version: 66.06
glider: 139
mission: 9
dive: 159
start: 4 23 111 2 46 48
data:
$ID,139
$MISSION,9
$DIVE,159
$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,-2178855.5
$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,18
$R_STBD_OVSHOOT,53
$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
$GPS1,024036,2108.759,-15752.829,31,1.9,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-74.3
$GPS2,024555,2108.713,-15752.856,12,1.5,12,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.166,0.147
$KALMAN_X,-71299.0,583.9,622.9,66252.8,-3420.2
$KALMAN_Y,-33064.2,380.1,-171.0,29068.3,-1163.1
$MHEAD_RNG_PITCHd_Wd,38.6,17991,-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,-70.47,0.000,6,0.000,0.000,429,2116,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.9,-6.0,14,115,13.12,2.45,0.00,0.000,4,0.136,0.031,2869,3491,3114,0,0,0,0,0,0
$GC,208,-1.19,-116.8,29.0,-17.5,38,215,0.00,2.50,0.00,0.000,6,0.000,0.032,2869,2093,3115,0,0,0,0,0,0
$GC,407,-1.19,-116.8,59.5,-15.0,57,411,0.00,2.50,0.00,0.000,4,0.000,0.041,2869,687,3116,0,0,0,0,0,0
$GC,442,-1.19,-116.8,64.8,-14.8,60,446,0.00,2.38,0.00,0.000,6,0.000,0.021,2869,2086,3116,0,0,0,0,0,0
$GC,706,-1.19,-116.8,101.4,-12.5,84,710,0.00,2.47,0.00,0.000,4,0.000,0.041,2869,690,3116,0,0,0,0,0,0
$GC,759,-1.19,-116.8,108.7,-14.2,89,763,0.00,2.40,0.00,0.000,6,0.000,0.021,2869,2106,3116,0,0,0,0,0,0
$GC,1023,-1.19,-116.8,143.2,-13.4,113,1027,0.00,2.47,0.00,0.000,4,0.000,0.038,2869,3506,3117,0,0,0,0,0,0
$GC,1038,-1.19,-116.8,145.8,-14.2,114,1043,0.00,2.47,0.00,0.000,6,0.000,0.035,2869,2093,3117,0,0,0,0,0,0
$GC,1302,-1.19,-116.8,178.6,-9.2,138,1306,0.00,2.50,0.00,0.000,4,0.000,0.043,2869,684,3118,0,0,0,0,0,0
$GC,1355,-1.19,-116.8,184.0,-10.9,143,1360,0.00,2.40,0.00,0.000,6,0.000,0.022,2869,2099,3117,0,0,0,0,0,0
$GC,1626,-1.19,-116.8,208.5,-9.7,164,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2100,3118,0,0,0,0,0,0
$GC,1936,-1.19,-116.8,235.4,-7.3,179,1937,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2100,3118,0,0,0,0,0,0
$GC,2243,-1.19,-116.8,259.2,-8.3,194,2247,0.00,2.55,0.00,0.000,4,0.000,0.046,2869,3498,3118,0,0,0,0,0,0
$GC,2412,-1.19,-116.8,275.9,-10.3,201,2416,0.00,2.47,0.00,0.000,6,0.000,0.039,2869,2097,3117,0,0,0,0,0,0
$GC,2749,-1.19,-116.8,302.8,-7.1,216,2753,0.00,2.53,0.00,0.000,4,0.000,0.049,2869,692,3117,0,0,0,0,0,0
$GC,2782,-1.19,-116.8,305.3,-6.9,216,2786,0.00,2.42,0.00,0.000,6,0.000,0.026,2869,2097,3117,0,0,0,0,0,0
$GC,3115,-1.19,-116.8,328.1,-7.0,224,3119,0.00,2.55,0.00,0.000,4,0.000,0.050,2869,3504,3115,0,0,0,0,0,0
$GC,3248,-1.19,-116.8,337.3,-6.5,226,3253,0.00,2.50,0.00,0.000,6,0.000,0.043,2869,2103,3115,0,0,0,0,0,0
$GC,3579,-1.19,-116.8,357.1,-5.9,235,3583,0.00,2.58,0.00,0.000,4,0.000,0.051,2869,682,3113,0,0,0,0,0,0
$GC,3627,-1.19,-116.8,360.0,-6.1,236,3631,0.00,2.47,0.00,0.000,6,0.000,0.028,2869,2113,3112,0,0,0,0,0,0
$GC,3955,-1.19,-116.8,375.3,-4.3,244,3959,0.00,2.55,0.00,0.000,4,0.000,0.054,2869,3506,3110,0,0,0,0,0,0
$GC,4011,-1.19,-116.8,377.7,-4.0,245,4015,0.00,2.53,0.00,0.000,6,0.000,0.044,2869,2100,3110,0,0,0,0,0,0
$GC,4325,-1.19,-116.8,392.1,-5.3,253,4327,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2099,3108,0,0,0,0,0,0
$GC,4650,-1.19,-116.8,419.7,-9.2,261,4655,0.00,2.58,0.00,0.000,4,0.000,0.055,2869,692,3106,0,0,0,0,0,0
$GC,4762,-1.19,-116.8,431.2,-9.9,263,4766,0.00,2.45,0.00,0.000,6,0.000,0.031,2869,2105,3105,0,0,0,0,0,0
$STATE,5028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5028,begin apogee
$GC,5035,-0.31,0.0,452.8,7.9,270,5133,0.95,0.00,95.18,0.827,6,0.083,0.000,3066,1801,2635,0,0,0,0,0,0
$STATE,5134,end apogee,CONTROL_FINISHED_OK
$STATE,5134,begin climb
$GC,5137,1.19,116.8,455.4,0.0,272,5249,1.50,2.72,100.75,0.810,4,0.057,0.050,3395,3203,2156,0,0,0,0,0,0
$GC,5278,1.19,116.8,443.1,12.1,275,5282,0.00,2.70,0.00,0.000,6,0.000,0.056,3395,1799,2155,0,0,0,0,0,0
$GC,5592,1.19,116.8,402.2,13.2,283,5596,0.00,2.67,0.00,0.000,4,0.000,0.063,3394,392,2147,0,0,0,0,0,0
$GC,5654,1.19,116.8,392.6,16.1,284,5658,0.00,2.55,0.00,0.000,6,0.000,0.028,3395,1814,2143,0,0,0,0,0,0
$GC,6004,1.19,116.8,340.7,14.3,293,6005,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1818,2141,0,0,0,0,0,0
$GC,6329,1.19,116.8,300.3,12.0,301,6333,0.00,2.70,0.00,0.000,4,0.000,0.060,3394,391,2138,0,0,0,0,0,0
$GC,6376,1.19,116.8,294.4,12.8,302,6380,0.00,2.50,0.00,0.000,6,0.000,0.028,3394,1810,2136,0,0,0,0,0,0
$GC,6701,1.19,116.8,262.9,9.2,318,6705,0.00,2.53,0.00,0.000,4,0.000,0.046,3395,3197,2136,0,0,0,0,0,0
$GC,6744,1.19,116.8,258.8,9.8,320,6748,0.00,2.58,0.00,0.000,6,0.000,0.046,3395,1798,2136,0,0,0,0,0,0
$GC,7073,1.19,116.8,225.3,10.2,336,7077,0.00,2.58,0.00,0.000,4,0.000,0.042,3395,3204,2135,0,0,0,0,0,0
$GC,7129,1.19,116.8,219.8,10.2,338,7133,0.00,2.60,0.00,0.000,6,0.000,0.044,3394,1796,2135,0,0,0,0,0,0
$GC,7447,1.19,116.8,187.0,10.6,358,7452,0.00,2.60,0.00,0.000,4,0.000,0.056,3394,385,2134,0,0,0,0,0,0
$GC,7482,1.19,116.8,183.0,12.3,361,7487,0.00,2.47,0.00,0.000,6,0.000,0.024,3395,1806,2132,0,0,0,0,0,0
$GC,7747,1.19,116.8,159.1,9.7,385,7751,0.00,2.62,0.00,0.000,4,0.000,0.053,3394,388,2133,0,0,0,0,0,0
$GC,7781,1.19,116.8,155.2,10.6,388,7785,0.00,2.42,0.00,0.000,6,0.000,0.022,3395,1804,2132,0,0,0,0,0,0
$GC,8044,1.19,116.8,132.5,8.2,412,8048,0.00,2.45,0.00,0.000,4,0.000,0.035,3395,3195,2132,0,0,0,0,0,0
$GC,8062,1.19,116.8,130.6,8.5,413,8068,0.00,2.53,0.00,0.000,6,0.000,0.038,3394,1798,2132,0,0,0,0,0,0
$GC,8326,1.25,157.9,112.3,6.1,438,8363,0.00,2.65,32.03,0.564,4,0.000,0.051,3394,390,1990,0,0,0,0,0,0
$GC,8394,1.25,157.9,107.5,8.4,445,8399,0.00,2.45,0.00,0.000,6,0.000,0.021,3395,1802,1987,0,0,0,0,0,0
$GC,8658,1.25,157.9,88.4,8.3,469,8663,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1807,1986,0,0,0,0,0,0
$GC,8921,1.25,157.9,63.5,9.4,494,8925,0.00,2.60,0.00,0.000,4,0.000,0.048,3395,386,1986,0,0,0,0,0,0
$GC,8955,1.25,157.9,60.2,9.6,497,8960,0.00,2.42,0.00,0.000,6,0.000,0.019,3395,1809,1984,0,0,0,0,0,0
$GC,9220,1.26,167.5,40.2,7.6,521,9234,0.00,2.62,9.05,0.436,4,0.000,0.048,3394,390,1951,0,0,0,0,0,0
$GC,9261,1.26,167.5,36.2,9.2,525,9268,0.00,2.45,0.00,0.000,6,0.000,0.019,3395,1800,1949,0,0,0,0,0,0
$GC,9526,1.28,185.1,16.4,7.2,567,9549,0.00,2.45,16.62,0.451,4,0.000,0.027,3395,3193,1879,0,0,0,0,0,0
$GC,9570,1.29,197.6,13.2,7.5,575,9589,0.08,2.55,12.40,0.433,6,0.035,0.035,3436,1801,1828,0,0,0,0,0,0
$STATE,9676,end climb,SURFACE_DEPTH_REACHED
$STATE,9676,begin surface coast
$FINISH,0.7,1.000858
$STATE,9704,end surface coast,CONTROL_FINISHED_OK
$STATE,9704,begin surface
$SM_CCo,9728,66.00,0.456,0,0,1288,330.17
$SM_GC,1.51,0.00,0.00,66.00,0.000,0.000,0.456,427,2157,1288,-12.47,1.61,330.17
$IRIDIUM_FIX,2059.45,-15753.90,170700,000036
$TT8_MAMPS,0.029146
$HUMID,53.89
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.4,12.686
$10V_AH,10.6,12.245
$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,28.575,117.200,266.025,66.000,0.000,30.017,34.786,139.697,4.500,0.000,12.418,1114.356,6458.463,400.599,1699.431,444.471,33.350,1146.162,0.000,1684.711,0.000,29.268,0.000
$DEVICE_MAMPS,135.759,62.894,826.826,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,405.472,390.047,877.855,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31777,599
$CAP_FILE_SIZE,101498,0
$CFSIZE,260165632,248803328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230411,053130,2109.405,-15752.901,43,1.3,48,9.8