version: 66.06
glider: 139
mission: 9
dive: 108
start: 4 17 111 5 52 45
data:
$ID,139
$MISSION,9
$DIVE,108
$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,-2176827.8
$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,19
$R_STBD_OVSHOOT,97
$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
$GPS1,054207,2106.229,-15751.697,28,1.5,28,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-74.7
$GPS2,055150,2106.287,-15751.556,16,1.5,16,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.212,0.063
$KALMAN_X,-40879.6,569.7,-3.9,49120.1,-2222.4
$KALMAN_Y,-7729.5,251.3,148.9,9653.4,-717.1
$MHEAD_RNG_PITCHd_Wd,63.7,14951,-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,-70.68,0.000,6,0.000,0.000,425,2129,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.4,-5.2,14,115,13.23,2.20,0.00,0.000,4,0.137,0.025,2870,3455,3114,0,0,0,0,0,0
$GC,367,-1.19,-116.8,53.5,-15.7,57,371,0.00,2.30,0.00,0.000,6,0.000,0.025,2870,2078,3116,0,0,0,0,0,0
$GC,629,-1.19,-116.8,89.3,-11.3,81,634,0.00,2.33,0.00,0.000,4,0.000,0.038,2870,687,3116,0,0,0,0,0,0
$GC,854,-1.19,-116.8,122.5,-14.3,105,858,0.00,2.20,0.00,0.000,6,0.000,0.020,2871,2051,3116,0,0,0,0,0,0
$GC,1121,-1.19,-116.8,154.9,-11.5,130,1125,0.00,2.28,0.00,0.000,4,0.000,0.038,2870,694,3117,0,0,0,0,0,0
$GC,1152,-1.19,-116.8,158.6,-12.3,133,1156,0.00,2.25,0.00,0.000,6,0.000,0.021,2871,2098,3117,0,0,0,0,0,0
$GC,1415,-1.19,-116.8,183.4,-8.8,157,1420,0.00,2.30,0.00,0.000,4,0.000,0.031,2871,3493,3117,0,0,0,0,0,0
$GC,1547,-1.19,-116.8,196.5,-10.1,170,1553,0.00,2.35,0.00,0.000,6,0.000,0.027,2871,2095,3118,0,0,0,0,0,0
$GC,1813,-1.19,-116.8,221.3,-8.9,185,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2095,3118,0,0,0,0,0,0
$GC,2123,-1.19,-116.8,245.2,-8.1,200,2127,0.00,2.35,0.00,0.000,4,0.000,0.041,2870,691,3118,0,0,0,0,0,0
$GC,2229,-1.19,-116.8,255.8,-10.4,204,2235,0.00,2.33,0.00,0.000,6,0.000,0.023,2870,2096,3117,0,0,0,0,0,0
$GC,2547,-1.19,-116.8,281.3,-7.5,220,2551,0.00,2.38,0.00,0.000,4,0.000,0.035,2870,3496,3116,0,0,0,0,0,0
$GC,2557,-1.19,-116.8,282.4,-7.4,220,2562,0.00,2.35,0.00,0.000,6,0.000,0.030,2871,2095,3116,0,0,0,0,0,0
$GC,2872,-1.19,-116.8,306.8,-8.2,233,2876,0.00,2.38,0.00,0.000,4,0.000,0.035,2871,3506,3115,0,0,0,0,0,0
$GC,2886,-1.19,-116.8,308.2,-8.6,233,2890,0.00,2.35,0.00,0.000,6,0.000,0.031,2871,2097,3115,0,0,0,0,0,0
$GC,3236,-1.19,-116.8,337.4,-7.7,242,3237,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2097,3114,0,0,0,0,0,0
$GC,3563,-1.19,-116.8,361.3,-7.1,250,3564,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2096,3111,0,0,0,0,0,0
$GC,3885,-1.19,-116.8,384.3,-7.3,258,3887,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2096,3109,0,0,0,0,0,0
$GC,4211,-1.19,-116.8,408.6,-7.2,266,4215,0.00,2.40,0.00,0.000,4,0.000,0.049,2870,694,3106,0,0,0,0,0,0
$GC,4248,-1.19,-116.8,411.7,-8.1,266,4254,0.00,2.33,0.00,0.000,6,0.000,0.027,2870,2096,3106,0,0,0,0,0,0
$GC,4579,-1.19,-116.8,436.1,-7.6,275,4581,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2097,3104,0,0,0,0,0,0
$STATE,4780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4780,begin apogee
$GC,4787,-0.31,0.0,451.8,7.7,280,4886,0.95,0.00,95.15,0.822,6,0.084,0.000,3066,1810,2634,0,0,0,0,0,0
$STATE,4886,end apogee,CONTROL_FINISHED_OK
$STATE,4886,begin climb
$GC,4889,1.19,116.8,454.5,0.0,282,5001,1.50,2.62,100.97,0.804,4,0.057,0.060,3394,400,2156,0,0,0,0,0,0
$GC,5025,1.19,116.8,443.8,12.9,285,5029,0.00,2.38,0.00,0.000,6,0.000,0.027,3395,1799,2151,0,0,0,0,0,0
$GC,5343,1.19,116.8,404.9,12.3,293,5347,0.00,2.55,0.00,0.000,4,0.000,0.058,3394,385,2145,0,0,0,0,0,0
$GC,5395,1.19,116.8,397.3,15.2,294,5399,0.00,2.38,0.00,0.000,6,0.000,0.028,3395,1816,2142,0,0,0,0,0,0
$GC,5713,1.19,116.8,355.8,12.6,302,5717,0.00,2.55,0.00,0.000,4,0.000,0.058,3394,393,2140,0,0,0,0,0,0
$GC,5750,1.19,116.8,350.1,15.7,302,5756,0.00,2.35,0.00,0.000,6,0.000,0.028,3395,1790,2139,0,0,0,0,0,0
$GC,6082,1.19,116.8,307.1,12.7,311,6083,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1795,2138,0,0,0,0,0,0
$GC,6389,1.19,116.8,273.0,10.4,324,6391,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1795,2136,0,0,0,0,0,0
$GC,6700,1.19,116.8,242.2,10.0,339,6704,0.00,2.45,0.00,0.000,4,0.000,0.055,3394,392,2135,0,0,0,0,0,0
$GC,6792,1.19,116.8,230.7,12.3,343,6797,0.00,2.35,0.00,0.000,6,0.000,0.026,3394,1822,2133,0,0,0,0,0,0
$GC,7118,1.19,116.8,200.0,9.1,359,7123,0.00,2.50,0.00,0.000,4,0.000,0.052,3394,385,2133,0,0,0,0,0,0
$GC,7157,1.19,116.8,195.8,10.9,362,7164,0.00,2.35,0.00,0.000,6,0.000,0.025,3395,1798,2132,0,0,0,0,0,0
$GC,7421,1.19,116.8,171.8,8.4,387,7425,0.00,2.33,0.00,0.000,4,0.000,0.030,3395,3208,2132,0,0,0,0,0,0
$GC,7541,1.19,116.8,160.8,8.9,399,7547,0.00,2.40,0.00,0.000,6,0.000,0.034,3395,1803,2132,0,0,0,0,0,0
$GC,7804,1.19,116.8,137.4,8.3,424,7805,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1802,2132,0,0,0,0,0,0
$GC,8058,1.21,127.8,117.2,7.5,448,8069,0.00,2.35,6.10,0.456,4,0.000,0.026,3394,3212,2112,0,0,0,0,0,0
$GC,8104,1.22,141.4,113.9,7.4,452,8122,0.00,2.42,13.60,0.533,6,0.000,0.033,3395,1805,2057,0,0,0,0,0,0
$GC,8379,1.22,141.4,91.1,8.7,478,8383,0.00,2.45,0.00,0.000,4,0.000,0.048,3394,378,2055,0,0,0,0,0,0
$GC,8468,1.22,141.4,82.9,9.7,487,8472,0.00,2.33,0.00,0.000,6,0.000,0.020,3395,1817,2051,0,0,0,0,0,0
$GC,8733,1.27,180.4,63.7,6.2,511,8773,0.00,2.53,34.28,0.514,4,0.000,0.044,3395,382,1897,0,0,0,0,0,0
$GC,8820,1.27,180.4,56.5,9.5,520,8825,0.00,2.30,0.00,0.000,6,0.000,0.019,3395,1790,1893,0,0,0,0,0,0
$GC,9085,1.28,189.8,37.2,7.6,544,9099,0.00,2.50,8.52,0.427,4,0.000,0.047,3395,384,1860,0,0,0,0,0,0
$GC,9151,1.28,189.8,31.2,8.9,551,9155,0.00,2.30,0.00,0.000,6,0.000,0.019,3395,1822,1857,0,0,0,0,0,0
$GC,9420,1.28,189.8,10.9,8.1,599,9427,0.00,2.53,0.00,0.000,4,0.000,0.046,3395,379,1858,0,0,0,0,0,0
$GC,9443,1.28,189.8,9.1,8.3,603,9450,0.00,2.30,0.00,0.000,6,0.000,0.018,3395,1783,1856,0,0,0,0,0,0
$STATE,9520,end climb,SURFACE_DEPTH_REACHED
$STATE,9520,begin surface coast
$FINISH,0.6,1.010812
$STATE,9567,end surface coast,CONTROL_FINISHED_OK
$STATE,9567,begin surface
$SM_CCo,9591,72.78,0.459,0,0,1288,330.17
$SM_GC,1.30,0.00,0.00,72.78,0.000,0.000,0.459,427,2149,1288,-12.47,1.39,330.17
$IRIDIUM_FIX,2059.45,-15753.90,110700,050544
$TT8_MAMPS,0.028379
$HUMID,52.36
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,22.00
$XPDR_PINGS,1
$24V_AH,23.4,8.715
$10V_AH,10.5,8.324
$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,28.375,91.225,258.625,72.775,0.000,54.497,69.771,271.794,4.750,0.000,17.070,1134.835,6353.376,391.695,1733.149,638.548,33.346,1119.977,0.000,1717.576,0.000,29.245,0.000
$DEVICE_MAMPS,136.526,59.826,822.224,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,423.209,406.225,937.799,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,34911,625
$CAP_FILE_SIZE,100567,0
$CFSIZE,260165632,251277312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170411,083507,2106.307,-15750.785,39,0.9,39,9.8