version: 66.06
glider: 139
mission: 9
dive: 152
start: 4 22 111 7 20 48
data:
$ID,139
$MISSION,9
$DIVE,152
$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,-2177840
$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,6
$R_STBD_OVSHOOT,83
$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
$GPS1,071413,2106.761,-15751.670,11,1.7,11,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-73.2
$GPS2,071957,2106.749,-15751.713,12,2.5,31,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.109,0.193
$KALMAN_X,-56454.0,1005.1,-605.0,54197.4,-2693.5
$KALMAN_Y,-26306.0,340.2,151.4,18389.8,-1997.2
$MHEAD_RNG_PITCHd_Wd,19.7,15294,-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,-71.28,0.000,6,0.000,0.000,431,2157,3112,0,0,0,0,0,0
$GC,97,-1.19,-116.8,3.2,-3.7,14,115,13.07,0.00,0.00,0.000,6,0.134,0.000,2868,2157,3114,0,0,0,0,0,0
$GC,312,-1.19,-116.8,44.8,-16.9,45,318,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2159,3116,0,0,0,0,0,0
$GC,573,-1.19,-116.8,83.9,-12.9,70,577,0.00,2.30,0.00,0.000,4,0.000,0.037,2868,3460,3117,0,0,0,0,0,0
$GC,592,-1.19,-116.8,86.5,-13.5,71,597,0.00,2.40,0.00,0.000,6,0.000,0.033,2868,2080,3117,0,0,0,0,0,0
$GC,856,-1.19,-116.8,120.1,-12.6,96,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2079,3117,0,0,0,0,0,0
$GC,1108,-1.19,-116.8,151.4,-11.2,120,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2079,3118,0,0,0,0,0,0
$GC,1362,-1.19,-116.8,179.5,-11.0,144,1369,0.00,2.45,0.00,0.000,4,0.000,0.038,2868,3468,3118,0,0,0,0,0,0
$GC,1433,-1.19,-116.8,187.1,-10.5,151,1439,0.00,2.38,0.00,0.000,6,0.000,0.036,2868,2101,3118,0,0,0,0,0,0
$GC,1691,-1.19,-116.8,212.3,-10.0,170,1695,0.00,2.40,0.00,0.000,4,0.000,0.040,2868,3454,3118,0,0,0,0,0,0
$GC,1760,-1.19,-116.8,220.4,-11.5,173,1764,0.00,2.40,0.00,0.000,6,0.000,0.037,2868,2096,3118,0,0,0,0,0,0
$GC,2086,-1.19,-116.8,249.8,-8.6,189,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2095,3118,0,0,0,0,0,0
$GC,2394,-1.19,-116.8,280.0,-9.4,204,2399,0.00,2.42,0.00,0.000,4,0.000,0.043,2868,3453,3118,0,0,0,0,0,0
$GC,2422,-1.19,-116.8,282.6,-9.4,205,2426,0.00,2.38,0.00,0.000,6,0.000,0.039,2868,2103,3118,0,0,0,0,0,0
$GC,2746,-1.19,-116.8,306.8,-6.9,219,2751,0.00,2.40,0.00,0.000,4,0.000,0.044,2868,3453,3118,0,0,0,0,0,0
$GC,2836,-1.19,-116.8,313.2,-6.8,221,2840,0.00,2.40,0.00,0.000,6,0.000,0.040,2868,2095,3117,0,0,0,0,0,0
$GC,3165,-1.19,-116.8,337.8,-8.1,229,3169,0.00,2.42,0.00,0.000,4,0.000,0.043,2868,3463,3115,0,0,0,0,0,0
$GC,3433,-1.19,-116.8,364.5,-10.0,234,3439,0.00,2.42,0.00,0.000,6,0.000,0.042,2868,2100,3114,0,0,0,0,0,0
$GC,3766,-1.19,-116.8,388.0,-6.3,243,3770,0.00,2.62,0.00,0.000,4,0.000,0.055,2868,684,3112,0,0,0,0,0,0
$GC,3785,-1.19,-116.8,389.3,-6.1,243,3790,0.00,2.35,0.00,0.000,6,0.000,0.027,2868,2061,3111,0,0,0,0,0,0
$GC,4131,-1.19,-116.8,412.9,-6.9,252,4135,0.00,2.47,0.00,0.000,4,0.000,0.052,2868,693,3109,0,0,0,0,0,0
$GC,4145,-1.19,-116.8,413.9,-6.7,252,4150,0.00,2.42,0.00,0.000,6,0.000,0.028,2868,2103,3109,0,0,0,0,0,0
$GC,4496,-1.19,-116.8,432.7,-5.3,261,4497,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2104,3107,0,0,0,0,0,0
$STATE,4777,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4777,begin apogee
$GC,4784,-0.31,0.0,451.2,6.8,268,4883,0.95,0.00,95.57,0.824,6,0.084,0.000,3065,1792,2635,0,0,0,0,0,0
$STATE,4883,end apogee,CONTROL_FINISHED_OK
$STATE,4883,begin climb
$GC,4886,1.19,116.8,453.6,0.0,270,4998,1.50,2.72,101.43,0.806,4,0.057,0.063,3394,404,2156,0,0,0,0,0,0
$GC,5022,1.19,116.8,442.8,13.1,273,5027,0.00,2.53,0.00,0.000,6,0.000,0.030,3394,1794,2151,0,0,0,0,0,0
$GC,5341,1.19,116.8,406.2,11.5,281,5345,0.00,2.70,0.00,0.000,4,0.000,0.064,3394,406,2145,0,0,0,0,0,0
$GC,5360,1.19,116.8,403.8,11.3,281,5364,0.00,2.53,0.00,0.000,6,0.000,0.028,3394,1805,2143,0,0,0,0,0,0
$GC,5705,1.19,116.8,364.9,11.1,290,5709,0.00,2.67,0.00,0.000,4,0.000,0.061,3394,405,2141,0,0,1,0,0,0
$GC,5743,1.19,116.8,360.1,12.1,290,5748,0.00,2.47,0.00,0.000,6,0.000,0.028,3394,1800,2139,0,0,0,0,0,0
$GC,6074,1.19,116.8,326.3,10.1,299,6075,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1804,2137,0,0,0,0,0,0
$GC,6399,1.19,116.8,296.5,8.7,307,6403,0.00,2.55,0.00,0.000,4,0.000,0.045,3394,3207,2137,0,0,0,0,0,0
$GC,6427,1.19,116.8,293.9,8.5,308,6431,0.00,2.60,0.00,0.000,6,0.000,0.051,3394,1810,2136,0,0,0,0,0,0
$GC,6747,1.19,116.8,261.4,10.1,324,6752,0.00,2.67,0.00,0.000,4,0.000,0.058,3394,386,2135,0,0,0,0,0,0
$GC,6762,1.19,116.8,259.7,10.0,324,6768,0.00,2.53,0.00,0.000,6,0.000,0.026,3394,1800,2133,0,0,0,0,0,0
$GC,7077,1.19,116.8,227.6,9.9,340,7082,0.00,2.65,0.00,0.000,4,0.000,0.058,3394,386,2133,0,0,1,0,0,0
$GC,7138,1.19,116.8,221.0,10.7,342,7144,0.00,2.53,0.00,0.000,6,0.000,0.025,3394,1799,2132,0,0,0,0,0,0
$GC,7457,1.19,116.8,193.1,9.2,361,7461,0.00,2.53,0.00,0.000,4,0.000,0.039,3395,3211,2132,0,0,0,0,0,0
$GC,7501,1.19,116.8,189.0,8.7,365,7505,0.00,2.60,0.00,0.000,6,0.000,0.045,3394,1804,2132,0,0,0,0,0,0
$GC,7765,1.19,116.8,167.9,8.2,389,7770,0.00,2.62,0.00,0.000,4,0.000,0.054,3394,376,2132,0,0,0,0,0,0
$GC,7810,1.19,116.8,163.5,9.7,393,7814,0.00,2.47,0.00,0.000,6,0.000,0.023,3394,1805,2131,0,0,0,0,0,0
$GC,8074,1.19,116.8,139.2,10.0,417,8079,0.00,2.47,0.00,0.000,4,0.000,0.035,3395,3204,2130,0,0,0,0,0,0
$GC,8130,1.19,116.8,133.4,10.0,422,8136,0.00,2.58,0.00,0.000,6,0.000,0.043,3394,1806,2131,0,0,0,0,0,0
$GC,8394,1.19,116.8,106.8,9.6,447,8399,0.00,2.60,0.00,0.000,4,0.000,0.051,3394,378,2131,0,0,0,0,0,0
$GC,8493,1.19,116.8,96.2,10.9,457,8497,0.00,2.45,0.00,0.000,6,0.000,0.021,3394,1808,2130,0,0,0,0,0,0
$GC,8757,1.19,116.8,72.2,8.1,481,8763,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1813,2131,0,0,0,0,0,0
$GC,9020,1.25,164.8,53.2,5.8,506,9061,0.00,0.00,37.58,0.509,6,0.000,0.000,3394,1813,1963,0,0,0,0,0,0
$GC,9316,1.28,188.9,33.9,6.9,534,9347,0.10,2.72,21.42,0.474,4,0.072,0.049,3433,381,1863,0,0,1,0,0,0
$GC,9401,1.28,188.9,25.3,11.0,547,9408,0.00,2.50,0.00,0.000,6,0.000,0.019,3434,1800,1859,0,0,0,0,0,0
$GC,9608,1.28,188.9,3.9,9.5,584,9614,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1806,1859,0,0,0,0,0,0
$STATE,9619,end climb,SURFACE_DEPTH_REACHED
$STATE,9619,begin surface coast
$FINISH,0.9,1.023295
$STATE,9653,end surface coast,CONTROL_FINISHED_OK
$STATE,9653,begin surface
$SM_CCo,9677,72.20,0.460,0,0,1288,330.17
$SM_GC,1.57,0.00,0.00,72.20,0.000,0.000,0.460,424,2136,1288,-12.48,0.99,330.17
$IRIDIUM_FIX,2057.14,-15751.76,160700,040413
$TT8_MAMPS,0.029146
$HUMID,54.09
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.4,12.157
$10V_AH,10.5,11.692
$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,28.425,96.375,256.000,72.200,0.000,28.457,44.498,137.831,4.500,0.000,32.161,1083.159,6510.608,409.267,1660.039,432.301,33.340,1122.022,0.000,1627.347,0.000,29.267,0.000
$DEVICE_MAMPS,134.225,63.661,823.758,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,400.662,379.489,862.786,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31835,592
$CAP_FILE_SIZE,94875,0
$CFSIZE,260165632,249139200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,220411,100437,2107.270,-15751.805,40,1.4,40,9.8