version: 66.06
glider: 139
mission: 9
dive: 107
start: 4 17 111 2 57 44
data:
$ID,139
$MISSION,9
$DIVE,107
$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,-2176810
$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,43
$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
$GPS1,025134,2106.021,-15752.016,13,5.0,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-75.1
$GPS2,025651,2106.079,-15752.005,13,1.3,13,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.215,0.052
$KALMAN_X,-38401.1,325.2,-607.7,46714.0,-1965.4
$KALMAN_Y,-7553.0,366.1,45.2,9080.7,-600.1
$MHEAD_RNG_PITCHd_Wd,66.6,15708,-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,-116.8,0.0,0.0,0,93,0.00,0.00,-71.47,0.000,6,0.000,0.000,426,2107,3111,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.1,-4.1,14,115,13.20,2.33,0.00,0.000,4,0.136,0.026,2870,3503,3113,0,0,0,0,0,0
$GC,367,-1.19,-116.8,55.4,-17.7,57,371,0.00,2.38,0.00,0.000,6,0.000,0.028,2870,2088,3115,0,0,0,0,0,0
$GC,632,-1.19,-116.8,100.6,-16.2,81,636,0.00,2.35,0.00,0.000,4,0.000,0.028,2870,3497,3116,0,0,0,0,0,0
$GC,895,-1.19,-116.8,132.5,-10.4,109,901,0.00,2.33,0.00,0.000,6,0.000,0.027,2870,2097,3116,0,0,0,0,0,0
$GC,1159,-1.19,-116.8,162.9,-14.6,134,1164,0.00,2.35,0.00,0.000,4,0.000,0.028,2870,3502,3117,0,0,0,0,0,0
$GC,1347,-1.19,-116.8,182.3,-8.0,154,1351,0.00,2.33,0.00,0.000,6,0.000,0.026,2870,2100,3117,0,0,0,0,0,0
$GC,1607,-1.19,-116.8,207.0,-9.9,175,1611,0.00,2.33,0.00,0.000,4,0.000,0.030,2870,3499,3118,0,0,0,0,0,0
$GC,1651,-1.19,-116.8,211.7,-10.8,177,1655,0.00,2.35,0.00,0.000,6,0.000,0.028,2870,2092,3118,0,0,0,0,0,0
$GC,1982,-1.19,-116.8,240.7,-8.8,193,1986,0.00,2.35,0.00,0.000,4,0.000,0.041,2870,691,3118,0,0,0,0,0,0
$GC,2048,-1.19,-116.8,247.0,-9.4,196,2052,0.00,2.28,0.00,0.000,6,0.000,0.021,2870,2103,3119,0,0,0,0,0,0
$GC,2377,-1.19,-116.8,271.7,-7.8,212,2382,0.00,2.35,0.00,0.000,4,0.000,0.035,2870,3503,3118,0,0,0,0,0,0
$GC,2422,-1.19,-116.8,275.1,-7.9,214,2426,0.00,2.33,0.00,0.000,6,0.000,0.030,2870,2101,3118,0,0,0,0,0,0
$GC,2751,-1.19,-116.8,297.8,-6.9,230,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2101,3117,0,0,0,0,0,0
$GC,3078,-1.19,-116.8,322.1,-7.9,239,3079,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2100,3115,0,0,0,0,0,0
$GC,3402,-1.19,-116.8,348.3,-8.1,247,3406,0.00,2.40,0.00,0.000,4,0.000,0.038,2870,3494,3113,0,0,0,0,0,0
$GC,3570,-1.19,-116.8,362.1,-7.6,250,3575,0.00,2.33,0.00,0.000,6,0.000,0.033,2870,2104,3112,0,0,0,0,0,0
$GC,3907,-1.19,-116.8,384.7,-7.1,259,3911,0.00,2.40,0.00,0.000,4,0.000,0.048,2870,694,3110,0,0,0,0,0,0
$GC,3925,-1.19,-116.8,386.4,-8.7,259,3929,0.00,2.30,0.00,0.000,6,0.000,0.027,2870,2094,3110,0,0,0,0,0,0
$GC,4275,-1.19,-116.8,409.7,-6.3,268,4276,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2095,3108,0,0,0,0,0,0
$GC,4600,-1.19,-116.8,430.8,-6.7,276,4604,0.00,2.40,0.00,0.000,4,0.000,0.041,2870,3505,3106,0,0,0,0,0,0
$GC,4638,-1.19,-116.8,433.5,-7.3,276,4642,0.00,2.35,0.00,0.000,6,0.000,0.035,2870,2102,3106,0,0,0,0,0,0
$STATE,4966,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4966,begin apogee
$GC,4973,-0.31,0.0,451.9,5.4,284,5071,0.95,0.00,94.85,0.828,6,0.084,0.000,3065,1798,2635,0,0,0,0,0,0
$STATE,5072,end apogee,CONTROL_FINISHED_OK
$STATE,5072,begin climb
$GC,5075,1.19,116.8,453.1,0.0,286,5187,1.50,2.55,100.75,0.807,4,0.060,0.059,3392,392,2156,0,0,0,0,0,0
$GC,5225,1.19,116.8,437.3,15.2,289,5229,0.00,2.40,0.00,0.000,6,0.000,0.028,3393,1806,2150,0,0,0,0,0,0
$GC,5570,1.19,116.8,395.8,11.4,298,5574,0.00,2.40,0.00,0.000,4,0.000,0.035,3393,3208,2144,0,0,0,0,0,0
$GC,5589,1.19,116.8,393.7,10.2,298,5593,0.00,2.47,0.00,0.000,6,0.000,0.041,3393,1797,2144,0,0,0,0,0,0
$GC,5934,1.19,116.8,357.6,10.3,307,5938,0.00,2.53,0.00,0.000,4,0.000,0.059,3393,382,2141,0,0,0,0,0,0
$GC,5980,1.19,116.8,352.0,12.3,308,5985,0.00,2.40,0.00,0.000,6,0.000,0.028,3393,1814,2138,0,0,0,0,0,0
$GC,6303,1.19,116.8,318.6,10.6,316,6307,0.00,2.35,0.00,0.000,4,0.000,0.035,3393,3201,2138,0,0,0,0,0,0
$GC,6355,1.19,116.8,313.0,11.2,317,6359,0.00,2.45,0.00,0.000,6,0.000,0.040,3393,1800,2138,0,0,0,0,0,0
$GC,6681,1.19,116.8,276.8,11.5,329,6685,0.00,2.50,0.00,0.000,4,0.000,0.055,3393,382,2136,0,0,0,0,0,0
$GC,6737,1.19,116.8,269.5,13.1,331,6741,0.00,2.35,0.00,0.000,6,0.000,0.026,3393,1794,2134,0,0,0,0,0,0
$GC,7052,1.19,116.8,232.9,11.3,346,7056,0.00,2.35,0.00,0.000,4,0.000,0.033,3393,3207,2134,0,0,0,0,0,0
$GC,7108,1.19,116.8,227.2,10.3,348,7112,0.00,2.45,0.00,0.000,6,0.000,0.038,3393,1790,2134,0,0,0,0,0,0
$GC,7425,1.19,116.8,200.4,8.3,363,7429,0.00,2.42,0.00,0.000,4,0.000,0.054,3393,387,2133,0,0,0,0,0,0
$GC,7498,1.19,116.8,192.3,11.6,370,7505,0.00,2.38,0.00,0.000,6,0.000,0.025,3393,1814,2132,0,0,0,0,0,0
$GC,7762,1.19,116.8,165.8,9.9,395,7766,0.00,2.33,0.00,0.000,4,0.000,0.031,3393,3212,2131,0,0,0,0,0,0
$GC,7871,1.19,116.8,155.4,8.4,406,7878,0.00,2.45,0.00,0.000,6,0.000,0.035,3393,1795,2132,0,0,0,0,0,0
$GC,8133,1.19,116.8,133.9,9.4,431,8137,0.00,2.42,0.00,0.000,4,0.000,0.049,3393,379,2131,0,0,0,0,0,0
$GC,8177,1.19,116.8,129.0,11.5,435,8181,0.00,2.30,0.00,0.000,6,0.000,0.022,3393,1803,2131,0,0,0,0,0,0
$GC,8441,1.19,116.8,105.1,8.0,459,8445,0.00,2.45,0.00,0.000,4,0.000,0.047,3393,385,2131,0,0,0,0,0,0
$GC,8467,1.19,116.8,102.6,9.0,461,8471,0.00,2.28,0.00,0.000,6,0.000,0.021,3393,1804,2131,0,0,0,0,0,0
$GC,8732,1.27,180.7,86.4,5.1,485,8790,0.00,2.55,50.88,0.545,4,0.000,0.047,3393,391,1897,0,0,0,0,0,0
$GC,8821,1.27,180.7,79.9,8.7,494,8828,0.00,2.33,0.00,0.000,6,0.000,0.019,3393,1816,1893,0,0,0,0,0,0
$GC,9083,1.27,180.7,57.8,9.2,519,9088,0.00,2.47,0.00,0.000,4,0.000,0.046,3393,384,1892,0,0,0,0,0,0
$GC,9127,1.27,180.7,53.1,11.1,523,9131,0.00,2.25,0.00,0.000,6,0.000,0.019,3393,1773,1890,0,0,0,0,0,0
$GC,9391,1.28,188.8,31.0,7.6,547,9406,0.10,2.42,7.28,0.409,4,0.071,0.024,3433,3211,1865,0,0,0,0,0,0
$GC,9418,1.28,188.8,28.6,8.4,550,9424,0.00,2.42,0.00,0.000,6,0.000,0.030,3432,1798,1865,0,0,0,0,0,0
$GC,9620,1.28,188.8,8.3,10.2,587,9626,0.00,2.45,0.00,0.000,4,0.000,0.047,3432,391,1865,0,0,0,0,0,0
$GC,9651,1.28,188.8,4.8,11.4,593,9657,0.00,2.33,0.00,0.000,6,0.000,0.018,3433,1836,1862,0,0,0,0,0,0
$STATE,9668,end climb,SURFACE_DEPTH_REACHED
$STATE,9668,begin surface coast
$FINISH,0.5,1.010152
$STATE,9697,end surface coast,CONTROL_FINISHED_OK
$STATE,9697,begin surface
$SM_CCo,9721,74.30,0.460,0,0,1288,330.17
$SM_GC,1.33,0.00,0.00,74.30,0.000,0.000,0.460,426,2129,1288,-12.47,0.82,330.17
$IRIDIUM_FIX,2057.14,-15753.90,110700,000044
$TT8_MAMPS,0.029146
$HUMID,53.74
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.4,8.630
$10V_AH,10.5,8.242
$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,28.650,110.525,253.750,74.300,0.000,29.721,31.897,140.576,4.500,0.000,13.184,1134.097,6397.030,400.631,1759.665,423.786,33.349,1165.787,0.000,1736.245,0.000,29.245,0.000
$DEVICE_MAMPS,135.759,59.059,827.593,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.156,385.088,860.277,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31752,601
$CAP_FILE_SIZE,101817,0
$CFSIZE,260165632,251330560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170411,054207,2106.229,-15751.697,28,1.5,28,9.8