version: 66.06
glider: 139
mission: 9
dive: 176
start: 4 25 111 1 54 19
data:
$ID,139
$MISSION,9
$DIVE,176
$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,-2179197.2
$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,28
$R_STBD_OVSHOOT,49
$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
$GPS1,014425,2111.704,-15747.413,43,1.1,43,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-73.7
$GPS2,015326,2111.718,-15747.332,14,1.6,14,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.216,-0.051
$KALMAN_X,-99611.6,296.3,766.3,104250.7,-2177.5
$KALMAN_Y,-35762.2,119.5,81.6,37337.4,220.2
$MHEAD_RNG_PITCHd_Wd,93.4,13332,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-69.82,0.000,2,0.000,0.000,423,2083,3109,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.3,-4.7,13,110,13.15,2.50,0.00,0.000,4,0.136,0.031,2868,3491,3110,0,0,0,0,0,0
$GC,282,-1.19,-116.8,41.6,-16.8,48,286,0.00,2.45,0.00,0.000,6,0.000,0.033,2868,2096,3112,0,0,0,0,0,0
$GC,544,-1.19,-116.8,80.9,-13.8,72,548,0.00,2.50,0.00,0.000,4,0.000,0.043,2868,691,3113,0,0,0,0,0,0
$GC,569,-1.19,-116.8,84.5,-13.8,74,573,0.00,2.38,0.00,0.000,6,0.000,0.021,2868,2089,3113,0,0,0,0,0,0
$GC,832,-1.19,-116.8,118.1,-12.0,98,836,0.00,2.53,0.00,0.000,4,0.000,0.038,2869,3508,3114,0,0,0,0,0,0
$GC,886,-1.19,-116.8,124.7,-11.7,103,890,0.00,2.47,0.00,0.000,6,0.000,0.035,2869,2101,3113,0,0,0,0,0,0
$GC,1150,-1.19,-116.8,152.0,-9.6,127,1154,0.00,2.50,0.00,0.000,4,0.000,0.038,2869,3504,3114,0,0,0,0,0,0
$GC,1219,-1.19,-116.8,160.7,-13.4,134,1224,0.00,2.47,0.00,0.000,6,0.000,0.037,2868,2101,3114,0,0,0,0,0,0
$GC,1482,-1.19,-116.8,191.5,-11.9,158,1487,0.00,2.55,0.00,0.000,4,0.000,0.044,2868,690,3114,0,0,0,0,0,0
$GC,1526,-1.19,-116.8,196.9,-11.7,162,1531,0.00,2.42,0.00,0.000,6,0.000,0.024,2868,2099,3114,0,0,0,0,0,0
$GC,1782,-1.19,-116.8,224.7,-10.0,175,1783,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2100,3114,0,0,0,0,0,0
$GC,2090,-1.19,-116.8,252.3,-9.2,190,2094,0.00,2.50,0.00,0.000,4,0.000,0.045,2868,3497,3114,0,0,0,0,0,0
$GC,2111,-1.19,-116.8,254.2,-9.9,191,2116,0.00,2.50,0.00,0.000,6,0.000,0.041,2868,2103,3114,0,0,0,0,0,0
$GC,2442,-1.19,-116.8,278.4,-6.8,207,2443,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2103,3113,0,0,0,0,0,0
$GC,2770,-1.19,-116.8,305.1,-8.6,222,2774,0.00,2.55,0.00,0.000,4,0.000,0.049,2868,683,3112,0,0,0,0,0,0
$GC,2789,-1.19,-116.8,306.9,-9.1,222,2794,0.00,2.45,0.00,0.000,6,0.000,0.027,2868,2095,3112,0,0,0,0,0,0
$GC,3137,-1.19,-116.8,341.8,-10.4,231,3141,0.00,2.55,0.00,0.000,4,0.000,0.049,2868,690,3111,0,0,0,0,0,0
$GC,3155,-1.19,-116.8,343.9,-9.6,231,3160,0.00,2.45,0.00,0.000,6,0.000,0.028,2868,2105,3111,0,0,0,0,0,0
$GC,3501,-1.19,-116.8,373.4,-7.7,240,3505,0.00,2.58,0.00,0.000,4,0.000,0.051,2868,685,3108,0,0,0,0,0,0
$GC,3539,-1.19,-116.8,376.3,-7.4,240,3544,0.00,2.47,0.00,0.000,6,0.000,0.028,2868,2110,3108,0,0,0,0,0,0
$GC,3870,-1.19,-116.8,396.1,-5.9,249,3874,0.00,2.60,0.00,0.000,4,0.000,0.053,2868,686,3106,0,0,0,0,0,0
$GC,3885,-1.19,-116.8,397.1,-6.4,249,3889,0.00,2.50,0.00,0.000,6,0.000,0.031,2868,2107,3106,0,0,0,0,0,0
$GC,4235,-1.19,-116.8,418.9,-6.5,258,4239,0.00,2.60,0.00,0.000,4,0.000,0.054,2868,683,3104,0,0,0,0,0,0
$GC,4346,-1.19,-116.8,427.8,-7.8,260,4350,0.00,2.47,0.00,0.000,6,0.000,0.031,2868,2103,3104,0,0,0,0,0,0
$STATE,4652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4652,begin apogee
$GC,4659,-0.31,0.0,451.0,7.7,268,4757,0.98,0.00,94.68,0.818,6,0.086,0.000,3069,1791,2635,0,0,0,0,0,0
$STATE,4758,end apogee,CONTROL_FINISHED_OK
$STATE,4758,begin climb
$GC,4761,1.19,116.8,453.6,0.0,270,4873,1.48,2.67,100.78,0.802,4,0.054,0.064,3394,404,2156,0,0,0,0,0,0
$GC,4889,1.19,116.8,443.9,12.3,273,4893,0.00,2.53,0.00,0.000,6,0.000,0.028,3394,1806,2153,0,0,0,0,0,0
$GC,5217,1.19,116.8,406.5,11.4,281,5221,0.00,2.72,0.00,0.000,4,0.000,0.063,3394,395,2146,0,0,0,0,0,0
$GC,5249,1.19,116.8,402.0,13.9,281,5254,0.00,2.53,0.00,0.000,6,0.000,0.028,3394,1805,2143,0,0,0,0,0,0
$GC,5581,1.19,116.8,362.8,12.0,289,5582,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1809,2141,0,0,0,0,0,0
$GC,5906,1.19,116.8,325.1,11.5,297,5910,0.00,2.67,0.00,0.000,4,0.000,0.061,3394,394,2139,0,0,0,0,0,0
$GC,5925,1.19,116.8,322.6,12.7,297,5929,0.00,2.50,0.00,0.000,6,0.000,0.028,3394,1801,2138,0,0,0,0,0,0
$GC,6251,1.19,116.8,284.8,12.4,308,6255,0.00,2.65,0.00,0.000,4,0.000,0.060,3394,397,2137,0,0,0,0,0,0
$GC,6340,1.19,116.8,272.3,14.0,312,6345,0.00,2.47,0.00,0.000,6,0.000,0.027,3394,1806,2134,0,0,0,0,0,0
$GC,6670,1.19,116.8,237.9,9.2,328,6671,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1810,2134,0,0,0,0,0,0
$GC,6980,1.19,116.8,207.7,10.6,343,6985,0.00,2.47,0.00,0.000,4,0.000,0.041,3395,3195,2133,0,0,0,0,0,0
$GC,7000,1.19,116.8,205.4,10.8,344,7005,0.00,2.55,0.00,0.000,6,0.000,0.043,3394,1807,2133,0,0,0,0,0,0
$GC,7327,1.19,116.8,170.7,10.2,372,7332,0.00,2.60,0.00,0.000,4,0.000,0.054,3394,387,2133,0,0,0,0,0,0
$GC,7380,1.19,116.8,165.4,10.4,377,7385,0.00,2.45,0.00,0.000,6,0.000,0.023,3394,1806,2131,0,0,0,0,0,0
$GC,7645,1.20,122.7,142.0,7.8,401,7650,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1811,2132,0,0,0,0,0,0
$GC,7906,1.20,122.7,120.5,8.2,426,7911,0.00,2.62,0.00,0.000,4,0.000,0.051,3394,392,2132,0,0,0,0,0,0
$GC,7931,1.20,122.7,118.3,9.7,428,7935,0.00,2.42,0.00,0.000,6,0.000,0.021,3394,1810,2131,0,0,0,0,0,0
$GC,8194,1.22,138.1,97.9,7.3,452,8216,0.00,2.72,14.90,0.525,4,0.000,0.049,3395,387,2071,0,0,0,0,0,0
$GC,8249,1.22,138.1,93.0,9.1,458,8254,0.00,2.42,0.00,0.000,6,0.000,0.021,3394,1800,2068,0,0,0,0,0,0
$GC,8512,1.22,138.1,70.7,9.1,482,8516,0.00,2.42,0.00,0.000,4,0.000,0.030,3395,3191,2067,0,0,0,0,0,0
$GC,8546,1.22,138.1,67.7,9.6,485,8551,0.00,2.50,0.00,0.000,6,0.000,0.037,3395,1801,2068,0,0,0,0,0,0
$GC,8811,1.25,160.9,47.8,7.0,509,8841,0.00,2.65,20.73,0.490,4,0.000,0.049,3394,390,1978,0,0,0,0,0,0
$GC,8889,1.25,160.9,41.4,8.5,517,8893,0.00,2.42,0.00,0.000,6,0.000,0.019,3395,1802,1975,0,0,0,0,0,0
$GC,9154,1.26,168.6,20.0,7.7,552,9167,0.00,2.62,7.72,0.411,4,0.000,0.047,3395,390,1947,0,0,0,0,0,0
$GC,9196,1.26,168.6,16.3,9.2,560,9202,0.00,2.45,0.00,0.000,6,0.000,0.019,3395,1801,1945,0,0,0,0,0,0
$STATE,9375,end climb,SURFACE_DEPTH_REACHED
$STATE,9376,begin surface coast
$FINISH,0.9,1.022995
$STATE,9419,end surface coast,CONTROL_FINISHED_OK
$STATE,9420,begin surface
$SM_CCo,9444,82.75,0.462,0,0,1288,330.17
$SM_GC,1.63,0.00,0.00,82.75,0.000,0.000,0.462,431,2157,1288,-12.45,1.61,330.17
$IRIDIUM_FIX,2104.07,-15750.02,190700,010104
$TT8_MAMPS,0.028379
$HUMID,54.80
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.5,13.987
$10V_AH,10.6,13.556
$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,28.300,112.125,238.800,82.750,0.000,60.562,66.584,223.743,4.500,0.000,14.368,1104.674,6347.447,399.399,1633.523,585.622,33.354,1091.910,0.000,1615.313,0.000,29.250,0.000
$DEVICE_MAMPS,135.759,64.428,818.389,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.669,387.459,900.296,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31741,601
$CAP_FILE_SIZE,100374,0
$CFSIZE,260165632,247975936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250411,043431,2111.760,-15746.284,46,1.1,46,9.8