version: 66.06
glider: 139
mission: 9
dive: 166
start: 4 23 111 22 15 12
data:
$ID,139
$MISSION,9
$DIVE,166
$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,-2178967
$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,16
$R_STBD_OVSHOOT,81
$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
$GPS1,220855,2110.397,-15751.417,43,1.0,43,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-75.6
$GPS2,221419,2110.407,-15751.439,10,2.0,10,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.220,0.027
$KALMAN_X,-82170.7,-320.9,-209.0,81318.4,-1395.4
$KALMAN_Y,-35726.2,96.2,223.3,34756.2,-921.5
$MHEAD_RNG_PITCHd_Wd,73.2,17005,-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,-116.8,0.0,0.0,0,94,0.00,0.00,-70.82,0.000,6,0.000,0.000,426,2156,3111,0,0,0,0,0,0
$GC,97,-1.19,-116.8,3.5,-4.9,14,115,13.12,2.35,0.00,0.000,4,0.135,0.038,2867,3460,3113,0,0,0,0,0,0
$GC,209,-1.19,-116.8,28.5,-16.9,38,215,0.00,2.45,0.00,0.000,6,0.000,0.034,2868,2096,3115,0,0,0,0,0,0
$GC,408,-1.19,-116.8,61.1,-15.6,57,412,0.00,2.38,0.00,0.000,4,0.000,0.033,2867,3457,3116,0,0,0,0,0,0
$GC,451,-1.19,-116.8,68.2,-15.4,61,455,0.00,2.40,0.00,0.000,6,0.000,0.035,2867,2097,3116,0,0,0,0,0,0
$GC,716,-1.19,-116.8,109.5,-13.7,85,721,0.00,2.40,0.00,0.000,4,0.000,0.035,2867,3463,3116,0,0,0,0,0,0
$GC,744,-1.19,-116.8,113.9,-14.1,87,750,0.00,2.42,0.00,0.000,6,0.000,0.035,2868,2089,3116,0,0,0,0,0,0
$GC,1007,-1.19,-116.8,147.1,-13.7,112,1011,0.00,2.40,0.00,0.000,4,0.000,0.037,2868,3454,3117,0,0,0,0,0,0
$GC,1078,-1.19,-116.8,157.2,-14.3,119,1082,0.00,2.40,0.00,0.000,6,0.000,0.034,2867,2095,3116,0,0,0,0,0,0
$GC,1340,-1.19,-116.8,184.5,-9.5,143,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2094,3117,0,0,0,0,0,0
$GC,1594,-1.19,-116.8,206.0,-9.1,164,1598,0.00,2.47,0.00,0.000,4,0.000,0.041,2867,691,3117,0,0,0,0,0,0
$GC,1631,-1.19,-116.8,210.4,-11.5,165,1637,0.00,2.33,0.00,0.000,6,0.000,0.021,2867,2058,3118,0,0,0,0,0,0
$GC,1948,-1.19,-116.8,248.5,-11.6,181,1952,0.00,2.60,0.00,0.000,4,0.000,0.044,2867,3499,3118,0,0,0,0,0,0
$GC,2175,-1.19,-116.8,271.9,-10.6,191,2179,0.00,2.47,0.00,0.000,6,0.000,0.039,2867,2102,3117,0,0,0,0,0,0
$GC,2509,-1.19,-116.8,300.2,-6.4,207,2513,0.00,2.53,0.00,0.000,4,0.000,0.047,2867,691,3117,0,0,0,0,0,0
$GC,2632,-1.19,-116.8,309.4,-7.7,209,2637,0.00,2.42,0.00,0.000,6,0.000,0.025,2867,2103,3117,0,0,0,0,0,0
$GC,2970,-1.19,-116.8,334.2,-7.3,218,2971,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2104,3116,0,0,0,0,0,0
$GC,3294,-1.19,-116.8,357.4,-7.2,226,3295,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2104,3115,0,0,0,0,0,0
$GC,3619,-1.19,-116.8,381.9,-7.4,234,3623,0.00,2.58,0.00,0.000,4,0.000,0.053,2867,3505,3113,0,0,0,0,0,0
$GC,3717,-1.19,-116.8,390.3,-9.3,236,3721,0.00,2.53,0.00,0.000,6,0.000,0.045,2868,2097,3112,0,0,0,0,0,0
$GC,4037,-1.19,-116.8,415.7,-8.0,244,4041,0.00,2.55,0.00,0.000,4,0.000,0.053,2867,692,3110,0,0,0,0,0,0
$GC,4139,-1.19,-116.8,424.9,-8.9,246,4143,0.00,2.42,0.00,0.000,6,0.000,0.029,2868,2097,3109,0,0,0,0,0,0
$GC,4453,-1.19,-116.8,447.2,-6.4,254,4457,0.00,2.58,0.00,0.000,4,0.000,0.057,2867,3500,3107,0,0,0,0,0,0
$GC,4477,-1.19,-116.8,448.9,-6.8,254,4481,0.00,2.53,0.00,0.000,6,0.000,0.048,2867,2104,3107,0,0,0,0,0,0
$STATE,4530,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4531,begin apogee
$GC,4538,-0.31,0.0,452.3,6.1,256,4637,0.95,0.00,95.53,0.818,6,0.084,0.000,3065,1791,2634,0,0,0,0,0,0
$STATE,4637,end apogee,CONTROL_FINISHED_OK
$STATE,4638,begin climb
$GC,4640,1.19,116.8,453.2,0.0,258,4746,1.52,0.00,101.93,0.798,6,0.056,0.000,3397,1791,2158,0,0,0,0,0,0
$GC,5058,1.19,116.8,398.3,13.6,269,5063,0.00,2.65,0.00,0.000,4,0.000,0.062,3396,397,2147,0,0,0,0,0,0
$GC,5102,1.19,116.8,391.7,15.4,270,5106,0.00,2.50,0.00,0.000,6,0.000,0.028,3397,1810,2143,0,0,0,0,0,0
$GC,5430,1.19,116.8,350.1,12.5,278,5434,0.00,2.55,0.00,0.000,4,0.000,0.048,3397,3203,2141,0,0,0,0,0,0
$GC,5458,1.19,116.8,346.5,12.0,278,5462,0.00,2.60,0.00,0.000,6,0.000,0.052,3396,1808,2141,0,0,0,0,0,0
$GC,5794,1.19,116.8,309.4,10.7,287,5798,0.00,2.62,0.00,0.000,4,0.000,0.059,3396,393,2139,0,0,0,0,0,0
$GC,5831,1.19,116.8,304.4,13.9,287,5837,0.00,2.47,0.00,0.000,6,0.000,0.027,3397,1803,2137,0,0,0,0,0,0
$GC,6146,1.19,116.8,269.8,10.7,302,6151,0.00,2.65,0.00,0.000,4,0.000,0.058,3397,390,2137,0,0,0,0,0,0
$GC,6216,1.19,116.8,260.9,13.9,305,6221,0.00,2.47,0.00,0.000,6,0.000,0.027,3397,1797,2134,0,0,0,0,0,0
$GC,6542,1.19,116.8,225.5,10.2,321,6546,0.00,2.53,0.00,0.000,4,0.000,0.041,3397,3202,2133,0,0,0,0,0,0
$GC,6562,1.19,116.8,223.5,9.3,322,6567,0.00,2.58,0.00,0.000,6,0.000,0.044,3397,1794,2134,0,0,0,0,0,0
$GC,6883,1.19,117.0,194.5,8.0,340,6888,0.00,2.60,0.00,0.000,4,0.000,0.055,3397,386,2133,0,0,0,0,0,0
$GC,6926,1.19,117.0,190.3,10.5,344,6930,0.00,2.47,0.00,0.000,6,0.000,0.023,3397,1810,2132,0,0,0,0,0,0
$GC,7189,1.19,117.0,163.8,10.2,368,7190,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1816,2132,0,0,0,0,0,0
$GC,7441,1.19,117.0,139.8,9.9,392,7445,0.00,2.60,0.00,0.000,4,0.000,0.049,3397,390,2132,0,0,0,0,0,0
$GC,7469,1.19,117.0,136.7,11.1,394,7476,0.00,2.45,0.00,0.000,6,0.000,0.021,3397,1800,2131,0,0,0,0,0,0
$GC,7731,1.19,117.0,113.9,8.6,419,7735,0.00,2.42,0.00,0.000,4,0.000,0.033,3397,3195,2132,0,0,0,0,0,0
$GC,7775,1.19,117.0,110.1,8.2,423,7779,0.00,2.53,0.00,0.000,6,0.000,0.040,3397,1793,2132,0,0,0,0,0,0
$GC,8040,1.19,117.0,86.1,9.8,447,8044,0.00,2.53,0.00,0.000,4,0.000,0.049,3397,390,2132,0,0,0,0,0,0
$GC,8102,1.19,117.0,79.6,10.3,453,8106,0.00,2.40,0.00,0.000,6,0.000,0.020,3397,1809,2131,0,0,0,0,0,0
$GC,8367,1.22,141.0,58.8,6.9,477,8390,0.00,2.67,17.35,0.490,4,0.000,0.047,3397,393,2059,0,0,0,0,0,0
$GC,8428,1.25,164.5,54.4,6.9,483,8454,0.00,2.45,21.40,0.491,6,0.000,0.019,3397,1806,1964,0,0,0,0,0,0
$GC,8709,1.25,164.5,30.6,9.0,510,8713,0.00,2.42,0.00,0.000,4,0.000,0.029,3397,3187,1961,0,0,0,0,0,0
$GC,8738,1.25,164.5,28.0,9.0,514,8745,0.00,2.53,0.00,0.000,6,0.000,0.035,3397,1804,1961,0,0,0,0,0,0
$GC,8940,1.26,168.7,10.9,7.8,551,8953,0.00,2.62,4.75,0.342,4,0.000,0.048,3397,391,1946,0,0,0,0,0,0
$GC,9007,1.26,168.7,5.1,9.4,565,9013,0.00,2.42,0.00,0.000,6,0.000,0.018,3397,1800,1944,0,0,0,0,0,0
$STATE,9030,end climb,SURFACE_DEPTH_REACHED
$STATE,9030,begin surface coast
$FINISH,0.9,1.023240
$STATE,9064,end surface coast,CONTROL_FINISHED_OK
$STATE,9064,begin surface
$SM_CCo,9088,83.32,0.459,0,0,1289,330.17
$SM_GC,1.50,0.00,0.00,83.32,0.000,0.000,0.459,426,2125,1289,-12.47,0.71,330.17
$IRIDIUM_FIX,2101.76,-15753.03,170700,191909
$TT8_MAMPS,0.029146
$HUMID,53.78
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.5,13.222
$10V_AH,10.6,12.783
$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,28.250,110.975,240.950,83.325,0.000,24.978,34.266,149.948,4.500,0.000,10.428,1077.962,5926.989,438.708,1613.582,440.073,33.352,1117.018,0.000,1604.060,0.000,29.243,0.000
$DEVICE_MAMPS,134.992,62.127,818.389,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,388.927,372.257,852.248,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31767,575
$CAP_FILE_SIZE,96133,0
$CFSIZE,260165632,248467456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240411,004856,2110.327,-15750.631,13,1.4,13,9.8