version: 66.06
glider: 139
mission: 9
dive: 113
start: 4 17 111 19 48 19
data:
$ID,139
$MISSION,9
$DIVE,113
$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,-2176944.5
$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,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
$GPS1,194146,2106.110,-15750.603,14,2.9,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-75.4
$GPS2,194728,2106.083,-15750.540,14,2.9,33,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.205,0.085
$KALMAN_X,-50663.0,-181.3,589.1,60810.7,-2541.6
$KALMAN_Y,-11461.2,-199.2,217.2,13394.8,-949.1
$MHEAD_RNG_PITCHd_Wd,57.5,13179,-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,-116.8,0.0,0.0,0,93,0.00,0.00,-70.62,0.000,6,0.000,0.000,428,2163,3111,0,0,0,0,0,0
$GC,97,-1.19,-116.8,3.5,-5.4,14,116,13.15,2.15,0.00,0.000,4,0.135,0.025,2869,3459,3114,0,0,0,0,0,0
$GC,178,-1.19,-116.8,24.5,-19.1,31,185,0.00,2.33,0.00,0.000,6,0.000,0.029,2869,2094,3115,0,0,0,0,0,0
$GC,379,-1.19,-116.8,60.5,-16.0,52,380,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2094,3115,0,0,0,0,0,0
$GC,633,-1.19,-116.8,102.4,-15.5,76,637,0.00,2.38,0.00,0.000,4,0.000,0.039,2869,681,3116,0,0,0,0,0,0
$GC,704,-1.19,-116.8,112.5,-14.3,83,708,0.00,2.25,0.00,0.000,6,0.000,0.020,2869,2069,3115,0,0,0,0,0,0
$GC,968,-1.19,-116.8,151.4,-14.7,107,972,0.00,2.38,0.00,0.000,4,0.000,0.029,2869,3498,3116,0,0,0,0,0,0
$GC,983,-1.19,-116.8,154.0,-14.0,108,988,0.00,2.35,0.00,0.000,6,0.000,0.027,2869,2089,3117,0,0,0,0,0,0
$GC,1244,-1.19,-116.8,184.8,-10.4,132,1249,0.00,2.35,0.00,0.000,4,0.000,0.031,2869,3492,3117,0,0,0,0,0,0
$GC,1417,-1.19,-116.8,200.7,-10.0,150,1424,0.00,2.35,0.00,0.000,6,0.000,0.028,2869,2096,3117,0,0,0,0,0,0
$GC,1733,-1.19,-116.8,230.4,-9.0,166,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2095,3118,0,0,0,0,0,0
$GC,2044,-1.19,-116.8,255.4,-7.8,181,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2096,3117,0,0,0,0,0,0
$GC,2354,-1.19,-116.8,281.0,-8.9,196,2358,0.00,2.35,0.00,0.000,4,0.000,0.042,2869,695,3117,0,0,0,0,0,0
$GC,2381,-1.19,-116.8,283.7,-9.1,197,2386,0.00,2.28,0.00,0.000,6,0.000,0.023,2869,2105,3117,0,0,0,0,0,0
$GC,2722,-1.19,-116.8,311.9,-8.5,211,2726,0.00,2.33,0.00,0.000,4,0.000,0.035,2869,3497,3116,0,0,0,0,0,0
$GC,2741,-1.19,-116.8,313.6,-8.0,211,2745,0.00,2.35,0.00,0.000,6,0.000,0.031,2869,2092,3116,0,0,0,0,0,0
$GC,3088,-1.19,-116.8,341.8,-8.1,220,3092,0.00,2.38,0.00,0.000,4,0.000,0.045,2868,691,3115,0,0,0,0,0,0
$GC,3167,-1.19,-116.8,350.1,-10.1,221,3171,0.00,2.30,0.00,0.000,6,0.000,0.025,2869,2099,3115,0,0,0,0,0,0
$GC,3505,-1.19,-116.8,380.6,-8.8,230,3506,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2103,3112,0,0,0,0,0,0
$GC,3828,-1.19,-116.8,406.5,-7.2,238,3832,0.00,2.42,0.00,0.000,4,0.000,0.048,2869,690,3110,0,0,0,0,0,0
$GC,3856,-1.19,-116.8,408.6,-7.1,238,3860,0.00,2.35,0.00,0.000,6,0.000,0.027,2869,2108,3110,0,0,0,0,0,0
$GC,4192,-1.19,-116.8,428.3,-5.4,247,4196,0.00,2.38,0.00,0.000,4,0.000,0.041,2869,3498,3108,0,0,0,0,0,0
$GC,4253,-1.19,-116.8,431.6,-5.8,248,4257,0.00,2.38,0.00,0.000,6,0.000,0.035,2869,2103,3107,0,0,0,0,0,0
$GC,4567,-1.19,-116.8,447.4,-5.2,256,4571,0.00,2.42,0.00,0.000,4,0.000,0.051,2869,693,3105,0,0,0,0,0,0
$STATE,4611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4611,begin apogee
$GC,4620,-0.31,0.0,450.2,5.5,257,4718,0.93,0.00,94.80,0.823,6,0.086,0.000,3062,1812,2635,0,0,0,0,0,0
$STATE,4719,end apogee,CONTROL_FINISHED_OK
$STATE,4719,begin climb
$GC,4722,1.19,116.8,450.6,0.0,259,4828,1.55,0.00,101.85,0.802,6,0.056,0.000,3399,1812,2158,0,0,0,0,0,0
$GC,5143,1.19,116.8,395.0,13.8,270,5147,0.00,2.55,0.00,0.000,4,0.000,0.060,3399,401,2146,0,0,0,0,0,0
$GC,5227,1.19,116.8,382.3,15.1,271,5232,0.00,2.35,0.00,0.000,6,0.000,0.028,3399,1789,2142,0,0,0,0,0,0
$GC,5558,1.19,116.8,339.1,12.9,280,5562,0.00,2.47,0.00,0.000,4,0.000,0.058,3399,397,2140,0,0,0,0,0,0
$GC,5577,1.19,116.8,336.6,12.5,280,5581,0.00,2.35,0.00,0.000,6,0.000,0.028,3399,1825,2139,0,0,0,0,0,0
$GC,5922,1.19,116.8,298.0,10.1,289,5926,0.00,2.55,0.00,0.000,4,0.000,0.057,3399,392,2138,0,0,0,0,0,0
$GC,5950,1.19,116.8,294.9,10.9,290,5954,0.00,2.33,0.00,0.000,6,0.000,0.027,3399,1793,2136,0,0,0,0,0,0
$GC,6270,1.19,116.8,264.5,9.8,306,6274,0.00,2.45,0.00,0.000,4,0.000,0.055,3399,400,2136,0,0,0,0,0,0
$GC,6359,1.19,116.8,253.9,11.5,310,6363,0.00,2.33,0.00,0.000,6,0.000,0.026,3399,1807,2134,0,0,0,0,0,0
$GC,6688,1.19,116.8,216.8,10.4,326,6693,0.00,2.47,0.00,0.000,4,0.000,0.053,3399,399,2133,0,0,0,0,0,0
$GC,6795,1.19,116.8,204.8,11.2,330,6802,0.00,2.33,0.00,0.000,6,0.000,0.025,3399,1794,2132,0,0,0,0,0,0
$GC,7120,1.19,116.8,174.6,10.2,358,7121,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1800,2132,0,0,0,0,0,0
$GC,7372,1.19,116.8,148.2,11.2,382,7376,0.00,2.33,0.00,0.000,4,0.000,0.029,3399,3210,2132,0,0,0,0,0,0
$GC,7458,1.19,116.8,138.8,10.2,391,7464,0.00,2.40,0.00,0.000,6,0.000,0.032,3399,1798,2132,0,0,0,0,0,0
$GC,7721,1.23,144.8,118.2,6.7,416,7750,0.00,2.50,20.52,0.558,4,0.000,0.049,3399,395,2043,0,0,0,0,0,0
$GC,7790,1.23,144.8,112.5,9.4,423,7794,0.00,2.30,0.00,0.000,6,0.000,0.021,3399,1811,2040,0,0,0,0,0,0
$GC,8054,1.23,144.8,89.3,9.1,447,8058,0.00,2.28,0.00,0.000,4,0.000,0.026,3399,3203,2039,0,0,0,0,0,0
$GC,8069,1.23,144.8,87.8,8.4,448,8074,0.00,2.40,0.00,0.000,6,0.000,0.030,3399,1790,2040,0,0,0,0,0,0
$GC,8334,1.25,162.8,69.3,7.2,472,8356,0.00,2.50,16.58,0.501,4,0.000,0.047,3398,388,1970,0,0,0,0,0,0
$GC,8414,1.25,162.8,62.3,9.2,480,8420,0.00,2.33,0.00,0.000,6,0.000,0.019,3399,1810,1966,0,0,0,0,0,0
$GC,8679,1.27,182.0,42.7,7.1,505,8702,0.00,2.53,17.42,0.479,4,0.000,0.046,3399,393,1892,0,0,0,0,0,0
$GC,8745,1.27,182.0,36.9,9.6,512,8749,0.00,2.30,0.00,0.000,6,0.000,0.018,3399,1817,1889,0,0,0,0,0,0
$GC,9012,1.30,205.3,17.0,7.0,552,9041,0.00,2.55,20.90,0.460,4,0.000,0.047,3399,388,1797,0,0,0,0,0,0
$GC,9143,1.30,205.3,5.7,9.7,580,9150,0.00,2.30,0.00,0.000,6,0.000,0.018,3399,1784,1793,0,0,0,0,0,0
$STATE,9172,end climb,SURFACE_DEPTH_REACHED
$STATE,9172,begin surface coast
$FINISH,0.7,0.998106
$STATE,9205,end surface coast,CONTROL_FINISHED_OK
$STATE,9205,begin surface
$SM_CCo,9229,65.15,0.459,0,0,1288,330.17
$SM_GC,1.41,0.00,0.00,65.15,0.000,0.000,0.459,430,2146,1288,-12.46,1.30,330.17
$IRIDIUM_FIX,2059.45,-15750.89,110700,171754
$TT8_MAMPS,0.027612
$HUMID,53.07
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.4,9.104
$10V_AH,10.6,8.707
$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,28.375,99.700,272.075,65.150,0.000,30.727,33.902,141.297,4.500,0.000,34.546,1078.443,6078.804,418.083,1635.160,426.912,33.347,1106.779,0.000,1604.250,0.000,29.254,0.000
$DEVICE_MAMPS,134.992,59.826,822.991,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,399.414,386.265,882.779,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31772,591
$CAP_FILE_SIZE,94374,0
$CFSIZE,260165632,251039744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170411,222436,2106.200,-15750.001,38,0.9,43,9.8