version: 66.06
glider: 139
mission: 9
dive: 227
start: 4 30 111 23 37 31
data:
$ID,139
$MISSION,9
$DIVE,227
$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,-2180313
$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,18
$R_STBD_OVSHOOT,76
$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
$GPS1,233052,2106.976,-15755.819,16,3.0,35,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-74.1
$GPS2,233638,2107.028,-15755.841,12,1.5,12,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.221,-0.018
$KALMAN_X,-132459.2,84.8,232.5,123153.3,-2623.7
$KALMAN_Y,-17938.7,196.1,77.0,10762.1,215.7
$MHEAD_RNG_PITCHd_Wd,84.8,22442,-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,16,-1.19,-116.8,0.0,0.0,0,88,0.00,0.00,-69.75,0.000,2,0.000,0.000,423,2145,3093,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.2,-4.0,13,111,13.12,2.60,-0.32,0.000,4,0.135,0.044,2867,679,3112,0,0,0,0,0,0
$GC,183,-1.19,-116.8,26.1,-19.9,32,190,0.00,2.40,0.00,0.000,6,0.000,0.022,2867,2051,3114,0,0,0,0,0,0
$GC,384,-1.19,-116.8,58.5,-15.4,52,388,0.00,2.58,0.00,0.000,4,0.000,0.035,2868,3503,3115,0,0,0,0,0,0
$GC,544,-1.19,-116.8,84.5,-16.5,69,548,0.00,2.50,0.00,0.000,6,0.000,0.035,2867,2084,3115,0,0,0,0,0,0
$GC,806,-1.19,-116.8,124.8,-14.1,93,811,0.00,2.53,0.00,0.000,4,0.000,0.035,2867,3507,3115,0,0,0,0,0,0
$GC,832,-1.19,-116.8,128.4,-14.4,95,836,0.00,2.45,0.00,0.000,6,0.000,0.032,2867,2098,3116,0,0,0,0,0,0
$GC,1097,-1.19,-116.8,157.4,-7.7,119,1101,0.00,2.47,0.00,0.000,4,0.000,0.036,2867,3505,3116,0,0,0,0,0,0
$GC,1125,-1.19,-116.8,159.6,-7.1,121,1130,0.00,2.47,0.00,0.000,6,0.000,0.033,2867,2097,3117,0,0,0,0,0,0
$GC,1389,-1.19,-116.8,180.7,-9.7,146,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2097,3117,0,0,0,0,0,0
$GC,1638,-1.19,-116.8,210.5,-12.5,166,1642,0.00,2.50,0.00,0.000,4,0.000,0.039,2867,3500,3117,0,0,0,0,0,0
$GC,1681,-1.19,-116.8,216.2,-13.0,168,1685,0.00,2.45,0.00,0.000,6,0.000,0.036,2867,2101,3117,0,0,0,0,0,0
$GC,2010,-1.19,-116.8,253.0,-10.0,184,2014,0.00,2.55,0.00,0.000,4,0.000,0.047,2867,692,3117,0,0,0,0,0,0
$GC,2040,-1.19,-116.8,255.7,-9.1,185,2044,0.00,2.40,0.00,0.000,6,0.000,0.024,2867,2100,3117,0,0,0,0,0,0
$GC,2361,-1.19,-116.8,282.7,-9.8,201,2362,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2101,3116,0,0,0,0,0,0
$GC,2667,-1.19,-116.8,311.6,-9.3,213,2672,0.00,2.55,0.00,0.000,4,0.000,0.048,2867,692,3116,0,0,0,0,0,0
$GC,2695,-1.19,-116.8,314.3,-9.8,213,2700,0.00,2.42,0.00,0.000,6,0.000,0.026,2867,2107,3115,0,0,0,0,0,0
$GC,3031,-1.19,-116.8,339.5,-6.3,222,3036,0.00,2.55,0.00,0.000,4,0.000,0.048,2867,691,3114,0,0,0,0,0,0
$GC,3046,-1.19,-116.8,340.4,-5.7,222,3050,0.00,2.45,0.00,0.000,6,0.000,0.027,2867,2100,3114,0,0,0,0,0,0
$GC,3397,-1.19,-116.8,360.9,-6.4,231,3398,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2101,3112,0,0,0,0,0,0
$GC,3720,-1.19,-116.8,387.4,-8.7,239,3725,0.00,2.55,0.00,0.000,4,0.000,0.052,2867,694,3109,0,0,0,0,0,0
$GC,3804,-1.19,-116.8,395.8,-9.6,240,3810,0.00,2.42,0.00,0.000,6,0.000,0.029,2867,2100,3108,0,0,0,0,0,0
$GC,4137,-1.19,-116.8,424.4,-8.2,249,4141,0.00,2.58,0.00,0.000,4,0.000,0.054,2867,688,3106,0,0,0,0,0,0
$GC,4211,-1.19,-116.8,431.7,-9.1,250,4216,0.00,2.45,0.00,0.000,6,0.000,0.030,2867,2099,3106,0,0,0,0,0,0
$STATE,4463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4463,begin apogee
$GC,4470,-0.31,0.0,451.7,7.8,257,4568,0.95,0.00,94.55,0.825,6,0.083,0.000,3065,1791,2635,0,0,0,0,0,0
$STATE,4569,end apogee,CONTROL_FINISHED_OK
$STATE,4569,begin climb
$GC,4572,1.19,116.8,454.1,0.0,259,4684,1.50,2.72,100.15,0.805,4,0.055,0.048,3395,3201,2157,0,0,0,0,0,0
$GC,4694,1.19,116.8,444.5,11.4,261,4700,0.00,2.62,0.00,0.000,6,0.000,0.053,3395,1810,2156,0,0,0,0,0,0
$GC,5025,1.19,116.8,400.4,13.7,270,5030,0.00,2.70,0.00,0.000,4,0.000,0.064,3395,393,2146,0,0,0,0,0,0
$GC,5091,1.19,116.8,389.8,15.6,271,5095,0.00,2.50,0.00,0.000,6,0.000,0.028,3395,1803,2143,0,0,0,0,0,0
$GC,5436,1.19,116.8,341.6,14.1,280,5440,0.00,2.67,0.00,0.000,4,0.000,0.061,3395,392,2141,0,0,0,0,0,0
$GC,5460,1.19,116.8,337.7,15.3,280,5464,0.00,2.47,0.00,0.000,6,0.000,0.028,3395,1801,2139,0,0,0,0,0,0
$GC,5800,1.19,116.8,298.7,10.3,289,5805,0.00,2.70,0.00,0.000,4,0.000,0.061,3395,386,2138,0,0,0,0,0,0
$GC,5866,1.19,116.8,291.8,10.3,292,5870,0.00,2.50,0.00,0.000,6,0.000,0.028,3395,1807,2136,0,0,0,0,0,0
$GC,6195,1.19,116.8,261.8,10.3,308,6200,0.00,2.67,0.00,0.000,4,0.000,0.059,3395,389,2136,0,0,0,0,0,0
$GC,6225,1.19,116.8,258.3,12.6,309,6229,0.00,2.50,0.00,0.000,6,0.000,0.027,3395,1804,2134,0,0,0,0,0,0
$GC,6546,1.19,116.8,225.3,9.6,325,6551,0.00,2.65,0.00,0.000,4,0.000,0.056,3395,391,2134,0,0,0,0,0,0
$GC,6566,1.19,116.8,223.0,11.1,326,6571,0.00,2.45,0.00,0.000,6,0.000,0.025,3395,1806,2133,0,0,0,0,0,0
$GC,6890,1.19,116.8,193.4,9.2,345,6894,0.00,2.50,0.00,0.000,4,0.000,0.038,3395,3207,2133,0,0,0,0,0,0
$GC,6923,1.19,116.8,190.0,10.0,348,6928,0.00,2.58,0.00,0.000,6,0.000,0.043,3395,1792,2133,0,0,0,0,0,0
$GC,7187,1.19,116.8,159.5,12.6,372,7188,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1792,2133,0,0,0,0,0,0
$GC,7439,1.19,116.8,130.1,10.5,396,7440,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1792,2132,0,0,0,0,0,0
$GC,7695,1.20,124.4,108.0,7.7,420,7699,0.00,2.53,0.00,0.000,4,0.000,0.033,3395,3206,2132,0,0,0,0,0,0
$GC,7713,1.20,124.4,106.4,8.3,421,7719,0.00,2.55,0.00,0.000,6,0.000,0.039,3395,1794,2132,0,0,0,0,0,0
$GC,7976,1.28,188.5,90.9,5.1,446,8036,0.00,0.00,57.80,0.555,6,0.000,0.000,3395,1794,1865,0,0,0,0,0,0
$GC,8290,1.28,188.5,68.3,8.2,476,8295,0.00,2.58,0.00,0.000,4,0.000,0.051,3395,389,1860,0,0,0,0,0,0
$GC,8377,1.28,188.5,59.8,10.1,485,8381,0.00,2.42,0.00,0.000,6,0.000,0.020,3396,1804,1856,0,0,0,0,0,0
$GC,8641,1.28,188.5,38.8,8.1,509,8646,0.00,2.45,0.00,0.000,4,0.000,0.028,3395,3206,1855,0,0,0,0,0,0
$GC,8695,1.28,188.5,34.1,10.1,514,8701,0.00,2.58,0.00,0.000,6,0.000,0.037,3396,1798,1856,0,0,0,0,0,0
$GC,8960,1.30,204.1,13.1,7.3,559,8978,0.10,0.00,13.68,0.443,6,0.071,0.000,3436,1798,1801,0,0,0,0,0,0
$STATE,9059,end climb,SURFACE_DEPTH_REACHED
$STATE,9059,begin surface coast
$FINISH,0.9,0.999226
$STATE,9089,end surface coast,CONTROL_FINISHED_OK
$STATE,9089,begin surface
$SM_CCo,9113,64.00,0.462,0,0,1289,330.17
$SM_GC,1.46,0.00,0.00,64.00,0.000,0.000,0.462,429,2168,1289,-12.46,1.92,330.17
$IRIDIUM_FIX,2101.76,-15756.04,240700,202042
$TT8_MAMPS,0.029146
$HUMID,55.51
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.5,18.090
$10V_AH,10.6,17.482
$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,28.600,102.300,266.175,64.000,0.000,31.059,41.461,155.917,4.750,0.000,12.820,1062.829,6037.659,404.007,1565.078,456.428,33.353,1070.623,0.000,1553.157,0.000,32.084,0.000
$DEVICE_MAMPS,134.992,63.661,825.292,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,394.311,385.622,860.274,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355672
$DATA_FILE_SIZE,31773,582
$CAP_FILE_SIZE,92624,0
$CFSIZE,260165632,245522432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010511,021154,2106.927,-15755.610,30,0.9,47,9.8