version: 66.06
glider: 139
mission: 9
dive: 144
start: 4 21 111 9 20 58
data:
$ID,139
$MISSION,9
$DIVE,144
$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,-2177627.8
$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,16
$R_STBD_OVSHOOT,74
$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
$GPS1,091022,2107.748,-15750.259,16,2.3,35,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-75.1
$GPS2,092004,2107.663,-15750.225,12,2.5,31,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.221,-0.022
$KALMAN_X,-38495.7,761.4,479.1,37967.1,-3012.4
$KALMAN_Y,-16635.3,370.5,118.1,10412.1,-1880.6
$MHEAD_RNG_PITCHd_Wd,85.8,13081,-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,-70.57,0.000,6,0.000,0.000,425,2137,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.5,-5.2,14,114,13.15,2.45,0.00,0.000,4,0.135,0.031,2870,674,3114,0,0,0,0,0,0
$GC,135,-1.19,-116.8,16.4,-32.4,21,142,0.00,2.30,0.00,0.000,6,0.000,0.020,2870,2073,3115,0,0,0,0,0,0
$GC,335,-1.19,-116.8,46.2,-14.7,47,339,0.00,2.38,0.00,0.000,4,0.000,0.041,2870,677,3116,0,0,0,0,0,0
$GC,356,-1.19,-116.8,49.4,-15.2,49,360,0.00,2.30,0.00,0.000,6,0.000,0.020,2870,2104,3116,0,0,0,0,0,0
$GC,618,-1.19,-116.8,89.2,-13.6,73,622,0.00,2.33,0.00,0.000,4,0.000,0.029,2870,3503,3116,0,0,0,0,0,0
$GC,633,-1.19,-116.8,91.5,-14.1,74,638,0.00,2.35,0.00,0.000,6,0.000,0.028,2870,2086,3116,0,0,0,0,0,0
$GC,897,-1.19,-116.8,129.4,-14.8,98,901,0.00,2.35,0.00,0.000,4,0.000,0.029,2870,3492,3117,0,0,0,0,0,0
$GC,1022,-1.19,-116.8,146.4,-13.5,111,1027,0.00,2.33,0.00,0.000,6,0.000,0.030,2870,2095,3117,0,0,0,0,0,0
$GC,1287,-1.19,-116.8,177.8,-11.6,135,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2095,3116,0,0,0,0,0,0
$GC,1549,-1.19,-116.8,201.9,-8.9,159,1553,0.00,2.35,0.00,0.000,4,0.000,0.041,2870,691,3117,0,0,0,0,0,0
$GC,1563,-1.19,-116.8,203.2,-7.9,159,1569,0.00,2.28,0.00,0.000,6,0.000,0.021,2870,2100,3118,0,0,0,0,0,0
$GC,1880,-1.19,-116.8,231.3,-9.8,175,1884,0.00,2.30,0.00,0.000,4,0.000,0.032,2870,3492,3118,0,0,0,0,0,0
$GC,1903,-1.19,-116.8,234.1,-11.1,176,1908,0.00,2.30,0.00,0.000,6,0.000,0.029,2870,2096,3118,0,0,0,0,0,0
$GC,2228,-1.19,-116.8,270.3,-11.2,192,2232,0.00,2.38,0.00,0.000,4,0.000,0.043,2870,684,3118,0,0,0,0,0,0
$GC,2242,-1.19,-116.8,272.1,-10.8,192,2249,0.00,2.33,0.00,0.000,6,0.000,0.023,2870,2094,3118,0,0,0,0,0,0
$GC,2558,-1.19,-116.8,293.1,-5.2,208,2559,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2097,3117,0,0,0,0,0,0
$GC,2865,-1.19,-116.8,312.8,-7.1,219,2870,0.00,2.38,0.00,0.000,4,0.000,0.044,2870,695,3116,0,0,0,0,0,0
$GC,2880,-1.19,-116.8,314.1,-7.8,219,2885,0.00,2.33,0.00,0.000,6,0.000,0.025,2870,2106,3116,0,0,0,0,0,0
$GC,3230,-1.19,-116.8,346.1,-9.2,228,3234,0.00,2.38,0.00,0.000,4,0.000,0.038,2870,3506,3115,0,0,0,0,0,0
$GC,3337,-1.19,-116.8,355.5,-9.5,230,3341,0.00,2.38,0.00,0.000,6,0.000,0.033,2870,2102,3114,0,0,0,0,0,0
$GC,3687,-1.19,-116.8,384.3,-8.0,239,3691,0.00,2.42,0.00,0.000,4,0.000,0.049,2870,684,3112,0,0,0,0,0,0
$GC,3771,-1.19,-116.8,392.0,-9.0,240,3776,0.00,2.35,0.00,0.000,6,0.000,0.027,2870,2107,3111,0,0,0,0,0,0
$GC,4102,-1.19,-116.8,418.6,-8.2,249,4103,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2108,3108,0,0,0,0,0,0
$GC,4429,-1.19,-116.8,442.6,-7.3,257,4431,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2109,3106,0,0,0,0,0,0
$STATE,4546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4546,begin apogee
$GC,4553,-0.31,0.0,450.9,7.0,260,4652,0.95,0.00,95.32,0.817,6,0.084,0.000,3067,1811,2634,0,0,0,0,0,0
$STATE,4653,end apogee,CONTROL_FINISHED_OK
$STATE,4653,begin climb
$GC,4655,1.19,116.8,452.4,0.0,262,4768,1.50,2.58,100.72,0.798,4,0.057,0.061,3396,396,2156,0,0,0,0,0,0
$GC,4787,1.19,116.8,439.8,13.7,265,4791,0.00,2.38,0.00,0.000,6,0.000,0.028,3396,1802,2152,0,0,0,0,0,0
$GC,5110,1.19,116.8,401.2,11.7,273,5114,0.00,2.55,0.00,0.000,4,0.000,0.060,3396,389,2145,0,0,0,0,0,0
$GC,5142,1.19,116.8,396.9,14.1,273,5147,0.00,2.35,0.00,0.000,6,0.000,0.028,3396,1797,2142,0,0,0,0,0,0
$GC,5474,1.19,116.8,360.2,10.3,281,5478,0.00,2.53,0.00,0.000,4,0.000,0.059,3396,390,2140,0,0,0,0,0,0
$GC,5525,1.19,116.8,354.3,12.2,282,5529,0.00,2.35,0.00,0.000,6,0.000,0.028,3396,1809,2138,0,0,0,0,0,0
$GC,5843,1.19,116.8,319.4,11.0,290,5847,0.00,2.38,0.00,0.000,4,0.000,0.036,3396,3210,2138,0,0,0,0,0,0
$GC,5871,1.19,116.8,316.2,10.1,290,5876,0.00,2.45,0.00,0.000,6,0.000,0.041,3396,1796,2138,0,0,0,0,0,0
$GC,6189,1.19,116.8,278.7,13.2,302,6193,0.00,2.38,0.00,0.000,4,0.000,0.035,3396,3204,2136,0,0,0,0,0,0
$GC,6212,1.19,116.8,275.8,12.5,303,6217,0.00,2.45,0.00,0.000,6,0.000,0.040,3396,1795,2136,0,0,0,0,0,0
$GC,6538,1.19,116.8,238.6,10.2,319,6542,0.00,2.47,0.00,0.000,4,0.000,0.056,3396,377,2134,0,0,0,0,0,0
$GC,6628,1.19,116.8,228.9,10.1,323,6633,0.00,2.33,0.00,0.000,6,0.000,0.026,3396,1801,2132,0,0,0,0,0,0
$GC,6959,1.21,127.2,202.6,7.5,339,6972,0.00,2.47,5.53,0.499,4,0.000,0.050,3396,385,2116,0,0,0,0,0,0
$GC,7018,1.21,127.2,196.4,11.4,342,7025,0.00,2.35,0.00,0.000,6,0.000,0.025,3396,1790,2114,0,0,0,0,0,0
$GC,7283,1.21,127.2,167.3,10.8,367,7288,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1795,2114,0,0,0,0,0,0
$GC,7544,1.21,127.2,143.2,8.7,392,7545,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1795,2114,0,0,0,0,0,0
$GC,7799,1.21,127.2,121.8,9.8,416,7800,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1796,2114,0,0,0,0,0,0
$GC,8054,1.21,127.2,98.9,9.1,440,8055,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1796,2114,0,0,0,0,0,0
$GC,8310,1.21,131.5,78.6,7.8,464,8320,0.00,0.00,5.50,0.408,6,0.000,0.000,3396,1796,2098,0,0,0,0,0,0
$GC,8577,1.24,157.2,58.7,6.8,489,8608,0.00,2.47,23.75,0.498,4,0.000,0.048,3395,385,1992,0,0,0,0,0,0
$GC,8638,1.24,157.2,54.3,8.5,495,8642,0.00,2.33,0.00,0.000,6,0.000,0.020,3396,1819,1989,0,0,0,0,0,0
$GC,8902,1.25,164.8,32.6,7.7,519,8916,0.00,2.58,7.28,0.410,4,0.000,0.047,3396,375,1963,0,0,0,0,0,0
$GC,8950,1.25,164.8,28.4,9.0,526,8956,0.00,2.33,0.00,0.000,6,0.000,0.019,3396,1788,1961,0,0,0,0,0,0
$GC,9153,1.29,196.0,13.6,6.6,563,9187,0.10,2.47,28.23,0.462,4,0.071,0.044,3436,384,1834,0,0,0,0,0,0
$GC,9208,1.29,196.0,7.7,11.7,573,9214,0.00,2.35,0.00,0.000,6,0.000,0.019,3437,1818,1830,0,0,0,0,0,0
$STATE,9247,end climb,SURFACE_DEPTH_REACHED
$STATE,9247,begin surface coast
$FINISH,0.8,1.023261
$STATE,9275,end surface coast,CONTROL_FINISHED_OK
$STATE,9275,begin surface
$SM_CCo,9299,69.53,0.458,0,0,1288,330.17
$SM_GC,1.65,0.00,0.00,69.53,0.000,0.000,0.458,426,2144,1288,-12.47,1.24,330.17
$IRIDIUM_FIX,2059.45,-15751.76,150700,090904
$TT8_MAMPS,0.029146
$HUMID,53.11
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.90
$XPDR_PINGS,1
$24V_AH,23.4,11.539
$10V_AH,10.6,11.090
$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,28.525,96.375,266.325,69.525,0.000,63.518,82.542,227.287,4.750,0.000,32.041,1060.611,6287.258,403.123,1593.116,610.421,33.348,1093.011,0.000,1564.747,0.000,29.250,0.000
$DEVICE_MAMPS,134.992,60.593,816.855,457.899,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,395.158,383.861,868.491,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31776,585
$CAP_FILE_SIZE,98217,0
$CFSIZE,260165632,249532416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210411,115816,2107.044,-15749.649,10,2.2,29,9.8