version: 66.06
glider: 139
mission: 9
dive: 223
start: 4 30 111 12 34 25
data:
$ID,139
$MISSION,9
$DIVE,223
$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,-2180227
$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,41
$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
$GPS1,122807,2107.648,-15757.093,40,0.9,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-75.6
$GPS2,123332,2107.622,-15757.130,16,1.8,16,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.219,-0.035
$KALMAN_X,-124866.4,112.2,-160.5,113707.6,-2452.3
$KALMAN_Y,-18808.5,-399.0,26.7,13383.5,386.6
$MHEAD_RNG_PITCHd_Wd,89.2,24783,-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,-116.8,0.0,0.0,0,93,0.00,0.00,-70.55,0.000,6,0.000,0.000,426,2103,3111,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.9,-5.7,14,115,13.12,2.55,0.00,0.000,4,0.135,0.037,2870,677,3113,0,0,0,0,0,0
$GC,131,-1.19,-116.8,16.5,-34.1,20,138,0.00,2.45,0.00,0.000,6,0.000,0.021,2870,2091,3114,0,0,0,0,0,0
$GC,332,-1.19,-116.8,46.5,-10.7,45,336,0.00,2.53,0.00,0.000,4,0.000,0.041,2870,677,3116,0,0,0,0,0,0
$GC,387,-1.19,-116.8,53.5,-13.2,50,394,0.00,2.45,0.00,0.000,6,0.000,0.021,2870,2092,3116,0,0,0,0,0,0
$GC,649,-1.19,-116.8,87.3,-14.6,75,654,0.00,2.50,0.00,0.000,4,0.000,0.036,2870,3506,3117,0,0,0,0,0,0
$GC,729,-1.19,-116.8,98.3,-14.1,83,734,0.00,2.50,0.00,0.000,6,0.000,0.034,2870,2082,3117,0,0,0,0,0,0
$GC,994,-1.19,-116.8,135.1,-13.0,107,998,0.00,2.53,0.00,0.000,4,0.000,0.035,2870,3505,3117,0,0,0,0,0,0
$GC,1159,-1.19,-116.8,156.7,-12.2,124,1165,0.00,2.50,0.00,0.000,6,0.000,0.034,2870,2104,3117,0,0,0,0,0,0
$GC,1423,-1.19,-116.8,183.6,-9.6,149,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2103,3118,0,0,0,0,0,0
$GC,1682,-1.19,-116.8,210.0,-10.6,170,1686,0.00,2.53,0.00,0.000,4,0.000,0.044,2870,687,3118,0,0,0,0,0,0
$GC,1756,-1.19,-116.8,218.0,-11.3,173,1760,0.00,2.42,0.00,0.000,6,0.000,0.022,2870,2104,3118,0,0,0,0,0,0
$GC,2077,-1.19,-116.8,249.4,-9.2,189,2081,0.00,2.53,0.00,0.000,4,0.000,0.044,2870,684,3118,0,0,0,0,0,0
$GC,2087,-1.19,-116.8,250.6,-9.4,189,2091,0.00,2.42,0.00,0.000,6,0.000,0.023,2870,2099,3118,0,0,0,0,0,0
$GC,2402,-1.19,-116.8,276.2,-8.2,204,2407,0.00,2.55,0.00,0.000,4,0.000,0.046,2870,684,3118,0,0,0,0,0,0
$GC,2417,-1.19,-116.8,277.5,-7.8,204,2424,0.00,2.45,0.00,0.000,6,0.000,0.025,2870,2091,3118,0,0,0,0,0,0
$GC,2752,-1.19,-116.8,308.6,-9.2,219,2757,0.00,2.50,0.00,0.000,4,0.000,0.047,2871,691,3117,0,0,0,0,0,0
$GC,2836,-1.19,-116.8,315.9,-8.4,220,2842,0.00,2.45,0.00,0.000,6,0.000,0.026,2870,2104,3117,0,0,0,0,0,0
$GC,3169,-1.19,-116.8,340.2,-7.3,229,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2105,3115,0,0,0,0,0,0
$GC,3494,-1.19,-116.8,370.9,-9.4,237,3498,0.00,2.55,0.00,0.000,4,0.000,0.051,2870,3503,3114,0,0,0,0,0,0
$GC,3623,-1.19,-116.8,381.8,-7.8,239,3629,0.00,2.53,0.00,0.000,6,0.000,0.045,2869,2097,3113,0,0,0,0,0,0
$GC,3956,-1.19,-116.8,407.9,-8.2,248,3957,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2097,3111,0,0,0,0,0,0
$GC,4280,-1.19,-116.8,438.4,-9.2,256,4284,0.00,2.60,0.00,0.000,4,0.000,0.057,2870,687,3108,0,0,0,0,0,0
$GC,4350,-1.19,-116.8,444.2,-8.4,257,4354,0.00,2.47,0.00,0.000,6,0.000,0.031,2870,2096,3107,0,0,0,0,0,0
$STATE,4444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4444,begin apogee
$GC,4451,-0.31,0.0,451.2,7.4,260,4550,0.95,0.00,95.55,0.818,6,0.082,0.000,3067,1791,2634,0,0,0,0,0,0
$STATE,4550,end apogee,CONTROL_FINISHED_OK
$STATE,4551,begin climb
$GC,4553,1.19,116.8,453.3,0.0,262,4661,1.48,0.00,100.72,0.802,6,0.055,0.000,3393,1791,2158,0,0,0,0,0,0
$GC,4961,1.19,116.8,413.0,10.2,272,4965,0.00,2.65,0.00,0.000,4,0.000,0.064,3392,401,2146,0,0,0,0,0,0
$GC,4999,1.19,116.8,408.5,11.7,272,5004,0.00,2.47,0.00,0.000,6,0.000,0.028,3393,1801,2143,0,0,0,0,0,0
$GC,5330,1.19,116.8,378.3,8.8,281,5334,0.00,2.67,0.00,0.000,4,0.000,0.061,3392,401,2141,0,0,0,0,0,0
$GC,5344,1.19,116.8,377.0,8.4,281,5349,0.00,2.47,0.00,0.000,6,0.000,0.028,3393,1807,2141,0,0,0,0,0,0
$GC,5694,1.22,139.4,351.5,7.0,290,5719,0.00,2.78,18.08,0.732,4,0.000,0.061,3393,403,2065,0,0,0,0,0,0
$GC,5734,1.22,139.4,348.2,8.8,290,5739,0.00,2.50,0.00,0.000,6,0.000,0.028,3393,1800,2062,0,0,0,0,0,0
$GC,6065,1.22,139.4,316.8,9.9,299,6069,0.00,2.65,0.00,0.000,4,0.000,0.061,3392,398,2060,0,0,0,0,0,0
$GC,6084,1.22,139.4,314.2,12.3,299,6088,0.00,2.50,0.00,0.000,6,0.000,0.027,3393,1808,2058,0,0,0,0,0,0
$GC,6412,1.22,139.4,270.1,13.5,312,6416,0.00,2.65,0.00,0.000,4,0.000,0.061,3392,401,2058,0,0,0,0,0,0
$GC,6501,1.22,139.4,258.4,12.3,316,6505,0.00,2.47,0.00,0.000,6,0.000,0.028,3393,1801,2055,0,0,0,0,0,0
$GC,6830,1.22,139.4,223.9,9.8,332,6835,0.00,2.62,0.00,0.000,4,0.000,0.058,3392,398,2055,0,0,0,0,0,0
$GC,6854,1.22,139.4,221.0,11.9,333,6858,0.00,2.47,0.00,0.000,6,0.000,0.026,3393,1808,2054,0,0,0,0,0,0
$GC,7185,1.22,139.4,183.7,12.3,355,7190,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1813,2055,0,0,0,0,0,0
$GC,7447,1.22,139.4,152.5,11.6,380,7452,0.00,2.62,0.00,0.000,4,0.000,0.054,3393,400,2054,0,0,0,0,0,0
$GC,7493,1.22,139.4,146.4,12.7,384,7500,0.00,2.45,0.00,0.000,6,0.000,0.024,3393,1800,2052,0,0,0,0,0,0
$GC,7758,1.22,139.4,122.0,8.6,409,7762,0.00,2.47,0.00,0.000,4,0.000,0.035,3393,3209,2051,0,0,0,0,0,0
$GC,7813,1.22,139.4,116.8,8.7,414,7820,0.00,2.58,0.00,0.000,6,0.000,0.039,3393,1804,2052,0,0,0,0,0,0
$GC,8077,1.22,139.4,93.9,9.0,439,8081,0.00,2.58,0.00,0.000,4,0.000,0.051,3393,386,2052,0,0,0,0,0,0
$GC,8123,1.22,139.4,88.8,9.9,443,8128,0.00,2.42,0.00,0.000,6,0.000,0.021,3393,1808,2051,0,0,0,0,0,0
$GC,8385,1.22,139.4,66.3,9.3,468,8390,0.00,2.42,0.00,0.000,4,0.000,0.031,3393,3207,2051,0,0,0,0,0,0
$GC,8411,1.22,139.4,64.0,9.3,470,8415,0.00,2.53,0.00,0.000,6,0.000,0.038,3393,1795,2051,0,0,0,0,0,0
$GC,8675,1.24,157.4,43.9,7.2,494,8697,0.00,2.60,14.80,0.483,4,0.000,0.048,3393,388,1992,0,0,0,0,0,0
$GC,8746,1.24,157.4,37.7,9.2,501,8753,0.00,2.45,0.00,0.000,6,0.000,0.020,3393,1797,1990,0,0,0,0,0,0
$GC,9012,1.24,157.4,16.6,8.5,542,9019,0.00,2.60,0.00,0.000,4,0.000,0.048,3393,396,1989,0,0,0,0,0,0
$GC,9061,1.24,157.4,12.4,8.9,552,9068,0.00,2.42,0.00,0.000,6,0.000,0.019,3393,1801,1988,0,0,0,0,0,0
$STATE,9192,end climb,SURFACE_DEPTH_REACHED
$STATE,9192,begin surface coast
$FINISH,0.9,1.023040
$STATE,9231,end surface coast,CONTROL_FINISHED_OK
$STATE,9231,begin surface
$SM_CCo,9255,85.10,0.465,0,0,1289,330.17
$SM_GC,1.69,0.00,0.00,85.10,0.000,0.000,0.465,428,2135,1289,-12.46,1.02,330.17
$IRIDIUM_FIX,2101.76,-15733.30,240700,090945
$TT8_MAMPS,0.028379
$HUMID,54.80
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.5,17.779
$10V_AH,10.5,17.178
$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,28.200,112.075,229.150,85.100,0.000,24.366,33.634,143.778,4.500,0.000,16.215,1074.088,6121.641,420.467,1619.329,431.925,33.351,1112.701,0.000,1602.799,0.000,29.244,0.000
$DEVICE_MAMPS,134.992,63.661,817.622,464.802,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,394.547,376.067,872.760,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,31693,583
$CAP_FILE_SIZE,95045,0
$CFSIZE,260165632,245710848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300411,151116,2107.506,-15756.985,11,3.7,30,9.8