version: 66.06
glider: 139
mission: 9
dive: 180
start: 4 25 111 12 59 45
data:
$ID,139
$MISSION,9
$DIVE,180
$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,-2179276.8
$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,19
$R_STBD_OVSHOOT,76
$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
$GPS1,125319,2110.428,-15744.829,11,2.0,23,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-74.1
$GPS2,125853,2110.459,-15744.817,12,2.6,31,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.192,-0.111
$KALMAN_X,-103686.4,343.1,332.4,113062.3,-1910.4
$KALMAN_Y,-33944.6,-202.0,-38.4,33637.7,617.8
$MHEAD_RNG_PITCHd_Wd,110.3,9208,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-70.12,0.000,2,0.000,0.000,429,2132,3102,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.0,-3.6,13,110,13.10,2.60,0.00,0.000,4,0.134,0.038,2870,681,3104,0,0,0,0,0,0
$GC,256,-1.19,-116.8,40.5,-16.0,43,260,0.00,2.38,0.00,0.000,6,0.000,0.021,2870,2063,3105,0,0,0,0,0,0
$GC,518,-1.19,-116.8,82.0,-15.2,67,523,0.00,2.53,0.00,0.000,4,0.000,0.037,2870,3497,3107,0,0,0,0,0,0
$GC,637,-1.19,-116.8,97.5,-12.3,79,642,0.00,2.50,0.00,0.000,6,0.000,0.034,2870,2084,3107,0,0,0,0,0,0
$GC,900,-1.19,-116.8,129.1,-11.4,104,904,0.00,2.53,0.00,0.000,4,0.000,0.038,2870,3496,3109,0,0,0,0,0,0
$GC,979,-1.19,-116.8,138.6,-11.7,112,983,0.00,2.47,0.00,0.000,6,0.000,0.034,2870,2099,3109,0,0,0,0,0,0
$GC,1240,-1.19,-116.8,167.1,-7.9,136,1241,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2099,3109,0,0,0,0,0,0
$GC,1495,-1.19,-116.8,188.4,-9.9,160,1499,0.00,2.50,0.00,0.000,4,0.000,0.043,2870,691,3109,0,0,0,0,0,0
$GC,1513,-1.19,-116.8,190.5,-10.1,161,1519,0.00,2.42,0.00,0.000,6,0.000,0.024,2870,2099,3110,0,0,0,0,0,0
$GC,1782,-1.19,-116.8,215.3,-8.2,179,1783,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2100,3109,0,0,0,0,0,0
$GC,2089,-1.19,-116.8,244.4,-11.2,194,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2100,3109,0,0,0,0,0,0
$GC,2400,-1.19,-116.8,274.8,-8.6,209,2404,0.00,2.55,0.00,0.000,4,0.000,0.046,2870,3497,3109,0,0,0,0,0,0
$GC,2410,-1.19,-116.8,275.9,-8.9,209,2414,0.00,2.50,0.00,0.000,6,0.000,0.039,2870,2100,3109,0,0,0,0,0,0
$GC,2724,-1.19,-116.8,304.8,-9.7,223,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2099,3108,0,0,0,0,0,0
$GC,3051,-1.19,-116.8,327.3,-6.2,231,3056,0.00,2.55,0.00,0.000,4,0.000,0.051,2870,689,3107,0,0,0,0,0,0
$GC,3103,-1.19,-116.8,330.8,-6.6,232,3107,0.00,2.45,0.00,0.000,6,0.000,0.027,2870,2097,3106,0,0,0,0,0,0
$GC,3422,-1.19,-116.8,347.9,-5.8,240,3426,0.00,2.58,0.00,0.000,4,0.000,0.050,2870,687,3105,0,0,0,0,0,0
$GC,3437,-1.19,-116.8,349.0,-6.6,240,3441,0.00,2.47,0.00,0.000,6,0.000,0.029,2869,2100,3104,0,0,0,0,0,0
$GC,3787,-1.19,-116.8,375.4,-7.7,249,3791,0.00,2.58,0.00,0.000,4,0.000,0.052,2870,694,3102,0,0,0,0,0,0
$GC,3884,-1.19,-116.8,384.7,-9.4,251,3888,0.00,2.47,0.00,0.000,6,0.000,0.030,2870,2107,3102,0,0,0,0,0,0
$GC,4204,-1.19,-116.8,411.8,-8.2,259,4205,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2108,3100,0,0,0,0,0,0
$GC,4528,-1.19,-116.8,432.7,-6.2,267,4532,0.00,2.55,0.00,0.000,4,0.000,0.057,2870,3499,3097,0,0,0,0,0,0
$GC,4547,-1.19,-116.8,434.0,-6.5,267,4551,0.00,2.53,0.00,0.000,6,0.000,0.048,2870,2105,3097,0,0,0,0,0,0
$STATE,4808,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4808,begin apogee
$GC,4815,-0.31,0.0,450.6,6.1,274,4912,0.95,0.00,93.68,0.821,6,0.085,0.000,3066,1792,2634,0,0,0,0,0,0
$STATE,4913,end apogee,CONTROL_FINISHED_OK
$STATE,4913,begin climb
$GC,4916,1.19,116.8,451.7,0.0,276,5028,1.50,2.75,100.55,0.804,4,0.057,0.050,3396,3194,2157,0,0,0,0,0,0
$GC,5061,1.19,116.8,437.1,12.9,279,5066,0.00,2.67,0.00,0.000,6,0.000,0.057,3395,1805,2155,0,0,0,0,0,0
$GC,5411,1.19,116.8,395.1,11.6,288,5416,0.00,2.67,0.00,0.000,4,0.000,0.063,3395,390,2146,0,0,0,0,0,0
$GC,5440,1.19,116.8,391.1,13.8,288,5444,0.00,2.53,0.00,0.000,6,0.000,0.028,3395,1807,2143,0,0,0,0,0,0
$GC,5775,1.19,116.8,347.9,13.0,297,5780,0.00,2.72,0.00,0.000,4,0.000,0.061,3395,389,2141,0,0,0,0,0,0
$GC,5822,1.19,116.8,340.2,16.0,298,5827,0.00,2.50,0.00,0.000,6,0.000,0.028,3395,1806,2139,0,0,0,0,0,0
$GC,6145,1.19,116.8,299.2,11.9,306,6150,0.00,2.67,0.00,0.000,4,0.000,0.060,3395,393,2138,0,0,0,0,0,0
$GC,6196,1.19,116.8,293.2,12.2,308,6201,0.00,2.50,0.00,0.000,6,0.000,0.028,3395,1799,2137,0,0,0,0,0,0
$GC,6517,1.19,116.8,262.0,9.6,324,6518,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1804,2137,0,0,0,0,0,0
$GC,6827,1.19,116.8,231.2,9.9,339,6832,0.00,2.65,0.00,0.000,4,0.000,0.057,3395,392,2135,0,0,0,0,0,0
$GC,6861,1.19,116.8,226.9,12.6,340,6865,0.00,2.50,0.00,0.000,6,0.000,0.025,3395,1809,2133,0,0,0,0,0,0
$GC,7177,1.19,116.8,198.6,8.6,355,7182,0.00,2.67,0.00,0.000,4,0.000,0.054,3395,388,2133,0,0,0,0,0,0
$GC,7196,1.19,116.8,196.6,9.7,356,7203,0.00,2.50,0.00,0.000,6,0.000,0.024,3395,1801,2132,0,0,0,0,0,0
$GC,7459,1.19,116.8,170.9,11.1,381,7463,0.00,2.47,0.00,0.000,4,0.000,0.036,3395,3201,2133,0,0,0,0,0,0
$GC,7521,1.19,116.8,163.8,11.5,387,7526,0.00,2.55,0.00,0.000,6,0.000,0.040,3395,1801,2133,0,0,0,0,0,0
$GC,7786,1.19,116.8,137.5,10.3,411,7790,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1801,2132,0,0,0,0,0,0
$GC,8047,1.21,128.6,115.4,7.5,436,8057,0.00,0.00,6.88,0.475,6,0.000,0.000,3395,1801,2109,0,0,0,0,0,0
$GC,8313,1.21,128.6,93.7,9.2,461,8318,0.00,2.55,0.00,0.000,4,0.000,0.050,3395,390,2109,0,0,0,0,0,0
$GC,8367,1.21,128.6,88.4,9.9,466,8372,0.00,2.42,0.00,0.000,6,0.000,0.021,3395,1811,2107,0,0,0,0,0,0
$GC,8632,1.23,149.3,67.2,7.1,490,8658,0.00,0.00,19.45,0.505,6,0.000,0.000,3395,1816,2024,0,0,0,0,0,0
$GC,8916,1.27,179.8,50.2,6.6,517,8947,0.00,0.00,27.40,0.497,6,0.000,0.000,3395,1816,1900,0,0,0,0,0,0
$GC,9203,1.31,208.8,30.3,6.7,544,9237,0.12,2.70,25.25,0.474,4,0.061,0.047,3440,392,1782,0,0,0,0,0,0
$GC,9254,1.31,208.8,25.4,10.6,552,9260,0.00,2.47,0.00,0.000,6,0.000,0.019,3440,1803,1779,0,0,0,0,0,0
$GC,9457,1.31,208.8,4.7,10.4,589,9463,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1808,1778,0,0,0,0,0,0
$STATE,9468,end climb,SURFACE_DEPTH_REACHED
$STATE,9468,begin surface coast
$FINISH,0.8,1.000324
$STATE,9496,end surface coast,CONTROL_FINISHED_OK
$STATE,9496,begin surface
$SM_CCo,9520,60.75,0.456,0,0,1288,330.17
$SM_GC,1.65,0.00,0.00,60.75,0.000,0.000,0.456,431,2142,1288,-12.45,1.19,330.17
$IRIDIUM_FIX,2104.07,-15750.02,190700,101047
$TT8_MAMPS,0.029146
$HUMID,55.15
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.5,14.300
$10V_AH,10.6,13.858
$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,28.575,92.700,273.200,60.750,0.000,23.663,34.224,139.892,4.500,0.000,32.121,1078.094,6416.333,398.900,1608.699,414.610,33.353,1083.712,0.000,1576.192,0.000,29.243,0.000
$DEVICE_MAMPS,134.225,62.894,821.457,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,403.340,388.176,874.638,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,31719,596
$CAP_FILE_SIZE,93152,0
$CFSIZE,260165632,247787520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250411,154037,2109.974,-15744.312,32,1.0,32,9.8