version: 66.06
glider: 139
mission: 9
dive: 161
start: 4 23 111 8 21 13
data:
$ID,139
$MISSION,9
$DIVE,161
$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,-2178886.5
$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,17
$R_STBD_OVSHOOT,67
$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
$GPS1,081507,2110.004,-15752.849,42,1.0,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-76.9
$GPS2,082020,2110.034,-15752.884,12,1.7,12,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.212,-0.065
$KALMAN_X,-74626.3,1126.4,-205.6,69821.4,-2532.7
$KALMAN_Y,-34295.7,121.5,460.0,32371.4,-1748.1
$MHEAD_RNG_PITCHd_Wd,97.3,18910,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,92,0.00,0.00,-70.55,0.000,6,0.000,0.000,428,2108,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.5,-5.1,14,114,13.30,2.55,0.00,0.000,4,0.141,0.034,2869,672,3113,0,0,0,0,0,0
$GC,147,-1.19,-116.8,17.8,-21.8,24,154,0.00,2.45,0.00,0.000,6,0.000,0.023,2869,2071,3114,0,0,0,0,0,0
$GC,349,-1.19,-116.8,49.9,-14.1,49,353,0.00,2.55,0.00,0.000,4,0.000,0.035,2869,3506,3115,0,0,0,0,0,0
$GC,410,-1.19,-116.8,58.4,-13.5,55,414,0.00,2.50,0.00,0.000,6,0.000,0.034,2869,2086,3116,0,0,0,0,0,0
$GC,672,-1.19,-116.8,94.3,-14.0,79,673,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2085,3116,0,0,0,0,0,0
$GC,927,-1.19,-116.8,125.7,-12.4,103,931,0.00,2.50,0.00,0.000,4,0.000,0.037,2869,3504,3116,0,0,0,0,0,0
$GC,1025,-1.19,-116.8,137.5,-11.9,113,1030,0.00,2.47,0.00,0.000,6,0.000,0.034,2869,2099,3117,0,0,0,0,0,0
$GC,1288,-1.19,-116.8,169.1,-13.6,137,1292,0.00,2.50,0.00,0.000,4,0.000,0.038,2869,3506,3117,0,0,0,0,0,0
$GC,1303,-1.19,-116.8,171.5,-13.9,138,1307,0.00,2.47,0.00,0.000,6,0.000,0.034,2869,2090,3117,0,0,0,0,0,0
$GC,1565,-1.19,-116.8,202.8,-11.8,161,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2089,3117,0,0,0,0,0,0
$GC,1873,-1.19,-116.8,235.7,-10.7,176,1877,0.00,2.50,0.00,0.000,4,0.000,0.041,2869,3502,3118,0,0,0,0,0,0
$GC,1901,-1.19,-116.8,238.9,-11.0,177,1905,0.00,2.47,0.00,0.000,6,0.000,0.037,2869,2095,3118,0,0,0,0,0,0
$GC,2224,-1.19,-116.8,267.4,-8.3,193,2228,0.00,2.53,0.00,0.000,4,0.000,0.046,2869,689,3118,0,0,0,0,0,0
$GC,2279,-1.19,-116.8,272.7,-9.2,195,2283,0.00,2.42,0.00,0.000,6,0.000,0.025,2869,2107,3118,0,0,0,0,0,0
$GC,2595,-1.19,-116.8,296.7,-7.2,210,2599,0.00,2.53,0.00,0.000,4,0.000,0.048,2869,3498,3117,0,0,0,0,0,0
$GC,2651,-1.19,-116.8,301.0,-7.8,212,2655,0.00,2.47,0.00,0.000,6,0.000,0.040,2869,2101,3117,0,0,0,0,0,0
$GC,2983,-1.19,-116.8,320.9,-6.1,220,2988,0.00,2.55,0.00,0.000,4,0.000,0.048,2869,691,3116,0,0,0,0,0,0
$GC,3177,-1.19,-116.8,337.4,-9.3,224,3181,0.00,2.42,0.00,0.000,6,0.000,0.027,2869,2105,3115,0,0,0,0,0,0
$GC,3492,-1.19,-116.8,364.2,-8.9,232,3493,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2105,3114,0,0,0,0,0,0
$GC,3816,-1.19,-116.8,393.7,-8.8,240,3820,0.00,2.55,0.00,0.000,4,0.000,0.051,2869,694,3112,0,0,0,0,0,0
$GC,3853,-1.19,-116.8,397.3,-9.6,240,3859,0.00,2.45,0.00,0.000,6,0.000,0.028,2869,2100,3112,0,0,0,0,0,0
$GC,4186,-1.19,-116.8,426.0,-8.3,249,4190,0.00,2.60,0.00,0.000,4,0.000,0.056,2869,3503,3109,0,0,0,0,0,0
$GC,4309,-1.19,-116.8,435.8,-7.7,251,4314,0.00,2.53,0.00,0.000,6,0.000,0.047,2869,2105,3109,0,0,0,0,0,0
$STATE,4521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4521,begin apogee
$GC,4528,-0.31,0.0,450.9,6.7,257,4627,0.98,0.00,95.82,0.814,6,0.098,0.000,3064,1791,2635,0,0,0,0,0,0
$STATE,4628,end apogee,CONTROL_FINISHED_OK
$STATE,4628,begin climb
$GC,4631,1.19,116.8,452.9,0.0,259,4743,1.55,2.67,100.82,0.796,4,0.071,0.061,3394,406,2156,0,0,0,0,0,0
$GC,4758,1.19,116.8,441.3,12.8,262,4763,0.00,2.53,0.00,0.000,6,0.000,0.026,3394,1812,2153,0,0,0,0,0,0
$GC,5086,1.19,116.8,400.4,11.8,270,5091,0.00,2.55,0.00,0.000,4,0.000,0.050,3394,3198,2145,0,0,0,0,0,0
$GC,5129,1.19,116.8,395.4,12.0,271,5134,0.00,2.60,0.00,0.000,6,0.000,0.053,3394,1810,2145,0,0,0,0,0,0
$GC,5459,1.19,116.8,354.1,13.0,279,5463,0.00,2.67,0.00,0.000,4,0.000,0.061,3394,392,2142,0,0,0,0,0,0
$GC,5533,1.19,116.8,342.0,15.4,280,5537,0.00,2.47,0.00,0.000,6,0.000,0.028,3394,1798,2138,0,0,0,0,0,0
$GC,5869,1.19,116.8,298.4,12.8,289,5873,0.00,2.67,0.00,0.000,4,0.000,0.060,3394,386,2137,0,0,0,0,0,0
$GC,5948,1.19,116.8,288.1,12.8,292,5952,0.00,2.53,0.00,0.000,6,0.000,0.028,3394,1809,2136,0,0,0,0,0,0
$GC,6264,1.19,116.8,255.5,10.8,307,6269,0.00,2.53,0.00,0.000,4,0.000,0.044,3395,3200,2135,0,0,0,0,0,0
$GC,6309,1.19,116.8,250.7,11.1,309,6313,0.00,2.58,0.00,0.000,6,0.000,0.049,3395,1802,2135,0,0,0,0,0,0
$GC,6640,1.19,116.8,216.4,9.9,325,6645,0.00,2.62,0.00,0.000,4,0.000,0.057,3394,390,2134,0,0,0,0,0,0
$GC,6714,1.19,116.8,209.1,9.4,328,6719,0.00,2.47,0.00,0.000,6,0.000,0.026,3394,1799,2132,0,0,0,0,0,0
$GC,7044,1.19,116.8,183.6,8.1,353,7048,0.00,2.62,0.00,0.000,4,0.000,0.052,3394,382,2131,0,0,0,0,0,0
$GC,7108,1.19,116.8,177.3,9.9,359,7113,0.00,2.47,0.00,0.000,6,0.000,0.022,3394,1808,2131,0,0,0,0,0,0
$GC,7371,1.19,116.8,148.9,10.6,384,7375,0.00,2.42,0.00,0.000,4,0.000,0.035,3394,3193,2131,0,0,0,0,0,0
$GC,7406,1.19,116.8,145.2,10.6,387,7410,0.00,2.55,0.00,0.000,6,0.000,0.040,3394,1791,2131,0,0,0,0,0,0
$GC,7671,1.19,116.8,119.2,8.6,411,7675,0.00,2.50,0.00,0.000,4,0.000,0.035,3394,3195,2131,0,0,0,0,0,0
$GC,7704,1.19,116.8,115.7,9.1,414,7708,0.00,2.53,0.00,0.000,6,0.000,0.038,3394,1801,2131,0,0,0,0,0,0
$GC,7967,1.21,129.7,93.7,7.4,438,7981,0.00,2.62,7.47,0.462,4,0.000,0.050,3394,395,2105,0,0,0,0,0,0
$GC,8064,1.21,129.7,85.0,8.9,448,8071,0.00,2.42,0.00,0.000,6,0.000,0.020,3394,1796,2104,0,0,0,0,0,0
$GC,8328,1.26,167.8,67.0,6.3,473,8368,0.00,2.65,34.55,0.515,4,0.000,0.047,3394,388,1948,0,0,0,0,0,0
$GC,8390,1.26,172.3,62.6,7.8,479,8401,0.00,2.45,4.72,0.368,6,0.000,0.019,3395,1806,1932,0,0,0,0,0,0
$GC,8656,1.26,172.3,40.8,8.8,504,8661,0.00,2.62,0.00,0.000,4,0.000,0.048,3394,386,1930,0,0,0,0,0,0
$GC,8720,1.26,172.3,34.4,10.1,510,8726,0.00,2.42,0.00,0.000,6,0.000,0.019,3394,1792,1927,0,0,0,0,0,0
$GC,8986,1.26,172.3,12.7,8.6,554,8992,0.00,2.60,0.00,0.000,4,0.000,0.045,3394,392,1927,0,0,0,0,0,0
$GC,9017,1.26,172.3,9.7,9.5,560,9023,0.00,2.42,0.00,0.000,6,0.000,0.018,3394,1796,1927,0,0,0,0,0,0
$STATE,9088,end climb,SURFACE_DEPTH_REACHED
$STATE,9089,begin surface coast
$FINISH,0.8,1.023297
$STATE,9124,end surface coast,CONTROL_FINISHED_OK
$STATE,9124,begin surface
$SM_CCo,9148,79.70,0.459,0,0,1288,330.17
$SM_GC,1.54,0.00,0.00,79.70,0.000,0.000,0.459,429,2134,1288,-12.46,0.99,330.17
$IRIDIUM_FIX,2101.76,-15750.89,170700,050509
$TT8_MAMPS,0.029146
$HUMID,53.97
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.5,12.836
$10V_AH,10.5,12.398
$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,28.400,117.300,243.400,79.700,0.000,23.437,32.895,140.323,4.500,0.000,12.657,1092.105,5924.245,402.866,1694.859,429.746,33.343,1137.516,0.000,1677.402,0.000,31.132,0.000
$DEVICE_MAMPS,141.128,61.360,813.787,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,391.847,376.914,869.622,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31853,579
$CAP_FILE_SIZE,99692,0
$CFSIZE,260165632,248705024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230411,105613,2109.626,-15752.270,15,1.5,33,9.8