version: 66.06
glider: 139
mission: 9
dive: 222
start: 4 30 111 9 50 19
data:
$ID,139
$MISSION,9
$DIVE,222
$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,-2180210
$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,71
$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
$GPS1,094406,2108.018,-15757.097,25,1.6,25,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-74.7
$GPS2,094926,2108.051,-15757.091,12,1.6,12,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.211,-0.069
$KALMAN_X,-123090.5,282.9,314.9,111347.5,-2542.1
$KALMAN_Y,-18846.4,-323.6,37.6,14126.7,802.0
$MHEAD_RNG_PITCHd_Wd,98.3,24836,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-69.72,0.000,2,0.000,0.000,431,2144,3100,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.3,-4.4,13,111,13.10,2.65,-0.17,0.000,4,0.135,0.050,2870,672,3111,0,0,0,0,0,0
$GC,144,-1.19,-116.8,19.5,-25.9,23,151,0.00,2.42,0.00,0.000,6,0.000,0.020,2870,2075,3112,0,0,0,0,0,0
$GC,350,-1.19,-116.8,56.7,-19.6,47,354,0.00,2.53,0.00,0.000,4,0.000,0.035,2870,3507,3114,0,0,0,0,0,0
$GC,457,-1.19,-116.8,74.2,-14.6,58,461,0.00,2.47,0.00,0.000,6,0.000,0.031,2871,2090,3114,0,0,0,0,0,0
$GC,720,-1.19,-116.8,109.8,-12.0,82,724,0.00,2.50,0.00,0.000,4,0.000,0.036,2870,3506,3115,0,0,0,0,0,0
$GC,891,-1.19,-116.8,132.1,-13.1,100,898,0.00,2.50,0.00,0.000,6,0.000,0.035,2870,2104,3115,0,0,0,0,0,0
$GC,1156,-1.19,-116.8,162.9,-9.7,125,1160,0.00,2.45,0.00,0.000,4,0.000,0.037,2870,3495,3116,0,0,0,0,0,0
$GC,1236,-1.19,-116.8,171.4,-10.2,133,1240,0.00,2.45,0.00,0.000,6,0.000,0.034,2870,2093,3116,0,0,0,0,0,0
$GC,1500,-1.19,-116.8,198.0,-9.9,157,1504,0.00,2.53,0.00,0.000,4,0.000,0.044,2870,690,3116,0,0,0,0,0,0
$GC,1543,-1.19,-116.8,202.4,-9.2,160,1547,0.00,2.40,0.00,0.000,6,0.000,0.022,2870,2108,3116,0,0,0,0,0,0
$GC,1872,-1.19,-116.8,230.2,-9.0,176,1877,0.00,2.55,0.00,0.000,4,0.000,0.044,2870,687,3116,0,0,0,0,0,0
$GC,1956,-1.19,-116.8,239.4,-12.1,179,1962,0.00,2.40,0.00,0.000,6,0.000,0.023,2870,2100,3117,0,0,0,0,0,0
$GC,2273,-1.19,-116.8,272.5,-10.2,195,2274,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2101,3116,0,0,0,0,0,0
$GC,2582,-1.19,-116.8,299.5,-7.8,210,2586,0.00,2.53,0.00,0.000,4,0.000,0.047,2870,690,3115,0,0,0,0,0,0
$GC,2683,-1.19,-116.8,309.3,-10.2,213,2687,0.00,2.42,0.00,0.000,6,0.000,0.026,2870,2106,3115,0,0,0,0,0,0
$GC,2997,-1.19,-116.8,339.4,-9.5,221,3001,0.00,2.55,0.00,0.000,4,0.000,0.050,2870,3502,3114,0,0,0,0,0,0
$GC,3081,-1.19,-116.8,346.8,-10.1,222,3086,0.00,2.53,0.00,0.000,6,0.000,0.043,2870,2100,3114,0,0,0,0,0,0
$GC,3413,-1.19,-116.8,375.8,-8.4,231,3418,0.00,2.62,0.00,0.000,4,0.000,0.054,2870,685,3111,0,0,0,0,0,0
$GC,3446,-1.19,-116.8,378.8,-8.7,231,3451,0.00,2.45,0.00,0.000,6,0.000,0.028,2870,2101,3111,0,0,0,0,0,0
$GC,3779,-1.19,-116.8,403.3,-6.5,239,3784,0.00,2.58,0.00,0.000,4,0.000,0.053,2870,686,3109,0,0,0,0,0,0
$GC,3850,-1.19,-116.8,408.1,-7.4,240,3854,0.00,2.45,0.00,0.000,6,0.000,0.029,2870,2100,3108,0,0,0,0,0,0
$GC,4191,-1.19,-116.8,427.4,-5.8,249,4192,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2101,3106,0,0,0,0,0,0
$GC,4515,-1.19,-116.8,446.9,-6.0,257,4520,0.00,2.60,0.00,0.000,4,0.000,0.057,2870,3504,3104,0,0,0,0,0,0
$GC,4553,-1.19,-116.8,449.4,-7.0,257,4559,0.00,2.55,0.00,0.000,6,0.000,0.048,2870,2103,3104,0,0,0,0,0,0
$STATE,4597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4597,begin apogee
$GC,4604,-0.31,0.0,452.5,6.8,259,4703,0.95,0.00,95.03,0.822,6,0.082,0.000,3067,1789,2635,0,0,0,0,0,0
$STATE,4704,end apogee,CONTROL_FINISHED_OK
$STATE,4704,begin climb
$GC,4706,1.19,116.8,454.5,0.0,261,4815,1.48,0.00,100.68,0.805,6,0.057,0.000,3392,1789,2158,0,0,0,0,0,0
$GC,5155,1.19,116.8,398.2,13.1,272,5156,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1789,2146,0,0,0,0,0,0
$GC,5480,1.19,116.8,355.5,13.3,280,5485,0.00,2.62,0.00,0.000,4,0.000,0.062,3391,401,2143,0,0,0,0,0,0
$GC,5518,1.19,116.8,349.8,14.8,280,5523,0.00,2.45,0.00,0.000,6,0.000,0.028,3392,1799,2140,0,0,0,0,0,0
$GC,5849,1.19,116.8,305.7,13.0,289,5853,0.00,2.58,0.00,0.000,4,0.000,0.045,3392,3210,2138,0,0,0,0,0,0
$GC,5914,1.19,116.8,297.6,11.4,290,5919,0.00,2.62,0.00,0.000,6,0.000,0.050,3392,1805,2138,0,0,0,0,0,0
$GC,6244,1.19,116.8,265.5,8.0,306,6249,0.00,2.65,0.00,0.000,4,0.000,0.058,3391,391,2137,0,0,0,0,0,0
$GC,6319,1.20,119.4,258.8,7.9,309,6323,0.00,2.50,0.00,0.000,6,0.000,0.027,3391,1808,2135,0,0,0,0,0,0
$GC,6640,1.20,119.4,234.1,8.5,325,6641,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1813,2134,0,0,0,0,0,0
$GC,6949,1.20,119.4,202.5,10.3,340,6953,0.00,2.65,0.00,0.000,4,0.000,0.056,3391,390,2133,0,0,0,0,0,0
$GC,7002,1.20,119.4,197.0,11.0,343,7006,0.00,2.47,0.00,0.000,6,0.000,0.025,3392,1806,2132,0,0,0,0,0,0
$GC,7267,1.20,119.4,175.1,8.2,367,7271,0.00,2.65,0.00,0.000,4,0.000,0.054,3392,390,2132,0,0,0,0,0,0
$GC,7311,1.20,119.4,170.8,9.1,371,7315,0.00,2.42,0.00,0.000,6,0.000,0.023,3392,1803,2131,0,0,0,0,0,0
$GC,7576,1.25,158.3,153.1,6.2,395,7614,0.00,2.55,32.40,0.599,4,0.000,0.033,3392,3213,1989,0,0,0,0,0,0
$GC,7679,1.25,158.3,144.9,8.8,406,7683,0.00,2.60,0.00,0.000,6,0.000,0.040,3392,1798,1989,0,0,0,0,0,0
$GC,7942,1.25,158.3,119.0,11.0,430,7946,0.00,2.58,0.00,0.000,4,0.000,0.052,3392,390,1986,0,0,0,0,0,0
$GC,8014,1.25,158.3,111.3,9.8,437,8018,0.00,2.42,0.00,0.000,6,0.000,0.021,3392,1804,1982,0,0,0,0,0,0
$GC,8279,1.25,158.3,89.1,9.4,461,8283,0.00,2.47,0.00,0.000,4,0.000,0.031,3392,3210,1982,0,0,0,0,0,0
$GC,8316,1.25,158.3,85.1,9.7,464,8322,0.00,2.58,0.00,0.000,6,0.000,0.038,3392,1799,1982,0,0,0,0,0,0
$GC,8578,1.25,158.3,62.3,8.2,489,8582,0.00,2.58,0.00,0.000,4,0.000,0.050,3392,385,1982,0,0,0,0,0,0
$GC,8613,1.25,158.3,59.0,9.6,492,8617,0.00,2.42,0.00,0.000,6,0.000,0.020,3392,1803,1981,0,0,0,0,0,0
$GC,8877,1.29,191.6,38.9,6.5,516,8917,0.10,2.65,29.12,0.489,4,0.071,0.047,3431,385,1851,0,0,0,0,0,0
$GC,8967,1.29,191.6,30.5,10.6,525,8972,0.00,2.42,0.00,0.000,6,0.000,0.019,3431,1803,1847,0,0,0,0,0,0
$GC,9233,1.29,191.6,7.3,10.4,573,9240,0.00,2.62,0.00,0.000,4,0.000,0.047,3431,394,1847,0,0,0,0,0,0
$STATE,9270,end climb,SURFACE_DEPTH_REACHED
$STATE,9270,begin surface coast
$FINISH,0.8,1.010780
$STATE,9293,end surface coast,CONTROL_FINISHED_OK
$STATE,9293,begin surface
$SM_CCo,9319,69.10,0.461,0,0,1289,330.17
$SM_GC,1.72,0.00,0.00,69.10,0.000,0.000,0.461,427,2104,1289,-12.47,0.11,330.17
$IRIDIUM_FIX,2059.45,-15759.05,240700,070717
$TT8_MAMPS,0.028379
$HUMID,55.55
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.5,17.704
$10V_AH,10.5,17.102
$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,28.450,112.225,257.225,69.100,0.000,24.636,42.259,136.913,4.500,0.000,12.787,1089.400,6107.595,400.479,1669.790,443.893,33.353,1124.593,0.000,1661.468,0.000,29.249,0.000
$DEVICE_MAMPS,134.992,62.127,822.224,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,396.875,384.084,855.137,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355672
$DATA_FILE_SIZE,31783,586
$CAP_FILE_SIZE,98099,0
$CFSIZE,260165632,245760000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300411,122807,2107.648,-15757.093,40,0.9,40,9.8