version: 66.06
glider: 139
mission: 9
dive: 110
start: 4 17 111 11 25 55
data:
$ID,139
$MISSION,9
$DIVE,110
$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,-2176854.5
$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,52
$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
$GPS1,111936,2106.136,-15750.634,12,1.6,28,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-75.7
$GPS2,112502,2106.150,-15750.609,11,1.5,11,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.209,0.074
$KALMAN_X,-44249.5,457.0,479.8,53748.4,-3891.3
$KALMAN_Y,-8839.2,-191.1,-164.3,11272.0,-753.2
$MHEAD_RNG_PITCHd_Wd,60.8,13304,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,92,0.00,0.00,-71.18,0.000,6,0.000,0.000,428,2104,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.3,-4.5,14,115,13.23,2.42,0.00,0.000,4,0.137,0.035,2871,673,3114,0,0,0,0,0,0
$GC,135,-1.19,-116.8,17.0,-34.3,21,142,0.00,2.35,0.00,0.000,6,0.000,0.020,2871,2095,3115,0,0,0,0,0,0
$GC,342,-1.19,-116.8,60.5,-19.5,45,346,0.00,2.30,0.00,0.000,4,0.000,0.027,2871,3495,3116,0,0,0,0,0,0
$GC,403,-1.19,-116.8,71.4,-17.1,51,407,0.00,2.38,0.00,0.000,6,0.000,0.029,2871,2087,3116,0,0,0,0,0,0
$GC,667,-1.19,-116.8,112.1,-14.3,75,671,0.00,2.38,0.00,0.000,4,0.000,0.030,2871,3498,3116,0,0,0,0,0,0
$GC,929,-1.19,-116.8,144.4,-11.9,103,934,0.00,2.30,0.00,0.000,6,0.000,0.026,2871,2096,3118,0,0,0,0,0,0
$GC,1192,-1.19,-116.8,172.7,-10.5,128,1196,0.00,2.35,0.00,0.000,4,0.000,0.031,2871,3494,3118,0,0,0,0,0,0
$GC,1329,-1.19,-116.8,186.0,-10.0,142,1336,0.00,2.35,0.00,0.000,6,0.000,0.027,2871,2097,3118,0,0,0,0,0,0
$GC,1597,-1.19,-116.8,213.8,-10.3,162,1601,0.00,2.33,0.00,0.000,4,0.000,0.031,2871,3495,3119,0,0,0,0,0,0
$GC,1643,-1.19,-116.8,218.8,-10.2,164,1647,0.00,2.33,0.00,0.000,6,0.000,0.028,2871,2095,3119,0,0,0,0,0,0
$GC,1968,-1.19,-116.8,245.6,-8.7,180,1972,0.00,2.33,0.00,0.000,4,0.000,0.031,2871,3492,3119,0,0,0,0,0,0
$GC,1982,-1.19,-116.8,246.9,-8.2,180,1989,0.00,2.35,0.00,0.000,6,0.000,0.028,2871,2100,3119,0,0,0,0,0,0
$GC,2298,-1.19,-116.8,275.0,-8.8,196,2302,0.00,2.35,0.00,0.000,4,0.000,0.034,2871,3500,3118,0,0,0,0,0,0
$GC,2449,-1.19,-116.8,290.0,-11.1,202,2455,0.00,2.38,0.00,0.000,6,0.000,0.030,2871,2100,3118,0,0,0,0,0,0
$GC,2782,-1.19,-116.8,312.6,-5.5,214,2783,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2100,3116,0,0,0,0,0,0
$GC,3107,-1.19,-116.8,332.0,-6.5,222,3111,0.00,2.40,0.00,0.000,4,0.000,0.046,2871,693,3116,0,0,0,0,0,0
$GC,3195,-1.19,-116.8,339.3,-9.0,223,3201,0.00,2.33,0.00,0.000,6,0.000,0.025,2871,2101,3116,0,0,0,0,0,0
$GC,3526,-1.19,-116.8,367.7,-8.8,232,3527,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2105,3114,0,0,0,0,0,0
$GC,3851,-1.19,-116.8,395.9,-8.9,240,3855,0.00,2.35,0.00,0.000,4,0.000,0.040,2871,3496,3111,0,0,0,0,0,0
$GC,3944,-1.19,-116.8,404.1,-8.4,242,3948,0.00,2.38,0.00,0.000,6,0.000,0.035,2871,2099,3110,0,0,0,0,0,0
$GC,4267,-1.19,-116.8,427.7,-7.0,250,4268,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2098,3109,0,0,0,0,0,0
$GC,4592,-1.19,-116.8,448.7,-6.2,258,4597,0.00,2.45,0.00,0.000,4,0.000,0.051,2871,688,3107,0,0,0,0,0,0
$GC,4611,-1.19,-116.8,450.0,-6.3,258,4615,0.00,2.08,0.00,0.000,3,0.000,0.028,2871,1951,3107,0,0,0,0,0,0
$STATE,4616,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4616,begin apogee
$GC,4623,-0.31,0.0,450.3,6.9,258,4722,0.93,0.00,95.22,0.824,6,0.084,0.000,3064,1799,2635,0,0,0,0,0,0
$STATE,4723,end apogee,CONTROL_FINISHED_OK
$STATE,4723,begin climb
$GC,4726,1.19,116.8,451.4,0.0,261,4834,1.50,0.00,101.10,0.802,6,0.058,0.000,3393,1799,2157,0,0,0,0,0,0
$GC,5133,1.19,116.8,405.6,12.0,271,5138,0.00,2.53,0.00,0.000,4,0.000,0.061,3393,389,2146,0,0,0,0,0,0
$GC,5185,1.19,116.8,398.7,13.4,272,5189,0.00,2.38,0.00,0.000,6,0.000,0.028,3393,1795,2143,0,0,0,0,0,0
$GC,5503,1.19,116.8,363.3,11.4,280,5507,0.00,2.42,0.00,0.000,4,0.000,0.037,3393,3211,2141,0,0,0,0,0,0
$GC,5522,1.19,116.8,361.0,11.6,280,5526,0.00,2.47,0.00,0.000,6,0.000,0.041,3393,1800,2141,0,0,0,0,0,0
$GC,5867,1.19,116.8,323.5,10.7,289,5871,0.00,2.53,0.00,0.000,4,0.000,0.058,3393,382,2139,0,0,0,0,0,0
$GC,5965,1.19,116.8,311.4,12.5,291,5969,0.00,2.38,0.00,0.000,6,0.000,0.028,3393,1803,2136,0,0,0,0,0,0
$GC,6286,1.19,116.8,279.3,10.4,304,6290,0.00,2.38,0.00,0.000,4,0.000,0.035,3393,3206,2136,0,0,0,0,0,0
$GC,6332,1.19,116.8,274.1,10.8,306,6337,0.00,2.42,0.00,0.000,6,0.000,0.040,3393,1799,2136,0,0,0,0,0,0
$GC,6657,1.19,116.8,239.2,9.9,322,6661,0.00,2.47,0.00,0.000,4,0.000,0.055,3392,378,2134,0,0,0,0,0,0
$GC,6695,1.19,116.8,234.9,12.3,323,6700,0.00,2.38,0.00,0.000,6,0.000,0.026,3393,1818,2133,0,0,0,0,0,0
$GC,7012,1.19,116.8,200.6,10.3,339,7013,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1823,2133,0,0,0,0,0,0
$GC,7328,1.19,116.8,170.1,9.1,368,7333,0.00,2.50,0.00,0.000,4,0.000,0.052,3393,380,2132,0,0,0,0,0,0
$GC,7374,1.19,116.8,164.8,11.6,372,7381,0.00,2.33,0.00,0.000,6,0.000,0.023,3393,1780,2131,0,0,0,0,0,0
$GC,7638,1.19,116.8,139.9,8.6,397,7642,0.00,2.38,0.00,0.000,4,0.000,0.028,3393,3211,2132,0,0,0,0,0,0
$GC,7693,1.22,134.0,135.5,7.2,402,7711,0.00,2.42,11.45,0.546,6,0.000,0.033,3393,1800,2088,0,0,0,0,0,0
$GC,7974,1.23,148.1,115.1,7.4,429,7993,0.00,0.00,13.77,0.537,6,0.000,0.000,3393,1800,2030,0,0,0,0,0,0
$GC,8252,1.23,148.1,89.8,9.9,455,8256,0.00,2.35,0.00,0.000,4,0.000,0.025,3393,3212,2028,0,0,0,0,0,0
$GC,8307,1.23,148.1,84.1,9.3,460,8313,0.00,2.42,0.00,0.000,6,0.000,0.031,3393,1800,2028,0,0,0,0,0,0
$GC,8569,1.23,148.1,64.4,8.1,485,8574,0.00,2.45,0.00,0.000,4,0.000,0.048,3393,381,2028,0,0,0,0,0,0
$GC,8642,1.23,148.1,58.1,8.2,492,8648,0.00,2.35,0.00,0.000,6,0.000,0.020,3393,1826,2025,0,0,0,0,0,0
$GC,8906,1.31,208.9,41.5,5.2,517,8964,0.12,0.00,52.90,0.497,6,0.061,0.000,3438,1832,1781,0,0,0,0,0,0
$GC,9221,1.31,208.9,11.4,9.7,564,9228,0.00,2.53,0.00,0.000,4,0.000,0.046,3437,388,1778,0,0,0,0,0,0
$GC,9290,1.31,208.9,3.6,12.5,579,9296,0.00,2.30,0.00,0.000,6,0.000,0.018,3438,1790,1774,0,0,0,0,0,0
$STATE,9301,end climb,SURFACE_DEPTH_REACHED
$STATE,9301,begin surface coast
$FINISH,0.5,1.010187
$STATE,9325,end surface coast,CONTROL_FINISHED_OK
$STATE,9325,begin surface
$SM_CCo,9348,62.33,0.459,0,0,1289,330.17
$SM_GC,1.37,0.00,0.00,62.33,0.000,0.000,0.459,428,2167,1289,-12.46,1.87,330.17
$IRIDIUM_FIX,2059.45,-15750.89,110700,080824
$TT8_MAMPS,0.028379
$HUMID,52.87
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.4,8.876
$10V_AH,10.5,8.475
$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,28.675,95.975,274.450,62.325,0.000,28.657,34.069,148.054,4.500,0.000,11.800,1075.104,6157.696,414.627,1659.652,433.152,33.349,1137.438,0.000,1648.366,0.000,29.241,0.000
$DEVICE_MAMPS,137.293,60.593,823.758,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,395.168,379.242,842.790,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,31765,585
$CAP_FILE_SIZE,95243,0
$CFSIZE,260165632,251187200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170411,140407,2105.935,-15751.211,42,1.0,42,9.8