version: 66.06
glider: 139
mission: 9
dive: 143
start: 4 21 111 6 29 23
data:
$ID,139
$MISSION,9
$DIVE,143
$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,-2177595
$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,14
$R_STBD_OVSHOOT,89
$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
$GPS1,062307,2107.144,-15750.238,33,0.9,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-74.7
$GPS2,062831,2107.134,-15750.272,13,0.9,19,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.120,0.187
$KALMAN_X,-36051.9,914.3,-889.8,36657.9,-2038.3
$KALMAN_Y,-15648.3,499.8,80.2,8356.8,-1959.3
$MHEAD_RNG_PITCHd_Wd,22.9,12940,-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,-116.8,0.0,0.0,0,93,0.00,0.00,-70.57,0.000,6,0.000,0.000,430,2142,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.7,-5.5,14,114,13.15,0.00,0.00,0.000,6,0.137,0.000,2867,2142,3114,0,0,0,0,0,0
$GC,315,-1.19,-116.8,49.3,-17.7,44,321,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2142,3115,0,0,0,0,0,0
$GC,577,-1.19,-116.8,89.7,-13.3,69,581,0.00,2.17,0.00,0.000,4,0.000,0.028,2867,3458,3116,0,0,0,0,0,0
$GC,657,-1.19,-116.8,101.0,-14.6,77,662,0.00,2.28,0.00,0.000,6,0.000,0.028,2867,2084,3116,0,0,0,0,0,0
$GC,922,-1.19,-116.8,138.6,-13.5,101,926,0.00,2.30,0.00,0.000,4,0.000,0.028,2867,3461,3117,0,0,0,0,0,0
$GC,958,-1.19,-116.8,144.3,-14.2,104,965,0.00,2.30,0.00,0.000,6,0.000,0.028,2867,2095,3117,0,0,0,0,0,0
$GC,1223,-1.19,-116.8,175.9,-11.2,129,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2096,3117,0,0,0,0,0,0
$GC,1495,-1.19,-116.8,205.5,-10.7,153,1499,0.00,2.25,0.00,0.000,4,0.000,0.031,2867,3450,3118,0,0,0,0,0,0
$GC,1564,-1.19,-116.8,213.1,-11.3,156,1568,0.00,2.22,0.00,0.000,6,0.000,0.028,2867,2095,3118,0,0,0,0,0,0
$GC,1888,-1.19,-116.8,243.1,-8.6,172,1889,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2095,3119,0,0,0,0,0,0
$GC,2199,-1.19,-116.8,266.2,-7.4,187,2203,0.00,2.28,0.00,0.000,4,0.000,0.035,2867,3457,3119,0,0,0,0,0,0
$GC,2296,-1.19,-116.8,273.7,-7.3,191,2300,0.00,2.25,0.00,0.000,6,0.000,0.031,2867,2099,3118,0,0,0,0,0,0
$GC,2617,-1.19,-116.8,298.1,-8.6,207,2621,0.00,2.30,0.00,0.000,4,0.000,0.037,2867,3451,3118,0,0,0,0,0,0
$GC,2649,-1.19,-116.8,301.1,-8.7,208,2653,0.00,2.25,0.00,0.000,6,0.000,0.031,2867,2101,3117,0,0,0,0,0,0
$GC,2980,-1.19,-116.8,333.6,-10.2,216,2985,0.00,2.33,0.00,0.000,4,0.000,0.038,2867,3449,3116,0,0,0,0,0,0
$GC,3093,-1.19,-116.8,344.8,-10.3,218,3098,0.00,2.28,0.00,0.000,6,0.000,0.035,2867,2095,3115,0,0,0,0,0,0
$GC,3438,-1.19,-116.8,375.3,-8.7,227,3442,0.00,2.33,0.00,0.000,4,0.000,0.040,2867,3455,3113,0,0,0,0,0,0
$GC,3462,-1.19,-116.8,377.4,-8.3,227,3466,0.00,2.28,0.00,0.000,6,0.000,0.035,2867,2100,3113,0,0,0,0,0,0
$GC,3807,-1.19,-116.8,399.6,-5.8,236,3811,0.00,2.45,0.00,0.000,4,0.000,0.051,2867,693,3110,0,0,0,0,0,0
$GC,3900,-1.19,-116.8,405.4,-5.9,238,3905,0.00,2.25,0.00,0.000,6,0.000,0.028,2867,2050,3109,0,0,0,0,0,0
$GC,4223,-1.19,-116.8,424.1,-6.5,246,4228,0.00,2.35,0.00,0.000,4,0.000,0.051,2867,692,3107,0,0,0,0,0,0
$GC,4252,-1.19,-116.8,426.2,-7.4,246,4256,0.00,2.35,0.00,0.000,6,0.000,0.028,2867,2100,3107,0,0,0,0,0,0
$GC,4588,-1.19,-116.8,446.4,-6.0,255,4592,0.00,2.38,0.00,0.000,4,0.000,0.044,2867,3499,3105,0,0,0,0,0,0
$STATE,4632,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4632,begin apogee
$GC,4642,-0.31,0.0,450.1,7.6,256,4740,0.95,0.00,94.85,0.829,6,0.085,0.000,3065,1805,2635,0,0,0,0,0,0
$STATE,4741,end apogee,CONTROL_FINISHED_OK
$STATE,4741,begin climb
$GC,4744,1.19,116.8,452.4,0.0,258,4856,1.50,2.62,100.62,0.811,4,0.058,0.061,3394,395,2156,0,0,0,0,0,0
$GC,4894,1.19,116.8,438.9,13.6,261,4898,0.00,2.38,0.00,0.000,6,0.000,0.028,3394,1811,2150,0,0,0,0,0,0
$GC,5239,1.19,116.8,400.8,10.3,270,5243,0.00,2.38,0.00,0.000,4,0.000,0.038,3394,3201,2144,0,0,0,0,0,0
$GC,5262,1.19,116.8,398.1,10.8,270,5267,0.00,2.45,0.00,0.000,6,0.000,0.044,3394,1802,2144,0,0,0,0,0,0
$GC,5603,1.19,116.8,360.9,11.2,279,5607,0.00,2.53,0.00,0.000,4,0.000,0.060,3394,378,2141,0,0,0,0,0,0
$GC,5673,1.19,116.8,352.2,12.2,280,5677,0.00,2.38,0.00,0.000,6,0.000,0.029,3394,1804,2138,0,0,0,0,0,0
$GC,6013,1.19,116.8,317.9,9.7,289,6015,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1809,2138,0,0,0,0,0,0
$GC,6321,1.19,116.8,290.5,8.2,299,6322,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1809,2136,0,0,0,0,0,0
$GC,6629,1.19,116.8,257.9,11.1,314,6633,0.00,2.53,0.00,0.000,4,0.000,0.058,3394,379,2135,0,0,0,0,0,0
$GC,6675,1.19,116.8,252.1,12.4,316,6679,0.00,2.38,0.00,0.000,6,0.000,0.028,3394,1812,2133,0,0,0,0,0,0
$GC,7000,1.19,116.8,219.7,10.2,332,7004,0.00,2.50,0.00,0.000,4,0.000,0.056,3394,384,2133,0,0,0,0,0,0
$GC,7023,1.19,116.8,217.0,11.3,333,7027,0.00,2.33,0.00,0.000,6,0.000,0.026,3394,1804,2132,0,0,0,0,0,0
$GC,7349,1.20,120.5,186.1,7.9,355,7354,0.00,2.50,0.00,0.000,4,0.000,0.053,3394,379,2132,0,0,0,0,0,0
$GC,7360,1.22,140.7,185.2,7.1,355,7383,0.00,2.33,17.17,0.624,6,0.000,0.025,3394,1827,2061,0,0,0,0,0,0
$GC,7638,1.22,140.7,162.2,9.7,382,7643,0.00,2.53,0.00,0.000,4,0.000,0.051,3394,385,2058,0,0,0,0,0,0
$GC,7682,1.22,140.7,157.5,11.4,386,7687,0.00,2.30,0.00,0.000,6,0.000,0.023,3394,1770,2055,0,0,0,0,0,0
$GC,7945,1.22,140.7,126.1,12.4,410,7950,0.00,2.42,0.00,0.000,4,0.000,0.049,3394,375,2055,0,0,0,0,0,0
$GC,8006,1.22,140.7,118.8,11.8,416,8010,0.00,2.33,0.00,0.000,6,0.000,0.021,3394,1832,2054,0,0,0,0,0,0
$GC,8269,1.22,140.7,94.2,9.2,440,8273,0.00,2.22,0.00,0.000,4,0.000,0.027,3394,3201,2054,0,0,0,0,0,0
$GC,8291,1.22,140.7,92.0,9.0,442,8298,0.00,2.42,0.00,0.000,6,0.000,0.032,3394,1790,2055,0,0,0,0,0,0
$GC,8554,1.22,140.7,70.2,8.4,467,8558,0.00,2.40,0.00,0.000,4,0.000,0.048,3394,383,2055,0,0,0,0,0,0
$GC,8649,1.22,140.7,61.7,9.0,477,8653,0.00,2.28,0.00,0.000,6,0.000,0.020,3394,1785,2055,0,0,0,0,0,0
$GC,8914,1.24,150.9,41.5,7.6,501,8929,0.00,2.42,10.07,0.449,4,0.000,0.045,3394,383,2018,0,0,0,0,0,0
$GC,8967,1.24,150.9,36.5,9.3,506,8971,0.00,2.30,0.00,0.000,6,0.000,0.020,3394,1814,2016,0,0,0,0,0,0
$GC,9238,1.25,165.4,16.1,7.4,548,9262,0.00,2.53,14.05,0.447,4,0.000,0.045,3394,392,1958,0,0,0,0,0,0
$GC,9295,1.26,171.8,11.9,7.7,559,9308,0.00,2.30,6.45,0.385,6,0.000,0.019,3394,1795,1934,0,0,0,0,0,0
$STATE,9434,end climb,SURFACE_DEPTH_REACHED
$STATE,9434,begin surface coast
$FINISH,0.7,1.010390
$STATE,9478,end surface coast,CONTROL_FINISHED_OK
$STATE,9478,begin surface
$SM_CCo,9502,81.35,0.463,0,0,1288,330.17
$SM_GC,1.45,0.00,0.00,81.35,0.000,0.000,0.463,425,2137,1288,-12.48,1.02,330.17
$IRIDIUM_FIX,2059.45,-15750.89,150700,030339
$TT8_MAMPS,0.027612
$HUMID,53.26
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.4,11.456
$10V_AH,10.5,11.013
$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,28.275,104.750,243.225,81.350,0.000,21.959,44.521,133.458,4.500,0.000,19.272,1096.702,6314.897,387.121,1685.963,424.144,33.342,1121.046,0.000,1659.031,0.000,29.248,0.000
$DEVICE_MAMPS,136.526,60.593,829.127,462.501,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,401.033,383.628,880.278,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31697,592
$CAP_FILE_SIZE,98648,0
$CFSIZE,260165632,249577472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210411,091022,2107.748,-15750.259,16,2.3,35,9.8