version: 66.06
glider: 139
mission: 9
dive: 200
start: 4 27 111 20 44 25
data:
$ID,139
$MISSION,9
$DIVE,200
$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,-2179690.8
$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,42
$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
$GPS1,203807,2057.697,-15749.099,38,1.1,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-72.0
$GPS2,204332,2057.731,-15749.094,14,1.5,14,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.213,0.061
$KALMAN_X,-109668.0,-467.0,174.1,112633.5,1006.0
$KALMAN_Y,-23922.0,-260.4,54.7,9.7,523.4
$MHEAD_RNG_PITCHd_Wd,276.3,29793,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-70.05,0.000,6,0.000,0.000,430,2102,3112,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.4,-4.9,13,110,13.10,2.47,0.00,0.000,4,0.136,0.032,2868,3498,3113,0,0,0,0,0,0
$GC,363,-1.19,-116.8,58.0,-19.1,56,368,0.00,2.50,0.00,0.000,6,0.000,0.038,2868,2090,3116,0,0,0,0,0,0
$GC,625,-1.19,-116.8,95.9,-12.5,80,629,0.00,2.50,0.00,0.000,4,0.000,0.036,2868,3495,3117,0,0,0,0,0,0
$GC,788,-1.19,-116.8,115.4,-10.7,97,793,0.00,2.45,0.00,0.000,6,0.000,0.033,2868,2091,3118,0,0,0,0,0,0
$GC,1051,-1.19,-116.8,147.4,-12.6,122,1055,0.00,2.53,0.00,0.000,4,0.000,0.042,2868,682,3118,0,0,0,0,0,0
$GC,1087,-1.19,-116.8,152.5,-12.7,125,1093,0.00,2.42,0.00,0.000,6,0.000,0.022,2868,2095,3118,0,0,0,0,0,0
$GC,1349,-1.19,-116.8,181.7,-10.0,150,1353,0.00,2.50,0.00,0.000,4,0.000,0.041,2868,3503,3119,0,0,0,0,0,0
$GC,1392,-1.19,-116.8,186.4,-11.1,154,1397,0.00,2.47,0.00,0.000,6,0.000,0.035,2868,2097,3119,0,0,0,0,0,0
$GC,1650,-1.19,-116.8,213.5,-10.0,172,1654,0.00,2.50,0.00,0.000,4,0.000,0.041,2868,3498,3119,0,0,0,0,0,0
$GC,1719,-1.19,-116.8,220.4,-10.0,175,1724,0.00,2.50,0.00,0.000,6,0.000,0.038,2868,2096,3119,0,0,0,0,0,0
$GC,2052,-1.19,-116.8,251.9,-8.4,191,2056,0.00,2.55,0.00,0.000,4,0.000,0.044,2868,3503,3119,0,0,0,0,0,0
$GC,2130,-1.19,-116.8,259.1,-8.9,194,2134,0.00,2.50,0.00,0.000,6,0.000,0.040,2868,2098,3119,0,0,0,0,0,0
$GC,2447,-1.19,-116.8,283.9,-8.7,209,2451,0.00,2.55,0.00,0.000,4,0.000,0.049,2868,685,3118,0,0,0,0,0,0
$GC,2526,-1.19,-116.8,291.9,-10.0,212,2530,0.00,2.42,0.00,0.000,6,0.000,0.026,2868,2096,3118,0,0,0,0,0,0
$GC,2859,-1.19,-116.8,321.8,-8.8,222,2860,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2097,3116,0,0,0,0,0,0
$GC,3183,-1.19,-116.8,348.4,-8.2,230,3188,0.00,2.55,0.00,0.000,4,0.000,0.051,2868,3501,3115,0,0,0,0,0,0
$GC,3198,-1.19,-116.8,349.6,-7.9,230,3203,0.00,2.53,0.00,0.000,6,0.000,0.044,2868,2093,3115,0,0,0,0,0,0
$GC,3548,-1.19,-116.8,377.0,-7.9,239,3550,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2093,3114,0,0,0,0,0,0
$GC,3874,-1.19,-116.8,400.8,-7.0,247,3875,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2093,3111,0,0,0,0,0,0
$GC,4201,-1.19,-116.8,422.0,-7.0,255,4205,0.00,2.60,0.00,0.000,4,0.000,0.055,2868,686,3109,0,0,0,0,0,0
$GC,4410,-1.19,-116.8,438.1,-7.3,259,4414,0.00,2.50,0.00,0.000,6,0.000,0.032,2868,2098,3107,0,0,0,0,0,0
$STATE,4626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4626,begin apogee
$GC,4633,-0.31,0.0,451.7,6.1,265,4731,0.95,0.00,95.12,0.825,6,0.081,0.000,3065,1796,2635,0,0,0,0,0,0
$STATE,4732,end apogee,CONTROL_FINISHED_OK
$STATE,4732,begin climb
$GC,4735,1.19,116.8,451.9,0.0,267,4843,1.50,0.00,100.93,0.803,6,0.057,0.000,3395,1796,2158,0,0,0,0,0,0
$GC,5143,1.19,116.8,402.3,12.8,277,5147,0.00,2.65,0.00,0.000,4,0.000,0.064,3395,400,2146,0,0,0,0,0,0
$GC,5210,1.19,116.8,393.1,13.9,278,5214,0.00,2.53,0.00,0.000,6,0.000,0.028,3395,1807,2143,0,0,0,0,0,0
$GC,5555,1.19,116.8,350.5,12.4,287,5559,0.00,2.67,0.00,0.000,4,0.000,0.061,3395,404,2141,0,0,0,0,0,0
$GC,5583,1.19,116.8,346.5,13.7,287,5588,0.00,2.47,0.00,0.000,6,0.000,0.028,3396,1807,2139,0,0,0,0,0,0
$GC,5919,1.19,116.8,307.8,11.2,296,5924,0.00,2.53,0.00,0.000,4,0.000,0.045,3395,3193,2138,0,0,0,0,0,0
$GC,5966,1.19,116.8,302.4,11.6,297,5970,0.00,2.60,0.00,0.000,6,0.000,0.050,3395,1805,2138,0,0,0,0,0,0
$GC,6293,1.19,116.8,267.1,9.9,312,6298,0.00,2.62,0.00,0.000,4,0.000,0.058,3395,393,2136,0,0,0,0,0,0
$GC,6363,1.19,116.8,259.2,11.2,315,6367,0.00,2.50,0.00,0.000,6,0.000,0.027,3395,1806,2134,0,0,0,0,0,0
$GC,6689,1.19,116.8,223.3,10.9,331,6694,0.00,2.67,0.00,0.000,4,0.000,0.057,3395,390,2134,0,0,0,0,0,0
$GC,6718,1.19,116.8,219.7,12.4,332,6722,0.00,2.47,0.00,0.000,6,0.000,0.025,3395,1806,2133,0,0,0,0,0,0
$GC,7044,1.19,116.8,185.4,10.4,354,7048,0.00,2.50,0.00,0.000,4,0.000,0.038,3396,3203,2133,0,0,0,0,0,0
$GC,7088,1.19,116.8,180.8,10.4,358,7092,0.00,2.58,0.00,0.000,6,0.000,0.043,3395,1800,2133,0,0,0,0,0,0
$GC,7351,1.19,116.8,158.4,8.5,382,7356,0.00,2.53,0.00,0.000,4,0.000,0.036,3396,3197,2133,0,0,0,0,0,0
$GC,7388,1.19,116.8,154.9,9.0,385,7393,0.00,2.58,0.00,0.000,6,0.000,0.041,3396,1792,2132,0,0,0,0,0,0
$GC,7649,1.19,116.8,131.8,9.1,410,7653,0.00,2.55,0.00,0.000,4,0.000,0.052,3395,389,2132,0,0,0,0,0,0
$GC,7695,1.19,116.8,126.9,10.4,414,7702,0.00,2.45,0.00,0.000,6,0.000,0.021,3395,1796,2131,0,0,0,0,0,0
$GC,7960,1.19,116.8,102.3,9.1,439,7964,0.00,2.62,0.00,0.000,4,0.000,0.051,3396,383,2132,0,0,0,0,0,0
$GC,8049,1.19,116.8,93.4,9.5,448,8053,0.00,2.45,0.00,0.000,6,0.000,0.021,3395,1807,2131,0,0,0,0,0,0
$GC,8315,1.22,139.4,73.5,7.0,472,8339,0.00,2.72,16.10,0.506,4,0.000,0.048,3395,380,2064,0,0,0,0,0,0
$GC,8390,1.22,139.4,67.3,9.0,480,8395,0.00,2.45,0.00,0.000,6,0.000,0.020,3395,1803,2062,0,0,0,0,0,0
$GC,8655,1.26,167.3,49.9,6.7,504,8686,0.00,2.67,24.90,0.498,4,0.000,0.048,3395,382,1951,0,0,0,0,0,0
$GC,8724,1.26,167.3,44.3,8.4,511,8729,0.00,2.45,0.00,0.000,6,0.000,0.019,3395,1808,1947,0,0,0,0,0,0
$GC,8991,1.28,182.8,24.6,7.3,542,9010,0.00,2.65,14.15,0.453,4,0.000,0.048,3395,388,1888,0,0,0,0,0,0
$GC,9081,1.28,182.8,17.3,8.8,561,9087,0.00,2.45,0.00,0.000,6,0.000,0.019,3396,1794,1884,0,0,0,0,0,0
$GC,9284,1.34,237.9,4.0,5.5,598,9302,0.15,0.00,15.98,0.438,2,0.052,0.000,3449,1799,1816,0,0,0,0,0,0
$STATE,9303,end climb,SURFACE_DEPTH_REACHED
$STATE,9303,begin surface coast
$FINISH,0.8,1.011884
$STATE,9363,end surface coast,CONTROL_FINISHED_OK
$STATE,9363,begin surface
$SM_CCo,9387,62.20,0.454,0,0,1288,330.17
$SM_GC,1.49,0.00,0.00,62.20,0.000,0.000,0.454,430,2146,1288,-12.45,1.30,330.17
$IRIDIUM_FIX,2050.21,-15745.35,210700,181803
$TT8_MAMPS,0.029913
$HUMID,54.01
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,22.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,441.8,46.5
$24V_AH,23.5,15.974
$10V_AH,10.5,15.422
$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,28.575,107.475,267.175,62.200,0.000,29.790,32.888,143.140,4.750,0.000,14.860,1140.918,6046.986,397.595,1755.816,435.639,33.352,1133.688,0.000,1737.336,0.000,34.315,0.000
$DEVICE_MAMPS,135.759,64.428,824.525,454.064,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,414.465,400.959,932.254,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,34905,612
$CAP_FILE_SIZE,99038,0
$CFSIZE,260165632,246812672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270411,232251,2057.996,-15749.965,16,1.9,17,9.8