version: 66.06
glider: 139
mission: 9
dive: 156
start: 4 22 111 18 44 59
data:
$ID,139
$MISSION,9
$DIVE,156
$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,-2178788.8
$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,17
$R_STBD_OVSHOOT,64
$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
$GPS1,183836,2107.577,-15753.667,34,0.9,34,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-74.5
$GPS2,184407,2107.588,-15753.778,14,1.0,19,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.180,0.129
$KALMAN_X,-65336.8,-386.0,-475.7,60779.5,-2435.9
$KALMAN_Y,-30508.0,53.7,356.8,24223.2,-1380.0
$MHEAD_RNG_PITCHd_Wd,44.5,19050,-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,-116.8,0.0,0.0,0,92,0.00,0.00,-70.85,0.000,6,0.000,0.000,426,2131,3111,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.3,-4.5,14,115,13.15,2.40,0.00,0.000,4,0.136,0.035,2869,3474,3113,0,0,0,0,0,0
$GC,152,-1.19,-116.8,18.4,-19.0,25,159,0.00,2.45,0.00,0.000,6,0.000,0.031,2868,2096,3115,0,0,0,0,0,0
$GC,354,-1.19,-116.8,51.7,-17.5,50,355,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2096,3115,0,0,0,0,0,0
$GC,608,-1.19,-116.8,93.5,-16.5,74,612,0.00,2.45,0.00,0.000,4,0.000,0.036,2868,3473,3116,0,0,0,0,0,0
$GC,660,-1.19,-116.8,102.3,-17.5,79,664,0.00,2.45,0.00,0.000,6,0.000,0.035,2868,2092,3116,0,0,0,0,0,0
$GC,925,-1.19,-116.8,140.1,-12.9,103,929,0.00,2.45,0.00,0.000,4,0.000,0.036,2869,3475,3116,0,0,0,0,0,0
$GC,995,-1.19,-116.8,149.3,-11.7,110,999,0.00,2.40,0.00,0.000,6,0.000,0.035,2868,2099,3116,0,0,0,0,0,0
$GC,1259,-1.19,-116.8,181.1,-12.5,134,1263,0.00,2.42,0.00,0.000,4,0.000,0.038,2868,3474,3117,0,0,0,0,0,0
$GC,1429,-1.19,-116.8,199.3,-9.5,152,1434,0.00,2.45,0.00,0.000,6,0.000,0.035,2869,2089,3117,0,0,0,0,0,0
$GC,1690,-1.19,-116.8,221.6,-8.7,165,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2088,3118,0,0,0,0,0,0
$GC,1997,-1.19,-116.8,249.9,-10.0,180,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2088,3118,0,0,0,0,0,0
$GC,2309,-1.19,-116.8,275.2,-7.8,195,2313,0.00,2.50,0.00,0.000,4,0.000,0.044,2869,3474,3117,0,0,0,0,0,0
$GC,2323,-1.19,-116.8,276.6,-8.2,195,2329,0.00,2.42,0.00,0.000,6,0.000,0.039,2869,2103,3118,0,0,0,0,0,0
$GC,2659,-1.19,-116.8,304.5,-8.0,211,2663,0.00,2.47,0.00,0.000,4,0.000,0.046,2869,3468,3117,0,0,0,0,0,0
$GC,2729,-1.19,-116.8,310.4,-8.2,212,2733,0.00,2.47,0.00,0.000,6,0.000,0.041,2869,2090,3117,0,0,0,0,0,0
$GC,3072,-1.19,-116.8,331.7,-5.8,221,3076,0.00,2.53,0.00,0.000,4,0.000,0.048,2869,3476,3115,0,0,0,0,0,0
$GC,3225,-1.19,-116.8,342.1,-7.9,224,3230,0.00,2.47,0.00,0.000,6,0.000,0.044,2869,2093,3114,0,0,0,0,0,0
$GC,3575,-1.19,-116.8,365.2,-6.9,233,3576,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2093,3112,0,0,0,0,0,0
$GC,3900,-1.19,-116.8,389.7,-7.6,241,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2093,3110,0,0,0,0,0,0
$GC,4225,-1.19,-116.8,416.3,-7.9,249,4230,0.00,2.53,0.00,0.000,4,0.000,0.053,2869,3467,3107,0,0,0,0,0,0
$GC,4263,-1.19,-116.8,419.0,-6.8,249,4268,0.00,2.45,0.00,0.000,6,0.000,0.046,2868,2100,3107,0,0,0,0,0,0
$GC,4595,-1.19,-116.8,438.1,-5.6,258,4599,0.00,2.53,0.00,0.000,4,0.000,0.054,2868,3470,3105,0,0,0,0,0,0
$GC,4679,-1.19,-116.8,442.9,-5.3,259,4684,0.00,2.50,0.00,0.000,6,0.000,0.048,2868,2098,3104,0,0,0,0,0,0
$STATE,4845,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4845,begin apogee
$GC,4851,-0.31,0.0,451.1,4.8,264,4950,0.95,0.00,94.97,0.822,6,0.084,0.000,3065,1801,2635,0,0,0,0,0,0
$STATE,4951,end apogee,CONTROL_FINISHED_OK
$STATE,4951,begin climb
$GC,4953,1.19,116.8,450.8,0.0,266,5060,1.52,0.00,102.05,0.800,6,0.057,0.000,3396,1802,2158,0,0,0,0,0,0
$GC,5373,1.19,116.8,398.5,13.2,277,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1801,2146,0,0,0,0,0,0
$GC,5697,1.19,116.8,358.6,12.4,285,5702,0.00,2.67,0.00,0.000,4,0.000,0.062,3395,394,2143,0,0,0,0,0,0
$GC,5777,1.19,116.8,347.9,13.1,286,5781,0.00,2.42,0.00,0.000,6,0.000,0.028,3395,1764,2139,0,0,0,0,0,0
$GC,6108,1.19,116.8,312.1,10.5,294,6112,0.00,2.62,0.00,0.000,4,0.000,0.061,3395,394,2138,0,0,0,0,0,0
$GC,6131,1.19,116.8,309.2,11.5,294,6136,0.00,2.53,0.00,0.000,6,0.000,0.028,3395,1810,2137,0,0,0,0,0,0
$GC,6455,1.19,116.8,273.9,11.0,308,6460,0.00,2.50,0.00,0.000,4,0.000,0.045,3396,3198,2136,0,0,0,0,0,0
$GC,6506,1.19,116.8,268.4,10.5,310,6511,0.00,2.58,0.00,0.000,6,0.000,0.048,3395,1808,2136,0,0,0,0,0,0
$GC,6827,1.22,136.6,242.0,7.1,326,6850,0.00,2.72,14.43,0.647,4,0.000,0.058,3395,392,2077,0,0,0,0,0,0
$GC,6900,1.22,136.6,235.5,9.9,329,6905,0.00,2.50,0.00,0.000,6,0.000,0.025,3395,1805,2074,0,0,0,0,0,0
$GC,7231,1.22,136.6,205.6,11.4,345,7236,0.00,2.67,0.00,0.000,4,0.000,0.054,3395,386,2073,0,0,0,0,0,0
$GC,7287,1.22,136.6,197.4,14.5,348,7294,0.00,2.50,0.00,0.000,6,0.000,0.024,3395,1802,2071,0,0,0,0,0,0
$GC,7551,1.22,136.6,170.8,9.6,373,7555,0.00,2.47,0.00,0.000,4,0.000,0.037,3395,3201,2071,0,0,0,0,0,0
$GC,7584,1.22,136.6,167.4,9.8,376,7589,0.00,2.55,0.00,0.000,6,0.000,0.041,3396,1797,2071,0,0,0,0,0,0
$GC,7847,1.22,136.6,140.7,11.7,400,7852,0.00,2.58,0.00,0.000,4,0.000,0.051,3395,385,2071,0,0,0,0,0,0
$GC,7902,1.22,136.6,134.6,10.8,405,7908,0.00,2.45,0.00,0.000,6,0.000,0.021,3395,1805,2070,0,0,0,0,0,0
$GC,8166,1.22,136.6,114.8,9.2,430,8170,0.00,2.42,0.00,0.000,4,0.000,0.033,3395,3191,2070,0,0,0,0,0,0
$GC,8184,1.22,136.6,112.7,9.4,431,8190,0.00,2.50,0.00,0.000,6,0.000,0.038,3395,1798,2070,0,0,0,0,0,0
$GC,8446,1.22,136.6,83.5,11.4,456,8450,0.00,2.55,0.00,0.000,4,0.000,0.048,3395,386,2070,0,0,0,0,0,0
$GC,8464,1.22,136.6,81.2,11.3,457,8470,0.00,2.42,0.00,0.000,6,0.000,0.020,3396,1807,2070,0,0,0,0,0,0
$GC,8728,1.24,152.6,60.0,7.3,482,8750,0.00,2.65,14.48,0.481,4,0.000,0.047,3395,384,2012,0,0,0,0,0,0
$GC,8773,1.24,152.6,56.2,9.1,486,8780,0.00,2.45,0.00,0.000,6,0.000,0.020,3396,1789,2009,0,0,0,0,0,0
$GC,9038,1.28,182.9,37.3,6.6,511,9071,0.00,2.67,27.35,0.480,4,0.000,0.048,3395,391,1888,0,0,0,0,0,0
$GC,9133,1.28,182.9,28.7,10.2,522,9140,0.00,2.45,0.00,0.000,6,0.000,0.019,3396,1797,1883,0,0,0,0,0,0
$GC,9336,1.28,182.9,11.8,8.2,559,9343,0.00,2.47,0.00,0.000,4,0.000,0.029,3396,3198,1883,0,0,0,0,0,0
$GC,9364,1.28,182.9,9.5,8.9,564,9370,0.00,2.55,0.00,0.000,6,0.000,0.035,3395,1801,1883,0,0,0,0,0,0
$STATE,9433,end climb,SURFACE_DEPTH_REACHED
$STATE,9434,begin surface coast
$FINISH,0.8,1.000806
$STATE,9467,end surface coast,CONTROL_FINISHED_OK
$STATE,9467,begin surface
$SM_CCo,9491,73.97,0.456,0,0,1288,330.17
$SM_GC,1.45,0.00,0.00,73.97,0.000,0.000,0.456,424,2133,1288,-12.48,0.93,330.17
$IRIDIUM_FIX,2057.14,-15753.90,160700,151513
$TT8_MAMPS,0.028379
$HUMID,53.81
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.4,12.460
$10V_AH,10.6,12.019
$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,28.275,106.325,253.275,73.975,0.000,27.314,33.608,146.996,4.500,0.000,19.631,1072.599,6353.370,441.137,1588.965,442.725,33.355,1110.593,0.000,1580.113,0.000,31.463,0.000
$DEVICE_MAMPS,135.759,62.127,822.224,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,394.203,378.661,857.773,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31783,583
$CAP_FILE_SIZE,94506,0
$CFSIZE,260165632,248946688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220411,212519,2108.002,-15753.642,10,1.6,15,9.8