version: 66.06
glider: 139
mission: 9
dive: 151
start: 4 22 111 4 41 55
data:
$ID,139
$MISSION,9
$DIVE,151
$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,-2177807
$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,5
$R_STBD_OVSHOOT,87
$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
$GPS1,043536,2106.454,-15751.132,42,1.0,42,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-74.1
$GPS2,044102,2106.462,-15751.199,15,1.6,15,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.151,0.162
$KALMAN_X,-53966.6,747.5,-280.6,52523.8,-3249.8
$KALMAN_Y,-24952.9,341.5,60.0,16589.1,-1687.2
$MHEAD_RNG_PITCHd_Wd,33.3,14359,-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,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,92,0.00,0.00,-70.38,0.000,6,0.000,0.000,426,2153,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.8,-6.3,14,114,13.15,0.00,0.00,0.000,6,0.136,0.000,2867,2153,3114,0,0,0,0,0,0
$GC,309,-1.19,-116.8,47.3,-18.6,44,313,0.00,2.30,0.00,0.000,4,0.000,0.035,2867,3450,3116,0,0,0,0,0,0
$GC,410,-1.19,-116.8,65.7,-15.9,55,417,0.00,2.45,0.00,0.000,6,0.000,0.036,2868,2084,3116,0,0,0,0,0,0
$GC,673,-1.19,-116.8,106.8,-15.9,80,678,0.00,2.42,0.00,0.000,4,0.000,0.036,2867,3449,3116,0,0,0,0,0,0
$GC,746,-1.19,-116.8,118.9,-15.2,87,752,0.00,2.40,0.00,0.000,6,0.000,0.036,2868,2090,3117,0,0,0,0,0,0
$GC,1009,-1.19,-116.8,154.2,-11.7,112,1014,0.00,2.40,0.00,0.000,4,0.000,0.037,2867,3454,3117,0,0,0,0,0,0
$GC,1070,-1.19,-116.8,161.2,-10.4,118,1075,0.00,2.38,0.00,0.000,6,0.000,0.035,2867,2096,3118,0,0,0,0,0,0
$GC,1334,-1.19,-116.8,186.2,-8.4,142,1338,0.00,2.38,0.00,0.000,4,0.000,0.038,2867,3449,3119,0,0,0,0,0,0
$GC,1434,-1.19,-116.8,196.7,-10.7,152,1440,0.00,2.40,0.00,0.000,6,0.000,0.036,2868,2105,3118,0,0,0,0,0,0
$GC,1700,-1.19,-116.8,222.3,-9.7,167,1704,0.00,2.53,0.00,0.000,4,0.000,0.045,2867,691,3119,0,0,0,0,0,0
$GC,1714,-1.19,-116.8,224.0,-9.0,167,1719,0.00,2.30,0.00,0.000,6,0.000,0.022,2868,2057,3119,0,0,0,0,0,0
$GC,2031,-1.19,-116.8,251.0,-6.6,183,2032,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2059,3119,0,0,0,0,0,0
$GC,2339,-1.19,-116.8,269.5,-6.2,198,2343,0.00,2.60,0.00,0.000,4,0.000,0.046,2867,3495,3119,0,0,0,0,0,0
$GC,2504,-1.19,-116.8,283.8,-9.4,205,2508,0.00,2.47,0.00,0.000,6,0.000,0.040,2868,2096,3118,0,0,0,0,0,0
$GC,2842,-1.19,-116.8,318.6,-10.8,218,2847,0.00,2.50,0.00,0.000,4,0.000,0.047,2867,3494,3117,0,0,0,0,0,0
$GC,3032,-1.19,-116.8,339.3,-8.8,222,3036,0.00,2.47,0.00,0.000,6,0.000,0.041,2867,2099,3116,0,0,0,0,0,0
$GC,3351,-1.19,-116.8,360.4,-6.1,230,3355,0.00,2.50,0.00,0.000,4,0.000,0.048,2868,3494,3115,0,0,0,0,0,0
$GC,3366,-1.19,-116.8,361.4,-6.2,230,3370,0.00,2.47,0.00,0.000,6,0.000,0.042,2868,2100,3115,0,0,0,0,0,0
$GC,3716,-1.19,-116.8,386.6,-7.4,239,3720,0.00,2.55,0.00,0.000,4,0.000,0.048,2867,3496,3113,0,0,0,0,0,0
$GC,3772,-1.19,-116.8,390.8,-7.7,240,3776,0.00,2.50,0.00,0.000,6,0.000,0.043,2867,2093,3112,0,0,0,0,0,0
$GC,4086,-1.19,-116.8,418.2,-9.3,248,4090,0.00,2.53,0.00,0.000,4,0.000,0.048,2868,3503,3110,0,0,0,0,0,0
$GC,4252,-1.19,-116.8,433.7,-8.5,251,4256,0.00,2.50,0.00,0.000,6,0.000,0.045,2867,2101,3109,0,0,0,0,0,0
$STATE,4463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4463,begin apogee
$GC,4470,-0.31,0.0,451.1,8.3,257,4570,0.95,0.00,95.95,0.813,6,0.083,0.000,3065,1810,2635,0,0,0,0,0,0
$STATE,4570,end apogee,CONTROL_FINISHED_OK
$STATE,4570,begin climb
$GC,4573,1.19,116.8,453.0,0.0,259,4679,1.50,0.00,101.50,0.792,6,0.058,0.000,3394,1811,2158,0,0,0,0,0,0
$GC,4983,1.19,116.8,406.4,12.3,269,4984,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1811,2146,0,0,0,0,0,0
$GC,5306,1.19,116.8,364.6,12.9,277,5311,0.00,2.72,0.00,0.000,4,0.000,0.062,3394,385,2143,0,0,0,0,0,0
$GC,5334,1.19,116.8,360.2,15.6,277,5339,0.00,2.50,0.00,0.000,6,0.000,0.028,3394,1795,2140,0,0,0,0,0,0
$GC,5670,1.19,116.8,316.1,12.7,286,5675,0.00,2.58,0.00,0.000,4,0.000,0.048,3394,3203,2139,0,0,0,0,0,0
$GC,5745,1.19,116.8,308.0,10.3,287,5749,0.00,2.60,0.00,0.000,6,0.000,0.051,3394,1800,2139,0,0,0,0,0,0
$GC,6065,1.19,116.8,273.2,10.9,301,6069,0.00,2.67,0.00,0.000,4,0.000,0.059,3394,379,2137,0,0,0,0,0,0
$GC,6121,1.19,116.8,266.3,11.6,303,6125,0.00,2.53,0.00,0.000,6,0.000,0.027,3394,1806,2135,0,0,0,0,0,0
$GC,6436,1.19,116.8,232.8,11.4,318,6441,0.00,2.53,0.00,0.000,4,0.000,0.044,3394,3200,2135,0,0,0,0,0,0
$GC,6487,1.19,116.8,227.2,10.1,320,6492,0.00,2.58,0.00,0.000,6,0.000,0.047,3394,1798,2134,0,0,0,0,0,0
$GC,6811,1.19,116.8,192.8,9.8,339,6812,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1798,2134,0,0,0,0,0,0
$GC,7066,1.19,116.8,167.3,9.1,363,7070,0.00,2.60,0.00,0.000,4,0.000,0.055,3394,385,2133,0,0,0,0,0,0
$GC,7085,1.19,116.8,165.1,10.4,364,7091,0.00,2.50,0.00,0.000,6,0.000,0.024,3394,1815,2132,0,0,0,0,0,0
$GC,7349,1.19,116.8,139.8,9.5,389,7354,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1820,2132,0,0,0,0,0,0
$GC,7611,1.19,116.8,115.1,10.2,414,7615,0.00,2.65,0.00,0.000,4,0.000,0.051,3394,376,2132,0,0,0,0,0,0
$GC,7693,1.19,116.8,105.3,13.2,422,7700,0.00,2.47,0.00,0.000,6,0.000,0.022,3394,1794,2131,0,0,0,0,0,0
$GC,7957,1.19,116.8,78.7,9.2,447,7961,0.00,2.45,0.00,0.000,4,0.000,0.033,3394,3209,2132,0,0,0,0,0,0
$GC,8017,1.19,116.8,73.0,9.1,453,8021,0.00,2.53,0.00,0.000,6,0.000,0.038,3394,1798,2132,0,0,0,0,0,0
$GC,8282,1.22,134.5,52.7,7.2,477,8302,0.00,2.65,11.90,0.469,4,0.000,0.050,3394,384,2085,0,0,0,0,0,0
$GC,8333,1.22,134.5,48.5,8.3,482,8337,0.00,2.45,0.00,0.000,6,0.000,0.020,3394,1809,2083,0,0,0,0,0,0
$GC,8597,1.28,182.3,31.6,5.8,506,8649,0.00,2.75,41.80,0.486,4,0.000,0.048,3394,376,1889,0,0,1,0,0,0
$GC,8701,1.28,182.3,23.3,9.0,524,8707,0.00,2.50,0.00,0.000,6,0.000,0.019,3394,1803,1885,0,0,0,0,0,0
$GC,8902,1.28,182.3,7.0,8.1,561,8909,0.00,2.47,0.00,0.000,4,0.000,0.029,3394,3198,1884,0,0,0,0,0,0
$GC,8942,1.28,182.3,3.4,8.2,569,8948,0.00,2.55,0.00,0.000,6,0.000,0.037,3394,1810,1885,0,0,0,0,0,0
$STATE,8955,end climb,SURFACE_DEPTH_REACHED
$STATE,8955,begin surface coast
$FINISH,1.3,1.023291
$STATE,8989,end surface coast,CONTROL_FINISHED_OK
$STATE,8989,begin surface
$SM_CCo,9013,75.07,0.458,0,0,1288,330.17
$SM_GC,1.57,0.00,0.00,75.07,0.000,0.000,0.458,431,2156,1288,-12.45,1.58,330.17
$IRIDIUM_FIX,2057.14,-15748.75,160700,010138
$TT8_MAMPS,0.028379
$HUMID,53.38
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.5,12.082
$10V_AH,10.5,11.617
$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,28.350,101.350,251.150,75.075,0.000,28.860,33.518,145.362,4.500,0.000,15.879,1064.113,5837.373,424.850,1664.507,426.519,33.341,1128.568,0.000,1641.803,0.000,31.127,0.000
$DEVICE_MAMPS,135.759,62.127,813.020,457.899,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,389.975,376.002,870.278,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,31832,577
$CAP_FILE_SIZE,93987,0
$CFSIZE,260165632,249192448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,220411,071413,2106.761,-15751.670,11,1.7,11,9.8