version: 66.06
glider: 139
mission: 9
dive: 165
start: 4 23 111 19 29 48
data:
$ID,139
$MISSION,9
$DIVE,165
$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,-2178955.8
$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,79
$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
$GPS1,192331,2110.305,-15751.895,14,1.8,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-74.6
$GPS2,192855,2110.364,-15751.979,11,1.0,16,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.219,0.034
$KALMAN_X,-80217.7,-443.0,-520.4,78870.5,-1768.6
$KALMAN_Y,-35449.6,188.1,142.4,34391.3,-753.4
$MHEAD_RNG_PITCHd_Wd,71.4,17778,-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,-116.8,0.0,0.0,0,93,0.00,0.00,-70.55,0.000,6,0.000,0.000,428,2155,3112,0,0,0,0,0,0
$GC,97,-1.19,-116.8,3.8,-5.7,14,115,13.10,0.00,0.00,0.000,6,0.135,0.000,2868,2155,3115,0,0,0,0,0,0
$GC,317,-1.19,-116.8,45.7,-16.4,45,321,0.00,2.30,0.00,0.000,4,0.000,0.035,2868,3459,3116,0,0,0,0,0,0
$GC,386,-1.19,-116.8,57.4,-16.9,52,390,0.00,2.42,0.00,0.000,6,0.000,0.034,2868,2092,3117,0,0,0,0,0,0
$GC,647,-1.19,-116.8,97.7,-11.4,76,652,0.00,2.40,0.00,0.000,4,0.000,0.035,2868,3458,3117,0,0,0,0,0,0
$GC,672,-1.19,-116.8,101.3,-14.2,78,676,0.00,2.38,0.00,0.000,6,0.000,0.034,2868,2097,3117,0,0,0,0,0,0
$GC,935,-1.19,-116.8,133.6,-12.4,102,939,0.00,2.40,0.00,0.000,4,0.000,0.036,2867,3465,3118,0,0,0,0,0,0
$GC,1042,-1.19,-116.8,148.4,-13.5,113,1047,0.00,2.40,0.00,0.000,6,0.000,0.035,2868,2098,3118,0,0,0,0,0,0
$GC,1307,-1.19,-116.8,179.9,-11.5,137,1314,0.00,2.50,0.00,0.000,4,0.000,0.041,2868,688,3119,0,0,0,0,0,0
$GC,1324,-1.19,-116.8,182.2,-10.6,138,1330,0.00,2.35,0.00,0.000,6,0.000,0.022,2868,2052,3119,0,0,0,0,0,0
$GC,1598,-1.19,-116.8,206.6,-10.1,161,1602,0.00,2.60,0.00,0.000,4,0.000,0.041,2867,3504,3119,0,0,0,0,0,0
$GC,1721,-1.19,-116.8,218.4,-9.5,166,1725,0.00,2.45,0.00,0.000,6,0.000,0.036,2868,2099,3119,0,0,0,0,0,0
$GC,2041,-1.19,-116.8,250.1,-10.6,182,2045,0.00,2.50,0.00,0.000,4,0.000,0.044,2868,3502,3119,0,0,0,0,0,0
$GC,2121,-1.19,-116.8,258.2,-9.4,185,2125,0.00,2.50,0.00,0.000,6,0.000,0.039,2868,2096,3119,0,0,0,0,0,0
$GC,2436,-1.19,-116.8,283.2,-7.8,200,2441,0.00,2.53,0.00,0.000,4,0.000,0.048,2867,685,3119,0,0,0,0,0,0
$GC,2625,-1.19,-116.8,299.4,-8.8,208,2630,0.00,2.42,0.00,0.000,6,0.000,0.026,2867,2101,3118,0,0,0,0,0,0
$GC,2961,-1.19,-116.8,326.2,-7.8,217,2966,0.00,2.53,0.00,0.000,4,0.000,0.051,2867,3499,3117,0,0,0,0,0,0
$GC,3018,-1.19,-116.8,330.8,-7.8,218,3022,0.00,2.50,0.00,0.000,6,0.000,0.042,2867,2100,3117,0,0,0,0,0,0
$GC,3332,-1.19,-116.8,355.7,-8.1,226,3333,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2100,3115,0,0,0,0,0,0
$GC,3657,-1.19,-116.8,378.1,-6.4,234,3662,0.00,2.58,0.00,0.000,4,0.000,0.052,2867,3504,3113,0,0,0,0,0,0
$GC,3686,-1.19,-116.8,379.9,-6.5,234,3690,0.00,2.50,0.00,0.000,6,0.000,0.044,2868,2101,3113,0,0,0,0,0,0
$GC,4028,-1.19,-116.8,402.1,-6.6,243,4032,0.00,2.60,0.00,0.000,4,0.000,0.054,2868,685,3110,0,0,0,0,0,0
$GC,4126,-1.19,-116.8,410.0,-7.9,245,4130,0.00,2.45,0.00,0.000,6,0.000,0.031,2867,2097,3110,0,0,0,0,0,0
$GC,4446,-1.19,-116.8,435.3,-8.0,253,4450,0.00,2.58,0.00,0.000,4,0.000,0.057,2868,3501,3108,0,0,0,0,0,0
$GC,4469,-1.19,-116.8,437.4,-8.9,253,4474,0.00,2.55,0.00,0.000,6,0.000,0.048,2867,2103,3108,0,0,0,0,0,0
$STATE,4645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4645,begin apogee
$GC,4652,-0.31,0.0,451.3,7.7,258,4751,0.98,0.00,95.95,0.821,6,0.084,0.000,3069,1790,2635,0,0,0,0,0,0
$STATE,4752,end apogee,CONTROL_FINISHED_OK
$STATE,4752,begin climb
$GC,4755,1.19,116.8,452.8,0.0,260,4867,1.48,2.70,101.32,0.801,4,0.056,0.062,3394,400,2157,0,0,0,0,0,0
$GC,4877,1.19,116.8,440.7,13.3,262,4883,0.00,2.53,0.00,0.000,6,0.000,0.026,3393,1810,2154,0,0,0,0,0,0
$GC,5208,1.19,116.8,397.7,12.4,271,5213,0.00,2.67,0.00,0.000,4,0.000,0.061,3393,399,2145,0,0,0,0,0,0
$GC,5228,1.19,116.8,394.9,14.1,271,5232,0.00,2.50,0.00,0.000,6,0.000,0.027,3393,1808,2144,0,0,0,0,0,0
$GC,5573,1.19,116.8,350.7,12.2,280,5577,0.00,2.70,0.00,0.000,4,0.000,0.061,3393,395,2142,0,0,0,0,0,0
$GC,5620,1.19,116.8,344.2,13.8,281,5624,0.00,2.50,0.00,0.000,6,0.000,0.028,3393,1797,2139,0,0,0,0,0,0
$GC,5943,1.19,116.8,306.2,11.1,289,5947,0.00,2.55,0.00,0.000,4,0.000,0.047,3394,3205,2139,0,0,0,0,0,0
$GC,5999,1.19,116.8,300.4,9.9,290,6003,0.00,2.60,0.00,0.000,6,0.000,0.050,3393,1803,2138,0,0,0,0,0,0
$GC,6318,1.19,116.8,271.0,9.2,305,6322,0.00,2.65,0.00,0.000,4,0.000,0.059,3393,390,2137,0,0,0,0,0,0
$GC,6425,1.19,116.8,258.2,12.7,309,6430,0.00,2.50,0.00,0.000,6,0.000,0.026,3394,1803,2134,0,0,0,0,0,0
$GC,6741,1.19,116.8,224.8,10.5,325,6746,0.00,2.53,0.00,0.000,4,0.000,0.043,3394,3202,2134,0,0,0,0,0,0
$GC,6792,1.19,116.8,219.0,10.6,327,6797,0.00,2.60,0.00,0.000,6,0.000,0.045,3394,1792,2134,0,0,0,0,0,0
$GC,7118,1.19,116.8,186.0,9.1,349,7122,0.00,2.55,0.00,0.000,4,0.000,0.038,3394,3199,2133,0,0,0,0,0,0
$GC,7198,1.22,133.4,179.6,7.3,357,7218,0.00,2.55,11.35,0.584,6,0.000,0.042,3394,1797,2090,0,0,0,0,0,0
$GC,7473,1.22,133.4,156.9,9.1,383,7477,0.00,2.58,0.00,0.000,4,0.000,0.053,3393,389,2087,0,0,0,0,0,0
$GC,7535,1.22,133.4,150.4,10.4,389,7540,0.00,2.47,0.00,0.000,6,0.000,0.021,3394,1813,2085,0,0,0,0,0,0
$GC,7800,1.22,133.4,125.4,8.7,413,7805,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1819,2085,0,0,0,0,0,0
$GC,8061,1.22,133.4,102.6,8.9,438,8066,0.00,2.62,0.00,0.000,4,0.000,0.049,3393,383,2085,0,0,0,0,0,0
$GC,8090,1.22,133.4,99.7,10.3,440,8096,0.00,2.47,0.00,0.000,6,0.000,0.021,3393,1805,2085,0,0,0,0,0,0
$GC,8354,1.23,145.3,79.1,7.5,465,8375,0.00,2.67,11.40,0.487,4,0.000,0.048,3393,392,2040,0,0,0,0,0,0
$GC,8398,1.23,145.3,75.4,8.6,469,8405,0.00,2.45,0.00,0.000,6,0.000,0.020,3394,1797,2039,0,0,0,0,0,0
$GC,8663,1.25,160.9,58.4,7.3,494,8684,0.00,2.62,14.75,0.481,4,0.000,0.047,3394,389,1979,0,0,0,0,0,0
$GC,8716,1.25,160.9,53.3,11.1,499,8723,0.00,2.45,0.00,0.000,6,0.000,0.019,3394,1793,1976,0,0,0,0,0,0
$GC,8978,1.25,160.9,30.4,8.9,524,8979,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1798,1976,0,0,0,0,0,0
$GC,9235,1.25,160.9,8.4,8.7,571,9241,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1799,1976,0,0,0,0,0,0
$STATE,9311,end climb,SURFACE_DEPTH_REACHED
$STATE,9311,begin surface coast
$FINISH,0.8,1.010005
$STATE,9355,end surface coast,CONTROL_FINISHED_OK
$STATE,9356,begin surface
$SM_CCo,9380,84.82,0.459,0,0,1288,330.17
$SM_GC,1.49,0.00,0.00,84.82,0.000,0.000,0.459,426,2156,1288,-12.47,1.58,330.17
$IRIDIUM_FIX,2104.07,-15750.89,170700,161603
$TT8_MAMPS,0.029146
$HUMID,54.05
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.5,13.147
$10V_AH,10.5,12.709
$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,28.125,111.950,234.775,84.825,0.000,29.475,32.345,141.868,4.500,0.000,17.136,1110.764,6090.808,411.588,1733.780,444.110,33.342,1158.386,0.000,1716.398,0.000,29.264,0.000
$DEVICE_MAMPS,134.992,62.127,821.457,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,401.788,385.681,880.275,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31789,593
$CAP_FILE_SIZE,99747,0
$CFSIZE,260165632,248512512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230411,220855,2110.397,-15751.417,43,1.0,43,9.8