version: 66.06
glider: 139
mission: 9
dive: 185
start: 4 26 111 2 57 58
data:
$ID,139
$MISSION,9
$DIVE,185
$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,-2179375.8
$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,17
$R_STBD_OVSHOOT,62
$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
$GPS1,025119,2107.744,-15743.778,13,1.9,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-75.5
$GPS2,025706,2107.722,-15743.713,16,1.0,32,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.219,-0.032
$KALMAN_X,-111489.5,172.3,460.6,122820.5,-2352.4
$KALMAN_Y,-33446.0,22.4,184.4,27619.9,81.0
$MHEAD_RNG_PITCHd_Wd,88.5,3791,-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,-69.95,0.000,3,0.000,0.000,426,2118,3112,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.3,-4.5,13,109,13.12,2.42,0.00,0.000,4,0.135,0.035,2868,3478,3114,0,0,0,0,0,0
$GC,362,-1.19,-116.8,53.5,-14.5,57,366,0.00,2.45,0.00,0.000,6,0.000,0.032,2867,2090,3116,0,0,0,0,0,0
$GC,625,-1.19,-116.8,93.7,-15.5,81,629,0.00,2.47,0.00,0.000,4,0.000,0.035,2868,3483,3117,0,0,0,0,0,0
$GC,707,-1.19,-116.8,107.2,-14.7,89,712,0.00,2.45,0.00,0.000,6,0.000,0.034,2867,2096,3117,0,0,0,0,0,0
$GC,968,-1.19,-116.8,138.7,-11.5,114,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2096,3117,0,0,0,0,0,0
$GC,1223,-1.19,-116.8,163.7,-8.9,138,1227,0.00,2.45,0.00,0.000,4,0.000,0.038,2868,3479,3118,0,0,0,0,0,0
$GC,1283,-1.19,-116.8,169.5,-9.1,144,1287,0.00,2.42,0.00,0.000,6,0.000,0.034,2868,2098,3118,0,0,0,0,0,0
$GC,1547,-1.19,-116.8,201.3,-13.0,168,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2097,3118,0,0,0,0,0,0
$GC,1855,-1.19,-116.8,237.0,-10.5,183,1859,0.00,2.47,0.00,0.000,4,0.000,0.042,2868,3474,3119,0,0,0,0,0,0
$GC,1981,-1.19,-116.8,248.7,-8.6,188,1985,0.00,2.42,0.00,0.000,6,0.000,0.038,2868,2103,3118,0,0,0,0,0,0
$GC,2298,-1.19,-116.8,274.1,-7.6,203,2303,0.00,2.53,0.00,0.000,4,0.000,0.047,2868,690,3117,0,0,0,0,0,0
$GC,2354,-1.19,-116.8,279.2,-9.2,205,2358,0.00,2.38,0.00,0.000,6,0.000,0.025,2868,2073,3118,0,0,0,0,0,0
$GC,2668,-1.19,-116.8,304.0,-8.3,219,2673,0.00,2.53,0.00,0.000,4,0.000,0.048,2868,681,3117,0,0,0,0,0,0
$GC,2688,-1.19,-116.8,305.6,-7.9,219,2692,0.00,2.47,0.00,0.000,6,0.000,0.027,2868,2107,3117,0,0,0,0,0,0
$GC,3034,-1.19,-116.8,334.9,-9.0,228,3039,0.00,2.53,0.00,0.000,4,0.000,0.051,2868,3501,3116,0,0,0,0,0,0
$GC,3182,-1.19,-116.8,349.4,-9.7,231,3187,0.00,2.53,0.00,0.000,6,0.000,0.044,2867,2102,3115,0,0,0,0,0,0
$GC,3496,-1.19,-116.8,376.0,-8.5,239,3500,0.00,2.58,0.00,0.000,4,0.000,0.051,2868,3505,3114,0,0,0,0,0,0
$GC,3529,-1.19,-116.8,378.9,-8.7,239,3533,0.00,2.53,0.00,0.000,6,0.000,0.044,2867,2097,3113,0,0,0,0,0,0
$GC,3861,-1.19,-116.8,406.2,-8.0,247,3865,0.00,2.58,0.00,0.000,4,0.000,0.052,2868,3497,3111,0,0,0,0,0,0
$GC,3968,-1.19,-116.8,414.8,-8.0,249,3972,0.00,2.53,0.00,0.000,6,0.000,0.047,2867,2100,3110,0,0,0,0,0,0
$GC,4318,-1.19,-116.8,439.8,-7.3,258,4323,0.00,2.62,0.00,0.000,4,0.000,0.057,2867,686,3107,0,0,0,0,0,0
$GC,4370,-1.19,-116.8,444.0,-7.9,259,4374,0.00,2.47,0.00,0.000,6,0.000,0.031,2868,2099,3107,0,0,0,0,0,0
$STATE,4447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4447,begin apogee
$GC,4454,-0.31,0.0,450.3,7.9,261,4553,0.95,0.00,95.38,0.816,6,0.083,0.000,3065,1794,2635,0,0,0,0,0,0
$STATE,4553,end apogee,CONTROL_FINISHED_OK
$STATE,4554,begin climb
$GC,4556,1.19,116.8,452.3,0.0,263,4664,1.50,0.00,100.40,0.798,6,0.057,0.000,3395,1794,2157,0,0,0,0,0,0
$GC,5005,1.19,116.8,402.5,12.2,274,5009,0.00,2.65,0.00,0.000,4,0.000,0.063,3394,403,2146,0,0,0,0,0,0
$GC,5042,1.19,116.8,397.3,14.2,274,5048,0.00,2.53,0.00,0.000,6,0.000,0.028,3395,1814,2143,0,0,0,0,0,0
$GC,5374,1.19,116.8,354.3,13.1,283,5378,0.00,2.55,0.00,0.000,4,0.000,0.046,3395,3203,2141,0,0,0,0,0,0
$GC,5417,1.19,116.8,348.5,13.2,284,5422,0.00,2.60,0.00,0.000,6,0.000,0.052,3395,1810,2141,0,0,0,0,0,0
$GC,5745,1.19,116.8,308.6,11.4,292,5746,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1810,2139,0,0,0,0,0,0
$GC,6054,1.19,116.8,274.9,11.5,305,6059,0.00,2.62,0.00,0.000,4,0.000,0.059,3394,393,2138,0,0,0,0,0,0
$GC,6110,1.19,116.8,267.7,12.0,307,6114,0.00,2.50,0.00,0.000,6,0.000,0.027,3394,1806,2134,0,0,0,0,0,0
$GC,6425,1.19,116.8,237.7,9.2,322,6430,0.00,2.65,0.00,0.000,4,0.000,0.057,3395,390,2134,0,0,0,0,0,0
$GC,6493,1.19,116.8,230.1,11.9,325,6497,0.00,2.50,0.00,0.000,6,0.000,0.025,3394,1808,2132,0,0,0,0,0,0
$GC,6814,1.19,116.8,197.8,10.0,341,6818,0.00,2.45,0.00,0.000,4,0.000,0.038,3395,3197,2133,0,0,0,0,0,0
$GC,6833,1.19,116.8,195.6,10.1,342,6840,0.00,2.58,0.00,0.000,6,0.000,0.043,3395,1806,2133,0,0,0,0,0,0
$GC,7097,1.19,116.8,170.7,9.6,367,7102,0.00,2.62,0.00,0.000,4,0.000,0.054,3395,383,2132,0,0,0,0,0,0
$GC,7113,1.19,116.8,168.7,10.2,368,7117,0.00,2.47,0.00,0.000,6,0.000,0.023,3395,1809,2131,0,0,0,0,0,0
$GC,7376,1.19,116.8,146.3,8.4,392,7380,0.00,2.45,0.00,0.000,4,0.000,0.035,3395,3195,2132,0,0,0,0,0,0
$GC,7412,1.19,116.8,143.0,8.0,395,7418,0.00,2.55,0.00,0.000,6,0.000,0.040,3394,1797,2132,0,0,0,0,0,0
$GC,7676,1.24,150.5,124.1,6.5,420,7704,0.00,0.00,25.52,0.569,6,0.000,0.000,3395,1797,2020,0,0,0,0,0,0
$GC,7962,1.24,150.5,102.1,8.4,447,7966,0.00,2.47,0.00,0.000,4,0.000,0.031,3395,3192,2017,0,0,0,0,0,0
$GC,7981,1.24,150.5,100.1,8.8,448,7987,0.00,2.55,0.00,0.000,6,0.000,0.037,3394,1801,2017,0,0,0,0,0,0
$GC,8244,1.24,150.5,78.1,8.8,473,8248,0.00,2.58,0.00,0.000,4,0.000,0.050,3395,383,2017,0,0,0,0,0,0
$GC,8321,1.24,150.5,70.7,8.6,481,8326,0.00,2.42,0.00,0.000,6,0.000,0.019,3395,1808,2013,0,0,0,0,0,0
$GC,8586,1.29,191.1,54.1,6.2,505,8631,0.00,2.67,35.22,0.501,4,0.000,0.048,3395,389,1854,0,0,0,0,0,0
$GC,8652,1.29,191.1,49.6,8.3,512,8657,0.00,2.45,0.00,0.000,6,0.000,0.019,3395,1805,1851,0,0,0,0,0,0
$GC,8917,1.30,199.9,30.3,7.6,536,8934,0.10,2.67,8.57,0.419,4,0.071,0.048,3436,388,1819,0,0,0,0,0,0
$GC,8951,1.30,199.9,26.8,8.8,541,8958,0.00,2.45,0.00,0.000,6,0.000,0.018,3436,1799,1817,0,0,0,0,0,0
$GC,9154,1.30,199.9,5.3,10.4,578,9160,0.00,2.62,0.00,0.000,4,0.000,0.048,3436,393,1817,0,0,0,0,0,0
$STATE,9174,end climb,SURFACE_DEPTH_REACHED
$STATE,9174,begin surface coast
$FINISH,0.8,1.022749
$STATE,9205,end surface coast,CONTROL_FINISHED_OK
$STATE,9205,begin surface
$SM_CCo,9232,67.62,0.457,0,0,1288,330.17
$SM_GC,1.48,0.00,0.00,67.62,0.000,0.000,0.457,429,2101,1288,-12.46,0.03,330.17
$IRIDIUM_FIX,2059.45,-15753.90,200700,000020
$TT8_MAMPS,0.029146
$HUMID,53.74
$INTERNAL_PRESSURE,9.63558
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,14.693
$10V_AH,10.5,14.248
$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,28.500,111.975,265.100,67.625,0.000,28.810,36.049,145.158,4.500,0.000,32.899,1097.775,5984.689,411.147,1715.422,439.621,33.355,1141.248,0.000,1677.526,0.000,29.258,0.000
$DEVICE_MAMPS,134.992,62.894,816.088,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,398.408,384.926,877.162,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,31751,589
$CAP_FILE_SIZE,97880,0
$CFSIZE,260165632,247549952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260411,053406,2107.529,-15743.056,13,1.4,29,9.8