version: 66.06
glider: 139
mission: 9
dive: 220
start: 4 30 111 4 21 29
data:
$ID,139
$MISSION,9
$DIVE,220
$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,-2180161.8
$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,72
$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
$GPS1,041506,2108.148,-15758.513,40,1.0,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-75.8
$GPS2,042037,2108.159,-15758.501,13,1.2,18,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.220,-0.023
$KALMAN_X,-120739.8,463.0,60.8,106635.1,-1971.4
$KALMAN_Y,-20177.5,141.9,-80.9,15307.6,176.5
$MHEAD_RNG_PITCHd_Wd,86.1,27274,-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,-69.95,0.000,2,0.000,0.000,431,2141,3088,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.1,-3.5,13,111,13.10,2.38,-0.45,0.000,4,0.136,0.046,2867,3465,3113,0,0,0,0,0,0
$GC,157,-1.19,-116.8,20.9,-21.5,26,163,0.00,2.47,0.00,0.000,6,0.000,0.038,2867,2103,3114,0,0,0,0,0,0
$GC,363,-1.19,-116.8,64.2,-22.5,49,367,0.00,2.42,0.00,0.000,4,0.000,0.034,2867,3465,3115,0,0,0,0,0,0
$GC,425,-1.19,-116.8,75.9,-16.5,55,429,0.00,2.40,0.00,0.000,6,0.000,0.031,2867,2093,3115,0,0,0,0,0,0
$GC,690,-1.19,-116.8,107.3,-11.5,79,695,0.00,2.50,0.00,0.000,4,0.000,0.042,2867,690,3116,0,0,0,0,0,0
$GC,706,-1.19,-116.8,109.7,-12.1,80,710,0.00,2.38,0.00,0.000,6,0.000,0.021,2867,2076,3116,0,0,0,0,0,0
$GC,971,-1.19,-116.8,141.0,-10.9,104,975,0.00,2.55,0.00,0.000,4,0.000,0.038,2867,3500,3117,0,0,0,0,0,0
$GC,1024,-1.19,-116.8,147.1,-10.8,109,1028,0.00,2.45,0.00,0.000,6,0.000,0.033,2867,2099,3117,0,0,0,0,0,0
$GC,1288,-1.19,-116.8,177.4,-12.6,133,1292,0.00,2.53,0.00,0.000,4,0.000,0.043,2867,691,3118,0,0,0,0,0,0
$GC,1308,-1.19,-116.8,180.4,-13.0,134,1314,0.00,2.42,0.00,0.000,6,0.000,0.022,2867,2095,3118,0,0,0,0,0,0
$GC,1578,-1.19,-116.8,211.5,-10.7,155,1582,0.00,2.53,0.00,0.000,4,0.000,0.043,2867,685,3118,0,0,0,0,0,0
$GC,1601,-1.19,-116.8,214.4,-10.9,156,1606,0.00,2.42,0.00,0.000,6,0.000,0.023,2866,2097,3117,0,0,0,0,0,0
$GC,1926,-1.19,-116.8,246.1,-9.5,172,1927,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2099,3118,0,0,0,0,0,0
$GC,2237,-1.19,-116.8,274.4,-9.7,187,2241,0.00,2.53,0.00,0.000,4,0.000,0.044,2867,692,3118,0,0,0,0,0,0
$GC,2270,-1.19,-116.8,277.8,-9.2,188,2275,0.00,2.40,0.00,0.000,6,0.000,0.025,2867,2099,3118,0,0,0,0,0,0
$GC,2585,-1.19,-116.8,304.4,-8.5,202,2589,0.00,2.55,0.00,0.000,4,0.000,0.048,2867,692,3117,0,0,0,0,0,0
$GC,2708,-1.19,-116.8,315.3,-8.8,204,2712,0.00,2.42,0.00,0.000,6,0.000,0.026,2867,2104,3117,0,0,0,0,0,0
$GC,3046,-1.19,-116.8,342.2,-8.2,213,3050,0.00,2.55,0.00,0.000,4,0.000,0.048,2867,3501,3115,0,0,0,0,0,0
$GC,3121,-1.19,-116.8,349.0,-7.7,214,3125,0.00,2.50,0.00,0.000,6,0.000,0.041,2867,2096,3115,0,0,0,0,0,0
$GC,3457,-1.19,-116.8,373.8,-7.3,223,3461,0.00,2.55,0.00,0.000,4,0.000,0.048,2867,3502,3113,0,0,0,0,0,0
$GC,3472,-1.19,-116.8,375.0,-7.4,223,3476,0.00,2.50,0.00,0.000,6,0.000,0.043,2867,2102,3113,0,0,0,0,0,0
$GC,3822,-1.19,-116.8,399.7,-7.5,232,3829,0.00,2.55,0.00,0.000,4,0.000,0.054,2867,695,3110,0,0,0,0,0,0
$GC,3932,-1.19,-116.8,409.8,-9.6,234,3936,0.00,2.42,0.00,0.000,6,0.000,0.030,2867,2099,3109,0,0,0,0,0,0
$GC,4246,-1.19,-116.8,431.5,-7.3,242,4247,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2099,3107,0,0,0,0,0,0
$STATE,4569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4569,begin apogee
$GC,4576,-0.31,0.0,451.4,5.8,250,4675,0.98,0.00,94.88,0.817,6,0.083,0.000,3068,1791,2635,0,0,0,0,0,0
$STATE,4675,end apogee,CONTROL_FINISHED_OK
$STATE,4675,begin climb
$GC,4678,1.19,116.8,452.5,0.0,252,4790,1.48,2.70,100.50,0.797,4,0.054,0.064,3395,400,2156,0,0,0,0,0,0
$GC,4848,1.19,116.8,433.5,15.1,255,4854,0.00,2.47,0.00,0.000,6,0.000,0.028,3395,1797,2149,0,0,0,0,0,0
$GC,5179,1.19,116.8,388.1,14.8,264,5181,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1798,2144,0,0,0,0,0,0
$GC,5504,1.19,116.8,349.4,11.4,272,5509,0.00,2.65,0.00,0.000,4,0.000,0.061,3394,403,2141,0,0,0,0,0,0
$GC,5542,1.19,116.8,343.6,14.9,272,5547,0.00,2.47,0.00,0.000,6,0.000,0.028,3395,1806,2139,0,0,0,0,0,0
$GC,5873,1.19,116.8,304.2,11.6,281,5874,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1811,2138,0,0,0,0,0,0
$GC,6181,1.19,116.8,273.7,10.2,294,6185,0.00,2.65,0.00,0.000,4,0.000,0.059,3395,402,2137,0,0,0,0,0,0
$GC,6224,1.19,116.8,268.7,11.8,296,6228,0.00,2.45,0.00,0.000,6,0.000,0.027,3395,1803,2135,0,0,0,0,0,0
$GC,6553,1.19,116.8,236.6,9.9,312,6555,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1806,2135,0,0,0,0,0,0
$GC,6864,1.19,116.8,205.9,9.4,327,6869,0.00,2.60,0.00,0.000,4,0.000,0.055,3395,401,2134,0,0,0,0,0,0
$GC,6884,1.19,116.8,203.7,10.1,328,6889,0.00,2.45,0.00,0.000,6,0.000,0.025,3395,1805,2132,0,0,0,0,0,0
$GC,7213,1.19,116.8,175.8,8.5,357,7214,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1810,2133,0,0,0,0,0,0
$GC,7468,1.19,116.8,154.9,8.2,381,7470,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1810,2133,0,0,0,0,0,0
$GC,7724,1.23,148.3,134.9,6.6,405,7754,0.00,2.70,23.70,0.576,4,0.000,0.051,3395,401,2029,0,0,0,0,0,0
$GC,7791,1.23,148.3,129.0,9.9,412,7797,0.00,2.47,0.00,0.000,6,0.000,0.022,3395,1806,2025,0,0,0,0,0,0
$GC,8055,1.23,148.3,106.7,8.7,437,8060,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1810,2025,0,0,0,0,0,0
$GC,8317,1.23,148.3,83.7,8.3,462,8321,0.00,2.58,0.00,0.000,4,0.000,0.049,3395,400,2024,0,0,0,0,0,0
$GC,8345,1.23,148.3,81.0,9.7,464,8352,0.00,2.42,0.00,0.000,6,0.000,0.021,3395,1800,2023,0,0,0,0,0,0
$GC,8609,1.31,213.7,64.4,5.0,489,8672,0.12,2.65,56.22,0.518,4,0.061,0.048,3439,400,1762,0,0,0,0,0,0
$GC,8713,1.31,213.7,54.3,14.4,499,8717,0.00,2.42,0.00,0.000,6,0.000,0.020,3440,1798,1756,0,0,0,0,0,0
$GC,8977,1.31,213.7,23.8,10.1,528,8984,0.00,2.50,0.00,0.000,4,0.000,0.028,3440,3201,1756,0,0,0,0,0,0
$GC,9005,1.31,213.7,21.2,9.8,533,9011,0.00,2.55,0.00,0.000,6,0.000,0.036,3440,1807,1756,0,0,0,0,0,0
$STATE,9190,end climb,SURFACE_DEPTH_REACHED
$STATE,9190,begin surface coast
$FINISH,0.9,1.006797
$STATE,9218,end surface coast,CONTROL_FINISHED_OK
$STATE,9218,begin surface
$SM_CCo,9242,58.33,0.457,0,0,1288,330.17
$SM_GC,1.54,0.00,0.00,58.33,0.000,0.000,0.457,430,2168,1288,-12.45,1.92,330.17
$IRIDIUM_FIX,2101.76,-15758.18,240700,010122
$TT8_MAMPS,0.029146
$HUMID,54.88
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.5,17.551
$10V_AH,10.5,16.952
$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,28.575,96.225,275.300,58.325,0.000,24.733,35.614,146.617,4.500,0.000,19.010,1040.189,6233.005,393.635,1539.362,426.263,33.360,1069.484,0.000,1519.296,0.000,31.341,0.000
$DEVICE_MAMPS,135.759,63.661,816.855,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,387.104,370.740,815.259,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,31748,572
$CAP_FILE_SIZE,91417,0
$CFSIZE,260165632,245858304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300411,065740,2108.344,-15757.581,12,4.8,31,9.8