version: 66.06
glider: 139
mission: 9
dive: 163
start: 4 23 111 13 49 49
data:
$ID,139
$MISSION,9
$DIVE,163
$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,-2178921.2
$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,91
$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
$GPS1,134324,2109.900,-15751.683,27,1.1,44,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-73.7
$GPS2,134856,2109.854,-15751.701,16,1.3,16,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.202,0.092
$KALMAN_X,-77078.1,256.0,758.2,74218.8,-3355.1
$KALMAN_Y,-34421.0,78.2,-152.9,32824.2,-491.1
$MHEAD_RNG_PITCHd_Wd,55.8,16920,-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,15,begin dive
$GC,18,-1.19,-116.8,0.0,0.0,0,90,0.00,0.00,-69.05,0.000,2,0.000,0.000,428,2149,3073,0,0,0,0,0,0
$GC,93,-1.19,-116.8,3.0,-4.2,13,112,13.12,2.40,-0.77,0.000,4,0.135,0.049,2870,3453,3116,0,0,0,0,0,0
$GC,129,-1.19,-116.8,12.7,-25.9,19,136,0.00,2.45,0.00,0.000,6,0.000,0.035,2870,2098,3116,0,0,0,0,0,0
$GC,330,-1.19,-116.8,47.7,-16.0,46,331,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2098,3118,0,0,0,0,0,0
$GC,584,-1.19,-116.8,84.8,-13.4,70,588,0.00,2.50,0.00,0.000,4,0.000,0.041,2870,688,3118,0,0,0,0,0,0
$GC,626,-1.19,-116.8,90.7,-14.3,74,630,0.00,2.33,0.00,0.000,6,0.000,0.021,2870,2045,3118,0,0,0,0,0,0
$GC,889,-1.19,-116.8,121.8,-11.9,98,893,0.00,2.50,0.00,0.000,4,0.000,0.038,2870,3450,3119,0,0,0,0,0,0
$GC,960,-1.19,-116.8,129.4,-10.0,105,964,0.00,2.38,0.00,0.000,6,0.000,0.034,2870,2093,3119,0,0,0,0,0,0
$GC,1224,-1.19,-116.8,155.5,-11.0,129,1228,0.00,2.40,0.00,0.000,4,0.000,0.036,2870,3447,3119,0,0,0,0,0,0
$GC,1239,-1.19,-116.8,157.4,-10.5,130,1244,0.00,2.35,0.00,0.000,6,0.000,0.033,2870,2100,3120,0,0,0,0,0,0
$GC,1504,-1.19,-116.8,183.1,-10.3,154,1508,0.00,2.55,0.00,0.000,4,0.000,0.042,2870,688,3120,0,0,0,0,0,0
$GC,1528,-1.19,-116.8,186.0,-10.7,156,1532,0.00,2.33,0.00,0.000,6,0.000,0.022,2870,2043,3120,0,0,0,0,0,0
$GC,1785,-1.19,-116.8,213.6,-10.4,174,1789,0.00,2.40,0.00,0.000,4,0.000,0.043,2870,688,3119,0,0,0,0,0,0
$GC,1811,-1.19,-116.8,216.4,-11.5,175,1815,0.00,2.33,0.00,0.000,6,0.000,0.023,2870,2051,3119,0,0,0,0,0,0
$GC,2148,-1.19,-116.8,244.3,-7.3,191,2149,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2052,3119,0,0,0,0,0,0
$GC,2454,-1.19,-116.8,266.9,-7.0,206,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2052,3119,0,0,0,0,0,0
$GC,2766,-1.19,-116.8,292.5,-8.9,221,2770,0.00,2.42,0.00,0.000,4,0.000,0.046,2870,692,3120,0,0,0,0,0,0
$GC,2780,-1.19,-116.8,294.1,-8.8,221,2786,0.00,2.42,0.00,0.000,6,0.000,0.025,2870,2101,3119,0,0,0,0,0,0
$GC,3113,-1.19,-116.8,316.4,-5.7,232,3117,0.00,2.53,0.00,0.000,4,0.000,0.049,2870,3501,3118,0,0,0,0,0,0
$GC,3165,-1.19,-116.8,319.6,-6.4,233,3169,0.00,2.53,0.00,0.000,6,0.000,0.041,2870,2094,3117,0,0,0,0,0,0
$GC,3484,-1.19,-116.8,339.0,-6.2,241,3488,0.00,2.53,0.00,0.000,4,0.000,0.050,2870,692,3116,0,0,0,0,0,0
$GC,3499,-1.19,-116.8,340.2,-6.8,241,3503,0.00,2.42,0.00,0.000,6,0.000,0.028,2870,2099,3116,0,0,0,0,0,0
$GC,3849,-1.19,-116.8,369.1,-8.5,250,3850,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2099,3114,0,0,0,0,0,0
$GC,4174,-1.19,-116.8,393.5,-7.0,258,4178,0.00,2.55,0.00,0.000,4,0.000,0.052,2870,692,3112,0,0,0,0,0,0
$GC,4264,-1.19,-116.8,400.4,-7.4,260,4268,0.00,2.45,0.00,0.000,6,0.000,0.029,2870,2100,3111,0,0,0,0,0,0
$GC,4592,-1.19,-116.8,423.0,-6.8,268,4596,0.00,2.58,0.00,0.000,4,0.000,0.054,2870,694,3109,0,0,0,0,0,0
$GC,4720,-1.19,-116.8,432.6,-7.1,270,4724,0.00,2.47,0.00,0.000,6,0.000,0.031,2870,2106,3108,0,0,0,0,0,0
$STATE,4967,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4967,begin apogee
$GC,4974,-0.31,0.0,450.3,7.1,276,5073,0.95,0.00,95.97,0.821,6,0.084,0.000,3066,1800,2635,0,0,0,0,0,0
$STATE,5074,end apogee,CONTROL_FINISHED_OK
$STATE,5074,begin climb
$GC,5077,1.19,116.8,452.8,0.0,278,5186,1.50,0.00,101.70,0.802,6,0.058,0.000,3395,1801,2157,0,0,0,0,0,0
$GC,5485,1.19,116.8,406.2,12.6,288,5489,0.00,2.65,0.00,0.000,4,0.000,0.064,3395,398,2146,0,0,0,0,0,0
$GC,5508,1.19,116.8,402.9,13.9,288,5513,0.00,2.53,0.00,0.000,6,0.000,0.028,3395,1811,2144,0,0,0,0,0,0
$GC,5849,1.19,116.8,359.8,12.4,297,5853,0.00,2.70,0.00,0.000,4,0.000,0.061,3395,397,2142,0,0,0,0,0,0
$GC,5910,1.19,116.8,351.3,14.3,298,5914,0.00,2.50,0.00,0.000,6,0.000,0.028,3395,1802,2139,0,0,0,0,0,0
$GC,6259,1.19,116.8,311.0,11.1,307,6264,0.00,2.65,0.00,0.000,4,0.000,0.060,3395,397,2138,0,0,0,0,0,0
$GC,6274,1.19,116.8,309.3,10.8,307,6278,0.00,2.50,0.00,0.000,6,0.000,0.027,3395,1810,2137,0,0,0,0,0,0
$GC,6606,1.19,116.8,280.4,9.2,320,6610,0.00,2.67,0.00,0.000,4,0.000,0.058,3395,395,2137,0,0,0,0,0,0
$GC,6643,1.19,116.8,276.3,11.5,321,6649,0.00,2.47,0.00,0.000,6,0.000,0.028,3395,1793,2134,0,0,0,0,0,0
$GC,6961,1.19,116.8,248.0,9.2,337,6966,0.00,2.53,0.00,0.000,4,0.000,0.042,3395,3207,2134,0,0,0,0,0,0
$GC,6999,1.19,116.8,243.6,11.4,338,7006,0.00,2.60,0.00,0.000,6,0.000,0.045,3395,1810,2134,0,0,0,0,0,0
$GC,7315,1.19,116.8,207.5,11.2,354,7319,0.00,2.62,0.00,0.000,4,0.000,0.054,3395,386,2134,0,0,0,0,0,0
$GC,7347,1.19,116.8,203.5,12.6,355,7352,0.00,2.47,0.00,0.000,6,0.000,0.024,3395,1808,2132,0,0,0,0,0,0
$GC,7673,1.19,116.8,166.9,12.0,383,7677,0.00,2.47,0.00,0.000,4,0.000,0.038,3396,3199,2132,0,0,0,0,0,0
$GC,7724,1.19,116.8,160.6,11.7,388,7729,0.00,2.55,0.00,0.000,6,0.000,0.041,3395,1793,2132,0,0,0,0,0,0
$GC,7987,1.19,116.8,132.4,9.8,412,7991,0.00,2.55,0.00,0.000,4,0.000,0.051,3395,389,2132,0,0,0,0,0,0
$GC,8031,1.19,116.8,127.8,10.6,416,8035,0.00,2.42,0.00,0.000,6,0.000,0.021,3396,1810,2131,0,0,0,0,0,0
$GC,8294,1.19,116.8,105.0,9.0,440,8299,0.00,2.62,0.00,0.000,4,0.000,0.050,3395,390,2131,0,0,0,0,0,0
$GC,8311,1.19,116.8,103.1,10.2,441,8315,0.00,2.40,0.00,0.000,6,0.000,0.021,3396,1802,2131,0,0,0,0,0,0
$GC,8576,1.20,121.3,82.7,7.8,465,8581,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1807,2132,0,0,0,0,0,0
$GC,8838,1.20,121.3,60.8,8.1,490,8843,0.00,2.60,0.00,0.000,4,0.000,0.048,3395,388,2132,0,0,0,0,0,0
$GC,8917,1.20,121.3,53.7,8.8,498,8922,0.00,2.42,0.00,0.000,6,0.000,0.019,3396,1807,2131,0,0,0,0,0,0
$GC,9183,1.22,141.2,34.6,7.1,522,9203,0.00,0.00,17.77,0.476,6,0.000,0.000,3395,1812,2058,0,0,0,0,0,0
$GC,9460,1.26,166.5,14.5,6.9,567,9489,0.00,0.00,22.92,0.464,6,0.000,0.000,3396,1812,1955,0,0,0,0,0,0
$STATE,9625,end climb,SURFACE_DEPTH_REACHED
$STATE,9625,begin surface coast
$FINISH,0.8,1.009505
$STATE,9664,end surface coast,CONTROL_FINISHED_OK
$STATE,9664,begin surface
$SM_CCo,9688,82.05,0.461,0,0,1288,330.17
$SM_GC,1.58,0.00,0.00,82.05,0.000,0.000,0.461,427,2125,1288,-12.47,0.71,330.17
$IRIDIUM_FIX,2101.76,-15750.89,170700,111151
$TT8_MAMPS,0.028379
$HUMID,54.80
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.5,12.984
$10V_AH,10.6,12.551
$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,28.300,105.750,238.375,82.050,0.000,31.645,32.890,147.988,4.500,0.000,16.529,1115.182,6503.069,403.596,1636.136,447.528,33.346,1091.553,0.000,1621.670,0.000,29.243,0.000
$DEVICE_MAMPS,134.992,63.661,820.690,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.516,394.770,900.273,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,31836,604
$CAP_FILE_SIZE,96924,0
$CFSIZE,260165632,248614912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230411,163401,2110.236,-15751.610,42,1.8,42,9.8