version: 66.06
glider: 139
mission: 9
dive: 157
start: 4 22 111 21 31 36
data:
$ID,139
$MISSION,9
$DIVE,157
$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,-2178803.8
$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,16
$R_STBD_OVSHOOT,68
$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
$GPS1,212519,2108.002,-15753.642,10,1.6,15,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-75.6
$GPS2,213043,2107.995,-15753.680,14,2.0,14,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.157,0.156
$KALMAN_X,-67850.6,-258.1,74.3,62780.9,-2381.1
$KALMAN_Y,-31272.8,204.4,293.4,25656.3,-1618.9
$MHEAD_RNG_PITCHd_Wd,35.4,19029,-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,-71.00,0.000,6,0.000,0.000,424,2134,3111,0,0,0,0,0,0
$GC,97,-1.19,-116.8,3.3,-4.2,14,116,13.15,2.40,0.00,0.000,4,0.136,0.033,2868,3482,3114,0,0,0,0,0,0
$GC,304,-1.19,-116.8,42.2,-14.5,51,309,0.00,2.47,0.00,0.000,6,0.000,0.035,2868,2090,3115,0,0,0,0,0,0
$GC,567,-1.19,-116.8,82.5,-14.8,75,571,0.00,2.53,0.00,0.000,4,0.000,0.044,2868,687,3115,0,0,0,0,0,0
$GC,631,-1.19,-116.8,92.9,-15.0,81,636,0.00,2.38,0.00,0.000,6,0.000,0.021,2868,2071,3116,0,0,0,0,0,0
$GC,894,-1.19,-116.8,127.3,-13.6,106,898,0.00,2.55,0.00,0.000,4,0.000,0.038,2868,3501,3116,0,0,0,0,0,0
$GC,922,-1.19,-116.8,131.4,-13.1,108,928,0.00,2.50,0.00,0.000,6,0.000,0.035,2868,2096,3116,0,0,0,0,0,0
$GC,1186,-1.19,-116.8,160.2,-9.6,133,1191,0.00,2.50,0.00,0.000,4,0.000,0.042,2868,690,3117,0,0,0,0,0,0
$GC,1213,-1.19,-116.8,163.1,-11.1,135,1217,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2106,3117,0,0,0,0,0,0
$GC,1480,-1.19,-116.8,190.1,-9.9,160,1484,0.00,2.47,0.00,0.000,4,0.000,0.041,2868,3504,3117,0,0,0,0,0,0
$GC,1745,-1.19,-116.8,216.9,-11.6,178,1752,0.00,2.50,0.00,0.000,6,0.000,0.036,2868,2104,3118,0,0,0,0,0,0
$GC,2061,-1.19,-116.8,249.4,-9.5,194,2062,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2103,3118,0,0,0,0,0,0
$GC,2372,-1.19,-116.8,271.6,-6.2,209,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2103,3118,0,0,0,0,0,0
$GC,2680,-1.19,-116.8,299.9,-10.6,224,2685,0.00,2.50,0.00,0.000,4,0.000,0.046,2868,3498,3117,0,0,0,0,0,0
$GC,2791,-1.19,-116.8,311.6,-9.0,227,2796,0.00,2.50,0.00,0.000,6,0.000,0.041,2868,2099,3117,0,0,0,0,0,0
$GC,3141,-1.19,-116.8,346.9,-10.2,236,3145,0.00,2.55,0.00,0.000,4,0.000,0.050,2868,684,3115,0,0,0,0,0,0
$GC,3155,-1.19,-116.8,348.6,-10.6,236,3160,0.00,2.45,0.00,0.000,6,0.000,0.027,2868,2096,3115,0,0,0,0,0,0
$GC,3471,-1.19,-116.8,373.6,-6.5,244,3476,0.00,2.53,0.00,0.000,4,0.000,0.049,2868,691,3114,0,0,0,0,0,0
$GC,3532,-1.19,-116.8,377.8,-7.4,245,3536,0.00,2.45,0.00,0.000,6,0.000,0.028,2867,2101,3114,0,0,0,0,0,0
$GC,3883,-1.19,-116.8,404.4,-8.5,254,3888,0.00,2.55,0.00,0.000,4,0.000,0.051,2867,690,3112,0,0,0,0,0,0
$GC,3907,-1.19,-116.8,407.1,-10.1,254,3911,0.00,2.45,0.00,0.000,6,0.000,0.029,2867,2107,3111,0,0,0,0,0,0
$GC,4250,-1.19,-116.8,440.6,-9.9,263,4254,0.00,2.55,0.00,0.000,4,0.000,0.056,2868,3499,3109,0,0,0,0,0,0
$GC,4264,-1.19,-116.8,442.4,-9.6,263,4269,0.00,2.53,0.00,0.000,6,0.000,0.046,2868,2096,3109,0,0,0,0,0,0
$STATE,4367,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4368,begin apogee
$GC,4374,-0.31,0.0,452.4,9.4,266,4473,0.95,0.00,95.65,0.808,6,0.082,0.000,3064,1798,2635,0,0,0,0,0,0
$STATE,4474,end apogee,CONTROL_FINISHED_OK
$STATE,4474,begin climb
$GC,4477,1.19,116.8,456.1,0.0,268,4589,1.50,2.75,100.65,0.792,4,0.057,0.062,3394,399,2157,0,0,0,0,0,0
$GC,4608,1.19,116.8,446.8,12.9,271,4613,0.00,2.53,0.00,0.000,6,0.000,0.027,3395,1806,2152,0,0,0,0,0,0
$GC,4932,1.19,116.8,406.6,12.5,279,4936,0.00,2.70,0.00,0.000,4,0.000,0.061,3394,398,2145,0,0,0,0,0,0
$GC,4947,1.19,116.8,404.3,13.0,279,4951,0.00,2.50,0.00,0.000,6,0.000,0.027,3394,1806,2144,0,0,0,0,0,0
$GC,5296,1.19,116.8,356.7,12.9,288,5301,0.00,2.67,0.00,0.000,4,0.000,0.060,3394,398,2142,0,0,0,0,0,0
$GC,5343,1.19,116.8,350.3,13.5,289,5348,0.00,2.47,0.00,0.000,6,0.000,0.027,3394,1796,2139,0,0,0,0,0,0
$GC,5666,1.19,116.8,313.3,11.3,297,5671,0.00,2.62,0.00,0.000,4,0.000,0.058,3394,398,2138,0,0,0,0,0,0
$GC,5729,1.19,116.8,305.1,13.5,298,5733,0.00,2.45,0.00,0.000,6,0.000,0.027,3395,1799,2136,0,0,0,0,0,0
$GC,6063,1.19,116.8,267.4,10.4,313,6068,0.00,2.65,0.00,0.000,4,0.000,0.058,3394,397,2136,0,0,0,0,0,0
$GC,6092,1.19,116.8,264.1,12.2,314,6096,0.00,2.45,0.00,0.000,6,0.000,0.025,3394,1804,2134,0,0,0,0,0,0
$GC,6413,1.19,116.8,235.1,8.2,330,6417,0.00,2.65,0.00,0.000,4,0.000,0.056,3394,395,2134,0,0,0,0,0,0
$GC,6482,1.19,116.8,228.2,9.5,333,6486,0.00,2.45,0.00,0.000,6,0.000,0.024,3395,1800,2132,0,0,0,0,0,0
$GC,6807,1.19,116.8,195.5,10.7,350,6812,0.00,2.60,0.00,0.000,4,0.000,0.053,3394,396,2133,0,0,0,0,0,0
$GC,6842,1.19,116.8,191.3,12.6,353,6847,0.00,2.45,0.00,0.000,6,0.000,0.023,3394,1808,2132,0,0,0,0,0,0
$GC,7107,1.20,119.5,166.0,7.9,377,7111,0.00,2.45,0.00,0.000,4,0.000,0.036,3394,3198,2132,0,0,0,0,0,0
$GC,7135,1.23,145.5,163.6,6.8,379,7162,0.00,2.53,21.60,0.592,6,0.000,0.041,3394,1802,2041,0,0,0,0,0,0
$GC,7425,1.23,145.5,137.8,10.0,407,7429,0.00,2.60,0.00,0.000,4,0.000,0.052,3394,392,2037,0,0,0,0,0,0
$GC,7487,1.23,145.5,130.6,12.4,413,7492,0.00,2.42,0.00,0.000,6,0.000,0.021,3395,1797,2034,0,0,0,0,0,0
$GC,7752,1.23,145.5,101.3,12.1,437,7756,0.00,2.62,0.00,0.000,4,0.000,0.049,3394,385,2034,0,0,0,0,0,0
$GC,7785,1.23,145.5,96.2,14.2,440,7790,0.00,2.42,0.00,0.000,6,0.000,0.020,3395,1807,2034,0,0,0,0,0,0
$GC,8055,1.24,152.4,69.1,7.7,465,8067,0.00,2.45,6.57,0.428,4,0.000,0.029,3395,3193,2012,0,0,0,0,0,0
$GC,8108,1.28,190.2,65.0,6.3,470,8152,0.00,2.55,34.05,0.514,6,0.000,0.037,3394,1796,1858,0,0,0,0,0,0
$GC,8407,1.28,190.2,40.5,9.7,499,8412,0.10,2.58,0.00,0.000,4,0.071,0.049,3434,389,1855,0,0,0,0,0,0
$GC,8488,1.28,190.2,30.5,11.6,507,8494,0.00,2.45,0.00,0.000,6,0.000,0.020,3434,1792,1851,0,0,0,0,0,0
$STATE,8748,end climb,SURFACE_DEPTH_REACHED
$STATE,8748,begin surface coast
$FINISH,0.9,1.023308
$STATE,8776,end surface coast,CONTROL_FINISHED_OK
$STATE,8776,begin surface
$SM_CCo,8800,71.32,0.461,0,0,1288,330.17
$SM_GC,1.66,0.00,0.00,71.32,0.000,0.000,0.461,425,2121,1288,-12.48,0.59,330.17
$IRIDIUM_FIX,2059.45,-15750.89,160700,181811
$TT8_MAMPS,0.029146
$HUMID,54.60
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.5,12.535
$10V_AH,10.6,12.092
$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,28.525,111.825,258.525,71.325,0.000,31.325,34.419,140.792,4.500,0.000,14.154,1052.068,5670.830,397.450,1635.506,442.815,33.353,1113.447,0.000,1621.240,0.000,29.255,0.000
$DEVICE_MAMPS,135.759,62.127,808.418,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,378.950,365.078,832.784,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,31824,560
$CAP_FILE_SIZE,95066,0
$CFSIZE,260165632,248901632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230411,000057,2108.380,-15753.118,30,2.8,49,9.8