version: 66.06
glider: 139
mission: 9
dive: 150
start: 4 22 111 1 54 12
data:
$ID,139
$MISSION,9
$DIVE,150
$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,-2177790.2
$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,75
$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
$GPS1,014806,2106.944,-15750.963,37,0.9,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-72.4
$GPS2,015319,2106.915,-15751.015,12,0.8,17,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.222,0.001
$KALMAN_X,-51994.5,332.7,905.8,50093.5,-4300.8
$KALMAN_Y,-24070.4,231.5,96.3,16627.2,-2103.9
$MHEAD_RNG_PITCHd_Wd,80.0,14138,-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,-70.62,0.000,6,0.000,0.000,430,2163,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.7,-5.4,14,114,13.18,0.00,0.00,0.000,6,0.137,0.000,2870,2163,3114,0,0,0,0,0,0
$GC,310,-1.19,-116.8,47.5,-17.2,44,314,0.00,2.15,0.00,0.000,4,0.000,0.028,2870,3468,3116,0,0,0,0,0,0
$GC,446,-1.19,-116.8,68.8,-13.8,59,451,0.00,2.30,0.00,0.000,6,0.000,0.029,2870,2085,3116,0,0,0,0,0,0
$GC,711,-1.19,-116.8,108.1,-14.5,83,715,0.00,2.30,0.00,0.000,4,0.000,0.028,2870,3468,3116,0,0,0,0,0,0
$GC,801,-1.19,-116.8,121.4,-13.4,92,808,0.00,2.30,0.00,0.000,6,0.000,0.030,2870,2106,3117,0,0,0,0,0,0
$GC,1066,-1.19,-116.8,155.7,-12.7,117,1070,0.00,2.25,0.00,0.000,4,0.000,0.030,2870,3466,3117,0,0,0,0,0,0
$GC,1081,-1.19,-116.8,158.1,-12.6,118,1085,0.00,2.28,0.00,0.000,6,0.000,0.028,2870,2093,3118,0,0,0,0,0,0
$GC,1342,-1.19,-116.8,188.8,-11.9,142,1346,0.00,2.28,0.00,0.000,4,0.000,0.031,2870,3465,3118,0,0,0,0,0,0
$GC,1412,-1.19,-116.8,196.7,-10.1,149,1416,0.00,2.25,0.00,0.000,6,0.000,0.028,2870,2099,3118,0,0,0,0,0,0
$GC,1679,-1.19,-116.8,222.2,-9.9,163,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2098,3118,0,0,0,0,0,0
$GC,1987,-1.19,-116.8,246.8,-6.6,178,1991,0.00,2.35,0.00,0.000,4,0.000,0.041,2870,692,3119,0,0,0,0,0,0
$GC,2015,-1.19,-116.8,248.6,-6.1,179,2019,0.00,2.25,0.00,0.000,6,0.000,0.024,2870,2069,3118,0,0,0,0,0,0
$GC,2337,-1.19,-116.8,273.7,-9.0,195,2341,0.00,2.40,0.00,0.000,4,0.000,0.036,2870,3507,3118,0,0,0,0,0,0
$GC,2351,-1.19,-116.8,275.3,-9.5,195,2357,0.00,2.35,0.00,0.000,6,0.000,0.031,2870,2102,3118,0,0,0,0,0,0
$GC,2666,-1.19,-116.8,303.7,-8.8,210,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2101,3117,0,0,0,0,0,0
$GC,2992,-1.19,-116.8,326.4,-6.7,218,2995,0.00,2.40,0.00,0.000,4,0.000,0.046,2870,690,3116,0,0,0,0,0,0
$GC,3029,-1.19,-116.8,329.2,-7.0,218,3033,0.00,2.30,0.00,0.000,6,0.000,0.026,2870,2100,3116,0,0,0,0,0,0
$GC,3360,-1.19,-116.8,354.3,-8.1,226,3364,0.00,2.35,0.00,0.000,4,0.000,0.040,2870,3496,3114,0,0,0,0,0,0
$GC,3388,-1.19,-116.8,356.8,-9.2,226,3392,0.00,2.35,0.00,0.000,6,0.000,0.035,2870,2097,3114,0,0,0,0,0,0
$GC,3724,-1.19,-116.8,384.0,-7.3,235,3728,0.00,2.42,0.00,0.000,4,0.000,0.041,2870,3503,3111,0,0,0,0,0,0
$GC,3786,-1.19,-116.8,388.3,-6.3,236,3791,0.00,2.38,0.00,0.000,6,0.000,0.036,2870,2091,3111,0,0,0,0,0,0
$GC,4137,-1.19,-116.8,404.2,-4.0,245,4141,0.00,2.47,0.00,0.000,4,0.000,0.061,2870,691,3109,0,0,0,0,0,0
$GC,4180,-1.19,-116.8,405.9,-4.1,246,4184,0.00,2.38,0.00,0.000,6,0.000,0.040,2870,2098,3109,0,0,0,0,0,0
$GC,4510,-1.19,-116.8,418.9,-4.2,254,4514,0.00,2.60,0.00,0.000,4,0.000,0.060,2870,691,3106,0,0,0,0,0,0
$GC,4524,-1.19,-116.8,419.8,-4.5,254,4531,0.00,2.45,0.00,0.000,6,0.000,0.033,2870,2093,3106,0,0,0,0,0,0
$GC,4841,-1.19,-116.8,440.0,-6.9,262,4846,0.00,2.55,0.00,0.000,4,0.000,0.058,2870,701,3104,0,0,0,0,0,0
$STATE,4962,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4962,begin apogee
$GC,4970,-0.31,0.0,450.1,8.6,264,5068,0.93,0.00,94.88,0.830,6,0.086,0.000,3063,1818,2635,0,0,0,0,0,0
$STATE,5069,end apogee,CONTROL_FINISHED_OK
$STATE,5069,begin climb
$GC,5072,1.19,116.8,453.6,0.0,267,5178,1.52,0.00,102.25,0.811,6,0.058,0.000,3394,1818,2158,0,0,0,0,0,0
$GC,5474,1.19,116.8,414.6,11.3,277,5478,0.00,2.75,0.00,0.000,4,0.000,0.068,3393,404,2147,0,0,0,0,0,0
$GC,5575,1.19,116.8,400.7,14.1,279,5580,0.00,2.50,0.00,0.000,6,0.000,0.031,3394,1803,2142,0,0,0,0,0,0
$GC,5889,1.19,116.8,362.2,12.4,287,5894,0.00,2.60,0.00,0.000,4,0.000,0.053,3394,3204,2140,0,0,0,0,0,0
$GC,5927,1.19,116.8,357.7,11.6,287,5933,0.00,2.65,0.00,0.000,6,0.000,0.060,3394,1810,2141,0,0,0,0,0,0
$GC,6258,1.19,116.8,317.8,12.3,296,6263,0.00,2.72,0.00,0.000,4,0.000,0.066,3394,383,2138,0,0,1,0,0,0
$GC,6314,1.19,116.8,310.9,11.8,297,6319,0.00,2.53,0.00,0.000,6,0.000,0.030,3394,1806,2136,0,0,0,0,0,0
$GC,6631,1.19,116.8,281.8,9.2,310,6636,0.00,2.70,0.00,0.000,4,0.000,0.061,3394,385,2135,0,0,0,0,0,0
$GC,6661,1.19,116.8,278.8,11.1,311,6665,0.00,2.47,0.00,0.000,6,0.000,0.028,3394,1796,2134,0,0,0,0,0,0
$GC,6982,1.19,116.8,246.5,11.0,327,6987,0.00,2.67,0.00,0.000,4,0.000,0.060,3394,385,2133,0,0,0,0,0,0
$GC,7033,1.19,116.8,240.3,12.5,329,7038,0.00,2.50,0.00,0.000,6,0.000,0.028,3394,1811,2132,0,0,0,0,0,0
$GC,7355,1.19,116.8,205.0,11.0,345,7359,0.00,2.70,0.00,0.000,4,0.000,0.058,3394,384,2132,0,0,0,0,0,0
$GC,7401,1.19,116.8,199.7,12.1,347,7405,0.00,2.47,0.00,0.000,6,0.000,0.026,3394,1811,2131,0,0,0,0,0,0
$GC,7665,1.24,150.9,178.9,6.5,371,7702,0.00,2.55,26.40,0.630,4,0.000,0.038,3394,3202,2018,0,0,0,0,0,0
$GC,7726,1.25,160.0,174.3,7.6,377,7742,0.00,2.62,9.65,0.558,6,0.000,0.047,3394,1804,1982,0,0,0,0,0,0
$GC,7997,1.25,160.0,147.1,11.7,403,8001,0.00,2.67,0.00,0.000,4,0.000,0.055,3394,375,1978,0,0,0,0,0,0
$GC,8050,1.25,160.0,140.8,12.7,408,8055,0.00,2.50,0.00,0.000,6,0.000,0.023,3394,1810,1974,0,0,0,0,0,0
$GC,8313,1.25,160.0,115.3,8.4,432,8318,0.00,2.67,0.00,0.000,4,0.000,0.051,3394,374,1974,0,0,0,0,0,0
$GC,8349,1.25,160.0,112.0,9.7,435,8353,0.00,2.47,0.00,0.000,6,0.000,0.021,3394,1799,1973,0,0,0,0,0,0
$GC,8614,1.28,182.3,93.3,7.0,459,8639,0.00,2.67,19.73,0.527,4,0.000,0.048,3394,375,1891,0,0,0,0,0,0
$GC,8650,1.29,197.7,90.4,7.3,462,8673,0.10,2.50,14.75,0.509,6,0.072,0.021,3430,1815,1827,0,0,0,0,0,0
$GC,8935,1.29,197.7,63.3,10.3,489,8940,0.00,2.67,0.00,0.000,4,0.000,0.051,3430,379,1825,0,0,0,0,0,0
$GC,8981,1.29,197.7,57.3,13.5,493,8988,0.00,2.45,0.00,0.000,6,0.000,0.020,3430,1781,1822,0,0,0,0,0,0
$GC,9243,1.29,197.7,29.2,11.0,518,9250,0.00,2.62,0.00,0.000,4,0.000,0.050,3430,382,1822,0,0,0,0,0,0
$GC,9270,1.29,197.7,25.9,11.5,523,9277,0.00,2.47,0.00,0.000,6,0.000,0.020,3430,1801,1821,0,0,0,0,0,0
$GC,9471,1.29,197.7,4.2,11.9,560,9477,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1807,1821,0,0,0,0,0,0
$STATE,9482,end climb,SURFACE_DEPTH_REACHED
$STATE,9482,begin surface coast
$FINISH,1.0,1.023208
$STATE,9511,end surface coast,CONTROL_FINISHED_OK
$STATE,9511,begin surface
$SM_CCo,9535,67.75,0.462,0,0,1288,330.17
$SM_GC,1.52,0.00,0.00,67.75,0.000,0.000,0.462,427,2152,1288,-12.47,1.47,330.17
$IRIDIUM_FIX,2059.45,-15748.75,150700,232357
$TT8_MAMPS,0.028379
$HUMID,54.52
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.4,12.007
$10V_AH,10.6,11.541
$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,28.525,118.725,267.650,67.750,0.000,23.981,33.453,133.371,4.500,0.000,17.585,1078.104,6383.017,446.857,1582.668,428.216,33.343,1141.478,0.000,1565.185,0.000,29.267,0.000
$DEVICE_MAMPS,137.293,68.263,829.894,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,383.575,361.145,795.323,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31802,567
$CAP_FILE_SIZE,99304,0
$CFSIZE,260165632,249233408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,220411,043536,2106.454,-15751.132,42,1.0,42,9.8