version: 66.06
glider: 139
mission: 9
dive: 225
start: 4 30 111 18 1 13
data:
$ID,139
$MISSION,9
$DIVE,225
$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,-2180282.2
$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,18
$R_STBD_OVSHOOT,74
$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
$GPS1,175455,2107.250,-15756.696,45,1.1,45,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-75.4
$GPS2,180020,2107.267,-15756.759,16,1.2,16,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.206,-0.083
$KALMAN_X,-128978.6,-213.7,139.8,118484.0,-2360.5
$KALMAN_Y,-18270.8,-186.8,-160.3,12159.5,934.9
$MHEAD_RNG_PITCHd_Wd,102.1,24066,-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,-69.65,0.000,2,0.000,0.000,426,2153,3089,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.2,-4.1,13,111,13.12,2.62,-0.43,0.000,4,0.135,0.044,2868,673,3114,0,0,0,0,0,0
$GC,119,-1.19,-116.8,12.2,-24.0,17,125,0.00,2.42,0.00,0.000,6,0.000,0.022,2868,2060,3115,0,0,0,0,0,0
$GC,323,-1.19,-116.8,44.2,-13.7,45,329,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2061,3116,0,0,0,0,0,0
$GC,584,-1.19,-116.8,86.4,-15.6,70,588,0.00,2.58,0.00,0.000,4,0.000,0.036,2869,3510,3116,0,0,0,0,0,0
$GC,711,-1.19,-116.8,109.0,-16.2,83,715,0.00,2.50,0.00,0.000,6,0.000,0.034,2869,2092,3117,0,0,0,0,0,0
$GC,975,-1.19,-116.8,142.8,-10.4,107,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2091,3117,0,0,0,0,0,0
$GC,1237,-1.19,-116.8,167.2,-10.3,132,1241,0.00,2.50,0.00,0.000,4,0.000,0.037,2868,3507,3118,0,0,0,0,0,0
$GC,1309,-1.19,-116.8,174.8,-10.2,139,1315,0.00,2.47,0.00,0.000,6,0.000,0.034,2868,2091,3118,0,0,0,0,0,0
$GC,1573,-1.19,-116.8,200.6,-10.1,164,1578,0.00,2.50,0.00,0.000,4,0.000,0.044,2869,683,3119,0,0,0,0,0,0
$GC,1594,-1.19,-116.8,203.0,-10.5,165,1599,0.00,2.42,0.00,0.000,6,0.000,0.023,2868,2110,3119,0,0,0,0,0,0
$GC,1925,-1.19,-116.8,233.1,-8.0,181,1927,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2111,3119,0,0,0,0,0,0
$GC,2235,-1.19,-116.8,260.1,-9.5,196,2240,0.00,2.55,0.00,0.000,4,0.000,0.045,2868,691,3119,0,0,0,0,0,0
$GC,2401,-1.19,-116.8,279.1,-11.0,203,2406,0.00,2.40,0.00,0.000,6,0.000,0.025,2869,2097,3118,0,0,0,0,0,0
$GC,2720,-1.19,-116.8,307.2,-8.4,217,2725,0.00,2.53,0.00,0.000,4,0.000,0.047,2868,687,3117,0,0,0,0,0,0
$GC,2735,-1.19,-116.8,308.4,-7.8,217,2740,0.00,2.45,0.00,0.000,6,0.000,0.025,2868,2103,3117,0,0,0,0,0,0
$GC,3085,-1.19,-116.8,330.5,-5.8,226,3086,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2104,3116,0,0,0,0,0,0
$GC,3410,-1.19,-116.8,351.4,-6.8,234,3411,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2104,3115,0,0,0,0,0,0
$GC,3737,-1.19,-116.8,377.0,-8.2,242,3741,0.00,2.58,0.00,0.000,4,0.000,0.051,2869,693,3113,0,0,0,0,0,0
$GC,3801,-1.19,-116.8,383.3,-10.3,243,3806,0.00,2.42,0.00,0.000,6,0.000,0.028,2868,2095,3112,0,0,0,0,0,0
$GC,4147,-1.19,-116.8,409.3,-6.9,252,4151,0.00,2.58,0.00,0.000,4,0.000,0.054,2868,3504,3110,0,0,0,0,0,0
$GC,4162,-1.19,-116.8,410.3,-6.8,252,4166,0.00,2.53,0.00,0.000,6,0.000,0.044,2868,2106,3109,0,0,0,0,0,0
$GC,4512,-1.19,-116.8,435.2,-7.0,261,4516,0.00,2.60,0.00,0.000,4,0.000,0.055,2869,690,3107,0,0,0,0,0,0
$GC,4561,-1.19,-116.8,438.5,-7.6,262,4565,0.00,2.45,0.00,0.000,6,0.000,0.030,2868,2105,3107,0,0,0,0,0,0
$STATE,4718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4718,begin apogee
$GC,4725,-0.31,0.0,450.3,7.4,266,4824,0.95,0.00,95.20,0.824,6,0.083,0.000,3065,1793,2635,0,0,0,0,0,0
$STATE,4825,end apogee,CONTROL_FINISHED_OK
$STATE,4825,begin climb
$GC,4828,1.19,116.8,452.1,0.0,268,4933,1.50,0.00,101.05,0.805,6,0.056,0.000,3396,1793,2158,0,0,0,0,0,0
$GC,5237,1.19,116.8,409.9,11.5,278,5242,0.00,2.65,0.00,0.000,4,0.000,0.064,3395,402,2147,0,0,0,0,0,0
$GC,5270,1.19,116.8,405.2,13.0,278,5275,0.00,2.47,0.00,0.000,6,0.000,0.028,3396,1800,2144,0,0,0,0,0,0
$GC,5601,1.19,116.8,366.5,11.5,286,5606,0.00,2.58,0.00,0.000,4,0.000,0.046,3396,3205,2142,0,0,0,0,0,0
$GC,5616,1.19,116.8,364.6,11.8,286,5620,0.00,2.60,0.00,0.000,6,0.000,0.050,3396,1800,2142,0,0,0,0,0,0
$GC,5966,1.19,116.8,324.3,11.2,295,5970,0.00,2.65,0.00,0.000,4,0.000,0.061,3395,394,2139,0,0,0,0,0,0
$GC,5994,1.19,116.8,320.5,13.6,295,5998,0.00,2.50,0.00,0.000,6,0.000,0.028,3395,1805,2138,0,0,0,0,0,0
$GC,6311,1.19,116.8,284.0,11.1,306,6315,0.00,2.67,0.00,0.000,4,0.000,0.060,3395,388,2137,0,0,0,0,0,0
$GC,6332,1.19,116.8,281.5,12.5,307,6337,0.00,2.50,0.00,0.000,6,0.000,0.028,3396,1801,2136,0,0,0,0,0,0
$GC,6664,1.19,116.8,247.9,9.7,323,6668,0.00,2.67,0.00,0.000,4,0.000,0.058,3396,389,2135,0,0,0,0,0,0
$GC,6708,1.19,116.8,242.7,12.3,325,6712,0.00,2.50,0.00,0.000,6,0.000,0.026,3395,1808,2134,0,0,0,0,0,0
$GC,7039,1.19,116.8,205.2,11.3,341,7040,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1813,2133,0,0,0,0,0,0
$GC,7355,1.19,116.8,174.6,8.6,368,7359,0.00,2.65,0.00,0.000,4,0.000,0.054,3396,392,2133,0,0,0,0,0,0
$GC,7419,1.19,116.8,168.6,9.9,374,7425,0.00,2.47,0.00,0.000,6,0.000,0.025,3396,1800,2131,0,0,0,0,0,0
$GC,7681,1.19,116.8,145.8,8.3,399,7686,0.00,2.47,0.00,0.000,4,0.000,0.035,3396,3210,2132,0,0,0,0,0,0
$GC,7715,1.19,116.8,142.8,8.5,402,7719,0.00,2.55,0.00,0.000,6,0.000,0.041,3396,1799,2132,0,0,0,0,0,0
$GC,7978,1.19,116.8,121.3,8.3,426,7982,0.00,2.58,0.00,0.000,4,0.000,0.051,3395,390,2132,0,0,0,0,0,0
$GC,8031,1.19,116.8,116.1,9.6,431,8035,0.00,2.45,0.00,0.000,6,0.000,0.021,3396,1808,2131,0,0,0,0,0,0
$GC,8296,1.20,122.7,94.7,7.8,455,8300,0.00,2.42,0.00,0.000,4,0.000,0.031,3396,3205,2132,0,0,0,0,0,0
$GC,8322,1.22,134.5,92.6,7.5,457,8342,0.00,2.55,12.00,0.508,6,0.000,0.038,3396,1792,2086,0,0,0,0,0,0
$GC,8597,1.22,140.0,71.3,7.8,483,8609,0.00,2.60,6.05,0.421,4,0.000,0.048,3395,393,2064,0,0,0,0,0,0
$GC,8635,1.22,140.0,68.2,8.2,487,8639,0.00,2.45,0.00,0.000,6,0.000,0.020,3396,1811,2062,0,0,0,0,0,0
$GC,8899,1.23,144.1,47.0,7.8,511,8911,0.00,2.42,5.10,0.378,4,0.000,0.028,3396,3199,2047,0,0,0,0,0,0
$GC,8976,1.24,155.3,40.5,7.5,519,8997,0.00,2.53,11.65,0.457,6,0.000,0.035,3396,1800,2000,0,0,0,0,0,0
$GC,9256,1.25,164.3,20.4,7.6,558,9274,0.00,2.62,8.82,0.421,4,0.000,0.048,3395,392,1964,0,0,0,0,0,0
$GC,9430,1.25,164.3,6.3,8.3,597,9437,0.00,2.42,0.00,0.000,6,0.000,0.019,3396,1799,1961,0,0,0,0,0,0
$STATE,9475,end climb,SURFACE_DEPTH_REACHED
$STATE,9475,begin surface coast
$FINISH,0.9,1.011242
$STATE,9518,end surface coast,CONTROL_FINISHED_OK
$STATE,9518,begin surface
$SM_CCo,9542,83.28,0.459,0,0,1288,330.17
$SM_GC,1.60,0.00,0.00,83.28,0.000,0.000,0.459,423,2141,1288,-12.48,1.16,330.17
$IRIDIUM_FIX,2057.14,-15833.37,240700,151545
$TT8_MAMPS,0.029146
$HUMID,53.58
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,17.935
$10V_AH,10.5,17.330
$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,28.175,107.125,239.875,83.275,0.000,28.611,32.913,143.204,4.500,0.000,16.359,1121.031,6323.396,428.516,1644.802,436.087,33.353,1112.872,0.000,1629.626,0.000,29.239,0.000
$DEVICE_MAMPS,134.992,63.661,823.758,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,415.320,399.710,917.787,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,34960,613
$CAP_FILE_SIZE,96804,0
$CFSIZE,260165632,245612544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300411,204301,2107.016,-15756.221,43,0.8,43,9.8