version: 66.06
glider: 139
mission: 9
dive: 188
start: 4 26 111 11 17 21
data:
$ID,139
$MISSION,9
$DIVE,188
$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,-2179420.8
$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,19
$R_STBD_OVSHOOT,80
$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
$GPS1,110736,2105.394,-15743.437,10,1.5,26,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-75.7
$GPS2,111626,2105.398,-15743.380,14,1.5,14,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.025,-0.220
$KALMAN_X,-115635.6,618.9,-86.8,127635.1,-1945.4
$KALMAN_Y,-32948.0,28.8,-58.2,23053.3,408.2
$MHEAD_RNG_PITCHd_Wd,163.7,17819,-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,-69.88,0.000,2,0.000,0.000,424,2158,3100,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.0,-3.6,13,111,13.10,2.65,-0.20,0.000,4,0.134,0.051,2868,683,3112,0,0,0,0,0,0
$GC,266,-1.19,-116.8,41.9,-17.7,44,270,0.00,2.35,0.00,0.000,6,0.000,0.021,2868,2060,3114,0,0,0,0,0,0
$GC,528,-1.19,-116.8,80.8,-13.7,68,532,0.00,2.45,0.00,0.000,4,0.000,0.041,2868,680,3115,0,0,0,0,0,0
$GC,538,-1.19,-116.8,82.5,-13.6,68,544,0.00,2.45,0.00,0.000,6,0.000,0.021,2868,2099,3115,0,0,0,0,0,0
$GC,802,-1.19,-116.8,117.7,-12.8,93,807,0.00,2.50,0.00,0.000,4,0.000,0.039,2868,3506,3116,0,0,0,0,0,0
$GC,839,-1.19,-116.8,122.9,-12.6,96,845,0.00,2.53,0.00,0.000,6,0.000,0.035,2868,2092,3116,0,0,0,0,0,0
$GC,1103,-1.19,-116.8,151.9,-9.7,121,1107,0.00,2.50,0.00,0.000,4,0.000,0.038,2868,3494,3116,0,0,0,0,0,0
$GC,1275,-1.19,-116.8,169.3,-9.1,139,1281,0.00,2.45,0.00,0.000,6,0.000,0.034,2868,2096,3116,0,0,0,0,0,0
$GC,1538,-1.19,-116.8,193.8,-9.0,164,1542,0.00,2.50,0.00,0.000,4,0.000,0.045,2868,693,3116,0,0,0,0,0,0
$GC,1797,-1.19,-116.8,221.4,-10.1,179,1801,0.00,2.40,0.00,0.000,6,0.000,0.024,2868,2098,3117,0,0,0,0,0,0
$GC,2118,-1.19,-116.8,249.1,-8.2,195,2123,0.00,2.55,0.00,0.000,4,0.000,0.045,2868,686,3117,0,0,0,0,0,0
$GC,2139,-1.19,-116.8,250.8,-7.7,196,2143,0.00,2.42,0.00,0.000,6,0.000,0.025,2868,2099,3117,0,0,0,0,0,0
$GC,2469,-1.19,-116.8,279.3,-9.5,212,2473,0.00,2.53,0.00,0.000,4,0.000,0.048,2868,3498,3115,0,0,0,0,0,0
$GC,2496,-1.19,-116.8,282.2,-10.6,213,2501,0.00,2.50,0.00,0.000,6,0.000,0.041,2868,2098,3116,0,0,0,0,0,0
$GC,2815,-1.19,-116.8,312.1,-9.0,226,2816,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2097,3114,0,0,0,0,0,0
$GC,3140,-1.19,-116.8,338.4,-7.7,234,3144,0.00,2.55,0.00,0.000,4,0.000,0.051,2868,690,3113,0,0,0,0,0,0
$GC,3155,-1.19,-116.8,339.4,-7.2,234,3159,0.00,2.45,0.00,0.000,6,0.000,0.029,2868,2099,3112,0,0,0,0,0,0
$GC,3506,-1.19,-116.8,362.4,-6.4,243,3510,0.00,2.55,0.00,0.000,4,0.000,0.053,2868,3501,3110,0,0,0,0,0,0
$GC,3530,-1.19,-116.8,364.1,-7.1,243,3534,0.00,2.55,0.00,0.000,6,0.000,0.046,2868,2100,3110,0,0,0,0,0,0
$GC,3871,-1.19,-116.8,386.2,-6.4,252,3872,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2100,3107,0,0,0,0,0,0
$GC,4196,-1.19,-116.8,409.3,-7.7,260,4200,0.00,2.62,0.00,0.000,4,0.000,0.054,2868,3506,3105,0,0,0,0,0,0
$GC,4384,-1.19,-116.8,424.6,-7.8,264,4388,0.00,2.55,0.00,0.000,6,0.000,0.048,2868,2097,3104,0,0,0,0,0,0
$GC,4707,-1.19,-116.8,445.8,-6.3,272,4712,0.00,2.62,0.00,0.000,4,0.000,0.058,2868,684,3101,0,0,0,0,0,0
$STATE,4767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4767,begin apogee
$GC,4775,-0.31,0.0,450.0,6.5,273,4874,0.93,0.00,94.55,0.829,6,0.086,0.000,3061,1807,2635,0,0,0,0,0,0
$STATE,4874,end apogee,CONTROL_FINISHED_OK
$STATE,4875,begin climb
$GC,4878,1.19,116.8,451.6,0.0,275,4986,1.50,0.00,101.40,0.807,6,0.056,0.000,3392,1808,2158,0,0,0,0,0,0
$GC,5285,1.19,116.8,402.8,13.0,285,5290,0.00,2.70,0.00,0.000,4,0.000,0.064,3391,396,2146,0,0,0,0,0,0
$GC,5323,1.19,116.8,397.6,13.9,285,5329,0.00,2.53,0.00,0.000,6,0.000,0.029,3392,1798,2143,0,0,0,0,0,0
$GC,5654,1.19,116.8,357.3,11.7,294,5659,0.00,2.60,0.00,0.000,4,0.000,0.050,3392,3204,2141,0,0,0,0,0,0
$GC,5678,1.19,116.8,354.4,11.6,294,5683,0.00,2.65,0.00,0.000,6,0.000,0.052,3392,1795,2141,0,0,0,0,0,0
$GC,6019,1.19,116.8,316.7,11.2,303,6020,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1795,2138,0,0,0,0,0,0
$GC,6328,1.19,116.8,286.5,9.6,313,6332,0.00,2.62,0.00,0.000,4,0.000,0.060,3392,386,2137,0,0,0,0,0,0
$GC,6342,1.19,116.8,284.5,9.9,313,6348,0.00,2.53,0.00,0.000,6,0.000,0.027,3392,1811,2136,0,0,0,0,0,0
$GC,6659,1.19,116.8,251.4,10.2,329,6663,0.00,2.50,0.00,0.000,4,0.000,0.043,3392,3194,2134,0,0,0,0,0,0
$GC,6682,1.19,116.8,248.9,10.0,330,6687,0.00,2.60,0.00,0.000,6,0.000,0.048,3392,1791,2135,0,0,0,0,0,0
$GC,7007,1.19,116.8,217.5,9.4,346,7012,0.00,2.60,0.00,0.000,4,0.000,0.057,3392,386,2134,0,0,0,0,0,0
$GC,7077,1.19,116.8,210.2,10.9,349,7081,0.00,2.47,0.00,0.000,6,0.000,0.025,3392,1805,2132,0,0,0,0,0,0
$GC,7411,1.19,116.8,178.3,9.7,375,7416,0.00,2.50,0.00,0.000,4,0.000,0.039,3392,3201,2132,0,0,0,0,0,0
$GC,7476,1.19,116.8,171.7,9.3,381,7481,0.00,2.58,0.00,0.000,6,0.000,0.043,3392,1798,2132,0,0,0,0,0,0
$GC,7739,1.19,116.8,147.9,8.4,406,7743,0.00,2.53,0.00,0.000,4,0.000,0.035,3392,3197,2132,0,0,0,0,0,0
$GC,7767,1.21,127.7,145.4,7.5,408,7782,0.00,2.58,5.93,0.476,6,0.000,0.041,3392,1802,2114,0,0,0,0,0,0
$GC,8037,1.21,127.7,125.3,8.2,434,8041,0.00,2.50,0.00,0.000,4,0.000,0.034,3392,3203,2113,0,0,0,0,0,0
$GC,8083,1.22,136.6,121.7,7.6,438,8099,0.00,2.58,9.52,0.515,6,0.000,0.040,3392,1803,2077,0,0,0,0,0,0
$GC,8354,1.22,137.4,100.2,8.0,464,8358,0.00,2.60,0.00,0.000,4,0.000,0.051,3392,385,2075,0,0,0,0,0,0
$GC,8425,1.22,137.4,93.7,9.3,471,8430,0.00,2.42,0.00,0.000,6,0.000,0.021,3392,1808,2073,0,0,0,0,0,0
$GC,8691,1.22,137.4,70.8,9.8,495,8696,0.00,2.42,0.00,0.000,4,0.000,0.031,3392,3191,2073,0,0,0,0,0,0
$GC,8743,1.22,137.4,66.2,8.0,500,8747,0.00,2.53,0.00,0.000,6,0.000,0.036,3392,1791,2074,0,0,0,0,0,0
$GC,9008,1.30,205.6,48.6,4.9,524,9077,0.12,2.65,59.80,0.506,4,0.061,0.049,3436,390,1794,0,0,0,0,0,0
$GC,9108,1.30,205.6,39.8,12.8,534,9113,0.00,2.42,0.00,0.000,6,0.000,0.019,3436,1803,1790,0,0,0,0,0,0
$GC,9374,1.30,205.6,11.9,10.9,574,9380,0.00,2.45,0.00,0.000,4,0.000,0.029,3437,3187,1789,0,0,0,0,0,0
$GC,9392,1.30,205.6,9.8,11.2,577,9399,0.00,2.53,0.00,0.000,6,0.000,0.035,3436,1805,1789,0,0,0,0,0,0
$STATE,9463,end climb,SURFACE_DEPTH_REACHED
$STATE,9463,begin surface coast
$FINISH,0.8,1.023228
$STATE,9497,end surface coast,CONTROL_FINISHED_OK
$STATE,9499,begin surface
$SM_CCo,9523,63.95,0.460,0,0,1288,330.17
$SM_GC,1.51,0.00,0.00,63.95,0.000,0.000,0.460,430,2145,1288,-12.45,1.27,330.17
$IRIDIUM_FIX,2054.83,-15743.60,200700,111117
$TT8_MAMPS,0.029146
$HUMID,54.84
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.5,14.927
$10V_AH,10.5,14.480
$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,28.500,116.225,271.200,63.950,0.000,59.666,122.021,166.702,4.500,0.000,14.363,1111.798,6310.104,406.192,1699.426,592.882,33.357,1147.389,0.000,1680.446,0.000,29.245,0.000
$DEVICE_MAMPS,134.225,64.428,829.127,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,403.450,386.755,862.796,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,31790,596
$CAP_FILE_SIZE,101835,0
$CFSIZE,260165632,247394304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260411,135830,2104.641,-15743.571,38,1.0,43,9.8