version: 66.06
glider: 139
mission: 9
dive: 145
start: 4 21 111 12 8 28
data:
$ID,139
$MISSION,9
$DIVE,145
$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,-2177670.8
$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,98
$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
$GPS1,115816,2107.044,-15749.649,10,2.2,29,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-76.2
$GPS2,120736,2106.909,-15749.629,42,1.4,42,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.222,-0.002
$KALMAN_X,-40278.9,353.1,1272.4,40388.3,-4652.8
$KALMAN_Y,-17576.8,97.0,205.1,10143.6,-1880.0
$MHEAD_RNG_PITCHd_Wd,80.7,11771,-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,-70.50,0.000,6,0.000,0.000,426,2144,3113,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.7,-5.5,14,115,13.15,2.50,0.00,0.000,4,0.136,0.034,2870,664,3115,0,0,0,0,0,0
$GC,131,-1.19,-116.8,15.9,-33.2,20,138,0.00,2.28,0.00,0.000,6,0.000,0.021,2870,2049,3116,0,0,0,0,0,0
$GC,332,-1.19,-116.8,50.4,-14.5,45,333,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2053,3117,0,0,0,0,0,0
$GC,587,-1.19,-116.8,90.3,-14.5,69,591,0.00,2.35,0.00,0.000,4,0.000,0.039,2870,670,3117,0,0,0,0,0,0
$GC,613,-1.19,-116.8,94.3,-16.4,71,617,0.00,2.22,0.00,0.000,6,0.000,0.020,2870,2054,3117,0,0,0,0,0,0
$GC,877,-1.19,-116.8,130.8,-14.0,95,881,0.00,2.40,0.00,0.000,4,0.000,0.031,2870,3493,3117,0,0,0,0,0,0
$GC,1101,-1.19,-116.8,160.7,-12.6,119,1106,0.00,2.33,0.00,0.000,6,0.000,0.028,2870,2083,3117,0,0,0,0,0,0
$GC,1366,-1.19,-116.8,191.9,-10.9,143,1370,0.00,2.33,0.00,0.000,4,0.000,0.040,2870,692,3118,0,0,0,0,0,0
$GC,1436,-1.19,-116.8,200.6,-13.1,150,1440,0.00,2.25,0.00,0.000,6,0.000,0.021,2870,2098,3118,0,0,0,0,0,0
$GC,1761,-1.19,-116.8,235.5,-10.0,166,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2101,3118,0,0,0,0,0,0
$GC,2072,-1.19,-116.8,261.2,-9.1,181,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2101,3118,0,0,0,0,0,0
$GC,2379,-1.19,-116.8,295.5,-12.7,196,2384,0.00,2.35,0.00,0.000,4,0.000,0.035,2870,3496,3118,0,0,0,0,0,0
$GC,2448,-1.19,-116.8,302.6,-8.4,198,2453,0.00,2.33,0.00,0.000,6,0.000,0.029,2870,2093,3117,0,0,0,0,0,0
$GC,2789,-1.19,-116.8,328.9,-8.2,207,2793,0.00,2.38,0.00,0.000,4,0.000,0.044,2870,688,3117,0,0,0,0,0,0
$GC,2863,-1.19,-116.8,335.0,-8.5,208,2867,0.00,2.30,0.00,0.000,6,0.000,0.024,2870,2095,3116,0,0,0,0,0,0
$GC,3199,-1.19,-116.8,358.1,-6.4,217,3203,0.00,2.38,0.00,0.000,4,0.000,0.038,2870,3495,3115,0,0,0,0,0,0
$GC,3414,-1.19,-116.8,371.2,-7.0,221,3418,0.00,2.35,0.00,0.000,6,0.000,0.034,2870,2095,3114,0,0,0,0,0,0
$GC,3750,-1.19,-116.8,396.3,-7.8,230,3754,0.00,2.42,0.00,0.000,4,0.000,0.049,2870,691,3112,0,0,0,0,0,0
$GC,3921,-1.19,-116.8,408.7,-6.6,233,3925,0.00,2.33,0.00,0.000,6,0.000,0.028,2870,2106,3111,0,0,0,0,0,0
$GC,4252,-1.19,-116.8,417.7,-1.5,241,4257,0.00,2.45,0.00,0.000,4,0.000,0.049,2870,684,3108,0,0,0,0,0,0
$GC,4272,-1.19,-116.8,418.0,-1.4,241,4276,0.00,2.35,0.00,0.000,6,0.000,0.028,2870,2099,3108,0,0,0,0,0,0
$GC,4617,-1.19,-116.8,427.8,-3.7,250,4621,0.00,2.45,0.00,0.000,4,0.000,0.051,2870,692,3106,0,0,0,0,0,0
$GC,4770,-1.19,-116.8,437.6,-7.0,253,4774,0.00,2.33,0.00,0.000,6,0.000,0.029,2870,2104,3105,0,0,0,0,0,0
$STATE,4995,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4995,begin apogee
$GC,5002,-0.31,0.0,452.4,6.6,259,5100,0.95,0.00,95.10,0.826,6,0.084,0.000,3066,1810,2635,0,0,0,0,0,0
$STATE,5101,end apogee,CONTROL_FINISHED_OK
$STATE,5101,begin climb
$GC,5104,1.19,116.8,454.1,0.0,261,5216,1.50,2.60,101.12,0.807,4,0.057,0.061,3396,395,2156,0,0,0,0,0,0
$GC,5236,1.19,116.8,442.1,14.5,264,5240,0.00,2.35,0.00,0.000,6,0.000,0.028,3396,1802,2152,0,0,0,0,0,0
$GC,5558,1.19,116.8,404.2,11.1,272,5563,0.00,2.55,0.00,0.000,4,0.000,0.061,3395,390,2145,0,0,0,0,0,0
$GC,5648,1.19,116.8,394.1,11.0,274,5652,0.00,2.38,0.00,0.000,6,0.000,0.029,3396,1814,2141,0,0,0,0,0,0
$GC,5976,1.19,116.8,363.3,9.7,282,5980,0.00,2.58,0.00,0.000,4,0.000,0.061,3395,383,2140,0,0,0,0,0,0
$GC,6032,1.19,116.8,357.0,11.7,283,6036,0.00,2.35,0.00,0.000,6,0.000,0.028,3396,1792,2137,0,0,0,0,0,0
$GC,6350,1.19,116.8,318.4,12.5,291,6354,0.00,2.40,0.00,0.000,4,0.000,0.037,3396,3207,2137,0,0,0,0,0,0
$GC,6378,1.19,116.8,314.7,11.8,291,6382,0.00,2.45,0.00,0.000,6,0.000,0.042,3396,1798,2137,0,0,0,0,0,0
$GC,6696,1.19,116.8,277.5,10.6,304,6697,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1798,2135,0,0,0,0,0,0
$GC,7007,1.19,116.8,246.5,8.7,319,7011,0.00,2.40,0.00,0.000,4,0.000,0.033,3396,3213,2133,0,0,0,0,0,0
$GC,7052,1.19,116.8,242.2,10.1,321,7057,0.00,2.47,0.00,0.000,6,0.000,0.041,3396,1791,2134,0,0,0,0,0,0
$GC,7385,1.19,116.8,208.3,10.7,337,7386,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1791,2133,0,0,0,0,0,0
$GC,7700,1.19,116.8,177.2,8.3,363,7704,0.00,2.45,0.00,0.000,4,0.000,0.052,3396,383,2132,0,0,0,0,0,0
$GC,7782,1.21,130.4,170.5,7.4,371,7798,0.00,2.33,8.18,0.535,6,0.000,0.023,3396,1836,2102,0,0,0,0,0,0
$GC,8053,1.23,146.0,152.3,7.3,397,8073,0.00,2.33,15.48,0.569,4,0.000,0.028,3396,3185,2039,0,0,0,0,0,0
$GC,8108,1.23,146.0,148.0,8.5,402,8114,0.00,2.42,0.00,0.000,6,0.000,0.035,3396,1797,2038,0,0,0,0,0,0
$GC,8370,1.23,146.0,121.0,11.1,427,8375,0.00,2.42,0.00,0.000,4,0.000,0.049,3395,386,2036,0,0,0,0,0,0
$GC,8397,1.23,146.0,117.7,13.1,429,8401,0.00,2.28,0.00,0.000,6,0.000,0.021,3396,1783,2034,0,0,0,0,0,0
$GC,8661,1.24,152.4,92.6,7.7,453,8674,0.00,2.47,6.55,0.442,4,0.000,0.048,3396,389,2013,0,0,0,0,0,0
$GC,8689,1.26,171.9,90.3,7.1,456,8717,0.00,2.33,18.40,0.518,6,0.000,0.021,3396,1845,1933,0,0,0,0,0,0
$GC,8973,1.32,221.0,72.5,5.8,483,9022,0.12,2.58,43.17,0.518,4,0.061,0.045,3439,385,1732,0,0,0,0,0,0
$GC,9074,1.32,221.0,62.6,11.9,493,9081,0.00,2.30,0.00,0.000,6,0.000,0.019,3440,1753,1727,0,0,0,0,0,0
$GC,9336,1.32,221.0,29.8,12.8,518,9343,0.00,2.40,0.00,0.000,4,0.000,0.048,3439,387,1727,0,0,0,0,0,0
$GC,9384,1.32,221.0,23.7,12.9,528,9391,0.00,2.35,0.00,0.000,6,0.000,0.019,3440,1832,1724,0,0,0,0,0,0
$STATE,9558,end climb,SURFACE_DEPTH_REACHED
$STATE,9558,begin surface coast
$FINISH,0.9,1.011062
$STATE,9587,end surface coast,CONTROL_FINISHED_OK
$STATE,9587,begin surface
$SM_CCo,9611,55.08,0.457,0,0,1289,330.17
$SM_GC,1.61,0.00,0.00,55.08,0.000,0.000,0.457,431,2133,1289,-12.45,0.93,330.17
$IRIDIUM_FIX,2059.45,-15750.89,150700,121252
$TT8_MAMPS,0.029146
$HUMID,54.60
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.4,11.625
$10V_AH,10.5,11.166
$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,28.650,101.125,288.000,55.075,0.000,59.337,70.120,214.592,4.500,0.000,42.236,1072.612,6455.124,398.297,1719.008,582.970,33.348,1156.489,0.000,1675.023,0.000,29.251,0.000
$DEVICE_MAMPS,135.759,61.360,826.059,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,381.989,357.402,776.887,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,31873,565
$CAP_FILE_SIZE,103240,0
$CFSIZE,260165632,249475072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210411,145046,2106.230,-15750.081,13,2.8,32,9.8