version: 66.06
glider: 139
mission: 9
dive: 183
start: 4 25 111 21 22 1
data:
$ID,139
$MISSION,9
$DIVE,183
$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,-2179326.8
$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,69
$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
$GPS1,211544,2109.419,-15743.965,13,2.0,13,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-75.7
$GPS2,212108,2109.482,-15743.929,17,2.0,17,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.114,-0.190
$KALMAN_X,-107247.9,-494.2,-575.8,119908.8,-857.4
$KALMAN_Y,-33713.0,-110.1,-174.4,31639.8,493.5
$MHEAD_RNG_PITCHd_Wd,139.3,7015,-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,-116.8,0.0,0.0,0,94,0.00,0.00,-70.53,0.000,6,0.000,0.000,427,2146,3113,0,0,0,0,0,0
$GC,97,-1.19,-116.8,3.9,-5.4,14,116,13.12,2.38,0.00,0.000,4,0.135,0.033,2869,3481,3114,0,0,0,0,0,0
$GC,359,-1.19,-116.8,54.1,-14.4,54,363,0.00,2.45,0.00,0.000,6,0.000,0.034,2869,2091,3116,0,0,0,0,0,0
$GC,620,-1.19,-116.8,89.4,-11.4,78,624,0.00,2.45,0.00,0.000,4,0.000,0.035,2869,3468,3117,0,0,0,0,0,0
$GC,774,-1.19,-116.8,106.7,-11.1,94,781,0.00,2.45,0.00,0.000,6,0.000,0.035,2869,2100,3117,0,0,0,0,0,0
$GC,1039,-1.19,-116.8,136.1,-13.1,119,1043,0.00,2.42,0.00,0.000,4,0.000,0.038,2869,3467,3118,0,0,0,0,0,0
$GC,1076,-1.19,-116.8,141.7,-13.3,122,1082,0.00,2.45,0.00,0.000,6,0.000,0.035,2870,2098,3118,0,0,0,0,0,0
$GC,1340,-1.19,-116.8,172.4,-9.4,147,1344,0.00,2.45,0.00,0.000,4,0.000,0.038,2869,3470,3118,0,0,0,0,0,0
$GC,1350,-1.19,-116.8,173.8,-9.8,147,1355,0.00,2.40,0.00,0.000,6,0.000,0.034,2869,2098,3119,0,0,0,0,0,0
$GC,1613,-1.19,-116.8,199.6,-9.5,172,1618,0.00,2.45,0.00,0.000,4,0.000,0.040,2869,3473,3119,0,0,0,0,0,0
$GC,1641,-1.19,-116.8,203.0,-11.2,174,1646,0.00,2.45,0.00,0.000,6,0.000,0.038,2869,2097,3119,0,0,0,0,0,0
$GC,1966,-1.19,-116.8,233.0,-8.3,190,1970,0.00,2.53,0.00,0.000,4,0.000,0.045,2869,691,3119,0,0,0,0,0,0
$GC,1980,-1.19,-116.8,234.2,-8.1,190,1987,0.00,2.38,0.00,0.000,6,0.000,0.024,2869,2060,3119,0,0,0,0,0,0
$GC,2296,-1.19,-116.8,265.2,-11.3,206,2300,0.00,2.58,0.00,0.000,4,0.000,0.046,2869,3499,3119,0,0,0,0,0,0
$GC,2333,-1.19,-116.8,268.7,-9.0,207,2338,0.00,2.50,0.00,0.000,6,0.000,0.038,2869,2100,3118,0,0,0,0,0,0
$GC,2650,-1.19,-116.8,292.4,-6.5,223,2655,0.00,2.58,0.00,0.000,4,0.000,0.048,2869,692,3118,0,0,0,0,0,0
$GC,2702,-1.19,-116.8,296.5,-7.5,225,2706,0.00,2.45,0.00,0.000,6,0.000,0.027,2869,2103,3118,0,0,0,0,0,0
$GC,3039,-1.19,-116.8,322.8,-7.8,235,3044,0.00,2.58,0.00,0.000,4,0.000,0.049,2869,689,3117,0,0,0,0,0,0
$GC,3058,-1.19,-116.8,324.6,-8.1,235,3062,0.00,2.45,0.00,0.000,6,0.000,0.028,2869,2108,3117,0,0,0,0,0,0
$GC,3403,-1.19,-116.8,352.7,-8.8,244,3407,0.00,2.55,0.00,0.000,4,0.000,0.052,2869,3506,3115,0,0,0,0,0,0
$GC,3422,-1.19,-116.8,354.5,-8.9,244,3427,0.00,2.55,0.00,0.000,6,0.000,0.044,2869,2098,3115,0,0,0,0,0,0
$GC,3769,-1.19,-116.8,382.8,-7.9,253,3773,0.00,2.58,0.00,0.000,4,0.000,0.054,2869,3503,3113,0,0,0,0,0,0
$GC,3801,-1.19,-116.8,385.7,-8.5,253,3806,0.00,2.53,0.00,0.000,6,0.000,0.046,2869,2102,3112,0,0,0,0,0,0
$GC,4133,-1.19,-116.8,409.2,-6.9,261,4138,0.00,2.60,0.00,0.000,4,0.000,0.055,2869,689,3110,0,0,0,0,0,0
$GC,4153,-1.19,-116.8,410.6,-7.0,261,4157,0.00,2.47,0.00,0.000,6,0.000,0.031,2870,2096,3110,0,0,0,0,0,0
$GC,4499,-1.19,-116.8,434.7,-6.7,270,4504,0.00,2.58,0.00,0.000,4,0.000,0.056,2869,690,3107,0,0,0,0,0,0
$GC,4551,-1.19,-116.8,438.7,-7.5,271,4556,0.00,2.50,0.00,0.000,6,0.000,0.032,2869,2102,3107,0,0,0,0,0,0
$STATE,4745,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4745,begin apogee
$GC,4752,-0.31,0.0,452.3,6.9,276,4850,0.95,0.00,95.05,0.825,6,0.084,0.000,3065,1790,2634,0,0,0,0,0,0
$STATE,4851,end apogee,CONTROL_FINISHED_OK
$STATE,4851,begin climb
$GC,4854,1.19,116.8,454.3,0.0,278,4960,1.50,0.00,101.30,0.802,6,0.058,0.000,3394,1790,2158,0,0,0,0,0,0
$GC,5263,1.19,116.8,409.5,12.4,288,5268,0.00,2.65,0.00,0.000,4,0.000,0.063,3394,400,2147,0,0,0,0,0,0
$GC,5287,1.19,116.8,405.8,14.4,288,5291,0.00,2.50,0.00,0.000,6,0.000,0.028,3394,1812,2144,0,0,0,0,0,0
$GC,5628,1.19,116.8,363.7,12.1,297,5632,0.00,2.70,0.00,0.000,4,0.000,0.062,3394,394,2142,0,0,0,0,0,0
$GC,5675,1.19,116.8,357.0,14.1,298,5679,0.00,2.53,0.00,0.000,6,0.000,0.028,3394,1806,2139,0,0,0,0,0,0
$GC,5998,1.19,116.8,318.3,12.1,306,6002,0.00,2.55,0.00,0.000,4,0.000,0.047,3394,3198,2138,0,0,0,0,0,0
$GC,6045,1.19,116.8,312.5,11.6,307,6049,0.00,2.62,0.00,0.000,6,0.000,0.051,3394,1804,2138,0,0,0,0,0,0
$GC,6371,1.19,116.8,275.4,11.0,320,6375,0.00,2.65,0.00,0.000,4,0.000,0.060,3394,389,2137,0,0,0,0,0,0
$GC,6440,1.19,116.8,267.7,11.6,323,6444,0.00,2.50,0.00,0.000,6,0.000,0.028,3394,1797,2134,0,0,0,0,0,0
$GC,6771,1.19,116.8,233.5,10.3,339,6772,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1801,2134,0,0,0,0,0,0
$GC,7078,1.19,116.8,204.4,8.4,354,7083,0.00,2.62,0.00,0.000,4,0.000,0.056,3394,390,2132,0,0,0,0,0,0
$GC,7107,1.19,116.8,201.5,9.8,355,7111,0.00,2.45,0.00,0.000,6,0.000,0.025,3394,1809,2132,0,0,0,0,0,0
$GC,7437,1.19,116.8,170.4,9.7,385,7441,0.00,2.62,0.00,0.000,4,0.000,0.053,3394,390,2132,0,0,0,0,0,0
$GC,7493,1.19,116.8,164.5,10.1,390,7499,0.00,2.47,0.00,0.000,6,0.000,0.023,3394,1801,2131,0,0,0,0,0,0
$GC,7757,1.19,116.8,142.8,8.0,415,7762,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1807,2131,0,0,0,0,0,0
$GC,8019,1.20,118.1,120.3,8.0,440,8020,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1807,2131,0,0,0,0,0,0
$GC,8273,1.20,118.1,97.4,9.0,464,8277,0.00,2.60,0.00,0.000,4,0.000,0.048,3394,389,2131,0,0,0,0,0,0
$GC,8301,1.20,118.1,94.6,10.2,466,8308,0.00,2.45,0.00,0.000,6,0.000,0.021,3394,1801,2130,0,0,0,0,0,0
$GC,8566,1.20,123.6,73.7,7.8,491,8570,0.00,2.42,0.00,0.000,4,0.000,0.031,3394,3200,2132,0,0,0,0,0,0
$GC,8618,1.20,123.6,69.4,8.1,496,8622,0.00,2.53,0.00,0.000,6,0.000,0.035,3394,1792,2132,0,0,0,0,0,0
$GC,8882,1.23,144.7,50.5,7.1,520,8913,0.00,2.58,20.38,0.489,4,0.000,0.047,3394,386,2044,0,0,0,0,0,0
$GC,8934,1.23,144.7,46.5,8.2,525,8938,0.00,2.45,0.00,0.000,6,0.000,0.019,3394,1810,2041,0,0,0,0,0,0
$GC,9199,1.25,163.8,28.5,7.1,550,9223,0.00,2.45,17.58,0.462,4,0.000,0.028,3394,3194,1966,0,0,0,0,0,0
$GC,9256,1.28,185.0,24.3,7.0,561,9285,0.00,2.55,19.73,0.462,6,0.000,0.035,3394,1803,1878,0,0,0,0,0,0
$GC,9483,1.33,223.2,9.0,6.3,602,9522,0.15,0.00,32.92,0.459,6,0.053,0.000,3448,1803,1722,0,0,0,0,0,0
$STATE,9554,end climb,SURFACE_DEPTH_REACHED
$STATE,9554,begin surface coast
$FINISH,0.8,1.022856
$STATE,9588,end surface coast,CONTROL_FINISHED_OK
$STATE,9589,begin surface
$SM_CCo,9613,55.38,0.455,0,0,1288,330.17
$SM_GC,1.63,0.00,0.00,55.38,0.000,0.000,0.455,426,2122,1288,-12.47,0.62,330.17
$IRIDIUM_FIX,2104.07,-15742.72,190700,181802
$TT8_MAMPS,0.029146
$HUMID,53.34
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,14.540
$10V_AH,10.5,14.092
$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,28.700,116.700,286.950,55.375,0.000,27.211,33.522,141.492,4.500,0.000,17.607,1127.667,6311.156,430.939,1686.295,438.352,33.351,1160.523,0.000,1667.519,0.000,29.255,0.000
$DEVICE_MAMPS,134.992,62.894,824.525,454.831,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,419.077,406.533,932.809,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,34833,621
$CAP_FILE_SIZE,100509,0
$CFSIZE,260165632,247635968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260411,000430,2108.532,-15744.103,42,0.9,42,9.8