version: 66.06
glider: 139
mission: 9
dive: 224
start: 4 30 111 15 21 20
data:
$ID,139
$MISSION,9
$DIVE,224
$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,-2180265.2
$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,17
$R_STBD_OVSHOOT,78
$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
$GPS1,151116,2107.506,-15756.985,11,3.7,30,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-74.3
$GPS2,152028,2107.562,-15757.095,17,3.9,36,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.208,-0.077
$KALMAN_X,-126915.7,-79.8,-313.3,116162.1,-2083.5
$KALMAN_Y,-18381.5,-330.3,-203.3,13000.6,826.5
$MHEAD_RNG_PITCHd_Wd,100.4,24709,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-69.97,0.000,2,0.000,0.000,428,2136,3092,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.1,-3.4,13,110,13.07,0.00,-0.38,0.000,6,0.134,0.000,2868,2136,3112,0,0,0,0,0,0
$GC,304,-1.19,-116.8,41.9,-12.4,44,306,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2136,3115,0,0,0,0,0,0
$GC,559,-1.19,-116.8,76.8,-14.5,68,563,0.00,2.35,0.00,0.000,4,0.000,0.035,2868,3465,3115,0,0,0,0,0,0
$GC,596,-1.19,-116.8,82.8,-15.9,72,601,0.00,2.42,0.00,0.000,6,0.000,0.034,2868,2083,3115,0,0,0,0,0,0
$GC,862,-1.19,-116.8,120.6,-12.1,96,866,0.00,2.42,0.00,0.000,4,0.000,0.035,2868,3463,3116,0,0,0,0,0,0
$GC,878,-1.19,-116.8,122.9,-11.8,97,883,0.00,2.40,0.00,0.000,6,0.000,0.031,2868,2090,3116,0,0,0,0,0,0
$GC,1143,-1.19,-116.8,147.6,-7.5,121,1147,0.00,2.42,0.00,0.000,4,0.000,0.036,2868,3459,3116,0,0,0,0,0,0
$GC,1244,-1.19,-116.8,156.0,-7.9,131,1249,0.00,2.38,0.00,0.000,6,0.000,0.034,2868,2101,3116,0,0,0,0,0,0
$GC,1507,-1.19,-116.8,181.8,-11.9,156,1511,0.00,2.45,0.00,0.000,4,0.000,0.038,2868,3464,3117,0,0,0,0,0,0
$GC,1531,-1.19,-116.8,185.0,-11.9,158,1535,0.00,2.42,0.00,0.000,6,0.000,0.036,2868,2097,3117,0,0,0,0,0,0
$GC,1798,-1.19,-116.8,216.7,-11.1,176,1803,0.00,2.53,0.00,0.000,4,0.000,0.045,2868,683,3117,0,0,0,0,0,0
$GC,1813,-1.19,-116.8,218.4,-10.5,176,1820,0.00,2.38,0.00,0.000,6,0.000,0.023,2868,2060,3117,0,0,0,0,0,0
$GC,2128,-1.19,-116.8,250.2,-9.2,192,2129,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2060,3117,0,0,0,0,0,0
$GC,2440,-1.19,-116.8,280.7,-10.3,207,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2060,3115,0,0,0,0,0,0
$GC,2766,-1.19,-116.8,309.4,-7.1,220,2770,0.00,2.60,0.00,0.000,4,0.000,0.046,2868,3496,3115,0,0,0,0,0,0
$GC,2790,-1.19,-116.8,311.1,-7.6,220,2794,0.00,2.47,0.00,0.000,6,0.000,0.040,2868,2103,3115,0,0,0,0,0,0
$GC,3131,-1.19,-116.8,338.1,-8.0,229,3132,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2103,3114,0,0,0,0,0,0
$GC,3455,-1.19,-116.8,364.0,-8.2,237,3460,0.00,2.55,0.00,0.000,4,0.000,0.051,2868,692,3113,0,0,0,0,0,0
$GC,3511,-1.19,-116.8,369.0,-8.6,238,3516,0.00,2.42,0.00,0.000,6,0.000,0.028,2868,2103,3112,0,0,0,0,0,0
$GC,3827,-1.19,-116.8,390.7,-7.0,246,3831,0.00,2.55,0.00,0.000,4,0.000,0.051,2868,691,3110,0,0,0,0,0,0
$GC,3856,-1.19,-116.8,392.9,-7.5,246,3860,0.00,2.42,0.00,0.000,6,0.000,0.028,2868,2098,3110,0,0,0,0,0,0
$GC,4193,-1.19,-116.8,417.0,-7.5,255,4198,0.00,2.55,0.00,0.000,4,0.000,0.052,2868,693,3108,0,0,0,0,0,0
$GC,4240,-1.19,-116.8,421.0,-8.2,256,4244,0.00,2.47,0.00,0.000,6,0.000,0.029,2868,2109,3108,0,0,0,0,0,0
$GC,4563,-1.19,-116.8,443.3,-6.8,264,4568,0.00,2.60,0.00,0.000,4,0.000,0.054,2868,685,3106,0,0,0,0,0,0
$STATE,4654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4654,begin apogee
$GC,4663,-0.31,0.0,450.1,7.6,266,4761,0.93,0.00,94.60,0.815,6,0.085,0.000,3062,1809,2634,0,0,0,0,0,0
$STATE,4762,end apogee,CONTROL_FINISHED_OK
$STATE,4762,begin climb
$GC,4765,1.19,116.8,451.6,0.0,268,4870,1.52,0.00,101.22,0.796,6,0.055,0.000,3395,1809,2158,0,0,0,0,0,0
$GC,5186,1.19,116.8,401.7,12.9,279,5191,0.00,2.67,0.00,0.000,4,0.000,0.062,3395,399,2147,0,0,0,0,0,0
$GC,5233,1.19,116.8,395.0,14.0,280,5237,0.00,2.45,0.00,0.000,6,0.000,0.028,3396,1796,2143,0,0,0,0,0,0
$GC,5556,1.19,116.8,355.4,11.8,288,5561,0.00,2.62,0.00,0.000,4,0.000,0.060,3395,399,2142,0,0,0,0,0,0
$GC,5617,1.19,116.8,346.4,14.4,289,5621,0.00,2.47,0.00,0.000,6,0.000,0.028,3395,1799,2139,0,0,0,0,0,0
$GC,5966,1.19,116.8,303.5,11.8,298,5971,0.00,2.65,0.00,0.000,4,0.000,0.059,3395,397,2138,0,0,0,0,0,0
$GC,5995,1.19,116.8,300.1,11.9,298,5999,0.00,2.45,0.00,0.000,6,0.000,0.027,3395,1800,2137,0,0,0,0,0,0
$GC,6315,1.19,116.8,269.3,8.8,314,6316,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1803,2136,0,0,0,0,0,0
$GC,6626,1.19,116.8,237.8,10.9,329,6630,0.00,2.60,0.00,0.000,4,0.000,0.056,3395,398,2135,0,0,0,0,0,0
$GC,6663,1.19,116.8,232.7,12.9,330,6671,0.00,2.47,0.00,0.000,6,0.000,0.025,3395,1800,2133,0,0,0,0,0,0
$GC,6979,1.19,116.8,199.9,9.8,346,6980,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1802,2133,0,0,0,0,0,0
$GC,7234,1.19,116.8,174.3,10.4,370,7239,0.00,2.60,0.00,0.000,4,0.000,0.053,3396,397,2133,0,0,0,0,0,0
$GC,7278,1.19,116.8,169.4,11.9,374,7283,0.00,2.45,0.00,0.000,6,0.000,0.023,3395,1806,2132,0,0,0,0,0,0
$GC,7541,1.19,116.8,139.0,10.8,398,7545,0.00,2.45,0.00,0.000,4,0.000,0.035,3395,3204,2132,0,0,0,0,0,0
$GC,7594,1.19,116.8,133.6,9.7,403,7599,0.00,2.55,0.00,0.000,6,0.000,0.039,3396,1799,2132,0,0,0,0,0,0
$GC,7859,1.25,163.9,112.5,5.9,427,7904,0.00,2.67,36.92,0.568,4,0.000,0.051,3395,395,1966,0,0,0,0,0,0
$GC,7938,1.28,185.3,107.4,7.0,435,7965,0.00,2.47,19.60,0.542,6,0.000,0.021,3395,1815,1878,0,0,0,0,0,0
$GC,8228,1.28,190.0,87.2,7.8,463,8239,0.00,2.45,4.88,0.395,4,0.000,0.029,3396,3202,1859,0,0,0,0,0,0
$GC,8259,1.29,194.8,84.7,7.8,466,8271,0.10,2.53,6.03,0.426,6,0.071,0.037,3434,1800,1840,0,0,0,0,0,0
$GC,8526,1.29,194.8,55.0,11.5,491,8530,0.00,2.60,0.00,0.000,4,0.000,0.051,3434,389,1838,0,0,0,0,0,0
$GC,8570,1.29,194.8,48.6,14.4,495,8577,0.00,2.45,0.00,0.000,6,0.000,0.020,3434,1799,1836,0,0,0,0,0,0
$GC,8835,1.29,194.8,22.5,8.4,528,8841,0.00,2.65,0.00,0.000,4,0.000,0.048,3434,389,1835,0,0,0,0,0,0
$GC,8895,1.29,194.8,15.6,12.4,541,8902,0.00,2.42,0.00,0.000,6,0.000,0.019,3434,1793,1834,0,0,0,0,0,0
$STATE,9009,end climb,SURFACE_DEPTH_REACHED
$STATE,9009,begin surface coast
$FINISH,1.1,1.023015
$STATE,9039,end surface coast,CONTROL_FINISHED_OK
$STATE,9039,begin surface
$SM_CCo,9063,67.60,0.463,0,0,1288,330.17
$SM_GC,1.63,0.00,0.00,67.60,0.000,0.000,0.463,426,2153,1288,-12.47,1.50,330.17
$IRIDIUM_FIX,2059.45,-15801.19,240700,151554
$TT8_MAMPS,0.029146
$HUMID,55.47
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.5,17.861
$10V_AH,10.5,17.252
$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,28.450,100.000,263.250,67.600,0.000,55.186,77.303,207.434,4.500,0.000,37.609,1039.903,6121.656,419.927,1529.849,573.291,33.354,1064.955,0.000,1494.259,0.000,31.288,0.000
$DEVICE_MAMPS,134.225,62.127,814.554,462.501,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,383.643,371.820,815.264,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355672
$DATA_FILE_SIZE,31832,567
$CAP_FILE_SIZE,95705,0
$CFSIZE,260165632,245661696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,300411,175455,2107.250,-15756.696,45,1.1,45,9.8