version: 66.06
glider: 139
mission: 9
dive: 182
start: 4 25 111 18 31 12
data:
$ID,139
$MISSION,9
$DIVE,182
$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,-2179308.5
$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,66
$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
$GPS1,182024,2109.869,-15744.038,29,1.0,47,9.8
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-75.0
$GPS2,183019,2109.950,-15744.002,11,1.0,16,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.202,-0.091
$KALMAN_X,-105679.8,-503.9,0.7,117641.4,-2085.0
$KALMAN_Y,-33842.8,-173.4,-129.8,32660.5,289.0
$MHEAD_RNG_PITCHd_Wd,104.6,7886,-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,16,-1.19,-116.8,0.0,0.0,0,88,0.00,0.00,-69.82,0.000,3,0.000,0.000,430,2118,3112,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.1,-3.8,13,110,13.15,2.58,0.00,0.000,4,0.136,0.038,2870,681,3114,0,0,0,0,0,0
$GC,218,-1.19,-116.8,32.7,-16.9,40,222,0.00,2.40,0.00,0.000,6,0.000,0.022,2870,2069,3116,0,0,0,0,0,0
$GC,480,-1.19,-116.8,72.8,-15.1,64,485,0.00,2.55,0.00,0.000,4,0.000,0.037,2870,3503,3117,0,0,0,0,0,0
$GC,636,-1.19,-116.8,96.1,-15.2,80,642,0.00,2.53,0.00,0.000,6,0.000,0.033,2870,2086,3117,0,0,0,0,0,0
$GC,900,-1.19,-116.8,131.1,-11.8,105,905,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2086,3118,0,0,0,0,0,0
$GC,1162,-1.19,-116.8,160.3,-10.4,130,1167,0.00,2.53,0.00,0.000,4,0.000,0.038,2870,3509,3118,0,0,0,0,0,0
$GC,1215,-1.19,-116.8,165.6,-10.3,135,1219,0.00,2.47,0.00,0.000,6,0.000,0.034,2870,2098,3118,0,0,0,0,0,0
$GC,1480,-1.19,-116.8,190.9,-9.2,159,1484,0.00,2.50,0.00,0.000,4,0.000,0.041,2870,3506,3119,0,0,0,0,0,0
$GC,1560,-1.19,-116.8,198.6,-9.7,167,1565,0.00,2.50,0.00,0.000,6,0.000,0.037,2870,2101,3119,0,0,0,0,0,0
$GC,1826,-1.19,-116.8,224.1,-9.4,180,1827,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2101,3118,0,0,0,0,0,0
$GC,2135,-1.19,-116.8,253.2,-9.9,195,2139,0.00,2.58,0.00,0.000,4,0.000,0.048,2870,689,3118,0,0,0,0,0,0
$GC,2218,-1.19,-116.8,262.7,-10.3,198,2225,0.00,2.45,0.00,0.000,6,0.000,0.026,2870,2090,3118,0,0,0,0,0,0
$GC,2534,-1.19,-116.8,289.5,-8.3,214,2538,0.00,2.50,0.00,0.000,4,0.000,0.047,2870,693,3117,0,0,0,0,0,0
$GC,2556,-1.19,-116.8,291.1,-7.6,215,2560,0.00,2.45,0.00,0.000,6,0.000,0.026,2870,2106,3117,0,0,0,0,0,0
$GC,2882,-1.19,-116.8,314.8,-6.8,226,2887,0.00,2.55,0.00,0.000,4,0.000,0.049,2870,694,3116,0,0,0,0,0,0
$GC,3018,-1.19,-116.8,325.2,-7.8,229,3022,0.00,2.42,0.00,0.000,6,0.000,0.027,2870,2100,3115,0,0,0,0,0,0
$GC,3346,-1.19,-116.8,346.4,-6.4,237,3350,0.00,2.60,0.00,0.000,4,0.000,0.051,2870,3503,3114,0,0,0,0,0,0
$GC,3380,-1.19,-116.8,349.0,-7.5,237,3385,0.00,2.55,0.00,0.000,6,0.000,0.047,2870,2106,3114,0,0,0,0,0,0
$GC,3714,-1.19,-116.8,370.3,-6.8,245,3718,0.00,2.58,0.00,0.000,4,0.000,0.052,2870,3502,3111,0,0,0,0,0,0
$GC,3761,-1.19,-116.8,373.9,-7.6,246,3765,0.00,2.53,0.00,0.000,6,0.000,0.046,2870,2098,3111,0,0,0,0,0,0
$GC,4084,-1.19,-116.8,394.6,-6.1,254,4089,0.00,2.58,0.00,0.000,4,0.000,0.056,2869,690,3108,0,0,0,0,0,0
$GC,4113,-1.19,-116.8,396.5,-7.3,254,4118,0.00,2.47,0.00,0.000,6,0.000,0.031,2870,2095,3108,0,0,0,0,0,0
$GC,4449,-1.19,-116.8,416.8,-6.1,263,4454,0.00,2.58,0.00,0.000,4,0.000,0.055,2870,691,3106,0,0,0,0,0,0
$GC,4464,-1.19,-116.8,417.9,-6.3,263,4469,0.00,2.47,0.00,0.000,6,0.000,0.032,2870,2101,3106,0,0,0,0,0,0
$GC,4815,-1.19,-116.8,440.8,-6.4,272,4820,0.00,2.60,0.00,0.000,4,0.000,0.056,2870,686,3103,0,0,0,0,0,0
$GC,4943,-1.19,-116.8,449.7,-7.1,274,4947,0.00,2.10,0.00,0.000,3,0.000,0.030,2870,1876,3102,0,0,0,0,0,0
$STATE,4948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4948,begin apogee
$GC,4955,-0.31,0.0,450.2,7.0,274,5053,0.93,0.00,94.70,0.823,6,0.084,0.000,3063,1790,2635,0,0,0,0,0,0
$STATE,5054,end apogee,CONTROL_FINISHED_OK
$STATE,5054,begin climb
$GC,5057,1.19,116.8,451.5,0.0,277,5168,1.52,2.70,101.97,0.803,4,0.057,0.063,3395,406,2156,0,0,0,0,0,0
$GC,5178,1.19,116.8,440.4,12.3,280,5183,0.00,2.53,0.00,0.000,6,0.000,0.027,3395,1809,2153,0,0,0,0,0,0
$GC,5528,1.19,116.8,396.2,12.6,289,5533,0.00,2.70,0.00,0.000,4,0.000,0.063,3395,407,2144,0,0,0,0,0,0
$GC,5604,1.19,116.8,385.2,14.4,290,5608,0.00,2.47,0.00,0.000,6,0.000,0.028,3395,1800,2141,0,0,0,0,0,0
$GC,5940,1.19,116.8,343.3,12.7,299,5941,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1804,2139,0,0,0,0,0,0
$GC,6265,1.19,116.8,304.7,11.1,307,6266,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1804,2138,0,0,0,0,0,0
$GC,6573,1.19,116.8,271.5,10.4,320,6577,0.00,2.65,0.00,0.000,4,0.000,0.059,3395,402,2136,0,0,0,0,0,0
$GC,6610,1.19,116.8,267.2,11.0,321,6615,0.00,2.47,0.00,0.000,6,0.000,0.027,3395,1800,2134,0,0,0,0,0,0
$GC,6928,1.19,116.8,237.1,10.0,337,6933,0.00,2.62,0.00,0.000,4,0.000,0.058,3395,399,2134,0,0,0,0,0,0
$GC,6988,1.19,116.8,229.7,11.8,339,6994,0.00,2.47,0.00,0.000,6,0.000,0.025,3395,1805,2132,0,0,0,0,0,0
$GC,7306,1.20,118.8,201.8,7.9,355,7310,0.00,2.62,0.00,0.000,4,0.000,0.054,3395,402,2132,0,0,0,0,0,0
$GC,7343,1.20,118.8,198.3,9.0,358,7350,0.00,2.47,0.00,0.000,6,0.000,0.024,3396,1807,2132,0,0,0,0,0,0
$GC,7608,1.20,118.8,176.7,9.9,383,7613,0.00,2.45,0.00,0.000,4,0.000,0.037,3396,3194,2132,0,0,0,0,0,0
$GC,7664,1.20,118.8,171.0,9.9,388,7671,0.00,2.55,0.00,0.000,6,0.000,0.041,3395,1810,2132,0,0,0,0,0,0
$GC,7929,1.20,118.8,146.7,8.4,413,7933,0.00,2.58,0.00,0.000,4,0.000,0.052,3395,395,2132,0,0,0,0,0,0
$GC,7963,1.20,118.8,143.4,9.7,416,7968,0.00,2.40,0.00,0.000,6,0.000,0.021,3395,1802,2131,0,0,0,0,0,0
$GC,8226,1.20,118.8,122.1,9.7,440,8227,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1807,2131,0,0,0,0,0,0
$GC,8479,1.20,118.8,97.7,9.9,464,8483,0.00,2.58,0.00,0.000,4,0.000,0.050,3395,395,2132,0,0,0,0,0,0
$GC,8550,1.20,118.8,89.9,11.1,471,8555,0.00,2.40,0.00,0.000,6,0.000,0.021,3395,1808,2130,0,0,0,0,0,0
$GC,8815,1.24,156.8,71.6,6.3,495,8854,0.00,2.50,30.75,0.521,4,0.000,0.031,3395,3187,1994,0,0,0,0,0,0
$GC,8906,1.25,157.8,64.7,8.0,504,8913,0.00,2.53,0.00,0.000,6,0.000,0.036,3396,1807,1994,0,0,0,0,0,0
$GC,9170,1.25,157.8,43.4,8.3,529,9175,0.00,2.60,0.00,0.000,4,0.000,0.048,3395,384,1992,0,0,0,0,0,0
$GC,9216,1.25,157.8,38.9,9.2,533,9223,0.00,2.45,0.00,0.000,6,0.000,0.019,3396,1798,1989,0,0,0,0,0,0
$GC,9482,1.30,206.4,22.6,5.8,570,9534,0.10,2.53,42.67,0.478,4,0.071,0.028,3436,3195,1792,0,0,0,0,0,0
$GC,9578,1.30,206.4,14.7,8.4,588,9585,0.00,2.58,0.00,0.000,6,0.000,0.035,3436,1796,1792,0,0,0,0,0,0
$STATE,9703,end climb,SURFACE_DEPTH_REACHED
$STATE,9703,begin surface coast
$FINISH,0.9,0.998865
$STATE,9732,end surface coast,CONTROL_FINISHED_OK
$STATE,9732,begin surface
$SM_CCo,9756,63.50,0.458,0,0,1288,330.17
$SM_GC,1.55,0.00,0.00,63.50,0.000,0.000,0.458,427,2144,1288,-12.47,1.24,330.17
$IRIDIUM_FIX,2101.76,-15743.60,190700,181859
$TT8_MAMPS,0.028379
$HUMID,54.33
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.5,14.463
$10V_AH,10.5,14.014
$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,28.575,116.575,270.100,63.500,0.000,56.825,75.400,266.990,4.500,0.000,17.032,1134.475,6465.895,438.563,1715.359,663.548,33.350,1166.821,0.000,1704.826,0.000,29.250,0.000
$DEVICE_MAMPS,135.759,62.894,822.991,457.899,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,416.252,400.188,912.797,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,34880,616
$CAP_FILE_SIZE,104899,0
$CFSIZE,260165632,247681024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250411,211544,2109.419,-15743.965,13,2.0,13,9.8