version: 66.06
glider: 139
mission: 9
dive: 221
start: 4 30 111 7 4 8
data:
$ID,139
$MISSION,9
$DIVE,221
$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,-2180196.5
$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,20
$R_STBD_OVSHOOT,78
$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
$GPS1,065740,2108.344,-15757.581,12,4.8,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-75.4
$GPS2,070316,2108.338,-15757.572,14,8.1,33,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.206,-0.083
$KALMAN_X,-121878.8,423.1,405.7,109071.3,-2351.5
$KALMAN_Y,-19234.8,-115.2,-167.7,15036.1,936.4
$MHEAD_RNG_PITCHd_Wd,102.1,25748,-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,-69.95,0.000,2,0.000,0.000,429,2169,3101,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.3,-4.2,13,111,13.12,2.65,-0.20,0.000,4,0.135,0.049,2870,684,3113,0,0,0,0,0,0
$GC,119,-1.19,-116.8,12.9,-25.9,17,125,0.00,2.40,0.00,0.000,6,0.000,0.021,2870,2064,3114,0,0,0,0,0,0
$GC,326,-1.19,-116.8,51.3,-16.0,43,330,0.00,2.53,0.00,0.000,4,0.000,0.035,2870,3497,3116,0,0,0,0,0,0
$GC,423,-1.19,-116.8,67.2,-17.7,53,428,0.00,2.50,0.00,0.000,6,0.000,0.036,2870,2097,3116,0,0,0,0,0,0
$GC,689,-1.19,-116.8,105.8,-13.5,77,693,0.00,2.53,0.00,0.000,4,0.000,0.041,2870,688,3117,0,0,0,0,0,0
$GC,704,-1.19,-116.8,108.6,-13.7,78,709,0.00,2.40,0.00,0.000,6,0.000,0.021,2870,2104,3116,0,0,0,0,0,0
$GC,969,-1.19,-116.8,143.2,-11.1,102,973,0.00,2.55,0.00,0.000,4,0.000,0.041,2870,681,3117,0,0,0,0,0,0
$GC,979,-1.19,-116.8,144.9,-11.1,102,985,0.00,2.45,0.00,0.000,6,0.000,0.021,2870,2100,3117,0,0,0,0,0,0
$GC,1243,-1.19,-116.8,169.0,-9.0,127,1247,0.00,2.53,0.00,0.000,4,0.000,0.039,2870,3504,3118,0,0,0,0,0,0
$GC,1259,-1.19,-116.8,170.7,-9.3,128,1263,0.00,2.47,0.00,0.000,6,0.000,0.034,2870,2097,3118,0,0,0,0,0,0
$GC,1522,-1.19,-116.8,195.7,-9.0,152,1526,0.00,2.50,0.00,0.000,4,0.000,0.038,2871,3497,3118,0,0,0,0,0,0
$GC,1576,-1.19,-116.8,201.1,-8.6,157,1581,0.00,2.47,0.00,0.000,6,0.000,0.034,2870,2093,3118,0,0,0,0,0,0
$GC,1892,-1.19,-116.8,227.2,-8.1,172,1896,0.00,2.50,0.00,0.000,4,0.000,0.045,2870,692,3119,0,0,0,0,0,0
$GC,1948,-1.19,-116.8,231.7,-8.4,174,1952,0.00,2.40,0.00,0.000,6,0.000,0.023,2870,2106,3118,0,0,0,0,0,0
$GC,2265,-1.19,-116.8,257.6,-8.8,189,2269,0.00,2.53,0.00,0.000,4,0.000,0.044,2870,3499,3118,0,0,0,0,0,0
$GC,2285,-1.19,-116.8,259.3,-7.8,190,2290,0.00,2.47,0.00,0.000,6,0.000,0.038,2870,2096,3118,0,0,0,0,0,0
$GC,2615,-1.19,-116.8,286.9,-8.6,206,2619,0.00,2.53,0.00,0.000,4,0.000,0.048,2870,691,3117,0,0,0,0,0,0
$GC,2753,-1.19,-116.8,301.3,-10.5,212,2757,0.00,2.42,0.00,0.000,6,0.000,0.026,2870,2103,3117,0,0,0,0,0,0
$GC,3076,-1.19,-116.8,327.1,-7.3,220,3077,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2104,3116,0,0,0,0,0,0
$GC,3401,-1.19,-116.8,348.1,-6.5,228,3405,0.00,2.58,0.00,0.000,4,0.000,0.050,2870,685,3114,0,0,0,0,0,0
$GC,3416,-1.19,-116.8,349.1,-6.8,228,3421,0.00,2.42,0.00,0.000,6,0.000,0.028,2870,2098,3114,0,0,0,0,0,0
$GC,3766,-1.19,-116.8,374.7,-7.1,237,3771,0.00,2.58,0.00,0.000,4,0.000,0.051,2870,689,3111,0,0,0,0,0,0
$GC,3823,-1.19,-116.8,379.0,-7.4,238,3827,0.00,2.45,0.00,0.000,6,0.000,0.028,2870,2100,3111,0,0,0,0,0,0
$GC,4138,-1.19,-116.8,401.9,-7.6,246,4142,0.00,2.58,0.00,0.000,4,0.000,0.053,2870,3501,3109,0,0,0,0,0,0
$GC,4189,-1.19,-116.8,406.6,-8.7,247,4193,0.00,2.53,0.00,0.000,6,0.000,0.045,2870,2095,3108,0,0,0,0,0,0
$GC,4509,-1.19,-116.8,429.0,-6.8,255,4514,0.00,2.58,0.00,0.000,4,0.000,0.052,2870,3499,3106,0,0,0,0,0,0
$GC,4553,-1.19,-116.8,432.4,-8.1,256,4557,0.00,2.55,0.00,0.000,6,0.000,0.047,2870,2099,3106,0,0,0,0,0,0
$STATE,4796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4796,begin apogee
$GC,4803,-0.31,0.0,452.5,8.1,262,4902,0.95,0.00,95.35,0.825,6,0.083,0.000,3067,1796,2635,0,0,0,0,0,0
$STATE,4903,end apogee,CONTROL_FINISHED_OK
$STATE,4903,begin climb
$GC,4906,1.19,116.8,454.6,0.0,264,5012,1.50,0.00,101.78,0.805,6,0.055,0.000,3395,1796,2159,0,0,0,0,0,0
$GC,5324,1.19,116.8,405.3,13.5,275,5325,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1796,2148,0,0,0,0,0,0
$GC,5649,1.19,116.8,363.2,12.8,283,5653,0.00,2.62,0.00,0.000,4,0.000,0.064,3394,404,2144,0,0,0,0,0,0
$GC,5696,1.19,116.8,356.5,14.1,284,5700,0.00,2.45,0.00,0.000,6,0.000,0.028,3395,1800,2141,0,0,0,0,0,0
$GC,6019,1.19,116.8,312.2,13.4,292,6023,0.00,2.55,0.00,0.000,4,0.000,0.047,3395,3208,2139,0,0,0,0,0,0
$GC,6047,1.19,116.8,308.6,12.9,292,6052,0.00,2.62,0.00,0.000,6,0.000,0.050,3395,1803,2139,0,0,0,0,0,0
$GC,6367,1.19,116.8,274.8,9.1,306,6371,0.00,2.65,0.00,0.000,4,0.000,0.061,3394,394,2138,0,0,0,0,0,0
$GC,6440,1.19,116.8,266.0,11.1,309,6444,0.00,2.47,0.00,0.000,6,0.000,0.027,3394,1809,2136,0,0,0,0,0,0
$GC,6762,1.19,116.8,233.7,10.3,325,6766,0.00,2.53,0.00,0.000,4,0.000,0.042,3395,3211,2136,0,0,0,0,0,0
$GC,6790,1.19,116.8,230.5,10.5,326,6794,0.00,2.60,0.00,0.000,6,0.000,0.047,3395,1800,2136,0,0,0,0,0,0
$GC,7110,1.19,116.8,201.6,8.3,342,7115,0.00,2.62,0.00,0.000,4,0.000,0.056,3394,389,2135,0,0,0,0,0,0
$GC,7171,1.19,116.8,195.7,10.0,348,7175,0.00,2.45,0.00,0.000,6,0.000,0.024,3394,1806,2133,0,0,0,0,0,0
$GC,7434,1.19,116.8,172.2,9.8,372,7438,0.00,2.65,0.00,0.000,4,0.000,0.054,3394,390,2133,0,0,0,0,0,0
$GC,7459,1.19,116.8,169.1,12.1,374,7463,0.00,2.45,0.00,0.000,6,0.000,0.023,3395,1803,2133,0,0,0,0,0,0
$GC,7722,1.19,116.8,140.0,10.4,398,7726,0.00,2.45,0.00,0.000,4,0.000,0.035,3395,3202,2132,0,0,0,0,0,0
$GC,7758,1.19,116.8,136.0,10.2,401,7764,0.00,2.55,0.00,0.000,6,0.000,0.041,3394,1802,2133,0,0,0,0,0,0
$GC,8022,1.23,142.5,114.6,6.8,426,8042,0.00,0.00,18.95,0.555,6,0.000,0.000,3395,1802,2054,0,0,0,0,0,0
$GC,8296,1.26,169.2,96.7,6.8,452,8324,0.00,0.00,24.42,0.539,6,0.000,0.000,3395,1802,1945,0,0,0,0,0,0
$GC,8582,1.26,169.2,71.4,9.8,479,8586,0.00,2.50,0.00,0.000,4,0.000,0.031,3395,3204,1941,0,0,0,0,0,0
$GC,8607,1.26,169.2,68.6,10.9,481,8612,0.00,2.55,0.00,0.000,6,0.000,0.038,3395,1798,1941,0,0,0,0,0,0
$GC,8872,1.28,184.5,47.2,7.3,505,8893,0.00,2.62,14.25,0.474,4,0.000,0.048,3394,385,1880,0,0,0,0,0,0
$GC,8940,1.28,184.5,41.8,8.7,512,8945,0.00,2.45,0.00,0.000,6,0.000,0.020,3395,1806,1876,0,0,0,0,0,0
$GC,9206,1.32,215.3,24.4,6.6,543,9241,0.12,2.53,27.02,0.472,4,0.061,0.029,3441,3204,1756,0,0,0,0,0,0
$GC,9253,1.32,215.3,20.3,9.3,551,9260,0.00,2.58,0.00,0.000,6,0.000,0.035,3440,1805,1756,0,0,0,0,0,0
$STATE,9428,end climb,SURFACE_DEPTH_REACHED
$STATE,9429,begin surface coast
$FINISH,1.0,1.023120
$STATE,9451,end surface coast,CONTROL_FINISHED_OK
$STATE,9451,begin surface
$SM_CCo,9475,59.20,0.457,0,0,1287,330.17
$SM_GC,1.55,0.00,0.00,59.20,0.000,0.000,0.457,432,2142,1287,-12.45,1.19,330.17
$IRIDIUM_FIX,2059.45,-15759.05,240700,040442
$TT8_MAMPS,0.028379
$HUMID,55.23
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.5,17.629
$10V_AH,10.6,17.027
$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,28.625,117.025,281.775,59.200,0.000,28.229,34.803,135.017,4.500,0.000,34.011,1087.817,6296.702,444.167,1605.659,438.254,33.356,1121.810,0.000,1575.606,0.000,29.242,0.000
$DEVICE_MAMPS,134.992,63.661,824.525,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,397.371,383.158,850.282,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,31819,587
$CAP_FILE_SIZE,98202,0
$CFSIZE,260165632,245809152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300411,094406,2108.018,-15757.097,25,1.6,25,9.8