version: 66.06
glider: 139
mission: 9
dive: 226
start: 4 30 111 20 49 48
data:
$ID,139
$MISSION,9
$DIVE,226
$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,-2180299.5
$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,19
$R_STBD_OVSHOOT,75
$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
$GPS1,204301,2107.016,-15756.221,43,0.8,43,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-73.7
$GPS2,204855,2107.036,-15756.290,11,0.8,16,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.217,-0.043
$KALMAN_X,-130844.4,-179.4,504.3,120756.3,-2777.4
$KALMAN_Y,-18212.3,35.0,42.3,11248.1,521.1
$MHEAD_RNG_PITCHd_Wd,91.5,23216,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.19,-116.8,0.0,0.0,0,95,0.00,0.00,-70.62,0.000,6,0.000,0.000,423,2141,3112,0,0,0,0,0,0
$GC,98,-1.19,-116.8,3.8,-5.6,14,116,13.07,0.00,0.00,0.000,6,0.133,0.000,2867,2141,3114,0,0,0,0,0,0
$GC,318,-1.19,-116.8,46.2,-14.0,44,324,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2142,3116,0,0,0,0,0,0
$GC,580,-1.19,-116.8,85.6,-14.7,69,584,0.00,2.35,0.00,0.000,4,0.000,0.034,2867,3464,3117,0,0,0,0,0,0
$GC,827,-1.19,-116.8,122.0,-14.8,96,832,0.00,2.42,0.00,0.000,6,0.000,0.035,2867,2084,3117,0,0,0,0,0,0
$GC,1090,-1.19,-116.8,154.3,-12.0,120,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2083,3118,0,0,0,0,0,0
$GC,1343,-1.19,-116.8,180.4,-9.0,144,1348,0.00,2.42,0.00,0.000,4,0.000,0.037,2867,3461,3118,0,0,0,0,0,0
$GC,1386,-1.19,-116.8,184.2,-9.0,148,1390,0.00,2.38,0.00,0.000,6,0.000,0.034,2867,2099,3118,0,0,0,0,0,0
$GC,1658,-1.19,-116.8,208.4,-10.0,169,1662,0.00,2.53,0.00,0.000,4,0.000,0.044,2867,682,3119,0,0,0,0,0,0
$GC,1672,-1.19,-116.8,210.3,-10.5,169,1678,0.00,2.35,0.00,0.000,6,0.000,0.021,2867,2072,3119,0,0,0,0,0,0
$GC,1989,-1.19,-116.8,243.2,-9.9,185,1993,0.00,2.47,0.00,0.000,4,0.000,0.044,2868,684,3118,0,0,0,0,0,0
$GC,2063,-1.19,-116.8,250.2,-8.2,188,2067,0.00,2.42,0.00,0.000,6,0.000,0.023,2867,2097,3118,0,0,0,0,0,0
$GC,2384,-1.19,-116.8,271.0,-7.0,204,2388,0.00,2.53,0.00,0.000,4,0.000,0.045,2867,692,3118,0,0,0,0,0,0
$GC,2453,-1.19,-116.8,277.5,-9.6,207,2457,0.00,2.40,0.00,0.000,6,0.000,0.024,2867,2099,3118,0,0,0,0,0,0
$GC,2798,-1.19,-116.8,304.5,-7.8,223,2802,0.00,2.53,0.00,0.000,4,0.000,0.047,2867,693,3117,0,0,0,0,0,0
$GC,2835,-1.19,-116.8,308.0,-8.8,223,2841,0.00,2.42,0.00,0.000,6,0.000,0.026,2867,2097,3117,0,0,0,0,0,0
$GC,3167,-1.19,-116.8,332.7,-7.1,232,3171,0.00,2.58,0.00,0.000,4,0.000,0.048,2867,3508,3115,0,0,0,0,0,0
$GC,3214,-1.19,-116.8,335.9,-6.6,233,3219,0.00,2.50,0.00,0.000,6,0.000,0.041,2867,2104,3115,0,0,0,0,0,0
$GC,3538,-1.19,-116.8,357.6,-7.4,241,3542,0.00,2.55,0.00,0.000,4,0.000,0.048,2867,3502,3113,0,0,0,0,0,0
$GC,3556,-1.19,-116.8,359.5,-9.4,241,3563,0.00,2.50,0.00,0.000,6,0.000,0.043,2867,2096,3113,0,0,0,0,0,0
$GC,3909,-1.19,-116.8,387.9,-7.5,250,3914,0.00,2.55,0.00,0.000,4,0.000,0.050,2867,3502,3110,0,0,0,0,0,0
$GC,4059,-1.19,-116.8,400.1,-8.4,253,4063,0.00,2.53,0.00,0.000,6,0.000,0.045,2867,2099,3109,0,0,0,0,0,0
$GC,4373,-1.19,-116.8,425.2,-8.0,261,4378,0.00,2.58,0.00,0.000,4,0.000,0.056,2867,691,3106,0,0,0,0,0,0
$GC,4476,-1.19,-116.8,433.8,-7.5,263,4480,0.00,2.47,0.00,0.000,6,0.000,0.031,2867,2099,3106,0,0,0,0,0,0
$STATE,4705,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4706,begin apogee
$GC,4713,-0.31,0.0,450.2,7.0,269,4811,0.98,0.00,95.12,0.825,6,0.084,0.000,3068,1791,2635,0,0,0,0,0,0
$STATE,4812,end apogee,CONTROL_FINISHED_OK
$STATE,4812,begin climb
$GC,4815,1.19,116.8,451.8,0.0,271,4921,1.50,0.00,101.43,0.807,6,0.054,0.000,3396,1791,2157,0,0,0,0,0,0
$GC,5234,1.19,116.8,405.4,10.8,282,5238,0.00,2.65,0.00,0.000,4,0.000,0.063,3395,401,2146,0,0,0,0,0,0
$GC,5271,1.19,116.8,400.9,12.1,282,5277,0.00,2.50,0.00,0.000,6,0.000,0.028,3396,1801,2143,0,0,0,0,0,0
$GC,5602,1.19,116.8,367.0,10.2,291,5603,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1805,2141,0,0,0,0,0,0
$GC,5927,1.19,116.8,329.3,11.5,299,5931,0.00,2.55,0.00,0.000,4,0.000,0.044,3396,3214,2139,0,0,0,0,0,0
$GC,5951,1.19,116.8,326.7,10.6,299,5956,0.00,2.62,0.00,0.000,6,0.000,0.050,3396,1800,2139,0,0,0,0,0,0
$GC,6273,1.19,116.8,290.5,11.3,309,6278,0.00,2.62,0.00,0.000,4,0.000,0.060,3395,392,2137,0,0,0,0,0,0
$GC,6297,1.19,116.8,287.3,13.1,310,6302,0.00,2.50,0.00,0.000,6,0.000,0.028,3396,1805,2135,0,0,0,0,0,0
$GC,6622,1.19,116.8,253.3,9.6,326,6623,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1809,2135,0,0,0,0,0,0
$GC,6933,1.19,116.8,224.1,10.0,341,6937,0.00,2.65,0.00,0.000,4,0.000,0.057,3395,389,2134,0,0,0,0,0,0
$GC,7000,1.19,116.8,216.2,12.7,344,7005,0.00,2.47,0.00,0.000,6,0.000,0.025,3396,1802,2132,0,0,0,0,0,0
$GC,7327,1.19,116.8,181.7,10.5,367,7332,0.00,2.62,0.00,0.000,4,0.000,0.054,3395,389,2132,0,0,0,0,0,0
$GC,7353,1.19,116.8,178.3,12.8,369,7358,0.00,2.47,0.00,0.000,6,0.000,0.024,3396,1804,2131,0,0,0,0,0,0
$GC,7618,1.19,116.8,152.5,9.3,393,7623,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1809,2131,0,0,0,0,0,0
$GC,7879,1.19,116.8,127.8,10.4,418,7884,0.00,2.60,0.00,0.000,4,0.000,0.051,3396,392,2131,0,0,0,0,0,0
$GC,7915,1.19,116.8,124.2,11.1,421,7919,0.00,2.42,0.00,0.000,6,0.000,0.022,3396,1806,2130,0,0,0,0,0,0
$GC,8179,1.24,156.3,103.9,6.2,445,8216,0.00,0.00,30.48,0.562,6,0.000,0.000,3396,1811,1996,0,0,0,0,0,0
$GC,8475,1.24,156.3,82.4,8.1,473,8479,0.00,2.62,0.00,0.000,4,0.000,0.049,3395,385,1993,0,0,0,0,0,0
$GC,8521,1.24,156.3,77.8,9.1,477,8527,0.00,2.47,0.00,0.000,6,0.000,0.021,3396,1803,1990,0,0,0,0,0,0
$GC,8783,1.24,156.3,57.7,8.9,502,8784,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1806,1991,0,0,0,0,0,0
$GC,9038,1.24,156.3,33.8,9.3,526,9042,0.00,2.45,0.00,0.000,4,0.000,0.029,3396,3203,1991,0,0,0,0,0,0
$GC,9132,1.26,169.5,26.0,7.4,542,9151,0.00,2.55,11.93,0.449,6,0.000,0.035,3396,1796,1943,0,0,0,0,0,0
$GC,9347,1.28,187.8,11.5,7.2,581,9370,0.00,2.60,16.95,0.452,4,0.000,0.047,3396,389,1868,0,0,0,0,0,0
$GC,9387,1.28,187.8,8.3,8.3,588,9393,0.00,2.45,0.00,0.000,6,0.000,0.018,3396,1800,1866,0,0,0,0,0,0
$STATE,9452,end climb,SURFACE_DEPTH_REACHED
$STATE,9452,begin surface coast
$FINISH,0.9,1.010096
$STATE,9490,end surface coast,CONTROL_FINISHED_OK
$STATE,9492,begin surface
$SM_CCo,9516,72.65,0.461,0,0,1288,330.17
$SM_GC,1.65,0.00,0.00,72.65,0.000,0.000,0.461,424,2147,1288,-12.48,1.33,330.17
$IRIDIUM_FIX,2101.76,-15758.18,240700,181833
$TT8_MAMPS,0.028379
$HUMID,55.31
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,18.012
$10V_AH,10.5,17.407
$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,28.225,96.350,255.900,72.650,0.000,31.229,33.906,168.674,4.500,0.000,16.553,1100.708,6290.461,440.612,1653.434,460.524,33.351,1120.716,0.000,1638.804,0.000,29.255,0.000
$DEVICE_MAMPS,133.458,62.894,825.292,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,410.740,397.993,902.805,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,34931,607
$CAP_FILE_SIZE,94502,0
$CFSIZE,260165632,245563392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300411,233052,2106.976,-15755.819,16,3.0,35,9.8