version: 66.06
glider: 139
mission: 9
dive: 187
start: 4 26 111 8 26 30
data:
$ID,139
$MISSION,9
$DIVE,187
$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,-2179405.8
$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,52
$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
$GPS1,082006,2106.484,-15743.078,40,0.9,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-76.3
$GPS2,082537,2106.494,-15743.062,12,2.0,12,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.073,-0.209
$KALMAN_X,-114311.8,629.1,-92.6,126855.3,-2355.5
$KALMAN_Y,-33183.5,79.6,-192.6,25405.0,263.4
$MHEAD_RNG_PITCHd_Wd,151.1,19762,-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,-116.8,0.0,0.0,0,89,0.00,0.00,-70.07,0.000,6,0.000,0.000,426,2111,3112,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.3,-4.0,13,110,13.07,2.55,0.00,0.000,4,0.133,0.034,2868,674,3114,0,0,0,0,0,0
$GC,283,-1.19,-116.8,44.6,-18.8,47,288,0.00,2.42,0.00,0.000,6,0.000,0.021,2868,2092,3116,0,0,0,0,0,0
$GC,546,-1.19,-116.8,82.2,-12.3,71,547,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2096,3117,0,0,0,0,0,0
$GC,801,-1.19,-116.8,113.5,-11.8,95,805,0.00,2.50,0.00,0.000,4,0.000,0.039,2868,3497,3118,0,0,0,0,0,0
$GC,893,-1.19,-116.8,124.7,-12.6,104,899,0.00,2.50,0.00,0.000,6,0.000,0.034,2868,2096,3118,0,0,0,0,0,0
$GC,1157,-1.19,-116.8,155.4,-10.3,129,1161,0.00,2.50,0.00,0.000,4,0.000,0.038,2868,3498,3119,0,0,0,0,0,0
$GC,1268,-1.19,-116.8,167.1,-10.8,140,1275,0.00,2.50,0.00,0.000,6,0.000,0.035,2868,2101,3119,0,0,0,0,0,0
$GC,1533,-1.19,-116.8,194.6,-10.2,165,1537,0.00,2.47,0.00,0.000,4,0.000,0.040,2868,3497,3119,0,0,0,0,0,0
$GC,1549,-1.19,-116.8,196.4,-9.4,166,1553,0.00,2.47,0.00,0.000,6,0.000,0.036,2868,2091,3119,0,0,0,0,0,0
$GC,1805,-1.19,-116.8,220.7,-10.2,180,1806,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2091,3120,0,0,0,0,0,0
$GC,2114,-1.19,-116.8,250.6,-9.7,195,2119,0.00,2.50,0.00,0.000,4,0.000,0.045,2868,689,3120,0,0,0,0,0,0
$GC,2193,-1.19,-116.8,258.6,-9.6,198,2198,0.00,2.42,0.00,0.000,6,0.000,0.025,2868,2105,3119,0,0,0,0,0,0
$GC,2511,-1.19,-116.8,285.6,-7.8,213,2515,0.00,2.53,0.00,0.000,4,0.000,0.046,2868,694,3119,0,0,0,0,0,0
$GC,2531,-1.19,-116.8,287.3,-7.9,214,2535,0.00,2.42,0.00,0.000,6,0.000,0.027,2868,2100,3118,0,0,0,0,0,0
$GC,2879,-1.19,-116.8,315.2,-8.8,227,2883,0.00,2.55,0.00,0.000,4,0.000,0.048,2868,694,3117,0,0,0,0,0,0
$GC,2898,-1.19,-116.8,316.9,-8.4,227,2902,0.00,2.45,0.00,0.000,6,0.000,0.028,2868,2100,3117,0,0,0,0,0,0
$GC,3244,-1.19,-116.8,342.1,-7.3,236,3249,0.00,2.55,0.00,0.000,4,0.000,0.051,2868,3506,3115,0,0,0,0,0,0
$GC,3324,-1.19,-116.8,348.4,-7.4,237,3328,0.00,2.55,0.00,0.000,6,0.000,0.044,2868,2098,3115,0,0,0,0,0,0
$GC,3655,-1.19,-116.8,369.6,-6.4,245,3659,0.00,2.55,0.00,0.000,4,0.000,0.052,2868,3501,3113,0,0,0,0,0,0
$GC,3841,-1.19,-116.8,383.9,-8.1,249,3845,0.00,2.55,0.00,0.000,6,0.000,0.046,2868,2102,3112,0,0,0,0,0,0
$GC,4166,-1.19,-116.8,409.3,-7.8,257,4171,0.00,2.60,0.00,0.000,4,0.000,0.055,2868,690,3110,0,0,0,0,0,0
$GC,4201,-1.19,-116.8,412.3,-8.3,257,4205,0.00,2.47,0.00,0.000,6,0.000,0.031,2868,2106,3110,0,0,0,0,0,0
$GC,4533,-1.19,-116.8,436.7,-7.0,265,4537,0.00,2.58,0.00,0.000,4,0.000,0.057,2868,3506,3108,0,0,0,0,0,0
$GC,4614,-1.19,-116.8,442.0,-5.9,266,4618,0.00,2.58,0.00,0.000,6,0.000,0.048,2868,2099,3107,0,0,0,0,0,0
$STATE,4780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4780,begin apogee
$GC,4787,-0.31,0.0,451.5,5.6,270,4886,0.95,0.00,95.47,0.825,6,0.084,0.000,3065,1795,2635,0,0,0,0,0,0
$STATE,4887,end apogee,CONTROL_FINISHED_OK
$STATE,4887,begin climb
$GC,4890,1.19,116.8,452.6,0.0,272,4996,1.52,0.00,101.88,0.805,6,0.056,0.000,3397,1795,2158,0,0,0,0,0,0
$GC,5308,1.19,116.8,406.9,11.5,283,5309,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1795,2146,0,0,0,0,0,0
$GC,5633,1.19,116.8,366.2,13.4,291,5637,0.00,2.62,0.00,0.000,4,0.000,0.063,3397,400,2143,0,0,0,0,0,0
$GC,5656,1.19,116.8,362.3,16.5,291,5661,0.00,2.47,0.00,0.000,6,0.000,0.026,3397,1807,2140,0,0,0,0,0,0
$GC,5997,1.19,116.8,315.9,12.9,300,6002,0.00,2.53,0.00,0.000,4,0.000,0.047,3397,3194,2139,0,0,0,0,0,0
$GC,6049,1.19,116.8,309.2,12.7,301,6054,0.00,2.58,0.00,0.000,6,0.000,0.051,3397,1808,2139,0,0,0,0,0,0
$GC,6371,1.19,116.8,272.7,10.6,314,6375,0.00,2.62,0.00,0.000,4,0.000,0.059,3397,393,2138,0,0,0,0,0,0
$GC,6414,1.19,116.8,267.7,12.6,316,6418,0.00,2.50,0.00,0.000,6,0.000,0.026,3397,1807,2135,0,0,0,0,0,0
$GC,6744,1.19,116.8,235.7,10.0,332,6748,0.00,2.67,0.00,0.000,4,0.000,0.057,3396,390,2135,0,0,0,0,0,0
$GC,6781,1.19,116.8,231.2,11.6,333,6787,0.00,2.47,0.00,0.000,6,0.000,0.025,3397,1801,2133,0,0,0,0,0,0
$GC,7098,1.19,116.8,201.2,9.4,349,7102,0.00,2.65,0.00,0.000,4,0.000,0.055,3397,390,2133,0,0,0,0,0,0
$GC,7171,1.19,116.8,193.0,11.2,356,7178,0.00,2.50,0.00,0.000,6,0.000,0.025,3397,1806,2132,0,0,0,0,0,0
$GC,7436,1.19,116.8,166.8,9.3,381,7441,0.00,2.45,0.00,0.000,4,0.000,0.037,3397,3194,2131,0,0,0,0,0,0
$GC,7470,1.19,116.8,163.1,10.0,384,7474,0.00,2.55,0.00,0.000,6,0.000,0.041,3397,1798,2132,0,0,0,0,0,0
$GC,7733,1.19,116.8,139.6,8.6,408,7737,0.00,2.53,0.00,0.000,4,0.000,0.035,3397,3201,2132,0,0,0,0,0,0
$GC,7786,1.19,116.8,134.6,9.7,413,7790,0.00,2.55,0.00,0.000,6,0.000,0.040,3397,1793,2132,0,0,0,0,0,0
$GC,8050,1.19,116.8,111.9,8.3,437,8054,0.00,2.53,0.00,0.000,4,0.000,0.033,3397,3203,2132,0,0,0,0,0,0
$GC,8094,1.19,116.8,107.7,8.8,441,8099,0.00,2.53,0.00,0.000,6,0.000,0.039,3397,1799,2132,0,0,0,0,0,0
$GC,8359,1.24,150.1,87.3,6.5,465,8386,0.00,0.00,25.20,0.535,6,0.000,0.000,3397,1798,2023,0,0,0,0,0,0
$GC,8646,1.24,152.2,66.1,7.9,492,8650,0.00,2.58,0.00,0.000,4,0.000,0.049,3397,382,2019,0,0,0,0,0,0
$GC,8680,1.24,152.2,62.8,9.1,495,8684,0.00,2.45,0.00,0.000,6,0.000,0.019,3397,1809,2017,0,0,0,0,0,0
$GC,8944,1.24,152.2,42.1,8.4,519,8949,0.00,2.60,0.00,0.000,4,0.000,0.047,3397,387,2017,0,0,0,0,0,0
$GC,8972,1.24,152.2,39.2,9.1,521,8979,0.00,2.42,0.00,0.000,6,0.000,0.019,3398,1792,2017,0,0,0,0,0,0
$GC,9237,1.26,166.9,17.8,7.3,560,9261,0.00,2.50,15.52,0.452,4,0.000,0.029,3397,3186,1953,0,0,0,0,0,0
$GC,9290,1.27,180.1,14.0,7.4,570,9308,0.00,2.53,12.93,0.439,6,0.000,0.034,3397,1800,1900,0,0,0,0,0,0
$STATE,9454,end climb,SURFACE_DEPTH_REACHED
$STATE,9455,begin surface coast
$FINISH,0.8,1.009171
$STATE,9499,end surface coast,CONTROL_FINISHED_OK
$STATE,9500,begin surface
$SM_CCo,9523,77.10,0.460,0,0,1288,330.17
$SM_GC,1.64,0.00,0.00,77.10,0.000,0.000,0.460,425,2159,1288,-12.48,1.67,330.17
$IRIDIUM_FIX,2101.76,-15743.60,200700,050543
$TT8_MAMPS,0.028379
$HUMID,54.60
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.70
$XPDR_PINGS,3
$24V_AH,23.5,14.844
$10V_AH,10.5,14.402
$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,28.275,112.100,251.000,77.100,0.000,30.272,43.048,141.947,5.250,0.000,12.172,1130.929,6225.653,437.751,1672.620,467.370,33.349,1128.365,0.000,1674.473,0.000,29.250,0.000
$DEVICE_MAMPS,133.458,62.894,824.525,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,411.791,404.119,914.656,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,34978,608
$CAP_FILE_SIZE,98257,0
$CFSIZE,260165632,247443456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260411,110736,2105.394,-15743.437,10,1.5,26,9.8