version: 66.06
glider: 139
mission: 9
dive: 232
start: 5 1 111 13 32 18
data:
$ID,139
$MISSION,9
$DIVE,232
$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,-2180394.8
$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,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
$GPS1,132558,2106.533,-15753.722,15,2.2,34,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-75.4
$GPS2,133125,2106.545,-15753.770,14,2.0,14,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.221,-0.012
$KALMAN_X,-140919.5,170.7,-47.9,135384.5,-2819.0
$KALMAN_Y,-17411.2,-333.9,-15.3,9962.8,161.5
$MHEAD_RNG_PITCHd_Wd,83.4,18799,-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,16,-1.19,-116.8,0.0,0.0,0,93,0.00,0.00,-71.12,0.000,6,0.000,0.000,429,2153,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.9,-5.5,14,114,13.10,0.00,0.00,0.000,6,0.135,0.000,2868,2153,3113,0,0,0,0,0,0
$GC,310,-1.19,-116.8,47.8,-18.0,44,313,0.00,2.30,0.00,0.000,4,0.000,0.033,2867,3461,3115,0,0,0,0,0,0
$GC,356,-1.19,-116.8,56.6,-17.9,49,361,0.00,2.42,0.00,0.000,6,0.000,0.035,2868,2087,3116,0,0,0,0,0,0
$GC,619,-1.19,-116.8,96.8,-13.3,73,623,0.00,2.42,0.00,0.000,4,0.000,0.034,2868,3460,3116,0,0,0,0,0,0
$GC,682,-1.19,-116.8,105.8,-14.2,79,686,0.00,2.40,0.00,0.000,6,0.000,0.034,2867,2099,3116,0,0,0,0,0,0
$GC,946,-1.19,-116.8,139.1,-11.2,103,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2100,3117,0,0,0,0,0,0
$GC,1207,-1.19,-116.8,172.6,-11.9,128,1212,0.00,2.40,0.00,0.000,4,0.000,0.037,2868,3464,3118,0,0,0,0,0,0
$GC,1270,-1.19,-116.8,180.4,-12.9,134,1274,0.00,2.40,0.00,0.000,6,0.000,0.034,2868,2089,3118,0,0,0,0,0,0
$GC,1541,-1.19,-116.8,206.9,-8.1,155,1545,0.00,2.42,0.00,0.000,4,0.000,0.037,2868,3466,3118,0,0,0,0,0,0
$GC,1585,-1.19,-116.8,210.5,-8.1,157,1589,0.00,2.42,0.00,0.000,6,0.000,0.035,2867,2090,3118,0,0,0,0,0,0
$GC,1916,-1.19,-116.8,236.9,-10.4,173,1920,0.00,2.42,0.00,0.000,4,0.000,0.040,2868,3458,3118,0,0,0,0,0,0
$GC,1960,-1.19,-116.8,241.5,-10.2,175,1964,0.00,2.42,0.00,0.000,6,0.000,0.038,2868,2092,3119,0,0,0,0,0,0
$GC,2291,-1.19,-116.8,273.1,-8.1,191,2295,0.00,2.55,0.00,0.000,4,0.000,0.048,2867,685,3117,0,0,0,0,0,0
$GC,2311,-1.19,-116.8,274.9,-8.4,192,2315,0.00,2.38,0.00,0.000,6,0.000,0.025,2867,2060,3118,0,0,0,0,0,0
$GC,2641,-1.19,-116.8,301.6,-8.9,208,2645,0.00,2.47,0.00,0.000,4,0.000,0.048,2867,692,3117,0,0,0,0,0,0
$GC,2793,-1.19,-116.8,316.2,-8.0,211,2797,0.00,2.42,0.00,0.000,6,0.000,0.026,2867,2106,3116,0,0,0,0,0,0
$GC,3143,-1.19,-116.8,338.4,-6.0,220,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2107,3114,0,0,0,0,0,0
$GC,3468,-1.19,-116.8,358.5,-6.3,228,3473,0.00,2.58,0.00,0.000,4,0.000,0.051,2867,694,3112,0,0,0,0,0,0
$GC,3515,-1.19,-116.8,361.7,-6.5,229,3520,0.00,2.45,0.00,0.000,6,0.000,0.028,2868,2102,3112,0,0,0,0,0,0
$GC,3839,-1.19,-116.8,380.0,-5.5,237,3844,0.00,2.55,0.00,0.000,4,0.000,0.051,2867,698,3109,0,0,0,0,0,0
$GC,3865,-1.19,-116.8,381.6,-6.4,237,3869,0.00,2.42,0.00,0.000,6,0.000,0.029,2867,2100,3109,0,0,0,0,0,0
$GC,4210,-1.19,-116.8,404.7,-7.0,246,4214,0.00,2.58,0.00,0.000,4,0.000,0.053,2867,694,3107,0,0,0,0,0,0
$GC,4262,-1.19,-116.8,409.1,-8.7,247,4266,0.00,2.45,0.00,0.000,6,0.000,0.029,2867,2109,3107,0,0,0,0,0,0
$GC,4581,-1.19,-116.8,437.0,-9.4,255,4586,0.00,2.58,0.00,0.000,4,0.000,0.055,2867,3501,3105,0,0,0,0,0,0
$GC,4605,-1.19,-116.8,439.3,-8.3,255,4610,0.00,2.53,0.00,0.000,6,0.000,0.044,2867,2096,3104,0,0,0,0,0,0
$STATE,4740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4740,begin apogee
$GC,4747,-0.31,0.0,450.4,8.2,259,4845,0.95,0.00,94.45,0.826,6,0.083,0.000,3065,1794,2635,0,0,0,0,0,0
$STATE,4846,end apogee,CONTROL_FINISHED_OK
$STATE,4846,begin climb
$GC,4849,1.19,116.8,452.8,0.0,261,4958,1.52,2.75,100.75,0.805,4,0.056,0.064,3396,403,2157,0,0,0,0,0,0
$GC,4971,1.19,116.8,442.2,12.4,264,4975,0.00,2.47,0.00,0.000,6,0.000,0.027,3395,1802,2153,0,0,0,0,0,0
$GC,5311,1.19,116.8,394.7,14.1,273,5315,0.00,2.67,0.00,0.000,4,0.000,0.061,3396,403,2146,0,0,0,0,0,0
$GC,5330,1.19,116.8,391.4,15.9,273,5334,0.00,2.47,0.00,0.000,6,0.000,0.028,3396,1805,2144,0,0,0,0,0,0
$GC,5675,1.19,116.8,340.2,14.3,282,5680,0.00,2.67,0.00,0.000,4,0.000,0.061,3396,396,2141,0,0,0,0,0,0
$GC,5722,1.19,116.8,333.7,12.5,283,5727,0.00,2.47,0.00,0.000,6,0.000,0.028,3396,1801,2139,0,0,0,0,0,0
$GC,6045,1.19,116.8,299.2,9.7,291,6046,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1803,2138,0,0,0,0,0,0
$GC,6355,1.19,116.8,270.7,10.3,306,6359,0.00,2.65,0.00,0.000,4,0.000,0.058,3396,399,2137,0,0,0,0,0,0
$GC,6406,1.19,116.8,263.9,13.9,308,6410,0.00,2.47,0.00,0.000,6,0.000,0.027,3396,1806,2135,0,0,0,0,0,0
$GC,6726,1.19,116.8,225.8,12.5,324,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1810,2135,0,0,0,0,0,0
$GC,7038,1.19,116.8,195.0,8.7,341,7043,0.00,2.50,0.00,0.000,4,0.000,0.039,3396,3206,2134,0,0,0,0,0,0
$GC,7083,1.19,116.8,191.0,8.7,345,7087,0.00,2.55,0.00,0.000,6,0.000,0.042,3396,1801,2134,0,0,0,0,0,0
$GC,7347,1.19,116.8,168.0,9.1,369,7352,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1802,2133,0,0,0,0,0,0
$GC,7608,1.19,116.8,143.5,9.6,394,7609,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1802,2133,0,0,0,0,0,0
$GC,7864,1.19,116.8,117.9,9.9,418,7868,0.00,2.60,0.00,0.000,4,0.000,0.052,3396,386,2133,0,0,0,0,0,0
$GC,7928,1.19,116.8,111.3,9.4,424,7935,0.00,2.47,0.00,0.000,6,0.000,0.021,3397,1808,2132,0,0,0,0,0,0
$GC,8192,1.24,154.1,93.1,6.3,449,8229,0.00,2.70,28.48,0.545,4,0.000,0.050,3396,397,2005,0,0,0,0,0,0
$GC,8271,1.24,154.1,87.0,8.9,457,8276,0.00,2.45,0.00,0.000,6,0.000,0.021,3396,1808,2002,0,0,0,0,0,0
$GC,8535,1.27,179.1,69.2,6.9,482,8565,0.00,2.53,22.45,0.512,4,0.000,0.030,3396,3201,1903,0,0,0,0,0,0
$GC,8605,1.30,201.4,64.4,7.0,489,8635,0.10,2.55,20.50,0.501,6,0.071,0.036,3435,1795,1812,0,0,0,0,0,0
$GC,8890,1.30,201.4,34.3,11.4,516,8894,0.00,2.58,0.00,0.000,4,0.000,0.049,3434,392,1808,0,0,0,0,0,0
$GC,8928,1.30,201.4,29.4,13.6,520,8935,0.00,2.45,0.00,0.000,6,0.000,0.020,3434,1800,1806,0,0,0,0,0,0
$GC,9132,1.30,201.4,6.9,9.9,557,9138,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1801,1806,0,0,0,0,0,0
$STATE,9165,end climb,SURFACE_DEPTH_REACHED
$STATE,9165,begin surface coast
$FINISH,0.9,1.010045
$STATE,9192,end surface coast,CONTROL_FINISHED_OK
$STATE,9192,begin surface
$SM_CCo,9216,64.65,0.462,0,0,1289,330.17
$SM_GC,1.57,0.00,0.00,64.65,0.000,0.000,0.462,430,2155,1289,-12.45,1.55,330.17
$IRIDIUM_FIX,2059.45,-15756.04,250700,101003
$TT8_MAMPS,0.029146
$HUMID,55.55
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.5,18.483
$10V_AH,10.5,17.858
$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,28.550,101.050,266.625,64.650,0.000,28.848,35.213,144.126,4.500,0.000,14.135,1046.417,6160.834,418.254,1559.955,425.593,33.363,1099.881,0.000,1541.799,0.000,29.255,0.000
$DEVICE_MAMPS,134.992,63.661,826.059,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,384.472,367.983,807.763,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,31720,568
$CAP_FILE_SIZE,93800,0
$CFSIZE,260165632,245284864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010511,160807,2106.497,-15753.530,29,1.6,29,9.8