version: 66.06
glider: 139
mission: 9
dive: 186
start: 4 26 111 5 40 18
data:
$ID,139
$MISSION,9
$DIVE,186
$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,-2179392.8
$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,16
$R_STBD_OVSHOOT,47
$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
$GPS1,053406,2107.529,-15743.056,13,1.4,29,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-74.3
$GPS2,053925,2107.551,-15742.999,11,1.6,16,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.147,-0.166
$KALMAN_X,-112889.7,474.8,360.6,125242.5,-2750.2
$KALMAN_Y,-33275.0,96.7,-18.2,27261.1,53.7
$MHEAD_RNG_PITCHd_Wd,128.7,3220,-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,-69.70,0.000,2,0.000,0.000,429,2102,3106,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.2,-4.2,13,109,13.10,2.55,0.00,0.000,4,0.134,0.036,2870,674,3108,0,0,0,0,0,0
$GC,203,-1.19,-116.8,29.9,-19.8,37,209,0.00,2.45,0.00,0.000,6,0.000,0.022,2870,2082,3109,0,0,0,0,0,0
$GC,402,-1.19,-116.8,66.1,-17.5,56,406,0.00,2.53,0.00,0.000,4,0.000,0.037,2870,3509,3110,0,0,0,0,0,0
$GC,499,-1.19,-116.8,82.0,-14.7,66,506,0.00,2.53,0.00,0.000,6,0.000,0.033,2870,2093,3110,0,0,0,0,0,0
$GC,764,-1.19,-116.8,119.9,-13.2,91,768,0.00,2.50,0.00,0.000,4,0.000,0.037,2870,3501,3112,0,0,0,0,0,0
$GC,822,-1.19,-116.8,127.7,-13.2,97,826,0.00,2.45,0.00,0.000,6,0.000,0.031,2870,2097,3112,0,0,0,0,0,0
$GC,1086,-1.19,-116.8,157.5,-10.5,121,1090,0.00,2.47,0.00,0.000,4,0.000,0.038,2870,3499,3112,0,0,0,0,0,0
$GC,1232,-1.19,-116.8,170.8,-9.1,136,1238,0.00,2.50,0.00,0.000,6,0.000,0.035,2870,2100,3112,0,0,0,0,0,0
$GC,1496,-1.19,-116.8,197.4,-10.0,161,1500,0.00,2.50,0.00,0.000,4,0.000,0.041,2869,3501,3113,0,0,0,0,0,0
$GC,1539,-1.19,-116.8,202.0,-10.2,164,1544,0.00,2.50,0.00,0.000,6,0.000,0.037,2870,2097,3113,0,0,0,0,0,0
$GC,1869,-1.19,-116.8,235.4,-10.7,180,1873,0.00,2.53,0.00,0.000,4,0.000,0.043,2870,3498,3113,0,0,0,0,0,0
$GC,1896,-1.19,-116.8,238.4,-10.3,181,1901,0.00,2.50,0.00,0.000,6,0.000,0.038,2869,2097,3113,0,0,0,0,0,0
$GC,2219,-1.19,-116.8,266.9,-7.7,197,2223,0.00,2.55,0.00,0.000,4,0.000,0.046,2870,3502,3112,0,0,0,0,0,0
$GC,2233,-1.19,-116.8,268.2,-7.1,197,2239,0.00,2.53,0.00,0.000,6,0.000,0.040,2870,2096,3113,0,0,0,0,0,0
$GC,2550,-1.19,-116.8,293.6,-8.7,213,2554,0.00,2.55,0.00,0.000,4,0.000,0.050,2870,691,3112,0,0,0,0,0,0
$GC,2651,-1.19,-116.8,303.4,-8.6,217,2656,0.00,2.42,0.00,0.000,6,0.000,0.028,2870,2096,3111,0,0,0,0,0,0
$GC,2965,-1.19,-116.8,330.6,-8.8,225,2970,0.00,2.58,0.00,0.000,4,0.000,0.050,2870,685,3110,0,0,0,0,0,0
$GC,3026,-1.19,-116.8,336.5,-9.7,226,3030,0.00,2.45,0.00,0.000,6,0.000,0.028,2870,2102,3109,0,0,0,0,0,0
$GC,3375,-1.19,-116.8,364.7,-8.3,235,3380,0.00,2.58,0.00,0.000,4,0.000,0.053,2870,3504,3107,0,0,0,0,0,0
$GC,3409,-1.19,-116.8,367.3,-7.6,235,3413,0.00,2.55,0.00,0.000,6,0.000,0.044,2869,2097,3107,0,0,0,0,0,0
$GC,3740,-1.19,-116.8,390.7,-7.0,243,3745,0.00,2.60,0.00,0.000,4,0.000,0.054,2870,3503,3105,0,0,0,0,0,0
$GC,3965,-1.19,-116.8,407.5,-6.6,247,3970,0.00,2.55,0.00,0.000,6,0.000,0.048,2870,2104,3103,0,0,0,0,0,0
$GC,4298,-1.19,-116.8,427.8,-5.8,256,4299,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2103,3101,0,0,0,0,0,0
$GC,4621,-1.19,-116.8,447.5,-6.3,264,4626,0.00,2.60,0.00,0.000,4,0.000,0.056,2870,3505,3099,0,0,0,0,0,0
$STATE,4652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4652,begin apogee
$GC,4661,-0.31,0.0,450.0,6.7,264,4758,0.93,0.00,93.88,0.821,6,0.085,0.000,3063,1795,2635,0,0,0,0,0,0
$STATE,4759,end apogee,CONTROL_FINISHED_OK
$STATE,4759,begin climb
$GC,4762,1.19,116.8,451.9,0.0,267,4870,1.50,0.00,100.90,0.803,6,0.058,0.000,3392,1795,2158,0,0,0,0,0,0
$GC,5170,1.19,116.8,406.1,12.7,277,5174,0.00,2.67,0.00,0.000,4,0.000,0.064,3392,393,2146,0,0,0,0,0,0
$GC,5198,1.19,116.8,402.1,13.9,277,5203,0.00,2.53,0.00,0.000,6,0.000,0.028,3392,1803,2144,0,0,0,0,0,0
$GC,5534,1.19,116.8,363.9,10.6,286,5539,0.00,2.58,0.00,0.000,4,0.000,0.050,3392,3197,2142,0,0,0,0,0,0
$GC,5562,1.19,116.8,360.8,10.4,286,5567,0.00,2.62,0.00,0.000,6,0.000,0.051,3392,1803,2141,0,0,0,0,0,0
$GC,5898,1.19,116.8,325.2,10.7,295,5900,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1803,2139,0,0,0,0,0,0
$GC,6204,1.19,116.8,290.9,11.4,304,6209,0.00,2.62,0.00,0.000,4,0.000,0.059,3392,391,2138,0,0,0,0,0,0
$GC,6293,1.19,116.8,280.1,12.8,308,6298,0.00,2.50,0.00,0.000,6,0.000,0.026,3392,1805,2135,0,0,0,0,0,0
$GC,6623,1.19,116.8,245.8,10.7,324,6627,0.00,2.53,0.00,0.000,4,0.000,0.043,3393,3200,2135,0,0,0,0,0,0
$GC,6647,1.19,116.8,243.3,10.1,325,6651,0.00,2.60,0.00,0.000,6,0.000,0.047,3392,1797,2135,0,0,0,0,0,0
$GC,6973,1.19,116.8,211.8,9.6,341,6977,0.00,2.58,0.00,0.000,4,0.000,0.056,3392,390,2133,0,0,0,0,0,0
$GC,7006,1.19,116.8,208.1,11.1,342,7010,0.00,2.47,0.00,0.000,6,0.000,0.025,3392,1805,2132,0,0,0,0,0,0
$GC,7330,1.19,116.8,176.9,9.0,368,7335,0.00,2.65,0.00,0.000,4,0.000,0.054,3392,390,2133,0,0,0,0,0,0
$GC,7349,1.19,116.8,174.8,9.8,369,7355,0.00,2.45,0.00,0.000,6,0.000,0.023,3392,1807,2131,0,0,0,0,0,0
$GC,7613,1.19,116.8,152.3,9.5,394,7614,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1811,2131,0,0,0,0,0,0
$GC,7865,1.19,116.8,128.8,9.2,418,7866,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1811,2132,0,0,0,0,0,0
$GC,8121,1.19,116.8,106.7,9.1,442,8125,0.00,2.45,0.00,0.000,4,0.000,0.034,3392,3197,2132,0,0,0,0,0,0
$GC,8218,1.21,126.4,99.0,7.6,452,8229,0.00,2.50,4.78,0.404,6,0.000,0.036,3392,1799,2119,0,0,0,0,0,0
$GC,8484,1.21,126.4,77.7,8.3,477,8485,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1798,2119,0,0,0,0,0,0
$GC,8739,1.23,145.1,58.5,7.2,501,8763,0.00,2.65,17.90,0.497,4,0.000,0.049,3392,385,2042,0,0,0,0,0,0
$GC,8788,1.23,145.1,54.6,8.8,506,8793,0.00,2.45,0.00,0.000,6,0.000,0.019,3392,1804,2039,0,0,0,0,0,0
$GC,9053,1.29,190.4,36.8,5.9,530,9095,0.10,0.00,39.62,0.492,6,0.071,0.000,3433,1810,1857,0,0,0,0,0,0
$GC,9352,1.29,190.4,7.5,9.3,578,9358,0.00,2.65,0.00,0.000,4,0.000,0.048,3432,389,1854,0,0,0,0,0,0
$STATE,9397,end climb,SURFACE_DEPTH_REACHED
$STATE,9397,begin surface coast
$FINISH,1.1,1.022955
$STATE,9411,end surface coast,CONTROL_FINISHED_OK
$STATE,9411,begin surface
$SM_CCo,9438,70.75,0.459,0,0,1288,330.17
$SM_GC,1.70,0.00,0.00,70.75,0.000,0.000,0.459,426,2109,1288,-12.47,0.25,330.17
$IRIDIUM_FIX,2059.45,-15741.46,200700,030357
$TT8_MAMPS,0.029146
$HUMID,54.52
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.5,14.768
$10V_AH,10.6,14.323
$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,28.500,107.650,257.075,70.750,0.000,28.119,32.552,139.046,4.500,0.000,16.203,1090.053,6256.226,407.763,1647.837,429.087,33.355,1109.063,0.000,1634.721,0.000,31.434,0.000
$DEVICE_MAMPS,134.225,63.661,820.690,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,400.363,385.826,859.594,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31824,591
$CAP_FILE_SIZE,95988,0
$CFSIZE,260165632,247496704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260411,082006,2106.484,-15743.078,40,0.9,40,9.8