version: 66.06
glider: 139
mission: 9
dive: 147
start: 4 21 111 17 43 19
data:
$ID,139
$MISSION,9
$DIVE,147
$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,-2177720.8
$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,17
$R_STBD_OVSHOOT,47
$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
$GPS1,173706,2106.417,-15751.272,36,0.9,46,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-74.8
$GPS2,174226,2106.409,-15751.344,15,0.9,15,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.175,0.135
$KALMAN_X,-44482.1,-284.6,-961.3,44509.8,-2220.7
$KALMAN_Y,-19787.9,-150.2,-38.1,11923.6,-1500.2
$MHEAD_RNG_PITCHd_Wd,42.5,14600,-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,-116.8,0.0,0.0,0,92,0.00,0.00,-70.85,0.000,6,0.000,0.000,429,2097,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.3,-4.7,14,115,13.10,2.35,0.00,0.000,4,0.135,0.026,2868,3506,3113,0,0,0,0,0,0
$GC,287,-1.19,-116.8,42.3,-15.5,48,294,0.00,2.40,0.00,0.000,6,0.000,0.028,2868,2087,3115,0,0,0,0,0,0
$GC,550,-1.19,-116.8,81.7,-15.2,73,554,0.00,2.38,0.00,0.000,4,0.000,0.028,2868,3503,3115,0,0,0,0,0,0
$GC,576,-1.19,-116.8,85.6,-15.6,75,580,0.00,2.35,0.00,0.000,6,0.000,0.028,2868,2099,3116,0,0,0,0,0,0
$GC,841,-1.19,-116.8,127.0,-14.9,99,845,0.00,2.33,0.00,0.000,4,0.000,0.029,2868,3499,3116,0,0,0,0,0,0
$GC,993,-1.19,-116.8,144.9,-11.7,115,997,0.00,2.35,0.00,0.000,6,0.000,0.028,2868,2088,3116,0,0,0,0,0,0
$GC,1257,-1.19,-116.8,171.7,-8.3,139,1261,0.00,2.35,0.00,0.000,4,0.000,0.030,2868,3494,3117,0,0,0,0,0,0
$GC,1272,-1.19,-116.8,173.2,-8.7,140,1276,0.00,2.33,0.00,0.000,6,0.000,0.028,2868,2098,3117,0,0,0,0,0,0
$GC,1535,-1.19,-116.8,197.8,-9.8,164,1539,0.00,2.38,0.00,0.000,4,0.000,0.041,2868,687,3118,0,0,0,0,0,0
$GC,1637,-1.19,-116.8,210.4,-13.1,169,1641,0.00,2.28,0.00,0.000,6,0.000,0.021,2868,2102,3118,0,0,0,0,0,0
$GC,1954,-1.19,-116.8,245.4,-9.0,184,1958,0.00,2.33,0.00,0.000,4,0.000,0.033,2867,3495,3118,0,0,0,0,0,0
$GC,1968,-1.19,-116.8,246.7,-8.3,184,1975,0.00,2.35,0.00,0.000,6,0.000,0.030,2867,2101,3118,0,0,0,0,0,0
$GC,2284,-1.19,-116.8,270.5,-6.6,200,2288,0.00,2.40,0.00,0.000,4,0.000,0.044,2868,692,3117,0,0,0,0,0,0
$GC,2305,-1.19,-116.8,272.0,-7.8,201,2309,0.00,2.28,0.00,0.000,6,0.000,0.023,2868,2100,3118,0,0,0,0,0,0
$GC,2635,-1.19,-116.8,298.8,-9.5,217,2640,0.00,2.35,0.00,0.000,4,0.000,0.037,2868,3493,3117,0,0,0,0,0,0
$GC,2733,-1.19,-116.8,308.5,-10.6,220,2737,0.00,2.35,0.00,0.000,6,0.000,0.033,2868,2100,3117,0,0,0,0,0,0
$GC,3056,-1.19,-116.8,335.2,-7.4,228,3060,0.00,2.38,0.00,0.000,4,0.000,0.038,2868,3492,3115,0,0,0,0,0,0
$GC,3160,-1.19,-116.8,341.8,-6.5,230,3164,0.00,2.33,0.00,0.000,6,0.000,0.034,2868,2098,3115,0,0,0,0,0,0
$GC,3475,-1.19,-116.8,361.2,-6.6,238,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2098,3113,0,0,0,0,0,0
$GC,3799,-1.19,-116.8,385.9,-8.1,246,3803,0.00,2.40,0.00,0.000,4,0.000,0.041,2868,3495,3110,0,0,0,0,0,0
$GC,3818,-1.19,-116.8,387.5,-7.8,246,3822,0.00,2.35,0.00,0.000,6,0.000,0.035,2868,2101,3110,0,0,0,0,0,0
$GC,4163,-1.19,-116.8,412.9,-6.9,255,4168,0.00,2.45,0.00,0.000,4,0.000,0.051,2868,691,3108,0,0,0,0,0,0
$GC,4173,-1.19,-116.8,413.7,-6.9,255,4178,0.00,2.33,0.00,0.000,6,0.000,0.028,2868,2093,3107,0,0,0,0,0,0
$GC,4487,-1.19,-116.8,432.3,-5.8,263,4491,0.00,2.40,0.00,0.000,4,0.000,0.043,2868,3496,3106,0,0,0,0,0,0
$GC,4511,-1.19,-116.8,433.8,-6.5,263,4515,0.00,2.38,0.00,0.000,6,0.000,0.037,2868,2102,3105,0,0,0,0,0,0
$STATE,4772,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4772,begin apogee
$GC,4779,-0.31,0.0,450.1,6.1,270,4878,0.98,0.00,95.40,0.823,6,0.084,0.000,3069,1802,2635,0,0,0,0,0,0
$STATE,4879,end apogee,CONTROL_FINISHED_OK
$STATE,4879,begin climb
$GC,4881,1.19,116.8,450.9,0.0,272,4993,1.48,2.58,100.97,0.805,4,0.057,0.062,3393,394,2156,0,0,0,0,0,0
$GC,5031,1.19,116.8,434.9,15.0,275,5036,0.00,2.38,0.00,0.000,6,0.000,0.028,3393,1814,2150,0,0,0,0,0,0
$GC,5377,1.19,116.8,391.7,12.0,284,5378,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1819,2145,0,0,0,0,0,0
$GC,5701,1.19,116.8,355.4,11.0,292,5706,0.00,2.58,0.00,0.000,4,0.000,0.061,3393,387,2142,0,0,0,0,0,0
$GC,5785,1.19,116.8,344.9,12.3,293,5790,0.00,2.38,0.00,0.000,6,0.000,0.028,3393,1800,2138,0,0,0,0,0,0
$GC,6116,1.19,116.8,310.9,10.5,302,6117,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1805,2138,0,0,0,0,0,0
$GC,6423,1.19,116.8,276.0,11.4,314,6428,0.00,2.35,0.00,0.000,4,0.000,0.037,3393,3202,2137,0,0,0,0,0,0
$GC,6456,1.19,116.8,272.3,11.0,315,6460,0.00,2.45,0.00,0.000,6,0.000,0.041,3393,1797,2137,0,0,0,0,0,0
$GC,6771,1.19,116.8,238.5,10.5,330,6776,0.00,2.50,0.00,0.000,4,0.000,0.058,3393,382,2135,0,0,0,0,0,0
$GC,6793,1.19,116.8,236.1,12.3,331,6798,0.00,2.35,0.00,0.000,6,0.000,0.027,3393,1813,2134,0,0,0,0,0,0
$GC,7124,1.19,116.8,203.9,10.0,347,7128,0.00,2.33,0.00,0.000,4,0.000,0.033,3393,3203,2134,0,0,0,0,0,0
$GC,7144,1.19,116.8,201.7,10.8,348,7148,0.00,2.42,0.00,0.000,6,0.000,0.038,3393,1799,2134,0,0,0,0,0,0
$GC,7472,1.19,116.8,167.4,9.7,378,7476,0.00,2.45,0.00,0.000,4,0.000,0.054,3393,385,2133,0,0,0,0,0,0
$GC,7616,1.19,116.8,152.8,9.8,393,7620,0.00,2.33,0.00,0.000,6,0.000,0.024,3393,1814,2131,0,0,0,0,0,0
$GC,7883,1.20,120.2,132.7,7.9,418,7888,0.00,2.47,0.00,0.000,4,0.000,0.051,3393,382,2131,0,0,0,0,0,0
$GC,7900,1.20,120.2,131.2,8.6,419,7905,0.00,2.30,0.00,0.000,6,0.000,0.022,3393,1814,2131,0,0,0,0,0,0
$GC,8164,1.20,120.2,111.2,8.0,443,8168,0.00,2.28,0.00,0.000,4,0.000,0.028,3393,3200,2132,0,0,0,0,0,0
$GC,8192,1.21,127.3,108.7,7.7,445,8207,0.00,2.38,5.47,0.431,6,0.000,0.032,3393,1797,2116,0,0,0,0,0,0
$GC,8463,1.27,181.8,91.0,5.5,471,8518,0.00,2.50,48.45,0.545,4,0.000,0.047,3393,378,1891,0,0,0,0,0,0
$GC,8544,1.30,204.7,86.5,7.0,479,8571,0.12,2.30,20.55,0.516,6,0.062,0.020,3435,1809,1799,0,0,0,0,0,0
$GC,8833,1.30,204.7,59.1,10.7,507,8838,0.00,2.47,0.00,0.000,4,0.000,0.048,3434,388,1796,0,0,0,0,0,0
$GC,8905,1.30,204.7,49.2,13.4,514,8912,0.00,2.30,0.00,0.000,6,0.000,0.019,3434,1773,1792,0,0,0,0,0,0
$GC,9169,1.30,204.7,15.0,13.2,549,9175,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1780,1792,0,0,0,0,0,0
$STATE,9267,end climb,SURFACE_DEPTH_REACHED
$STATE,9267,begin surface coast
$FINISH,0.8,0.999750
$STATE,9295,end surface coast,CONTROL_FINISHED_OK
$STATE,9295,begin surface
$SM_CCo,9319,63.67,0.461,0,0,1289,330.17
$SM_GC,1.71,0.00,0.00,63.67,0.000,0.000,0.461,426,2175,1289,-12.48,2.15,330.17
$IRIDIUM_FIX,2059.45,-15748.75,150700,151524
$TT8_MAMPS,0.029146
$HUMID,54.37
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.60
$XPDR_PINGS,1
$24V_AH,23.4,11.776
$10V_AH,10.6,11.316
$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,28.550,105.650,270.850,63.675,0.000,27.142,34.055,140.570,4.750,0.000,16.088,1061.681,6199.103,398.480,1613.119,433.661,33.348,1114.120,0.000,1596.004,0.000,29.250,0.000
$DEVICE_MAMPS,134.992,62.127,822.991,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,387.245,366.662,800.276,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31770,572
$CAP_FILE_SIZE,97075,0
$CFSIZE,260165632,249384960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210411,202101,2106.653,-15751.537,40,1.5,40,9.8