version: 66.06
glider: 139
mission: 9
dive: 190
start: 4 26 111 16 57 49
data:
$ID,139
$MISSION,9
$DIVE,190
$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,535.98047
$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,-2179458.5
$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,17
$R_STBD_OVSHOOT,79
$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
$GPS1,164155,2103.808,-15743.413,44,1.1,44,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-74.5
$GPS2,165655,2103.893,-15743.377,15,1.3,20,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.009,-0.221
$KALMAN_X,-116465.9,240.5,646.7,128106.4,-1906.6
$KALMAN_Y,-31092.6,27.3,278.9,18070.8,493.8
$MHEAD_RNG_PITCHd_Wd,172.6,15754,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-69.78,0.000,6,0.000,0.000,425,2137,3113,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.2,-4.5,13,110,13.07,2.60,0.00,0.000,4,0.134,0.038,2868,679,3116,0,0,0,0,0,0
$GC,118,-1.19,-116.8,12.2,-25.4,17,125,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2058,3117,0,0,0,0,0,0
$GC,325,-1.19,-116.8,51.4,-16.9,44,329,0.00,2.47,0.00,0.000,4,0.000,0.041,2868,682,3117,0,0,0,0,0,0
$GC,471,-1.19,-116.8,76.8,-16.9,59,477,0.00,2.45,0.00,0.000,6,0.000,0.021,2868,2100,3117,0,0,0,0,0,0
$GC,734,-1.19,-116.8,112.5,-12.7,84,738,0.00,2.47,0.00,0.000,4,0.000,0.038,2868,3502,3118,0,0,0,0,0,0
$GC,831,-1.19,-116.8,125.9,-11.5,94,836,0.00,2.47,0.00,0.000,6,0.000,0.032,2868,2087,3118,0,0,0,0,0,0
$GC,1094,-1.19,-116.8,157.6,-12.7,118,1098,0.00,2.53,0.00,0.000,4,0.000,0.037,2868,3506,3118,0,0,0,0,0,0
$GC,1147,-1.19,-116.8,163.9,-11.7,123,1151,0.00,2.47,0.00,0.000,6,0.000,0.034,2868,2094,3118,0,0,0,0,0,0
$GC,1412,-1.19,-116.8,193.6,-11.5,147,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2093,3119,0,0,0,0,0,0
$GC,1679,-1.19,-116.8,219.5,-9.1,163,1683,0.00,2.50,0.00,0.000,4,0.000,0.044,2868,688,3119,0,0,0,0,0,0
$GC,1735,-1.19,-116.8,224.2,-8.5,165,1739,0.00,2.42,0.00,0.000,6,0.000,0.024,2868,2107,3119,0,0,0,0,0,0
$GC,2057,-1.19,-116.8,250.1,-8.8,181,2059,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2107,3118,0,0,0,0,0,0
$GC,2365,-1.19,-116.8,275.6,-7.9,196,2369,0.00,2.55,0.00,0.000,4,0.000,0.046,2868,693,3118,0,0,0,0,0,0
$GC,2393,-1.19,-116.8,278.2,-9.2,197,2397,0.00,2.42,0.00,0.000,6,0.000,0.026,2868,2102,3118,0,0,0,0,0,0
$GC,2712,-1.19,-116.8,303.4,-8.2,212,2716,0.00,2.55,0.00,0.000,4,0.000,0.049,2868,3501,3116,0,0,0,0,0,0
$GC,2804,-1.19,-116.8,310.4,-7.5,214,2808,0.00,2.50,0.00,0.000,6,0.000,0.041,2868,2103,3116,0,0,0,0,0,0
$GC,3132,-1.19,-116.8,335.4,-7.6,222,3136,0.00,2.55,0.00,0.000,4,0.000,0.051,2868,690,3114,0,0,0,0,0,0
$GC,3156,-1.19,-116.8,337.1,-7.2,222,3160,0.00,2.45,0.00,0.000,6,0.000,0.028,2868,2106,3114,0,0,0,0,0,0
$GC,3497,-1.19,-116.8,359.6,-6.7,231,3501,0.00,2.58,0.00,0.000,4,0.000,0.051,2868,692,3111,0,0,0,0,0,0
$GC,3594,-1.19,-116.8,367.8,-8.4,233,3599,0.00,2.45,0.00,0.000,6,0.000,0.029,2868,2098,3110,0,0,0,0,0,0
$GC,3919,-1.19,-116.8,388.8,-6.2,241,3924,0.00,2.58,0.00,0.000,4,0.000,0.053,2868,686,3108,0,0,0,0,0,0
$GC,3934,-1.19,-116.8,390.0,-6.2,241,3938,0.00,2.47,0.00,0.000,6,0.000,0.030,2868,2100,3108,0,0,0,0,0,0
$GC,4285,-1.19,-116.8,419.5,-8.8,250,4292,0.00,2.58,0.00,0.000,4,0.000,0.056,2868,3501,3106,0,0,0,0,0,0
$GC,4463,-1.19,-116.8,435.9,-8.8,253,4468,0.00,2.55,0.00,0.000,6,0.000,0.048,2868,2096,3105,0,0,0,0,0,0
$STATE,4670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4670,begin apogee
$GC,4677,-0.31,0.0,450.9,6.9,258,4775,0.95,0.00,94.80,0.823,6,0.083,0.000,3064,1795,2635,0,0,0,0,0,0
$STATE,4776,end apogee,CONTROL_FINISHED_OK
$STATE,4776,begin climb
$GC,4779,1.19,116.8,452.3,0.0,260,4887,1.50,0.00,100.75,0.803,6,0.056,0.000,3395,1795,2158,0,0,0,0,0,0
$GC,5228,1.19,116.8,401.6,11.7,271,5232,0.00,2.67,0.00,0.000,4,0.000,0.065,3394,397,2145,0,0,0,0,0,0
$GC,5251,1.19,116.8,398.6,12.9,271,5256,0.00,2.50,0.00,0.000,6,0.000,0.028,3395,1806,2143,0,0,0,0,0,0
$GC,5592,1.19,116.8,361.9,10.4,280,5593,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1808,2141,0,0,0,0,0,0
$GC,5917,1.19,116.8,324.6,11.8,288,5922,0.00,2.67,0.00,0.000,4,0.000,0.061,3395,393,2138,0,0,0,0,0,0
$GC,5992,1.19,116.8,314.4,14.0,289,5996,0.00,2.47,0.00,0.000,6,0.000,0.028,3394,1804,2136,0,0,0,0,0,0
$GC,6310,1.19,116.8,279.7,10.8,302,6314,0.00,2.53,0.00,0.000,4,0.000,0.045,3395,3201,2136,0,0,0,0,0,0
$GC,6353,1.19,116.8,275.2,10.8,304,6357,0.00,2.58,0.00,0.000,6,0.000,0.048,3395,1808,2136,0,0,0,0,0,0
$GC,6682,1.19,116.8,241.9,10.3,320,6683,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1808,2134,0,0,0,0,0,0
$GC,6993,1.19,116.8,208.8,12.3,335,6998,0.00,2.62,0.00,0.000,4,0.000,0.055,3395,390,2133,0,0,0,0,0,0
$GC,7040,1.19,116.8,203.0,11.8,337,7044,0.00,2.45,0.00,0.000,6,0.000,0.025,3395,1804,2131,0,0,0,0,0,0
$GC,7375,1.19,116.8,172.4,9.8,367,7376,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1809,2132,0,0,0,0,0,0
$GC,7629,1.23,149.4,153.1,6.5,391,7659,0.00,2.55,24.70,0.603,4,0.000,0.036,3395,3203,2024,0,0,0,0,0,0
$GC,7687,1.23,149.4,147.8,9.6,397,7693,0.00,2.60,0.00,0.000,6,0.000,0.042,3395,1798,2024,0,0,0,0,0,0
$GC,7950,1.23,149.4,120.7,10.2,422,7951,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1798,2021,0,0,0,0,0,0
$GC,8202,1.23,149.4,95.9,10.1,446,8203,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1798,2021,0,0,0,0,0,0
$GC,8459,1.23,149.4,73.5,9.3,470,8460,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1798,2020,0,0,0,0,0,0
$GC,8713,1.26,171.6,53.1,7.0,494,8743,0.00,2.60,19.92,0.496,4,0.000,0.048,3395,383,1933,0,0,0,0,0,0
$GC,8765,1.26,172.2,49.2,8.0,499,8769,0.00,2.45,0.00,0.000,6,0.000,0.019,3395,1812,1930,0,0,0,0,0,0
$GC,9029,1.27,177.4,30.5,7.8,523,9040,0.00,2.65,6.00,0.387,4,0.000,0.047,3395,383,1911,0,0,0,0,0,0
$GC,9082,1.27,177.4,26.0,8.3,533,9088,0.00,2.45,0.00,0.000,6,0.000,0.019,3395,1795,1908,0,0,0,0,0,0
$GC,9286,1.35,242.8,13.3,5.0,570,9348,0.15,2.65,55.95,0.473,4,0.053,0.047,3448,389,1644,0,0,0,0,0,0
$GC,9383,1.35,242.8,3.7,13.4,588,9390,0.00,2.45,0.00,0.000,6,0.000,0.018,3448,1797,1639,0,0,0,0,0,0
$STATE,9395,end climb,SURFACE_DEPTH_REACHED
$STATE,9395,begin surface coast
$FINISH,0.8,0.999244
$STATE,9416,end surface coast,CONTROL_FINISHED_OK
$STATE,9416,begin surface
$SM_CCo,9440,154.25,0.460,0,0,449,535.98
$SM_GC,1.32,0.00,0.00,154.25,0.000,0.000,0.460,431,2116,449,-12.45,0.48,535.98
$IRIDIUM_FIX,2054.83,-15744.48,200700,171705
$TT8_MAMPS,0.029146
$HUMID,51.69
$INTERNAL_PRESSURE,9.54769
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,15.106
$10V_AH,10.6,14.635
$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,28.575,96.925,302.125,154.250,0.000,133.688,401.426,0.000,4.750,0.000,20.517,1083.020,6484.901,498.192,1668.055,764.743,33.362,1228.702,0.000,1645.641,0.000,32.180,0.000
$DEVICE_MAMPS,134.225,65.195,822.991,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,401.380,389.383,878.785,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,31716,594
$CAP_FILE_SIZE,95934,0
$CFSIZE,260165632,247287808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260411,193852,2102.817,-15743.441,9,3.6,28,9.8