version: 66.06
glider: 139
mission: 9
dive: 191
start: 4 26 111 19 54 32
data:
$ID,139
$MISSION,9
$DIVE,191
$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,-2179492.8
$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,15
$R_STBD_OVSHOOT,70
$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
$GPS1,193852,2102.817,-15743.441,9,3.6,28,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-71.4
$GPS2,195340,2102.792,-15743.451,11,3.7,30,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.082,-0.206
$KALMAN_X,-116024.0,215.0,264.6,127945.4,-1043.4
$KALMAN_Y,-30343.2,128.9,-121.2,15587.3,703.2
$MHEAD_RNG_PITCHd_Wd,192.0,14296,-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,12,begin dive
$GC,15,-1.19,-116.8,0.0,0.0,0,120,0.00,0.00,-99.25,0.000,6,0.000,0.000,430,2118,3112,0,0,0,0,0,0
$GC,123,-1.19,-116.8,3.7,-5.6,19,142,13.02,2.58,0.00,0.000,4,0.133,0.036,2868,670,3114,0,0,0,0,0,0
$GC,306,-1.19,-116.8,45.1,-17.6,50,310,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2074,3115,0,0,0,0,0,0
$GC,567,-1.19,-116.8,85.6,-12.6,74,571,0.00,2.53,0.00,0.000,4,0.000,0.036,2868,3500,3115,0,0,0,0,0,0
$GC,614,-1.19,-116.8,92.2,-13.5,78,620,0.00,2.50,0.00,0.000,6,0.000,0.033,2868,2095,3115,0,0,0,0,0,0
$GC,878,-1.19,-116.8,128.7,-12.9,103,882,0.00,2.50,0.00,0.000,4,0.000,0.036,2868,3504,3115,0,0,0,0,0,0
$GC,958,-1.19,-116.8,138.1,-10.9,111,963,0.00,2.47,0.00,0.000,6,0.000,0.033,2868,2098,3115,0,0,0,0,0,0
$GC,1220,-1.19,-116.8,171.9,-13.8,135,1225,0.00,2.50,0.00,0.000,4,0.000,0.038,2868,3499,3116,0,0,0,0,0,0
$GC,1283,-1.19,-116.8,178.3,-10.2,141,1287,0.00,2.45,0.00,0.000,6,0.000,0.034,2868,2099,3115,0,0,0,0,0,0
$GC,1556,-1.19,-116.8,204.6,-10.7,164,1561,0.00,2.50,0.00,0.000,4,0.000,0.044,2868,691,3115,0,0,0,0,0,0
$GC,1608,-1.19,-116.8,211.2,-11.3,166,1612,0.00,2.40,0.00,0.000,6,0.000,0.023,2868,2101,3115,0,0,0,0,0,0
$GC,1928,-1.19,-116.8,239.9,-8.8,182,1933,0.00,2.53,0.00,0.000,4,0.000,0.044,2868,692,3115,0,0,0,0,0,0
$GC,1938,-1.19,-116.8,240.8,-8.7,182,1943,0.00,2.40,0.00,0.000,6,0.000,0.025,2867,2100,3116,0,0,0,0,0,0
$GC,2259,-1.19,-116.8,269.3,-9.4,198,2263,0.00,2.53,0.00,0.000,4,0.000,0.046,2868,691,3115,0,0,0,0,0,0
$GC,2280,-1.19,-116.8,271.2,-9.1,199,2285,0.00,2.45,0.00,0.000,6,0.000,0.026,2868,2103,3115,0,0,0,0,0,0
$GC,2614,-1.19,-116.8,301.6,-8.6,215,2618,0.00,2.53,0.00,0.000,4,0.000,0.047,2868,692,3113,0,0,0,0,0,0
$GC,2638,-1.19,-116.8,304.2,-9.2,215,2642,0.00,2.42,0.00,0.000,6,0.000,0.028,2868,2099,3113,0,0,0,0,0,0
$GC,2978,-1.19,-116.8,333.0,-8.5,224,2982,0.00,2.58,0.00,0.000,4,0.000,0.049,2867,685,3111,0,0,0,0,0,0
$GC,2992,-1.19,-116.8,334.3,-8.3,224,2997,0.00,2.45,0.00,0.000,6,0.000,0.028,2868,2099,3110,0,0,0,0,0,0
$GC,3343,-1.19,-116.8,360.8,-7.6,233,3348,0.00,2.60,0.00,0.000,4,0.000,0.051,2867,691,3108,0,0,0,0,0,0
$GC,3527,-1.19,-116.8,376.9,-8.7,237,3532,0.00,2.47,0.00,0.000,6,0.000,0.029,2868,2103,3107,0,0,0,0,0,0
$GC,3854,-1.19,-116.8,404.7,-8.6,245,3855,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2104,3105,0,0,0,0,0,0
$GC,4180,-1.19,-116.8,431.6,-8.0,253,4181,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2104,3102,0,0,0,0,0,0
$STATE,4461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4461,begin apogee
$GC,4468,-0.31,0.0,452.0,6.8,260,4566,0.95,0.00,94.12,0.817,6,0.081,0.000,3065,1798,2635,0,0,0,0,0,0
$STATE,4566,end apogee,CONTROL_FINISHED_OK
$STATE,4566,begin climb
$GC,4569,1.19,116.8,453.8,0.0,262,4677,1.48,0.00,101.32,0.798,6,0.054,0.000,3392,1797,2158,0,0,0,0,0,0
$GC,4977,1.19,116.8,410.6,11.3,272,4981,0.00,2.67,0.00,0.000,4,0.000,0.064,3392,397,2147,0,0,0,0,0,0
$GC,4996,1.19,116.8,408.0,13.0,272,5000,0.00,2.53,0.00,0.000,6,0.000,0.028,3392,1808,2145,0,0,0,0,0,0
$GC,5341,1.19,116.8,367.2,11.6,281,5342,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1811,2142,0,0,0,0,0,0
$GC,5666,1.19,116.8,327.9,12.2,289,5671,0.00,2.67,0.00,0.000,4,0.000,0.060,3392,399,2139,0,0,0,0,0,0
$GC,5704,1.19,116.8,323.0,12.8,289,5709,0.00,2.50,0.00,0.000,6,0.000,0.028,3392,1804,2138,0,0,0,0,0,0
$GC,6016,1.19,116.8,288.9,9.9,300,6020,0.00,2.62,0.00,0.000,4,0.000,0.058,3391,402,2136,0,0,0,0,0,0
$GC,6038,1.19,116.8,286.7,11.2,301,6042,0.00,2.45,0.00,0.000,6,0.000,0.027,3392,1802,2135,0,0,0,0,0,0
$GC,6368,1.19,116.8,254.4,9.5,317,6370,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1807,2134,0,0,0,0,0,0
$GC,6677,1.19,116.8,223.7,9.8,332,6681,0.00,2.62,0.00,0.000,4,0.000,0.056,3392,397,2133,0,0,0,0,0,0
$GC,6746,1.19,116.8,215.7,11.1,335,6750,0.00,2.45,0.00,0.000,6,0.000,0.025,3392,1804,2132,0,0,0,0,0,0
$GC,7078,1.19,116.8,189.4,8.3,357,7082,0.00,2.62,0.00,0.000,4,0.000,0.054,3392,401,2132,0,0,0,0,0,0
$GC,7112,1.19,116.8,185.6,11.4,360,7116,0.00,2.42,0.00,0.000,6,0.000,0.024,3392,1799,2131,0,0,0,0,0,0
$GC,7375,1.19,116.8,160.9,8.6,384,7379,0.00,2.60,0.00,0.000,4,0.000,0.052,3392,396,2131,0,0,0,0,0,0
$GC,7391,1.19,116.8,159.4,9.1,385,7396,0.00,2.42,0.00,0.000,6,0.000,0.023,3392,1807,2131,0,0,0,0,0,0
$GC,7656,1.19,116.8,137.1,8.2,409,7660,0.00,2.58,0.00,0.000,4,0.000,0.050,3392,400,2131,0,0,0,0,0,0
$GC,7682,1.19,116.8,134.4,11.0,411,7686,0.00,2.40,0.00,0.000,6,0.000,0.022,3392,1795,2130,0,0,0,0,0,0
$GC,7946,1.19,116.8,110.7,9.1,435,7950,0.00,2.42,0.00,0.000,4,0.000,0.031,3392,3193,2131,0,0,0,0,0,0
$GC,7972,1.19,116.8,108.2,8.7,437,7976,0.00,2.47,0.00,0.000,6,0.000,0.037,3392,1808,2131,0,0,0,0,0,0
$GC,8236,1.19,116.8,87.9,8.2,461,8241,0.00,2.58,0.00,0.000,4,0.000,0.049,3392,392,2131,0,0,0,0,0,0
$GC,8299,1.19,116.8,81.4,10.7,467,8303,0.00,2.40,0.00,0.000,6,0.000,0.021,3392,1807,2130,0,0,0,0,0,0
$GC,8564,1.21,128.5,58.7,7.5,491,8575,0.00,2.42,6.57,0.420,4,0.000,0.029,3393,3189,2110,0,0,0,0,0,0
$GC,8605,1.23,144.6,55.4,7.3,495,8627,0.00,2.50,15.43,0.483,6,0.000,0.036,3392,1793,2045,0,0,0,0,0,0
$GC,8882,1.25,158.6,35.5,7.4,521,8901,0.00,0.00,13.38,0.460,6,0.000,0.000,3392,1793,1987,0,0,0,0,0,0
$GC,9161,1.31,208.0,14.2,5.8,566,9206,0.12,0.00,42.20,0.471,6,0.061,0.000,3438,1793,1786,0,0,0,0,0,0
$STATE,9298,end climb,SURFACE_DEPTH_REACHED
$STATE,9299,begin surface coast
$FINISH,0.9,1.022443
$STATE,9337,end surface coast,CONTROL_FINISHED_OK
$STATE,9337,begin surface
$SM_CCo,9361,169.90,0.459,0,0,450,535.98
$SM_GC,1.40,0.00,0.00,169.90,0.000,0.000,0.459,427,2154,450,-12.47,1.53,535.98
$IRIDIUM_FIX,2057.14,-15738.45,200700,191930
$TT8_MAMPS,0.028379
$HUMID,52.28
$INTERNAL_PRESSURE,9.55745
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.5,15.204
$10V_AH,10.6,14.717
$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,28.525,101.200,273.025,169.900,0.000,138.138,371.125,0.000,4.500,0.000,33.441,1077.998,6448.716,520.969,1630.764,742.409,33.360,1216.711,0.000,1600.146,0.000,29.265,0.000
$DEVICE_MAMPS,133.458,63.661,816.855,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,404.266,389.329,897.789,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,31816,598
$CAP_FILE_SIZE,94136,0
$CFSIZE,260165632,247226368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260411,223437,2101.664,-15744.029,35,1.1,35,9.8