version: 66.06
glider: 139
mission: 9
dive: 169
start: 4 24 111 6 30 19
data:
$ID,139
$MISSION,9
$DIVE,169
$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,-2179036.8
$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,67
$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
$GPS1,062407,2110.595,-15750.098,31,0.9,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-75.2
$GPS2,062926,2110.625,-15750.216,15,1.5,15,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.211,0.068
$KALMAN_X,-88024.8,669.7,-209.7,88292.4,-2743.1
$KALMAN_Y,-37109.0,-36.7,-36.4,36938.4,-492.9
$MHEAD_RNG_PITCHd_Wd,62.5,15439,-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,-116.8,0.0,0.0,0,92,0.00,0.00,-70.90,0.000,6,0.000,0.000,429,2127,3111,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.4,-4.1,14,115,13.15,2.55,0.00,0.000,4,0.137,0.031,2868,677,3113,0,0,0,0,0,0
$GC,123,-1.19,-116.8,13.0,-27.7,18,129,0.00,2.42,0.00,0.000,6,0.000,0.023,2868,2063,3114,0,0,0,0,0,0
$GC,323,-1.19,-116.8,47.3,-15.1,45,328,0.00,2.55,0.00,0.000,4,0.000,0.036,2868,3507,3115,0,0,0,0,0,0
$GC,376,-1.19,-116.8,55.3,-14.3,50,381,0.00,2.53,0.00,0.000,6,0.000,0.035,2868,2091,3116,0,0,0,0,0,0
$GC,637,-1.19,-116.8,92.5,-13.1,74,642,0.00,2.50,0.00,0.000,4,0.000,0.036,2868,3508,3116,0,0,0,0,0,0
$GC,661,-1.19,-116.8,95.8,-14.4,76,666,0.00,2.50,0.00,0.000,6,0.000,0.034,2868,2100,3117,0,0,0,0,0,0
$GC,925,-1.19,-116.8,127.6,-13.2,100,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2099,3116,0,0,0,0,0,0
$GC,1177,-1.19,-116.8,159.7,-12.0,124,1182,0.00,2.47,0.00,0.000,4,0.000,0.040,2868,3505,3117,0,0,0,0,0,0
$GC,1282,-1.19,-116.8,173.2,-12.5,135,1288,0.00,2.47,0.00,0.000,6,0.000,0.035,2868,2099,3117,0,0,0,0,0,0
$GC,1555,-1.19,-116.8,202.3,-8.9,160,1559,0.00,2.50,0.00,0.000,4,0.000,0.041,2867,3499,3118,0,0,0,0,0,0
$GC,1656,-1.19,-116.8,211.8,-8.8,164,1661,0.00,2.47,0.00,0.000,6,0.000,0.036,2868,2100,3118,0,0,0,0,0,0
$GC,1974,-1.19,-116.8,236.2,-7.0,179,1978,0.00,2.55,0.00,0.000,4,0.000,0.046,2867,681,3118,0,0,0,0,0,0
$GC,2071,-1.19,-116.8,245.9,-9.7,183,2076,0.00,2.45,0.00,0.000,6,0.000,0.025,2868,2105,3118,0,0,0,0,0,0
$GC,2393,-1.19,-116.8,276.3,-9.1,199,2397,0.00,2.53,0.00,0.000,4,0.000,0.045,2867,688,3117,0,0,0,0,0,0
$GC,2455,-1.19,-116.8,282.0,-9.1,201,2461,0.00,2.45,0.00,0.000,6,0.000,0.025,2868,2106,3117,0,0,0,0,0,0
$GC,2770,-1.19,-116.8,305.5,-6.3,215,2774,0.00,2.55,0.00,0.000,4,0.000,0.051,2867,3503,3116,0,0,0,0,0,0
$GC,2853,-1.19,-116.8,313.3,-7.6,216,2859,0.00,2.53,0.00,0.000,6,0.000,0.042,2867,2101,3116,0,0,0,0,0,0
$GC,3185,-1.19,-116.8,341.3,-9.2,225,3190,0.00,2.58,0.00,0.000,4,0.000,0.051,2867,688,3115,0,0,0,0,0,0
$GC,3204,-1.19,-116.8,343.3,-9.4,225,3209,0.00,2.45,0.00,0.000,6,0.000,0.028,2868,2100,3115,0,0,0,0,0,0
$GC,3551,-1.19,-116.8,375.9,-9.0,234,3552,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2101,3113,0,0,0,0,0,0
$GC,3877,-1.19,-116.8,400.3,-6.7,242,3882,0.00,2.55,0.00,0.000,4,0.000,0.056,2867,3498,3111,0,0,0,0,0,0
$GC,3991,-1.19,-116.8,408.2,-7.3,244,3995,0.00,2.55,0.00,0.000,6,0.000,0.045,2868,2093,3110,0,0,0,0,0,0
$GC,4336,-1.19,-116.8,431.2,-6.4,253,4341,0.00,2.55,0.00,0.000,4,0.000,0.054,2868,692,3108,0,0,0,0,0,0
$GC,4411,-1.19,-116.8,436.6,-7.9,254,4416,0.00,2.47,0.00,0.000,6,0.000,0.031,2868,2100,3107,0,0,0,0,0,0
$STATE,4663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4663,begin apogee
$GC,4670,-0.31,0.0,452.7,6.4,261,4769,0.98,0.00,95.47,0.820,6,0.084,0.000,3069,1790,2635,0,0,0,0,0,0
$STATE,4770,end apogee,CONTROL_FINISHED_OK
$STATE,4770,begin climb
$GC,4773,1.19,116.8,454.3,0.0,263,4884,1.48,2.75,100.97,0.801,4,0.056,0.051,3394,3200,2157,0,0,0,0,0,0
$GC,4904,1.19,116.8,443.8,11.2,266,4909,0.00,2.65,0.00,0.000,6,0.000,0.056,3394,1809,2156,0,0,0,0,0,0
$GC,5227,1.19,116.8,406.4,11.6,274,5231,0.00,2.70,0.00,0.000,4,0.000,0.063,3393,391,2147,0,0,0,0,0,0
$GC,5283,1.19,116.8,398.4,14.0,275,5288,0.00,2.53,0.00,0.000,6,0.000,0.028,3394,1805,2143,0,0,0,0,0,0
$GC,5597,1.19,116.8,360.5,12.3,283,5601,0.00,2.55,0.00,0.000,4,0.000,0.047,3394,3203,2141,0,0,0,0,0,0
$GC,5667,1.19,116.8,350.9,14.0,284,5671,0.00,2.62,0.00,0.000,6,0.000,0.053,3394,1803,2141,0,0,0,0,0,0
$GC,6008,1.19,116.8,309.6,11.4,293,6012,0.00,2.67,0.00,0.000,4,0.000,0.061,3394,383,2139,0,0,0,0,0,0
$GC,6051,1.19,116.8,303.4,14.6,294,6055,0.00,2.53,0.00,0.000,6,0.000,0.028,3394,1800,2136,0,0,0,0,0,0
$GC,6384,1.19,116.8,264.3,11.6,309,6389,0.00,2.53,0.00,0.000,4,0.000,0.044,3394,3202,2136,0,0,0,0,0,0
$GC,6413,1.19,116.8,260.9,10.6,310,6417,0.00,2.60,0.00,0.000,6,0.000,0.048,3394,1794,2136,0,0,0,0,0,0
$GC,6733,1.19,116.8,227.1,10.5,326,6737,0.00,2.62,0.00,0.000,4,0.000,0.057,3393,383,2135,0,0,0,0,0,0
$GC,6826,1.19,116.8,215.3,12.7,330,6831,0.00,2.47,0.00,0.000,6,0.000,0.025,3394,1807,2132,0,0,0,0,0,0
$GC,7158,1.19,116.8,180.3,9.2,354,7162,0.00,2.47,0.00,0.000,4,0.000,0.038,3394,3195,2133,0,0,0,0,0,0
$GC,7175,1.19,116.8,178.7,9.0,355,7179,0.00,2.58,0.00,0.000,6,0.000,0.041,3394,1791,2133,0,0,0,0,0,0
$GC,7439,1.19,116.8,154.8,9.7,379,7443,0.00,2.55,0.00,0.000,4,0.000,0.053,3393,392,2132,0,0,0,0,0,0
$GC,7458,1.19,116.8,152.5,10.3,380,7464,0.00,2.47,0.00,0.000,6,0.000,0.021,3394,1806,2131,0,0,0,0,0,0
$GC,7722,1.19,116.8,130.1,8.1,405,7727,0.00,2.42,0.00,0.000,4,0.000,0.034,3394,3191,2132,0,0,0,0,0,0
$GC,7769,1.19,116.8,125.8,8.7,409,7774,0.00,2.53,0.00,0.000,6,0.000,0.039,3393,1801,2132,0,0,0,0,0,0
$GC,8030,1.19,116.8,102.7,9.2,434,8034,0.00,2.50,0.00,0.000,4,0.000,0.033,3394,3194,2132,0,0,0,0,0,0
$GC,8047,1.19,116.8,101.1,9.5,435,8051,0.00,2.53,0.00,0.000,6,0.000,0.037,3393,1798,2132,0,0,0,0,0,0
$GC,8311,1.21,128.2,79.8,7.5,459,8323,0.00,2.55,6.45,0.437,4,0.000,0.048,3393,392,2111,0,0,0,0,0,0
$GC,8335,1.21,128.2,77.6,8.4,461,8340,0.00,2.42,0.00,0.000,6,0.000,0.019,3394,1806,2110,0,0,0,0,0,0
$GC,8600,1.25,159.7,59.1,6.6,485,8631,0.00,0.00,28.80,0.507,6,0.000,0.000,3394,1811,1983,0,0,0,0,0,0
$GC,8885,1.27,178.0,39.6,7.2,512,8904,0.00,0.00,16.65,0.470,6,0.000,0.000,3394,1811,1908,0,0,0,0,0,0
$GC,9160,1.27,178.0,18.9,8.1,551,9166,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1811,1906,0,0,0,0,0,0
$GC,9364,1.33,226.5,5.8,5.8,588,9394,0.15,0.00,27.00,0.453,2,0.053,0.000,3446,1811,1783,0,0,0,0,0,0
$STATE,9395,end climb,SURFACE_DEPTH_REACHED
$STATE,9395,begin surface coast
$FINISH,0.9,1.001670
$STATE,9427,end surface coast,CONTROL_FINISHED_OK
$STATE,9428,begin surface
$SM_CCo,9452,58.95,0.455,0,0,1288,330.17
$SM_GC,1.56,0.00,0.00,58.95,0.000,0.000,0.455,431,2123,1288,-12.45,0.65,330.17
$IRIDIUM_FIX,2101.76,-15750.89,180700,030343
$TT8_MAMPS,0.029146
$HUMID,54.29
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,13.445
$10V_AH,10.5,13.016
$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,28.725,112.450,275.350,58.950,0.000,24.118,38.941,136.379,4.500,0.000,15.960,1112.335,6166.586,405.050,1720.486,428.139,33.352,1146.332,0.000,1701.646,0.000,29.261,0.000
$DEVICE_MAMPS,136.526,62.894,819.923,454.831,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,405.261,388.874,902.773,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31771,599
$CAP_FILE_SIZE,99771,0
$CFSIZE,260165632,248315904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240411,090945,2110.982,-15749.990,9,1.8,16,9.8