version: 66.06
glider: 139
mission: 9
dive: 179
start: 4 25 111 10 13 31
data:
$ID,139
$MISSION,9
$DIVE,179
$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,-2179244
$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,81
$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
$GPS1,100707,2111.199,-15745.355,43,1.1,43,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-74.0
$GPS2,101238,2111.224,-15745.378,10,1.9,10,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.162,-0.151
$KALMAN_X,-102487.2,749.9,-443.6,111264.0,-1351.4
$KALMAN_Y,-34264.2,-122.8,-69.7,35325.4,604.0
$MHEAD_RNG_PITCHd_Wd,123.3,10884,-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,-70.35,0.000,6,0.000,0.000,426,2137,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.9,-5.7,14,114,13.20,2.62,0.00,0.000,4,0.137,0.037,2870,672,3113,0,0,0,0,0,0
$GC,204,-1.19,-116.8,29.0,-18.2,37,210,0.00,2.40,0.00,0.000,6,0.000,0.021,2870,2049,3115,0,0,0,0,0,0
$GC,402,-1.19,-116.8,62.2,-16.8,56,406,0.00,2.50,0.00,0.000,4,0.000,0.036,2870,3462,3116,0,0,0,0,0,0
$GC,464,-1.19,-116.8,72.1,-15.6,62,468,0.00,2.42,0.00,0.000,6,0.000,0.033,2870,2090,3116,0,0,0,0,0,0
$GC,727,-1.19,-116.8,108.9,-12.4,86,731,0.00,2.42,0.00,0.000,4,0.000,0.036,2871,3460,3116,0,0,0,0,0,0
$GC,817,-1.19,-116.8,120.6,-11.8,95,822,0.00,2.42,0.00,0.000,6,0.000,0.034,2870,2090,3116,0,0,0,0,0,0
$GC,1082,-1.19,-116.8,152.5,-11.5,119,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2090,3117,0,0,0,0,0,0
$GC,1343,-1.19,-116.8,179.0,-10.4,144,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2090,3118,0,0,0,0,0,0
$GC,1597,-1.19,-116.8,206.5,-9.9,165,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2090,3118,0,0,0,0,0,0
$GC,1905,-1.19,-116.8,235.7,-9.2,180,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2090,3118,0,0,0,0,0,0
$GC,2216,-1.19,-116.8,262.0,-8.3,195,2220,0.00,2.53,0.00,0.000,4,0.000,0.047,2870,691,3118,0,0,0,0,0,0
$GC,2331,-1.19,-116.8,273.6,-10.2,200,2335,0.00,2.35,0.00,0.000,6,0.000,0.025,2870,2052,3118,0,0,0,0,0,0
$GC,2676,-1.19,-116.8,304.4,-8.6,216,2680,0.00,2.45,0.00,0.000,4,0.000,0.049,2870,693,3117,0,0,0,0,0,0
$GC,2704,-1.19,-116.8,306.9,-9.1,216,2708,0.00,2.42,0.00,0.000,6,0.000,0.027,2870,2105,3117,0,0,0,0,0,0
$GC,3042,-1.19,-116.8,330.6,-6.0,225,3046,0.00,2.55,0.00,0.000,4,0.000,0.048,2870,3504,3115,0,0,0,0,0,0
$GC,3094,-1.19,-116.8,333.8,-6.7,226,3098,0.00,2.53,0.00,0.000,6,0.000,0.043,2870,2106,3115,0,0,0,0,0,0
$GC,3413,-1.19,-116.8,354.8,-7.1,234,3417,0.00,2.55,0.00,0.000,4,0.000,0.052,2870,3499,3114,0,0,0,0,0,0
$GC,3469,-1.19,-116.8,359.2,-7.9,235,3473,0.00,2.55,0.00,0.000,6,0.000,0.046,2870,2100,3113,0,0,0,0,0,0
$GC,3784,-1.19,-116.8,381.6,-7.2,243,3788,0.00,2.58,0.00,0.000,4,0.000,0.054,2870,3505,3111,0,0,0,0,0,0
$GC,3840,-1.19,-116.8,386.5,-8.5,244,3844,0.00,2.58,0.00,0.000,6,0.000,0.047,2870,2092,3111,0,0,0,0,0,0
$GC,4154,-1.19,-116.8,413.5,-9.1,252,4155,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2092,3108,0,0,0,0,0,0
$GC,4479,-1.19,-116.8,442.1,-9.0,260,4484,0.00,2.62,0.00,0.000,4,0.000,0.057,2870,3504,3106,0,0,0,0,0,0
$GC,4523,-1.19,-116.8,446.0,-8.7,261,4527,0.00,2.55,0.00,0.000,6,0.000,0.049,2870,2101,3106,0,0,0,0,0,0
$STATE,4604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4604,begin apogee
$GC,4611,-0.31,0.0,453.3,8.4,263,4710,0.95,0.00,95.38,0.823,6,0.085,0.000,3066,1791,2635,0,0,0,0,0,0
$STATE,4711,end apogee,CONTROL_FINISHED_OK
$STATE,4711,begin climb
$GC,4713,1.19,116.8,456.0,0.0,265,4826,1.50,2.70,100.78,0.807,4,0.058,0.064,3394,401,2157,0,0,0,0,0,0
$GC,4836,1.19,116.8,447.6,11.5,267,4841,0.00,2.53,0.00,0.000,6,0.000,0.028,3394,1802,2154,0,0,0,0,0,0
$GC,5167,1.19,116.8,411.0,10.9,276,5168,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1803,2146,0,0,0,0,0,0
$GC,5492,1.19,116.8,373.6,11.8,284,5497,0.00,2.70,0.00,0.000,4,0.000,0.061,3394,396,2142,0,0,0,0,0,0
$GC,5525,1.19,116.8,369.5,11.7,284,5530,0.00,2.53,0.00,0.000,6,0.000,0.028,3395,1807,2140,0,0,0,0,0,0
$GC,5856,1.19,116.8,333.6,11.3,292,5857,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1809,2139,0,0,0,0,0,0
$GC,6182,1.19,116.8,303.4,9.1,300,6186,0.00,2.70,0.00,0.000,4,0.000,0.060,3394,391,2138,0,0,0,0,0,0
$GC,6214,1.19,116.8,299.8,11.1,300,6219,0.00,2.50,0.00,0.000,6,0.000,0.028,3394,1800,2136,0,0,0,0,0,0
$GC,6531,1.19,116.8,266.6,10.9,315,6536,0.00,2.65,0.00,0.000,4,0.000,0.059,3394,392,2135,0,0,0,0,0,0
$GC,6606,1.19,116.8,258.3,10.6,318,6610,0.00,2.50,0.00,0.000,6,0.000,0.027,3394,1806,2133,0,0,0,0,0,0
$GC,6926,1.19,116.8,228.2,10.3,334,6930,0.00,2.50,0.00,0.000,4,0.000,0.043,3395,3200,2133,0,0,0,0,0,0
$GC,6977,1.19,116.8,222.4,12.0,336,6981,0.00,2.58,0.00,0.000,6,0.000,0.045,3394,1803,2133,0,0,0,0,0,0
$GC,7300,1.19,116.8,190.7,9.6,356,7304,0.00,2.58,0.00,0.000,4,0.000,0.054,3394,393,2132,0,0,0,0,0,0
$GC,7371,1.19,116.8,183.9,9.9,363,7375,0.00,2.47,0.00,0.000,6,0.000,0.024,3395,1809,2131,0,0,0,0,0,0
$GC,7636,1.19,116.8,160.1,9.8,387,7641,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1814,2131,0,0,0,0,0,0
$GC,7897,1.19,116.8,132.9,10.7,412,7901,0.00,2.45,0.00,0.000,4,0.000,0.035,3395,3195,2131,0,0,0,0,0,0
$GC,7943,1.19,116.8,128.3,9.2,416,7950,0.00,2.55,0.00,0.000,6,0.000,0.039,3394,1801,2132,0,0,0,0,0,0
$GC,8208,1.19,116.8,104.3,9.2,441,8212,0.00,2.55,0.00,0.000,4,0.000,0.050,3394,389,2132,0,0,0,0,0,0
$GC,8264,1.19,116.8,97.9,10.0,446,8271,0.00,2.45,0.00,0.000,6,0.000,0.021,3394,1800,2131,0,0,0,0,0,0
$GC,8529,1.23,145.7,77.5,6.7,471,8559,0.00,2.70,21.35,0.520,4,0.000,0.049,3394,386,2039,0,0,0,0,0,0
$GC,8618,1.23,145.7,69.9,9.3,480,8624,0.00,2.45,0.00,0.000,6,0.000,0.021,3395,1792,2036,0,0,0,0,0,0
$GC,8882,1.24,151.3,49.3,7.8,505,8893,0.00,2.45,5.88,0.401,4,0.000,0.029,3395,3195,2017,0,0,0,0,0,0
$GC,8950,1.26,167.2,44.0,7.3,512,8971,0.00,2.50,15.60,0.476,6,0.000,0.035,3395,1796,1953,0,0,0,0,0,0
$GC,9228,1.31,208.3,24.1,6.1,545,9275,0.12,2.67,35.88,0.479,4,0.061,0.048,3439,389,1783,0,0,0,0,0,0
$GC,9372,1.31,208.3,8.3,11.8,575,9379,0.00,2.47,0.00,0.000,6,0.000,0.019,3439,1804,1778,0,0,0,0,0,0
$STATE,9417,end climb,SURFACE_DEPTH_REACHED
$STATE,9417,begin surface coast
$FINISH,0.8,0.999020
$STATE,9440,end surface coast,CONTROL_FINISHED_OK
$STATE,9440,begin surface
$SM_CCo,9464,61.95,0.460,0,0,1289,330.17
$SM_GC,1.47,0.00,0.00,61.95,0.000,0.000,0.460,430,2134,1289,-12.46,0.96,330.17
$IRIDIUM_FIX,2101.76,-15745.74,190700,070704
$TT8_MAMPS,0.029146
$HUMID,54.88
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.5,14.225
$10V_AH,10.5,13.783
$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,28.650,102.250,274.850,61.950,0.000,25.082,41.610,148.005,4.500,0.000,10.691,1067.215,6326.464,399.722,1614.141,452.062,33.351,1115.583,0.000,1607.480,0.000,29.245,0.000
$DEVICE_MAMPS,136.526,64.428,822.991,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,396.704,381.013,859.196,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31762,587
$CAP_FILE_SIZE,95776,0
$CFSIZE,260165632,247832576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250411,125319,2110.428,-15744.829,11,2.0,23,9.8