version: 66.06
glider: 139
mission: 9
dive: 184
start: 4 26 111 0 11 13
data:
$ID,139
$MISSION,9
$DIVE,184
$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,-2179342
$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,63
$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
$GPS1,000430,2108.532,-15744.103,42,0.9,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-74.2
$GPS2,001020,2108.531,-15744.003,14,1.4,14,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.144,-0.169
$KALMAN_X,-109385.8,-197.2,-156.1,121205.7,-1075.4
$KALMAN_Y,-33599.4,-42.5,11.3,29510.7,444.0
$MHEAD_RNG_PITCHd_Wd,129.8,5370,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-69.68,0.000,2,0.000,0.000,426,2122,3098,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.0,-3.3,13,111,13.10,2.42,-0.25,0.000,4,0.133,0.045,2870,3482,3113,0,0,0,0,0,0
$GC,361,-1.19,-116.8,52.5,-16.1,57,366,0.00,2.47,0.00,0.000,6,0.000,0.032,2870,2085,3115,0,0,0,0,0,0
$GC,624,-1.19,-116.8,92.4,-14.1,81,628,0.00,2.45,0.00,0.000,4,0.000,0.035,2870,3474,3115,0,0,0,0,0,0
$GC,843,-1.19,-116.8,122.1,-13.1,104,850,0.00,2.45,0.00,0.000,6,0.000,0.034,2870,2099,3116,0,0,0,0,0,0
$GC,1107,-1.19,-116.8,153.2,-11.8,129,1111,0.00,2.42,0.00,0.000,4,0.000,0.038,2870,3473,3116,0,0,0,0,0,0
$GC,1206,-1.19,-116.8,164.9,-11.2,139,1210,0.00,2.45,0.00,0.000,6,0.000,0.035,2870,2092,3117,0,0,0,0,0,0
$GC,1470,-1.19,-116.8,191.4,-9.3,163,1475,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2091,3117,0,0,0,0,0,0
$GC,1737,-1.19,-116.8,218.1,-8.5,180,1741,0.00,2.47,0.00,0.000,4,0.000,0.041,2870,3471,3117,0,0,0,0,0,0
$GC,1830,-1.19,-116.8,226.4,-9.8,184,1834,0.00,2.45,0.00,0.000,6,0.000,0.038,2870,2096,3117,0,0,0,0,0,0
$GC,2155,-1.19,-116.8,256.1,-9.2,200,2159,0.00,2.50,0.00,0.000,4,0.000,0.047,2870,694,3117,0,0,0,0,0,0
$GC,2238,-1.19,-116.8,265.3,-11.6,203,2243,0.00,2.38,0.00,0.000,6,0.000,0.025,2870,2070,3118,0,0,0,0,0,0
$GC,2555,-1.19,-116.8,293.8,-8.6,219,2556,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2070,3116,0,0,0,0,0,0
$GC,2860,-1.19,-116.8,316.1,-6.9,229,2864,0.00,2.47,0.00,0.000,4,0.000,0.048,2870,693,3116,0,0,0,0,0,0
$GC,2898,-1.19,-116.8,318.7,-6.9,229,2903,0.00,2.45,0.00,0.000,6,0.000,0.027,2870,2108,3115,0,0,0,0,0,0
$GC,3230,-1.19,-116.8,341.5,-7.3,238,3234,0.00,2.55,0.00,0.000,4,0.000,0.051,2870,3501,3114,0,0,0,0,0,0
$GC,3274,-1.19,-116.8,345.0,-7.6,239,3278,0.00,2.53,0.00,0.000,6,0.000,0.043,2870,2105,3114,0,0,0,0,0,0
$GC,3603,-1.19,-116.8,372.4,-8.6,247,3607,0.00,2.60,0.00,0.000,4,0.000,0.054,2869,690,3112,0,0,0,0,0,0
$GC,3622,-1.19,-116.8,374.6,-10.2,247,3626,0.00,2.47,0.00,0.000,6,0.000,0.030,2869,2098,3112,0,0,0,0,0,0
$GC,3970,-1.19,-116.8,402.5,-7.8,256,3971,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2099,3108,0,0,0,0,0,0
$GC,4292,-1.19,-116.8,425.3,-7.0,264,4294,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2099,3107,0,0,0,0,0,0
$GC,4618,-1.19,-116.8,447.7,-6.9,272,4622,0.00,2.60,0.00,0.000,4,0.000,0.056,2870,692,3105,0,0,0,0,0,0
$STATE,4648,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4648,begin apogee
$GC,4657,-0.31,0.0,450.2,7.6,272,4755,0.93,0.00,94.88,0.820,6,0.085,0.000,3063,1814,2634,0,0,0,0,0,0
$STATE,4756,end apogee,CONTROL_FINISHED_OK
$STATE,4756,begin climb
$GC,4759,1.19,116.8,451.8,0.0,275,4864,1.50,0.00,101.28,0.799,6,0.057,0.000,3394,1814,2158,0,0,0,0,0,0
$GC,5168,1.19,116.8,403.8,13.3,285,5173,0.00,2.72,0.00,0.000,4,0.000,0.063,3393,391,2146,0,0,0,0,0,0
$GC,5230,1.19,116.8,394.4,15.5,286,5235,0.00,2.53,0.00,0.000,6,0.000,0.028,3393,1799,2143,0,0,0,0,0,0
$GC,5580,1.19,116.8,346.8,13.5,295,5585,0.00,2.70,0.00,0.000,4,0.000,0.061,3393,392,2140,0,0,0,0,0,0
$GC,5609,1.19,116.8,342.2,15.3,295,5613,0.00,2.53,0.00,0.000,6,0.000,0.029,3393,1807,2139,0,0,0,0,0,0
$GC,5944,1.19,116.8,301.6,11.0,304,5949,0.00,2.53,0.00,0.000,4,0.000,0.046,3394,3199,2138,0,0,0,0,0,0
$GC,5996,1.19,116.8,296.3,10.5,305,6001,0.00,2.60,0.00,0.000,6,0.000,0.051,3393,1797,2138,0,0,0,0,0,0
$GC,6318,1.19,116.8,267.0,9.1,321,6322,0.00,2.62,0.00,0.000,4,0.000,0.059,3393,386,2136,0,0,0,0,0,0
$GC,6373,1.19,116.8,260.9,10.6,323,6377,0.00,2.50,0.00,0.000,6,0.000,0.027,3393,1802,2134,0,0,0,0,0,0
$GC,6689,1.19,116.8,229.3,10.9,338,6693,0.00,2.65,0.00,0.000,4,0.000,0.058,3393,389,2134,0,0,0,0,0,0
$GC,6781,1.19,116.8,217.7,11.9,342,6786,0.00,2.50,0.00,0.000,6,0.000,0.025,3393,1808,2132,0,0,0,0,0,0
$GC,7114,1.19,116.8,185.6,9.3,365,7119,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1812,2132,0,0,0,0,0,0
$GC,7375,1.19,116.8,160.3,8.2,390,7379,0.00,2.47,0.00,0.000,4,0.000,0.036,3393,3198,2132,0,0,0,0,0,0
$GC,7410,1.19,116.8,157.7,8.0,393,7414,0.00,2.53,0.00,0.000,6,0.000,0.041,3393,1800,2132,0,0,0,0,0,0
$GC,7675,1.20,121.1,139.2,7.8,417,7679,0.00,2.60,0.00,0.000,4,0.000,0.053,3393,386,2132,0,0,0,0,0,0
$GC,7708,1.20,121.1,136.2,8.9,420,7712,0.00,2.45,0.00,0.000,6,0.000,0.022,3393,1809,2131,0,0,0,0,0,0
$GC,7971,1.20,121.1,116.0,8.5,444,7976,0.00,2.60,0.00,0.000,4,0.000,0.050,3393,389,2131,0,0,0,0,0,0
$GC,8017,1.20,121.1,111.4,10.0,448,8024,0.00,2.45,0.00,0.000,6,0.000,0.021,3393,1802,2131,0,0,0,0,0,0
$GC,8282,1.23,143.9,89.9,7.0,473,8304,0.00,0.00,19.73,0.525,6,0.000,0.000,3393,1808,2048,0,0,0,0,0,0
$GC,8558,1.26,167.3,71.5,6.9,499,8588,0.00,2.70,21.38,0.508,4,0.000,0.050,3393,393,1950,0,0,0,0,0,0
$GC,8609,1.26,167.3,67.3,8.7,504,8614,0.00,2.42,0.00,0.000,6,0.000,0.020,3393,1806,1948,0,0,0,0,0,0
$GC,8874,1.26,171.3,46.8,7.8,528,8885,0.00,2.62,4.38,0.348,4,0.000,0.047,3393,391,1934,0,0,0,0,0,0
$GC,8899,1.26,171.3,44.4,8.6,530,8906,0.00,2.45,0.00,0.000,6,0.000,0.019,3394,1804,1933,0,0,0,0,0,0
$GC,9163,1.31,208.2,26.0,6.3,560,9203,0.12,2.45,32.78,0.475,4,0.061,0.027,3440,3187,1784,0,0,0,0,0,0
$GC,9215,1.31,208.2,21.5,8.7,569,9222,0.00,2.55,0.00,0.000,6,0.000,0.035,3439,1799,1784,0,0,0,0,0,0
$STATE,9416,end climb,SURFACE_DEPTH_REACHED
$STATE,9416,begin surface coast
$FINISH,0.8,1.010017
$STATE,9449,end surface coast,CONTROL_FINISHED_OK
$STATE,9449,begin surface
$SM_CCo,9473,62.85,0.456,0,0,1289,330.17
$SM_GC,1.57,0.00,0.00,62.85,0.000,0.000,0.456,426,2118,1289,-12.47,0.51,330.17
$IRIDIUM_FIX,2101.76,-15745.74,190700,212120
$TT8_MAMPS,0.029146
$HUMID,54.01
$INTERNAL_PRESSURE,9.62581
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,14.617
$10V_AH,10.5,14.171
$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,28.550,100.825,274.400,62.850,0.000,28.817,46.917,155.828,4.500,0.000,14.582,1111.723,6216.292,420.912,1687.613,452.055,33.350,1127.147,0.000,1667.906,0.000,29.249,0.000
$DEVICE_MAMPS,133.458,62.894,819.923,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,413.643,398.610,912.803,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,34975,612
$CAP_FILE_SIZE,96027,0
$CFSIZE,260165632,247590912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260411,025119,2107.744,-15743.778,13,1.9,30,9.8