version: 66.06
glider: 139
mission: 9
dive: 153
start: 4 22 111 10 10 49
data:
$ID,139
$MISSION,9
$DIVE,153
$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,-2177852.2
$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,69
$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
$GPS1,100437,2107.270,-15751.805,40,1.4,40,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-73.3
$GPS2,100956,2107.219,-15751.801,11,1.9,11,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.222,-0.006
$KALMAN_X,-58668.4,899.3,391.3,55364.4,-3231.5
$KALMAN_Y,-27549.0,292.7,176.8,20522.9,-2126.6
$MHEAD_RNG_PITCHd_Wd,81.6,15567,-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,-116.8,0.0,0.0,0,92,0.00,0.00,-71.35,0.000,6,0.000,0.000,424,2137,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,2.9,-3.0,14,114,13.20,2.38,0.00,0.000,4,0.137,0.034,2868,3468,3114,0,0,0,0,0,0
$GC,251,-1.19,-116.8,34.1,-16.4,46,255,0.00,2.45,0.00,0.000,6,0.000,0.034,2868,2078,3115,0,0,0,0,0,0
$GC,513,-1.19,-116.8,73.5,-13.5,70,518,0.00,2.45,0.00,0.000,4,0.000,0.035,2868,3467,3116,0,0,0,0,0,0
$GC,576,-1.19,-116.8,82.1,-13.0,76,583,0.00,2.42,0.00,0.000,6,0.000,0.034,2868,2106,3116,0,0,0,0,0,0
$GC,839,-1.19,-116.8,114.0,-11.5,101,843,0.00,2.53,0.00,0.000,4,0.000,0.043,2868,690,3117,0,0,0,0,0,0
$GC,984,-1.19,-116.8,134.1,-14.4,116,990,0.00,2.38,0.00,0.000,6,0.000,0.021,2868,2067,3116,0,0,0,0,0,0
$GC,1248,-1.19,-116.8,163.6,-10.7,141,1252,0.00,2.55,0.00,0.000,4,0.000,0.041,2868,3505,3117,0,0,0,0,0,0
$GC,1433,-1.19,-116.8,187.8,-12.2,160,1440,0.00,2.53,0.00,0.000,6,0.000,0.036,2868,2097,3118,0,0,0,0,0,0
$GC,1702,-1.19,-116.8,214.2,-8.8,179,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2096,3118,0,0,0,0,0,0
$GC,2010,-1.19,-116.8,242.5,-9.9,194,2014,0.00,2.50,0.00,0.000,4,0.000,0.042,2868,3502,3118,0,0,0,0,0,0
$GC,2047,-1.19,-116.8,245.9,-8.7,195,2052,0.00,2.47,0.00,0.000,6,0.000,0.038,2867,2098,3118,0,0,0,0,0,0
$GC,2364,-1.19,-116.8,268.0,-7.2,211,2368,0.00,2.53,0.00,0.000,4,0.000,0.048,2868,688,3118,0,0,0,0,0,0
$GC,2384,-1.19,-116.8,269.8,-8.2,212,2388,0.00,2.40,0.00,0.000,6,0.000,0.025,2868,2098,3118,0,0,0,0,0,0
$GC,2714,-1.19,-116.8,300.8,-8.5,228,2719,0.00,2.53,0.00,0.000,4,0.000,0.046,2867,692,3118,0,0,0,0,0,0
$GC,2734,-1.19,-116.8,302.5,-8.2,228,2738,0.00,2.42,0.00,0.000,6,0.000,0.025,2867,2100,3117,0,0,0,0,0,0
$GC,3079,-1.19,-116.8,328.8,-8.1,237,3083,0.00,2.55,0.00,0.000,4,0.000,0.051,2867,3505,3116,0,0,0,0,0,0
$GC,3122,-1.19,-116.8,332.7,-9.1,238,3126,0.00,2.53,0.00,0.000,6,0.000,0.041,2868,2096,3116,0,0,0,0,0,0
$GC,3450,-1.19,-116.8,363.3,-9.6,246,3455,0.00,2.55,0.00,0.000,4,0.000,0.048,2868,3500,3115,0,0,0,0,0,0
$GC,3470,-1.19,-116.8,365.3,-9.9,246,3474,0.00,2.50,0.00,0.000,6,0.000,0.043,2868,2100,3115,0,0,0,0,0,0
$GC,3815,-1.19,-116.8,390.5,-6.6,255,3820,0.00,2.60,0.00,0.000,4,0.000,0.054,2867,685,3112,0,0,0,0,0,0
$GC,3876,-1.19,-116.8,395.3,-7.7,256,3880,0.00,2.45,0.00,0.000,6,0.000,0.028,2867,2109,3112,0,0,0,0,0,0
$GC,4226,-1.19,-116.8,425.5,-8.9,265,4230,0.00,2.60,0.00,0.000,4,0.000,0.053,2867,686,3110,0,0,0,0,0,0
$GC,4269,-1.19,-116.8,429.5,-9.4,266,4274,0.00,2.47,0.00,0.000,6,0.000,0.030,2867,2100,3109,0,0,0,0,0,0
$STATE,4513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4513,begin apogee
$GC,4520,-0.31,0.0,450.7,8.6,272,4619,0.98,0.00,95.80,0.816,6,0.084,0.000,3069,1796,2634,0,0,0,0,0,0
$STATE,4620,end apogee,CONTROL_FINISHED_OK
$STATE,4620,begin climb
$GC,4623,1.19,116.8,452.5,0.0,274,4735,1.48,2.70,100.88,0.797,4,0.056,0.064,3393,406,2156,0,0,0,0,0,0
$GC,4754,1.19,116.8,439.2,14.3,277,4759,0.00,2.50,0.00,0.000,6,0.000,0.028,3394,1799,2152,0,0,0,0,0,0
$GC,5077,1.19,116.8,398.5,11.8,285,5078,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1802,2145,0,0,0,0,0,0
$GC,5402,1.19,116.8,365.9,9.2,293,5407,0.00,2.65,0.00,0.000,4,0.000,0.061,3394,402,2141,0,0,1,0,0,0
$GC,5426,1.19,116.8,363.4,10.5,293,5430,0.00,2.50,0.00,0.000,6,0.000,0.028,3394,1803,2139,0,0,0,0,0,0
$GC,5767,1.19,116.8,326.0,11.9,302,5771,0.00,2.53,0.00,0.000,4,0.000,0.046,3394,3201,2138,0,0,0,0,0,0
$GC,5818,1.19,116.8,319.5,12.6,303,5823,0.00,2.58,0.00,0.000,6,0.000,0.051,3394,1810,2138,0,0,0,0,0,0
$GC,6139,1.19,116.8,278.8,12.4,314,6143,0.00,2.67,0.00,0.000,4,0.000,0.059,3394,392,2136,0,0,0,0,0,0
$GC,6199,1.19,116.8,270.9,12.5,316,6206,0.00,2.53,0.00,0.000,6,0.000,0.028,3394,1795,2134,0,0,0,0,0,0
$GC,6515,1.19,116.8,236.6,10.9,332,6519,0.00,2.65,0.00,0.000,4,0.000,0.058,3394,392,2134,0,0,0,0,0,0
$GC,6571,1.19,116.8,229.5,12.8,334,6575,0.00,2.50,0.00,0.000,6,0.000,0.025,3394,1807,2132,0,0,0,0,0,0
$GC,6889,1.19,116.8,195.1,10.9,351,6893,0.00,2.50,0.00,0.000,4,0.000,0.038,3394,3206,2132,0,0,0,0,0,0
$GC,6908,1.19,116.8,193.0,10.4,352,6914,0.00,2.60,0.00,0.000,6,0.000,0.044,3394,1808,2133,0,0,0,0,0,0
$GC,7172,1.19,116.8,167.1,8.7,377,7177,0.00,2.65,0.00,0.000,4,0.000,0.054,3394,378,2132,0,0,0,0,0,0
$GC,7210,1.19,116.8,163.7,8.7,380,7216,0.00,2.50,0.00,0.000,6,0.000,0.024,3394,1789,2131,0,0,0,0,0,0
$GC,7474,1.21,132.3,146.1,7.3,405,7494,0.00,2.58,9.90,0.535,4,0.000,0.035,3394,3207,2095,0,0,0,0,0,0
$GC,7590,1.21,132.3,136.2,9.4,417,7594,0.00,2.60,0.00,0.000,6,0.000,0.041,3394,1785,2095,0,0,0,0,0,0
$GC,7855,1.21,132.3,112.2,9.0,441,7859,0.00,2.55,0.00,0.000,4,0.000,0.049,3394,393,2093,0,0,0,0,0,0
$GC,7917,1.21,132.3,105.9,9.8,447,7921,0.00,2.45,0.00,0.000,6,0.000,0.021,3394,1812,2092,0,0,0,0,0,0
$GC,8182,1.25,165.4,85.9,6.5,471,8220,0.00,2.72,29.75,0.530,4,0.000,0.049,3394,396,1959,0,0,0,0,0,0
$GC,8249,1.25,165.4,80.9,8.2,478,8253,0.00,2.45,0.00,0.000,6,0.000,0.020,3394,1802,1956,0,0,0,0,0,0
$GC,8513,1.28,187.9,62.9,7.0,502,8544,0.00,2.62,20.17,0.491,4,0.000,0.047,3394,396,1866,0,0,0,0,0,0
$GC,8567,1.28,187.9,58.1,9.7,507,8573,0.00,2.45,0.00,0.000,6,0.000,0.019,3394,1797,1864,0,0,0,0,0,0
$GC,8829,1.28,187.9,31.9,10.2,532,8834,0.00,2.58,0.00,0.000,4,0.000,0.047,3394,396,1864,0,0,0,0,0,0
$GC,8863,1.28,187.9,28.0,11.5,536,8870,0.00,2.45,0.00,0.000,6,0.000,0.019,3394,1807,1862,0,0,0,0,0,0
$GC,9067,1.28,187.9,9.3,9.0,573,9073,0.00,2.65,0.00,0.000,4,0.000,0.048,3394,394,1862,0,0,0,0,0,0
$GC,9131,1.28,187.9,3.2,9.2,587,9138,0.00,2.42,0.00,0.000,6,0.000,0.019,3394,1789,1860,0,0,0,0,0,0
$STATE,9143,end climb,SURFACE_DEPTH_REACHED
$STATE,9143,begin surface coast
$FINISH,0.8,1.023336
$STATE,9181,end surface coast,CONTROL_FINISHED_OK
$STATE,9181,begin surface
$SM_CCo,9205,72.25,0.459,0,0,1288,330.17
$SM_GC,1.51,0.00,0.00,72.25,0.000,0.000,0.459,426,2169,1288,-12.47,1.95,330.17
$IRIDIUM_FIX,2057.14,-15750.89,160700,070700
$TT8_MAMPS,0.029146
$HUMID,53.78
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.5,12.233
$10V_AH,10.5,11.769
$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,28.300,122.400,256.500,72.250,0.000,23.691,33.555,147.172,4.500,0.000,11.422,1101.240,5956.882,417.495,1683.120,440.872,33.346,1158.976,0.000,1673.939,0.000,29.249,0.000
$DEVICE_MAMPS,137.293,64.428,816.088,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,402.809,388.992,884.796,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31764,596
$CAP_FILE_SIZE,99737,0
$CFSIZE,260165632,249085952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,220411,124636,2106.760,-15751.547,14,1.5,30,9.8