version: 66.06
glider: 139
mission: 9
dive: 164
start: 4 23 111 16 47 8
data:
$ID,139
$MISSION,9
$DIVE,164
$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,-2178937.8
$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,70
$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
$GPS1,163401,2110.236,-15751.610,42,1.8,42,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-74.3
$GPS2,164614,2110.208,-15751.820,13,1.7,13,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.216,0.049
$KALMAN_X,-78399.1,-232.6,139.4,76447.5,-2780.6
$KALMAN_Y,-34930.4,156.8,-91.3,33848.2,-359.3
$MHEAD_RNG_PITCHd_Wd,67.5,17402,-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,-70.40,0.000,6,0.000,0.000,427,2125,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.6,-5.5,14,114,13.15,0.00,0.00,0.000,6,0.136,0.000,2868,2124,3114,0,0,0,0,0,0
$GC,316,-1.19,-116.8,45.6,-16.4,45,320,0.00,2.40,0.00,0.000,4,0.000,0.035,2867,3476,3116,0,0,0,0,0,0
$GC,370,-1.19,-116.8,55.4,-16.5,50,376,0.00,2.47,0.00,0.000,6,0.000,0.034,2868,2090,3116,0,0,0,0,0,0
$GC,633,-1.19,-116.8,91.6,-12.4,75,637,0.00,2.53,0.00,0.000,4,0.000,0.042,2868,682,3116,0,0,0,0,0,0
$GC,648,-1.19,-116.8,93.9,-12.8,76,652,0.00,2.38,0.00,0.000,6,0.000,0.021,2868,2076,3116,0,0,0,0,0,0
$GC,911,-1.19,-116.8,122.4,-11.2,100,915,0.00,2.53,0.00,0.000,4,0.000,0.037,2868,3499,3117,0,0,0,0,0,0
$GC,1018,-1.19,-116.8,135.7,-13.0,111,1022,0.00,2.45,0.00,0.000,6,0.000,0.033,2868,2095,3117,0,0,0,0,0,0
$GC,1280,-1.19,-116.8,167.3,-11.2,135,1284,0.00,2.47,0.00,0.000,4,0.000,0.037,2868,3505,3117,0,0,0,0,0,0
$GC,1308,-1.19,-116.8,170.9,-11.9,137,1313,0.00,2.47,0.00,0.000,6,0.000,0.034,2868,2098,3117,0,0,0,0,0,0
$GC,1571,-1.19,-116.8,198.5,-9.1,162,1575,0.00,2.47,0.00,0.000,4,0.000,0.039,2868,3498,3118,0,0,0,0,0,0
$GC,1589,-1.19,-116.8,200.2,-9.6,163,1594,0.00,2.47,0.00,0.000,6,0.000,0.035,2868,2092,3117,0,0,0,0,0,0
$GC,1907,-1.19,-116.8,227.7,-7.8,179,1911,0.00,2.50,0.00,0.000,4,0.000,0.041,2868,3492,3117,0,0,0,0,0,0
$GC,2132,-1.19,-116.8,248.4,-8.2,188,2139,0.00,2.50,0.00,0.000,6,0.000,0.038,2868,2097,3117,0,0,0,0,0,0
$GC,2448,-1.19,-116.8,271.0,-8.1,204,2452,0.00,2.50,0.00,0.000,4,0.000,0.044,2868,3497,3117,0,0,0,0,0,0
$GC,2475,-1.19,-116.8,273.5,-9.4,205,2480,0.00,2.47,0.00,0.000,6,0.000,0.039,2868,2104,3117,0,0,0,0,0,0
$GC,2798,-1.19,-116.8,301.4,-7.8,221,2803,0.00,2.55,0.00,0.000,4,0.000,0.048,2868,691,3116,0,0,0,0,0,0
$GC,2859,-1.19,-116.8,307.4,-8.9,222,2863,0.00,2.42,0.00,0.000,6,0.000,0.026,2868,2098,3116,0,0,0,0,0,0
$GC,3209,-1.19,-116.8,335.2,-8.7,231,3213,0.00,2.53,0.00,0.000,4,0.000,0.048,2868,688,3114,0,0,0,0,0,0
$GC,3260,-1.19,-116.8,339.7,-7.9,232,3267,0.00,2.42,0.00,0.000,6,0.000,0.028,2868,2112,3114,0,0,0,0,0,0
$GC,3587,-1.19,-116.8,362.5,-6.3,240,3591,0.00,2.53,0.00,0.000,4,0.000,0.052,2868,3503,3112,0,0,0,0,0,0
$GC,3630,-1.19,-116.8,365.1,-6.3,241,3634,0.00,2.53,0.00,0.000,6,0.000,0.044,2868,2100,3112,0,0,0,0,0,0
$GC,3958,-1.19,-116.8,388.6,-8.2,249,3962,0.00,2.60,0.00,0.000,4,0.000,0.052,2868,686,3110,0,0,0,0,0,0
$GC,4023,-1.19,-116.8,395.1,-9.5,250,4027,0.00,2.45,0.00,0.000,6,0.000,0.029,2868,2102,3109,0,0,0,0,0,0
$GC,4368,-1.19,-116.8,423.7,-8.0,259,4373,0.00,2.55,0.00,0.000,4,0.000,0.053,2868,693,3107,0,0,0,0,0,0
$GC,4438,-1.19,-116.8,430.1,-8.3,260,4443,0.00,2.42,0.00,0.000,6,0.000,0.030,2868,2100,3107,0,0,0,0,0,0
$STATE,4776,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4776,begin apogee
$GC,4783,-0.31,0.0,452.0,5.8,269,4882,0.95,0.00,95.25,0.821,6,0.083,0.000,3064,1795,2635,0,0,0,0,0,0
$STATE,4882,end apogee,CONTROL_FINISHED_OK
$STATE,4882,begin climb
$GC,4885,1.19,116.8,452.8,0.0,271,4992,1.52,0.00,102.40,0.799,6,0.055,0.000,3397,1795,2158,0,0,0,0,0,0
$GC,5304,1.19,116.8,396.7,14.5,282,5308,0.00,2.65,0.00,0.000,4,0.000,0.064,3397,395,2146,0,0,0,0,0,0
$GC,5323,1.19,116.8,393.7,14.6,282,5327,0.00,2.53,0.00,0.000,6,0.000,0.028,3396,1812,2144,0,0,0,0,0,0
$GC,5668,1.19,116.8,346.5,14.3,291,5673,0.00,2.70,0.00,0.000,4,0.000,0.061,3397,397,2142,0,0,0,0,0,0
$GC,5734,1.19,116.8,335.4,16.5,292,5738,0.00,2.47,0.00,0.000,6,0.000,0.028,3397,1796,2138,0,0,0,0,0,0
$GC,6060,1.19,116.8,295.1,11.4,301,6065,0.00,2.55,0.00,0.000,4,0.000,0.046,3397,3198,2138,0,0,0,0,0,0
$GC,6111,1.19,116.8,289.3,11.1,303,6116,0.00,2.60,0.00,0.000,6,0.000,0.049,3397,1803,2138,0,0,0,0,0,0
$GC,6433,1.19,116.8,257.8,10.1,319,6438,0.00,2.65,0.00,0.000,4,0.000,0.060,3396,390,2136,0,0,0,0,0,0
$GC,6503,1.19,116.8,248.1,13.8,322,6507,0.00,2.50,0.00,0.000,6,0.000,0.027,3397,1802,2134,0,0,0,0,0,0
$GC,6828,1.19,116.8,210.0,10.8,338,6832,0.00,2.50,0.00,0.000,4,0.000,0.041,3397,3207,2134,0,0,0,0,0,0
$GC,6871,1.19,116.8,205.6,9.8,340,6875,0.00,2.60,0.00,0.000,6,0.000,0.044,3397,1794,2134,0,0,0,0,0,0
$GC,7198,1.19,116.8,172.4,10.0,368,7199,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1794,2133,0,0,0,0,0,0
$GC,7453,1.19,116.8,144.0,10.7,392,7457,0.00,2.58,0.00,0.000,4,0.000,0.053,3397,390,2132,0,0,0,0,0,0
$GC,7469,1.19,116.8,142.6,9.9,393,7474,0.00,2.45,0.00,0.000,6,0.000,0.022,3397,1821,2131,0,0,0,0,0,0
$GC,7734,1.19,116.8,118.7,9.2,417,7738,0.00,2.40,0.00,0.000,4,0.000,0.035,3397,3196,2132,0,0,0,0,0,0
$GC,7807,1.19,116.8,112.0,8.9,424,7814,0.00,2.55,0.00,0.000,6,0.000,0.039,3397,1803,2131,0,0,0,0,0,0
$GC,8072,1.19,116.8,89.6,8.9,449,8076,0.00,2.58,0.00,0.000,4,0.000,0.050,3397,390,2131,0,0,0,0,0,0
$GC,8105,1.19,116.8,85.9,9.9,452,8109,0.00,2.40,0.00,0.000,6,0.000,0.020,3396,1799,2131,0,0,0,0,0,0
$GC,8368,1.19,116.8,65.2,8.3,476,8372,0.00,2.58,0.00,0.000,4,0.000,0.048,3397,386,2131,0,0,0,0,0,0
$GC,8393,1.19,116.8,62.9,9.5,478,8398,0.00,2.42,0.00,0.000,6,0.000,0.019,3397,1810,2132,0,0,0,0,0,0
$GC,8659,1.26,169.0,44.4,5.6,502,8708,0.00,2.70,41.00,0.501,4,0.000,0.048,3397,392,1945,0,0,0,0,0,0
$GC,8749,1.26,169.0,37.8,9.0,511,8753,0.00,2.40,0.00,0.000,6,0.000,0.019,3397,1795,1941,0,0,0,0,0,0
$GC,9016,1.26,169.0,15.0,8.1,550,9022,0.00,2.50,0.00,0.000,4,0.000,0.031,3397,3194,1941,0,0,0,0,0,0
$GC,9076,1.27,179.7,10.5,7.5,563,9094,0.00,2.53,10.20,0.423,6,0.000,0.033,3397,1801,1901,0,0,0,0,0,0
$STATE,9174,end climb,SURFACE_DEPTH_REACHED
$STATE,9174,begin surface coast
$FINISH,0.8,1.011921
$STATE,9213,end surface coast,CONTROL_FINISHED_OK
$STATE,9213,begin surface
$SM_CCo,9237,75.22,0.459,0,0,1288,330.17
$SM_GC,1.66,0.00,0.00,75.22,0.000,0.000,0.459,428,2154,1288,-12.46,1.53,330.17
$IRIDIUM_FIX,2101.76,-15750.89,170700,161641
$TT8_MAMPS,0.029146
$HUMID,54.52
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.5,13.073
$10V_AH,10.5,12.631
$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,28.350,116.500,248.850,75.225,0.000,80.345,102.655,297.460,4.500,0.000,15.703,1093.032,6127.862,437.546,1661.777,729.277,33.344,1136.096,0.000,1646.396,0.000,29.260,0.000
$DEVICE_MAMPS,135.759,63.661,820.690,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,398.217,383.878,882.778,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,31756,588
$CAP_FILE_SIZE,104550,0
$CFSIZE,260165632,248557568
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230411,192331,2110.305,-15751.895,14,1.8,31,9.8