version: 66.06
glider: 139
mission: 9
dive: 162
start: 4 23 111 11 2 43
data:
$ID,139
$MISSION,9
$DIVE,162
$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,-2178904
$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,72
$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
$GPS1,105613,2109.626,-15752.270,15,1.5,33,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-75.0
$GPS2,110150,2109.592,-15752.286,16,1.5,16,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.191,0.112
$KALMAN_X,-76170.1,756.9,410.5,72152.5,-3000.3
$KALMAN_Y,-33940.4,38.8,155.3,31577.4,-885.0
$MHEAD_RNG_PITCHd_Wd,50.0,17634,-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,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,93,0.00,0.00,-70.32,0.000,6,0.000,0.000,429,2136,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.7,-5.7,14,115,13.12,2.58,0.00,0.000,4,0.136,0.034,2868,680,3113,0,0,0,0,0,0
$GC,198,-1.19,-116.8,28.3,-17.2,36,204,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2062,3114,0,0,0,0,0,0
$GC,403,-1.19,-116.8,59.4,-14.8,56,407,0.00,2.45,0.00,0.000,4,0.000,0.042,2868,684,3115,0,0,0,0,0,0
$GC,420,-1.19,-116.8,62.0,-15.3,57,425,0.00,2.45,0.00,0.000,6,0.000,0.021,2868,2114,3116,0,0,0,0,0,0
$GC,682,-1.19,-116.8,99.1,-12.3,81,687,0.00,2.53,0.00,0.000,4,0.000,0.040,2868,683,3116,0,0,0,0,0,0
$GC,701,-1.19,-116.8,101.8,-13.2,82,708,0.00,2.45,0.00,0.000,6,0.000,0.021,2868,2105,3116,0,0,0,0,0,0
$GC,966,-1.19,-116.8,131.3,-11.8,107,970,0.00,2.47,0.00,0.000,4,0.000,0.038,2868,3505,3117,0,0,0,0,0,0
$GC,1004,-1.19,-116.8,136.2,-11.8,110,1011,0.00,2.50,0.00,0.000,6,0.000,0.034,2868,2097,3116,0,0,0,0,0,0
$GC,1268,-1.19,-116.8,163.7,-10.8,135,1272,0.00,2.50,0.00,0.000,4,0.000,0.037,2868,3506,3117,0,0,0,0,0,0
$GC,1284,-1.19,-116.8,165.8,-10.4,136,1288,0.00,2.47,0.00,0.000,6,0.000,0.035,2868,2091,3117,0,0,0,0,0,0
$GC,1547,-1.19,-116.8,193.8,-10.8,160,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2091,3117,0,0,0,0,0,0
$GC,1795,-1.19,-116.8,218.1,-9.4,175,1800,0.00,2.50,0.00,0.000,4,0.000,0.044,2868,683,3117,0,0,0,0,0,0
$GC,1810,-1.19,-116.8,219.9,-10.2,175,1818,0.00,2.42,0.00,0.000,6,0.000,0.023,2868,2100,3117,0,0,0,0,0,0
$GC,2126,-1.19,-116.8,253.4,-12.0,191,2131,0.00,2.55,0.00,0.000,4,0.000,0.044,2868,688,3117,0,0,0,0,0,0
$GC,2155,-1.19,-116.8,257.2,-13.4,192,2159,0.00,2.40,0.00,0.000,6,0.000,0.025,2868,2099,3117,0,0,0,0,0,0
$GC,2475,-1.19,-116.8,289.0,-9.9,208,2479,0.00,2.50,0.00,0.000,4,0.000,0.045,2868,694,3117,0,0,0,0,0,0
$GC,2507,-1.19,-116.8,292.6,-11.0,209,2511,0.00,2.40,0.00,0.000,6,0.000,0.026,2868,2095,3117,0,0,0,0,0,0
$GC,2840,-1.19,-116.8,321.6,-8.4,219,2845,0.00,2.55,0.00,0.000,4,0.000,0.049,2868,3508,3117,0,0,0,0,0,0
$GC,2887,-1.19,-116.8,325.3,-7.7,220,2892,0.00,2.50,0.00,0.000,6,0.000,0.041,2868,2099,3116,0,0,0,0,0,0
$GC,3212,-1.19,-116.8,347.7,-7.2,228,3217,0.00,2.55,0.00,0.000,4,0.000,0.050,2868,685,3115,0,0,0,0,0,0
$GC,3296,-1.19,-116.8,354.2,-7.5,229,3302,0.00,2.45,0.00,0.000,6,0.000,0.028,2868,2108,3115,0,0,0,0,0,0
$GC,3629,-1.19,-116.8,373.8,-5.5,238,3634,0.00,2.55,0.00,0.000,4,0.000,0.050,2867,692,3113,0,0,0,0,0,0
$GC,3681,-1.19,-116.8,377.4,-6.8,239,3685,0.00,2.47,0.00,0.000,6,0.000,0.029,2868,2108,3113,0,0,0,0,0,0
$GC,4000,-1.19,-116.8,400.5,-7.5,247,4002,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2108,3110,0,0,0,0,0,0
$GC,4325,-1.19,-116.8,424.6,-7.1,255,4329,0.00,2.58,0.00,0.000,4,0.000,0.053,2867,689,3108,0,0,0,0,0,0
$GC,4448,-1.19,-116.8,433.2,-6.6,257,4452,0.00,2.47,0.00,0.000,6,0.000,0.031,2868,2100,3107,0,0,0,0,0,0
$STATE,4781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4781,begin apogee
$GC,4788,-0.31,0.0,452.4,5.7,266,4887,0.95,0.00,95.35,0.821,6,0.084,0.000,3064,1794,2634,0,0,0,0,0,0
$STATE,4888,end apogee,CONTROL_FINISHED_OK
$STATE,4888,begin climb
$GC,4890,1.19,116.8,453.8,0.0,268,4996,1.52,0.00,101.90,0.802,6,0.056,0.000,3396,1794,2158,0,0,0,0,0,0
$GC,5309,1.19,116.8,406.9,11.8,279,5314,0.00,2.67,0.00,0.000,4,0.000,0.064,3396,395,2147,0,0,0,0,0,0
$GC,5376,1.19,116.8,397.6,14.9,280,5380,0.00,2.50,0.00,0.000,6,0.000,0.028,3396,1811,2143,0,0,0,0,0,0
$GC,5721,1.19,116.8,358.7,11.3,289,5725,0.00,2.70,0.00,0.000,4,0.000,0.061,3395,396,2141,0,0,0,0,0,0
$GC,5786,1.19,116.8,349.9,12.7,290,5791,0.00,2.47,0.00,0.000,6,0.000,0.028,3396,1800,2139,0,0,0,0,0,0
$GC,6131,1.19,116.8,309.2,12.3,299,6136,0.00,2.65,0.00,0.000,4,0.000,0.060,3396,397,2138,0,0,0,0,0,0
$GC,6178,1.19,116.8,303.1,12.3,300,6183,0.00,2.47,0.00,0.000,6,0.000,0.028,3396,1807,2136,0,0,0,0,0,0
$GC,6507,1.19,116.8,270.3,9.1,315,6511,0.00,2.67,0.00,0.000,4,0.000,0.058,3396,393,2136,0,0,0,0,0,0
$GC,6563,1.19,116.8,264.1,11.4,317,6567,0.00,2.47,0.00,0.000,6,0.000,0.026,3396,1803,2134,0,0,0,0,0,0
$GC,6878,1.19,116.8,233.8,9.8,332,6883,0.00,2.62,0.00,0.000,4,0.000,0.057,3396,396,2134,0,0,0,0,0,0
$GC,6929,1.19,116.8,227.9,11.4,334,6934,0.00,2.45,0.00,0.000,6,0.000,0.025,3396,1803,2132,0,0,0,0,0,0
$GC,7251,1.19,116.8,196.7,9.3,351,7256,0.00,2.47,0.00,0.000,4,0.000,0.039,3396,3198,2133,0,0,0,0,0,0
$GC,7270,1.19,116.8,195.0,8.4,352,7277,0.00,2.55,0.00,0.000,6,0.000,0.041,3395,1810,2133,0,0,0,0,0,0
$GC,7535,1.19,116.8,173.0,9.2,377,7539,0.00,2.60,0.00,0.000,4,0.000,0.054,3396,388,2133,0,0,0,0,0,0
$GC,7608,1.19,116.8,165.0,10.1,384,7615,0.00,2.47,0.00,0.000,6,0.000,0.022,3396,1803,2132,0,0,0,0,0,0
$GC,7872,1.19,116.8,138.6,10.6,409,7877,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1808,2132,0,0,0,0,0,0
$GC,8134,1.19,116.8,113.6,9.3,434,8135,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1808,2132,0,0,0,0,0,0
$GC,8388,1.19,116.8,88.9,10.6,458,8393,0.00,2.58,0.00,0.000,4,0.000,0.048,3396,392,2132,0,0,0,0,0,0
$GC,8407,1.19,116.8,86.8,10.6,459,8413,0.00,2.38,0.00,0.000,6,0.000,0.020,3396,1808,2132,0,0,0,0,0,0
$GC,8669,1.19,116.8,61.6,9.8,484,8674,0.00,2.60,0.00,0.000,4,0.000,0.048,3396,392,2133,0,0,0,0,0,0
$GC,8740,1.19,116.8,54.5,10.0,491,8744,0.00,2.38,0.00,0.000,6,0.000,0.019,3396,1799,2132,0,0,0,0,0,0
$GC,9004,1.19,116.8,33.3,8.0,515,9008,0.00,2.55,0.00,0.000,4,0.000,0.046,3396,392,2134,0,0,0,0,0,0
$GC,9038,1.19,116.8,30.0,8.9,518,9042,0.00,2.38,0.00,0.000,6,0.000,0.019,3396,1801,2133,0,0,0,0,0,0
$GC,9303,1.26,170.4,10.6,5.6,566,9348,0.00,0.00,42.12,0.472,6,0.000,0.000,3396,1807,1939,0,0,0,0,0,0
$STATE,9417,end climb,SURFACE_DEPTH_REACHED
$STATE,9417,begin surface coast
$FINISH,1.2,1.023330
$STATE,9452,end surface coast,CONTROL_FINISHED_OK
$STATE,9452,begin surface
$SM_CCo,9476,81.10,0.461,0,0,1288,330.17
$SM_GC,1.54,0.00,0.00,81.10,0.000,0.000,0.461,428,2148,1288,-12.47,1.36,330.17
$IRIDIUM_FIX,2101.76,-15758.18,170700,080840
$TT8_MAMPS,0.029146
$HUMID,53.74
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.5,12.910
$10V_AH,10.5,12.473
$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,28.300,111.350,239.375,81.100,0.000,28.321,34.893,149.580,4.500,0.000,16.837,1090.263,6322.797,438.612,1608.977,436.412,33.343,1112.958,0.000,1592.469,0.000,29.255,0.000
$DEVICE_MAMPS,135.759,63.661,821.457,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,400.950,381.600,875.276,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31762,593
$CAP_FILE_SIZE,95724,0
$CFSIZE,260165632,248659968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230411,134324,2109.900,-15751.683,27,1.1,44,9.8