version: 66.06
glider: 139
mission: 9
dive: 136
start: 4 20 111 11 34 31
data:
$ID,139
$MISSION,9
$DIVE,136
$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,-2177439.8
$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,16
$R_STBD_OVSHOOT,78
$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
$GPS1,112813,2107.687,-15747.891,10,1.5,10,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-74.7
$GPS2,113338,2107.631,-15747.853,12,1.5,12,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.220,-0.025
$KALMAN_X,-20864.8,458.0,1246.5,23958.1,-4328.6
$KALMAN_Y,-7186.7,76.1,48.1,1277.2,-1913.7
$MHEAD_RNG_PITCHd_Wd,86.6,9167,-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,-70.60,0.000,6,0.000,0.000,430,2149,3111,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.7,-5.9,14,114,13.15,2.47,0.00,0.000,4,0.137,0.031,2867,673,3113,0,0,0,0,0,0
$GC,147,-1.19,-116.8,18.8,-22.8,24,154,0.00,2.30,0.00,0.000,6,0.000,0.021,2868,2068,3114,0,0,0,0,0,0
$GC,347,-1.19,-116.8,55.1,-17.7,48,351,0.00,2.38,0.00,0.000,4,0.000,0.028,2868,3503,3115,0,0,0,0,0,0
$GC,445,-1.19,-116.8,69.7,-15.3,58,449,0.00,2.35,0.00,0.000,6,0.000,0.028,2868,2086,3116,0,0,0,0,0,0
$GC,707,-1.19,-116.8,109.6,-13.6,82,712,0.00,2.33,0.00,0.000,4,0.000,0.028,2868,3494,3116,0,0,0,0,0,0
$GC,750,-1.19,-116.8,115.8,-14.3,86,754,0.00,2.30,0.00,0.000,6,0.000,0.028,2868,2100,3116,0,0,0,0,0,0
$GC,1013,-1.19,-116.8,154.8,-13.5,110,1017,0.00,2.40,0.00,0.000,4,0.000,0.041,2868,693,3117,0,0,0,0,0,0
$GC,1037,-1.19,-116.8,158.3,-13.4,112,1041,0.00,2.28,0.00,0.000,6,0.000,0.021,2868,2105,3117,0,0,0,0,0,0
$GC,1300,-1.19,-116.8,189.2,-9.8,136,1304,0.00,2.38,0.00,0.000,4,0.000,0.039,2867,692,3117,0,0,0,0,0,0
$GC,1317,-1.19,-116.8,190.5,-8.1,137,1321,0.00,2.28,0.00,0.000,6,0.000,0.021,2868,2101,3117,0,0,0,0,0,0
$GC,1574,-1.19,-116.8,215.0,-10.1,154,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2105,3117,0,0,0,0,0,0
$GC,1886,-1.19,-116.8,246.2,-8.6,169,1890,0.00,2.35,0.00,0.000,4,0.000,0.034,2867,3504,3118,0,0,0,0,0,0
$GC,2053,-1.19,-116.8,259.6,-7.2,176,2060,0.00,2.33,0.00,0.000,6,0.000,0.029,2868,2099,3118,0,0,0,0,0,0
$GC,2380,-1.19,-116.8,283.2,-8.7,192,2385,0.00,2.38,0.00,0.000,4,0.000,0.044,2868,694,3117,0,0,0,0,0,0
$GC,2395,-1.19,-116.8,284.6,-9.2,192,2401,0.00,2.33,0.00,0.000,6,0.000,0.024,2868,2094,3118,0,0,0,0,0,0
$GC,2708,-1.19,-116.8,319.8,-12.0,204,2712,0.00,2.40,0.00,0.000,4,0.000,0.044,2867,694,3116,0,0,0,0,0,0
$GC,2750,-1.19,-116.8,325.1,-11.8,204,2756,0.00,2.30,0.00,0.000,6,0.000,0.025,2868,2106,3116,0,0,0,0,0,0
$GC,3081,-1.19,-116.8,358.3,-9.2,213,3082,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2110,3115,0,0,0,0,0,0
$GC,3407,-1.19,-116.8,379.8,-6.2,221,3411,0.00,2.35,0.00,0.000,4,0.000,0.040,2868,3505,3114,0,0,0,0,0,0
$GC,3542,-1.19,-116.8,387.4,-5.6,223,3547,0.00,2.35,0.00,0.000,6,0.000,0.035,2868,2103,3113,0,0,0,0,0,0
$GC,3875,-1.19,-116.8,409.8,-7.2,232,3879,0.00,2.42,0.00,0.000,4,0.000,0.050,2868,688,3110,0,0,0,0,0,0
$GC,3935,-1.19,-116.8,415.2,-8.6,233,3939,0.00,2.33,0.00,0.000,6,0.000,0.028,2867,2097,3110,0,0,0,0,0,0
$GC,4286,-1.19,-116.8,444.3,-8.1,242,4290,0.00,2.40,0.00,0.000,4,0.000,0.043,2868,3498,3107,0,0,0,0,0,0
$STATE,4358,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4358,begin apogee
$GC,4367,-0.31,0.0,450.2,7.3,243,4467,0.93,0.00,95.57,0.816,6,0.085,0.000,3062,1813,2635,0,0,0,0,0,0
$STATE,4467,end apogee,CONTROL_FINISHED_OK
$STATE,4467,begin climb
$GC,4470,1.19,116.8,452.6,0.0,246,4582,1.52,2.60,100.80,0.800,4,0.058,0.061,3395,385,2156,0,0,0,0,0,0
$GC,4602,1.19,116.8,441.6,13.3,249,4606,0.00,2.40,0.00,0.000,6,0.000,0.028,3395,1799,2152,0,0,0,0,0,0
$GC,4925,1.19,116.8,402.6,13.0,257,4926,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1804,2146,0,0,0,0,0,0
$GC,5249,1.19,116.8,361.2,12.5,265,5254,0.00,2.53,0.00,0.000,4,0.000,0.058,3395,379,2142,0,0,0,0,0,0
$GC,5277,1.19,116.8,357.4,13.2,265,5281,0.00,2.38,0.00,0.000,6,0.000,0.029,3396,1800,2139,0,0,0,0,0,0
$GC,5617,1.19,116.8,317.8,11.7,274,5619,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1805,2139,0,0,0,0,0,0
$GC,5924,1.19,116.8,286.8,9.8,284,5928,0.00,2.53,0.00,0.000,4,0.000,0.056,3395,378,2137,0,0,0,0,0,0
$GC,5961,1.19,116.8,282.6,11.2,285,5967,0.00,2.35,0.00,0.000,6,0.000,0.028,3395,1810,2135,0,0,0,0,0,0
$GC,6278,1.19,116.8,246.3,12.4,301,6282,0.00,2.35,0.00,0.000,4,0.000,0.035,3396,3206,2135,0,0,0,0,0,0
$GC,6292,1.19,116.8,244.3,12.7,301,6298,0.00,2.42,0.00,0.000,6,0.000,0.038,3395,1798,2135,0,0,0,0,0,0
$GC,6609,1.19,116.8,208.7,11.1,317,6613,0.00,2.33,0.00,0.000,4,0.000,0.031,3396,3201,2133,0,0,0,0,0,0
$GC,6637,1.19,116.8,205.7,9.4,318,6641,0.00,2.42,0.00,0.000,6,0.000,0.038,3395,1798,2133,0,0,0,0,0,0
$GC,6966,1.20,122.9,180.6,7.7,346,6970,0.00,2.35,0.00,0.000,4,0.000,0.029,3396,3208,2133,0,0,0,0,0,0
$GC,7004,1.20,122.9,177.3,8.4,350,7008,0.00,2.42,0.00,0.000,6,0.000,0.035,3395,1793,2133,0,0,0,0,0,0
$GC,7267,1.20,122.9,152.4,9.4,374,7271,0.00,2.42,0.00,0.000,4,0.000,0.050,3395,382,2132,0,0,0,0,0,0
$GC,7314,1.20,122.9,147.7,9.7,379,7318,0.00,2.33,0.00,0.000,6,0.000,0.022,3395,1820,2131,0,0,0,0,0,0
$GC,7579,1.24,156.6,128.7,6.5,403,7615,0.00,2.55,30.98,0.571,4,0.000,0.048,3395,380,1995,0,0,0,0,0,0
$GC,7655,1.24,156.6,122.4,8.8,411,7659,0.00,2.30,0.00,0.000,6,0.000,0.021,3396,1785,1991,0,0,0,0,0,0
$GC,7919,1.29,195.4,105.0,6.2,435,7959,0.10,2.50,34.05,0.545,4,0.072,0.048,3433,385,1837,0,0,0,0,0,0
$GC,8002,1.29,195.4,96.0,12.5,444,8006,0.00,2.35,0.00,0.000,6,0.000,0.020,3433,1829,1833,0,0,0,0,0,0
$GC,8266,1.29,195.4,64.6,11.0,468,8272,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1835,1833,0,0,0,0,0,0
$GC,8528,1.29,195.4,34.6,11.9,493,8533,0.00,2.53,0.00,0.000,4,0.000,0.048,3433,376,1833,0,0,0,0,0,0
$GC,8617,1.29,195.4,23.2,12.9,509,8624,0.00,2.33,0.00,0.000,6,0.000,0.019,3433,1785,1830,0,0,0,0,0,0
$STATE,8808,end climb,SURFACE_DEPTH_REACHED
$STATE,8808,begin surface coast
$FINISH,0.8,1.008214
$STATE,8836,end surface coast,CONTROL_FINISHED_OK
$STATE,8837,begin surface
$SM_CCo,8861,67.93,0.458,0,0,1289,330.17
$SM_GC,1.61,0.00,0.00,67.93,0.000,0.000,0.458,431,2157,1289,-12.45,1.61,330.17
$IRIDIUM_FIX,2057.14,-15759.05,140700,080818
$TT8_MAMPS,0.029146
$HUMID,54.25
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.60
$XPDR_PINGS,1
$24V_AH,23.4,10.927
$10V_AH,10.6,10.480
$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,28.525,101.175,261.400,67.925,0.000,29.086,34.419,145.841,4.750,0.000,13.005,1011.283,5898.317,394.597,1524.858,427.947,33.355,1072.195,0.000,1511.205,0.000,29.264,0.000
$DEVICE_MAMPS,136.526,60.593,816.088,457.899,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,371.081,354.023,780.948,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31685,549
$CAP_FILE_SIZE,91736,0
$CFSIZE,260165632,249921536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200411,140437,2106.822,-15748.271,38,1.0,38,9.8