version: 66.06
glider: 139
mission: 9
dive: 111
start: 4 17 111 14 10 29
data:
$ID,139
$MISSION,9
$DIVE,111
$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,-2176875.2
$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,86
$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
$GPS1,140407,2105.935,-15751.211,42,1.0,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-75.9
$GPS2,140937,2105.963,-15751.197,15,1.3,20,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.213,0.063
$KALMAN_X,-46418.2,214.5,-446.2,56074.7,-3121.3
$KALMAN_Y,-9840.8,-364.1,-177.8,12113.2,-691.4
$MHEAD_RNG_PITCHd_Wd,63.7,14308,-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,-116.8,0.0,0.0,0,92,0.00,0.00,-70.72,0.000,6,0.000,0.000,428,2167,3111,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.5,-5.5,14,114,13.18,0.00,0.00,0.000,6,0.136,0.000,2868,2167,3113,0,0,0,0,0,0
$GC,309,-1.19,-116.8,51.8,-20.9,43,313,0.00,2.15,0.00,0.000,4,0.000,0.028,2869,3454,3115,0,0,0,0,0,0
$GC,414,-1.19,-116.8,70.2,-15.3,54,418,0.00,2.30,0.00,0.000,6,0.000,0.028,2869,2082,3115,0,0,0,0,0,0
$GC,677,-1.19,-116.8,110.1,-14.1,78,681,0.00,2.30,0.00,0.000,4,0.000,0.028,2869,3455,3115,0,0,0,0,0,0
$GC,940,-1.19,-116.8,147.8,-13.3,106,946,0.00,2.28,0.00,0.000,6,0.000,0.027,2869,2099,3116,0,0,0,0,0,0
$GC,1204,-1.19,-116.8,177.6,-9.5,131,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2098,3117,0,0,0,0,0,0
$GC,1465,-1.19,-116.8,199.4,-8.2,156,1469,0.00,2.28,0.00,0.000,4,0.000,0.030,2869,3457,3117,0,0,0,0,0,0
$GC,1539,-1.19,-116.8,205.7,-8.3,160,1543,0.00,2.28,0.00,0.000,6,0.000,0.026,2868,2089,3118,0,0,0,0,0,0
$GC,1859,-1.19,-116.8,231.8,-9.5,176,1863,0.00,2.30,0.00,0.000,4,0.000,0.031,2868,3458,3118,0,0,0,0,0,0
$GC,1932,-1.19,-116.8,239.5,-9.6,179,1936,0.00,2.28,0.00,0.000,6,0.000,0.028,2869,2093,3118,0,0,0,0,0,0
$GC,2254,-1.19,-116.8,264.9,-6.9,195,2258,0.00,2.35,0.00,0.000,4,0.000,0.042,2868,694,3118,0,0,0,0,0,0
$GC,2269,-1.19,-116.8,266.1,-6.7,195,2274,0.00,2.20,0.00,0.000,6,0.000,0.022,2868,2060,3117,0,0,0,0,0,0
$GC,2586,-1.19,-116.8,290.2,-7.6,211,2590,0.00,2.42,0.00,0.000,4,0.000,0.035,2869,3498,3116,0,0,0,0,0,0
$GC,2687,-1.19,-116.8,298.8,-9.3,215,2691,0.00,2.35,0.00,0.000,6,0.000,0.031,2868,2100,3117,0,0,0,0,0,0
$GC,2998,-1.19,-116.8,324.1,-8.1,223,3002,0.00,2.40,0.00,0.000,4,0.000,0.045,2868,684,3115,0,0,0,0,0,0
$GC,3109,-1.19,-116.8,333.8,-8.4,225,3114,0.00,2.33,0.00,0.000,6,0.000,0.025,2869,2102,3115,0,0,0,0,0,0
$GC,3460,-1.19,-116.8,360.5,-7.5,234,3464,0.00,2.42,0.00,0.000,4,0.000,0.046,2868,685,3112,0,0,0,0,0,0
$GC,3534,-1.19,-116.8,367.0,-8.9,235,3538,0.00,2.33,0.00,0.000,6,0.000,0.027,2868,2101,3112,0,0,0,0,0,0
$GC,3876,-1.19,-116.8,390.9,-6.7,244,3880,0.00,2.38,0.00,0.000,4,0.000,0.040,2868,3496,3110,0,0,0,0,0,0
$GC,3932,-1.19,-116.8,394.8,-6.3,245,3936,0.00,2.38,0.00,0.000,6,0.000,0.034,2868,2097,3109,0,0,0,0,0,0
$GC,4246,-1.19,-116.8,413.1,-6.1,253,4250,0.00,2.42,0.00,0.000,4,0.000,0.050,2868,694,3107,0,0,0,0,0,0
$GC,4261,-1.19,-116.8,414.2,-6.5,253,4265,0.00,2.33,0.00,0.000,6,0.000,0.028,2868,2104,3107,0,0,0,0,0,0
$GC,4611,-1.19,-116.8,440.7,-8.2,262,4615,0.00,2.45,0.00,0.000,4,0.000,0.050,2868,694,3105,0,0,0,0,0,0
$GC,4639,-1.19,-116.8,443.1,-8.7,262,4643,0.00,2.35,0.00,0.000,6,0.000,0.028,2868,2101,3104,0,0,0,0,0,0
$STATE,4769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4769,begin apogee
$GC,4776,-0.31,0.0,452.1,6.8,266,4875,0.95,0.00,95.30,0.826,6,0.084,0.000,3064,1806,2635,0,0,0,0,0,0
$STATE,4876,end apogee,CONTROL_FINISHED_OK
$STATE,4876,begin climb
$GC,4878,1.19,116.8,453.7,0.0,268,4987,1.50,0.00,101.82,0.807,6,0.058,0.000,3394,1806,2158,0,0,0,0,0,0
$GC,5286,1.19,116.8,405.0,13.0,278,5291,0.00,2.55,0.00,0.000,4,0.000,0.060,3394,387,2146,0,0,0,0,0,0
$GC,5342,1.19,116.8,397.1,13.9,279,5347,0.00,2.40,0.00,0.000,6,0.000,0.028,3394,1816,2143,0,0,0,0,0,0
$GC,5656,1.19,116.8,359.9,11.6,287,5660,0.00,2.38,0.00,0.000,4,0.000,0.036,3394,3207,2141,0,0,0,0,0,0
$GC,5689,1.19,116.8,356.0,11.1,287,5693,0.00,2.47,0.00,0.000,6,0.000,0.042,3394,1796,2141,0,0,0,0,0,0
$GC,6020,1.19,116.8,315.5,13.3,295,6024,0.00,2.53,0.00,0.000,4,0.000,0.058,3394,377,2139,0,0,0,0,0,0
$GC,6044,1.19,116.8,312.4,12.5,295,6048,0.00,2.38,0.00,0.000,6,0.000,0.028,3394,1793,2137,0,0,0,0,0,0
$GC,6367,1.19,116.8,275.6,11.0,308,6371,0.00,2.47,0.00,0.000,4,0.000,0.056,3394,385,2137,0,0,0,0,0,0
$GC,6399,1.19,116.8,271.9,11.6,309,6403,0.00,2.38,0.00,0.000,6,0.000,0.028,3394,1810,2135,0,0,0,0,0,0
$GC,6715,1.19,116.8,237.7,11.2,324,6719,0.00,2.35,0.00,0.000,4,0.000,0.033,3394,3207,2135,0,0,0,0,0,0
$GC,6742,1.19,116.8,234.4,11.3,325,6747,0.00,2.45,0.00,0.000,6,0.000,0.038,3394,1790,2135,0,0,0,0,0,0
$GC,7064,1.19,116.8,199.3,10.6,341,7069,0.00,2.47,0.00,0.000,4,0.000,0.054,3394,380,2134,0,0,0,0,0,0
$GC,7083,1.19,116.8,197.0,11.0,342,7090,0.00,2.38,0.00,0.000,6,0.000,0.025,3394,1807,2132,0,0,0,0,0,0
$GC,7347,1.19,116.8,170.3,10.1,367,7351,0.00,2.30,0.00,0.000,4,0.000,0.030,3394,3203,2133,0,0,0,0,0,0
$GC,7402,1.19,116.8,164.3,10.2,372,7409,0.00,2.42,0.00,0.000,6,0.000,0.036,3394,1805,2132,0,0,0,0,0,0
$GC,7664,1.19,116.8,139.4,8.5,397,7668,0.00,2.35,0.00,0.000,4,0.000,0.029,3394,3211,2132,0,0,0,0,0,0
$GC,7692,1.21,125.5,136.9,7.6,399,7701,0.00,2.40,4.03,0.393,6,0.000,0.033,3394,1797,2123,0,0,0,0,0,0
$GC,7964,1.21,125.5,114.7,8.3,425,7968,0.00,2.33,0.00,0.000,4,0.000,0.027,3394,3210,2122,0,0,0,0,0,0
$GC,7997,1.21,125.5,111.8,8.4,428,8001,0.00,2.40,0.00,0.000,6,0.000,0.032,3394,1788,2122,0,0,0,0,0,0
$GC,8260,1.23,147.6,94.2,7.0,452,8289,0.00,2.47,20.85,0.535,4,0.000,0.048,3394,393,2031,0,0,0,0,0,0
$GC,8300,1.23,147.6,90.9,8.0,456,8304,0.00,2.30,0.00,0.000,6,0.000,0.020,3394,1822,2030,0,0,0,0,0,0
$GC,8565,1.25,161.7,69.9,7.4,480,8581,0.00,0.00,13.50,0.490,6,0.000,0.000,3394,1827,1974,0,0,0,0,0,0
$GC,8839,1.27,176.2,48.7,7.4,506,8860,0.00,2.55,13.68,0.471,4,0.000,0.047,3393,387,1915,0,0,0,0,0,0
$GC,8901,1.27,176.2,43.4,8.7,512,8908,0.00,2.30,0.00,0.000,6,0.000,0.018,3394,1780,1912,0,0,0,0,0,0
$GC,9165,1.29,191.3,24.6,7.3,543,9184,0.10,0.00,13.98,0.449,6,0.071,0.000,3434,1786,1854,0,0,0,0,0,0
$GC,9380,1.29,191.3,4.2,10.0,582,9387,0.00,2.42,0.00,0.000,4,0.000,0.043,3434,388,1851,0,0,0,0,0,0
$STATE,9392,end climb,SURFACE_DEPTH_REACHED
$STATE,9392,begin surface coast
$FINISH,0.6,1.011723
$STATE,9423,end surface coast,CONTROL_FINISHED_OK
$STATE,9423,begin surface
$SM_CCo,9450,71.20,0.459,0,0,1288,330.17
$SM_GC,1.20,0.00,0.00,71.20,0.000,0.000,0.459,431,2122,1288,-12.45,0.62,330.17
$IRIDIUM_FIX,2059.45,-15750.89,110700,111111
$TT8_MAMPS,0.029146
$HUMID,52.40
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.4,8.952
$10V_AH,10.5,8.552
$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,28.550,110.050,263.150,71.200,0.000,28.979,34.804,144.981,4.500,0.000,20.097,1098.893,6214.013,416.727,1686.657,437.383,33.345,1148.938,0.000,1665.486,0.000,29.246,0.000
$DEVICE_MAMPS,135.759,59.826,826.059,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,399.786,383.149,860.297,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31699,591
$CAP_FILE_SIZE,100078,0
$CFSIZE,260165632,251133952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170411,165019,2106.104,-15751.392,13,2.0,30,9.8