,2.65,100.93,0.806,4,0.057,0.061,3394,391,2156,0,0,0,0,0,0
$GC,5151,1.19,116.8,438.0,13.8,279,5155,0.00,2.40,0.00,0.000,6,0.000,0.028,3394,1811,2150,0,0,0,0,0,0
$GC,5491,1.19,116.8,399.2,11.2,288,5496,0.00,2.55,0.00,0.000,4,0.000,0.061,3394,388,2144,0,0,0,0,0,0
$GC,5506,1.19,116.8,397.3,10.8,288,5510,0.00,2.35,0.00,0.000,6,0.000,0.028,3394,1796,2143,0,0,0,0,0,0
$GC,5856,1.19,116.8,360.7,10.0,297,5860,0.00,2.53,0.00,0.000,4,0.000,0.060,3394,389,2141,0,0,0,0,0,0
$GC,5911,1.19,116.8,354.2,11.9,298,5916,0.00,2.38,0.00,0.000,6,0.000,0.029,3394,1798,2138,0,0,0,0,0,0
$GC,6225,1.19,116.8,324.2,9.6,306,6229,0.00,2.40,0.00,0.000,4,0.000,0.038,3394,3209,2137,0,0,0,0,0,0
$GC,6299,1.19,116.8,316.5,11.0,307,6304,0.00,2.45,0.00,0.000,6,0.000,0.042,3394,1795,2137,0,0,0,0,0,0
$GC,6619,1.19,116.8,277.9,12.6,319,6623,0.00,2.47,0.00,0.000,4,0.000,0.058,3394,386,2136,0,0,0,0,0,0
$GC,6665,1.19,116.8,270.9,14.5,321,6669,0.00,2.35,0.00,0.000,6,0.000,0.028,3394,1811,2134,0,0,0,0,0,0
$GC,6991,1.19,116.8,233.3,11.0,337,6996,0.00,2.33,0.00,0.000,4,0.000,0.035,3395,3205,2134,0,0,0,0,0,0
$GC,7020,1.19,116.8,230.2,10.7,338,7024,0.00,2.42,0.00,0.000,6,0.000,0.040,3394,1799,2134,0,0,0,0,0,0
$GC,7340,1.19,116.8,198.0,10.2,354,7344,0.00,2.50,0.00,0.000,4,0.000,0.055,3395,377,2132,0,0,0,0,0,0
$GC,7364,1.19,116.8,195.1,12.8,356,7368,0.00,2.33,0.00,0.000,6,0.000,0.025,3394,1796,2131,0,0,0,0,0,0
$GC,7628,1.19,116.8,165.6,10.7,380,7629,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1801,2132,0,0,0,0,0,0
$GC,7880,1.21,131.7,141.7,7.3,404,7894,0.00,2.50,9.30,0.538,4,0.000,0.051,3394,383,2097,0,0,0,0,0,0
$GC,7963,1.21,131.7,134.3,8.9,412,7970,0.00,2.35,0.00,0.000,6,0.000,0.023,3395,1810,2095,0,0,0,0,0,0
$GC,8228,1.21,131.7,111.5,9.1,437,8232,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1815,2095,0,0,0,0,0,0
$GC,8489,1.21,131.7,88.2,9.6,462,8493,0.00,2.47,0.00,0.000,4,0.000,0.048,3394,383,2095,0,0,0,0,0,0
$GC,8513,1.21,131.7,85.6,11.1,464,8518,0.00,2.30,0.00,0.000,6,0.000,0.021,3395,1817,2095,0,0,0,0,0,0
$GC,8780,1.24,151.7,64.2,7.1,488,8800,0.00,0.00,18.77,0.505,6,0.000,0.000,3395,1822,2016,0,0,0,0,0,0
$GC,9055,1.26,173.1,42.0,7.0,514,9084,0.00,2.50,19.62,0.485,4,0.000,0.045,3394,384,1927,0,0,0,0,0,0
$GC,9140,1.26,173.1,35.0,9.0,523,9144,0.00,2.30,0.00,0.000,6,0.000,0.020,3395,1808,1924,0,0,0,0,0,0
$GC,9409,1.26,173.1,14.4,8.1,566,9416,0.00,2.50,0.00,0.000,4,0.000,0.046,3394,380,1924,0,0,0,0,0,0
$GC,9445,1.26,173.1,11.4,9.5,573,9452,0.00,2.33,0.00,0.000,6,0.000,0.019,3395,1804,1923,0,0,0,0,0,0
$STATE,9552,end climb,SURFACE_DEPTH_REACHED
$STATE,9553,begin surface coast
$FINISH,0.8,1.009411
$STATE,9593,end surface coast,CONTROL_FINISHED_OK
$STATE,9593,begin surface
$SM_CCo,9616,79.05,0.461,0,0,1287,330.17
$SM_GC,1.57,0.00,0.00,79.05,0.000,0.000,0.461,430,2142,1287,-12.45,1.19,330.17
$IRIDIUM_FIX,2059.45,-15748.75,150700,000004
$TT8_MAMPS,0.029146
$HUMID,53.54
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.4,11.381
$10V_AH,10.5,10.936
$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,28.350,96.450,244.425,79.050,0.000,26.316,35.496,140.677,4.500,0.000,15.662,1129.113,6273.452,398.813,1785.387,433.133,33.349,1160.048,0.000,1765.970,0.000,29.245,0.000
$DEVICE_MAMPS,137.293,61.360,825.292,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,406.346,387.892,882.293,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31709,600
$CAP_FILE_SIZE,99237,0
$CFSIZE,260165632,249626624
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210411,062307,2107.144,-15750.238,33,0.9,33,9.8