version: 66.06
glider: 139
mission: 9
dive: 167
start: 4 24 111 0 55 35
data:
$ID,139
$MISSION,9
$DIVE,167
$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,-2178999.2
$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,76
$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
$GPS1,004856,2110.327,-15750.631,13,1.4,13,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-73.9
$GPS2,005443,2110.274,-15750.635,14,1.4,31,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.212,0.065
$KALMAN_X,-84273.9,-51.1,556.1,83776.0,-2409.2
$KALMAN_Y,-35986.5,48.6,-2.7,35044.7,-714.1
$MHEAD_RNG_PITCHd_Wd,63.0,15685,-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,-116.8,0.0,0.0,0,89,0.00,0.00,-70.10,0.000,2,0.000,0.000,426,2125,3104,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.1,-4.2,13,110,13.15,2.38,0.00,0.000,4,0.136,0.030,2869,3472,3106,0,0,0,0,0,0
$GC,169,-1.19,-116.8,20.9,-17.6,29,175,0.00,2.47,0.00,0.000,6,0.000,0.035,2869,2094,3107,0,0,0,0,0,0
$GC,375,-1.19,-116.8,53.3,-15.3,53,379,0.00,2.40,0.00,0.000,4,0.000,0.034,2869,3462,3108,0,0,0,0,0,0
$GC,476,-1.19,-116.8,68.1,-15.4,64,480,0.00,2.42,0.00,0.000,6,0.000,0.035,2869,2098,3109,0,0,0,0,0,0
$GC,739,-1.19,-116.8,104.7,-12.8,88,743,0.00,2.50,0.00,0.000,4,0.000,0.042,2869,690,3109,0,0,0,0,0,0
$GC,774,-1.19,-116.8,109.3,-13.2,91,778,0.00,2.33,0.00,0.000,6,0.000,0.020,2869,2064,3110,0,0,0,0,0,0
$GC,1038,-1.19,-116.8,139.9,-11.5,115,1043,0.00,2.50,0.00,0.000,4,0.000,0.040,2869,3488,3110,0,0,0,0,0,0
$GC,1116,-1.19,-116.8,149.0,-11.0,123,1122,0.00,2.45,0.00,0.000,6,0.000,0.035,2869,2099,3110,0,0,0,0,0,0
$GC,1379,-1.19,-116.8,176.8,-10.9,148,1384,0.00,2.53,0.00,0.000,4,0.000,0.042,2869,684,3111,0,0,0,0,0,0
$GC,1396,-1.19,-116.8,178.9,-11.1,149,1401,0.00,2.40,0.00,0.000,6,0.000,0.022,2869,2100,3111,0,0,0,0,0,0
$GC,1660,-1.19,-116.8,211.2,-12.3,169,1664,0.00,2.53,0.00,0.000,4,0.000,0.043,2869,685,3111,0,0,0,0,0,0
$GC,1674,-1.19,-116.8,213.6,-11.6,169,1680,0.00,2.42,0.00,0.000,6,0.000,0.023,2869,2106,3111,0,0,0,0,0,0
$GC,1991,-1.19,-116.8,242.2,-8.9,185,1995,0.00,2.47,0.00,0.000,4,0.000,0.044,2869,3495,3111,0,0,0,0,0,0
$GC,2005,-1.19,-116.8,243.6,-8.3,185,2011,0.00,2.47,0.00,0.000,6,0.000,0.038,2869,2100,3111,0,0,0,0,0,0
$GC,2324,-1.19,-116.8,269.4,-8.3,201,2328,0.00,2.53,0.00,0.000,4,0.000,0.044,2869,3504,3111,0,0,0,0,0,0
$GC,2466,-1.19,-116.8,282.0,-8.6,207,2470,0.00,2.50,0.00,0.000,6,0.000,0.039,2869,2100,3111,0,0,0,0,0,0
$GC,2807,-1.19,-116.8,310.5,-7.7,221,2811,0.00,2.55,0.00,0.000,4,0.000,0.048,2869,691,3110,0,0,0,0,0,0
$GC,2863,-1.19,-116.8,315.0,-7.7,222,2868,0.00,2.42,0.00,0.000,6,0.000,0.025,2869,2097,3110,0,0,0,0,0,0
$GC,3177,-1.19,-116.8,338.5,-7.7,230,3182,0.00,2.55,0.00,0.000,4,0.000,0.048,2869,686,3109,0,0,0,0,0,0
$GC,3224,-1.19,-116.8,342.6,-8.9,231,3228,0.00,2.42,0.00,0.000,6,0.000,0.027,2869,2099,3108,0,0,0,0,0,0
$GC,3547,-1.19,-116.8,364.4,-6.5,239,3552,0.00,2.55,0.00,0.000,4,0.000,0.053,2869,3498,3107,0,0,0,0,0,0
$GC,3608,-1.19,-116.8,368.6,-7.0,240,3613,0.00,2.53,0.00,0.000,6,0.000,0.045,2869,2104,3106,0,0,0,0,0,0
$GC,3960,-1.19,-116.8,390.7,-6.4,249,3964,0.00,2.55,0.00,0.000,4,0.000,0.052,2869,3506,3104,0,0,0,0,0,0
$GC,3995,-1.19,-116.8,393.1,-6.4,249,3999,0.00,2.55,0.00,0.000,6,0.000,0.044,2869,2093,3104,0,0,0,0,0,0
$GC,4327,-1.19,-116.8,416.7,-7.4,257,4331,0.00,2.55,0.00,0.000,4,0.000,0.053,2869,690,3102,0,0,0,0,0,0
$GC,4416,-1.19,-116.8,424.6,-8.6,259,4421,0.00,2.47,0.00,0.000,6,0.000,0.031,2869,2102,3101,0,0,0,0,0,0
$STATE,4741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4741,begin apogee
$GC,4748,-0.31,0.0,451.7,8.1,267,4846,0.95,0.00,94.12,0.817,6,0.084,0.000,3065,1796,2635,0,0,0,0,0,0
$STATE,4847,end apogee,CONTROL_FINISHED_OK
$STATE,4847,begin climb
$GC,4850,1.19,116.8,454.1,0.0,269,4962,1.50,2.72,100.93,0.798,4,0.056,0.051,3396,3198,2157,0,0,0,0,0,0
$GC,4972,1.19,116.8,443.8,11.7,271,4977,0.00,2.65,0.00,0.000,6,0.000,0.055,3396,1806,2156,0,0,0,0,0,0
$GC,5303,1.19,116.8,403.3,11.9,280,5307,0.00,2.70,0.00,0.000,4,0.000,0.064,3395,390,2147,0,0,0,0,0,0
$GC,5373,1.19,116.8,392.9,14.5,281,5377,0.00,2.53,0.00,0.000,6,0.000,0.028,3396,1807,2142,0,0,0,0,0,0
$GC,5714,1.19,116.8,347.5,12.7,290,5718,0.00,2.70,0.00,0.000,4,0.000,0.061,3395,387,2140,0,0,0,0,0,0
$GC,5728,1.19,116.8,345.2,13.0,290,5733,0.00,2.50,0.00,0.000,6,0.000,0.027,3396,1808,2139,0,0,0,0,0,0
$GC,6078,1.19,116.8,303.6,11.2,299,6082,0.00,2.67,0.00,0.000,4,0.000,0.060,3395,392,2138,0,0,0,0,0,0
$GC,6139,1.19,116.8,295.9,12.9,300,6146,0.00,2.50,0.00,0.000,6,0.000,0.028,3396,1785,2136,0,0,0,0,0,0
$GC,6454,1.19,116.8,263.1,10.2,316,6459,0.00,2.58,0.00,0.000,4,0.000,0.044,3396,3209,2136,0,0,0,0,0,0
$GC,6482,1.19,116.8,260.0,10.3,317,6487,0.00,2.60,0.00,0.000,6,0.000,0.047,3396,1802,2136,0,0,0,0,0,0
$GC,6806,1.19,116.8,227.4,10.3,333,6810,0.00,2.55,0.00,0.000,4,0.000,0.041,3396,3203,2134,0,0,0,0,0,0
$GC,6820,1.19,116.8,225.5,10.4,333,6825,0.00,2.58,0.00,0.000,6,0.000,0.043,3395,1797,2134,0,0,0,0,0,0
$GC,7137,1.19,116.8,191.9,10.2,352,7138,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1798,2133,0,0,0,0,0,0
$GC,7392,1.19,116.8,166.0,9.6,376,7397,0.00,2.58,0.00,0.000,4,0.000,0.052,3395,392,2133,0,0,0,0,0,0
$GC,7438,1.19,116.8,160.4,12.9,380,7446,0.00,2.47,0.00,0.000,6,0.000,0.022,3396,1809,2131,0,0,0,0,0,0
$GC,7703,1.19,116.8,134.9,8.6,405,7707,0.00,2.60,0.00,0.000,4,0.000,0.051,3396,392,2132,0,0,0,0,0,0
$GC,7747,1.19,116.8,130.2,10.6,409,7751,0.00,2.42,0.00,0.000,6,0.000,0.021,3395,1801,2131,0,0,0,0,0,0
$GC,8012,1.20,119.3,109.1,7.9,433,8016,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1807,2131,0,0,0,0,0,0
$GC,8273,1.21,129.0,89.0,7.6,458,8288,0.00,2.67,6.90,0.451,4,0.000,0.049,3396,391,2109,0,0,0,0,0,0
$GC,8361,1.21,129.0,81.3,9.7,467,8366,0.00,2.40,0.00,0.000,6,0.000,0.020,3396,1801,2107,0,0,0,0,0,0
$GC,8623,1.21,129.0,59.7,8.3,492,8627,0.00,2.42,0.00,0.000,4,0.000,0.031,3396,3200,2108,0,0,0,0,0,0
$GC,8669,1.21,129.0,55.6,8.1,496,8676,0.00,2.55,0.00,0.000,6,0.000,0.036,3396,1799,2108,0,0,0,0,0,0
$GC,8934,1.23,146.9,34.9,7.2,521,8957,0.00,2.62,17.40,0.472,4,0.000,0.048,3396,392,2034,0,0,0,0,0,0
$GC,8984,1.23,146.9,30.0,9.5,526,8991,0.00,2.45,0.00,0.000,6,0.000,0.019,3396,1803,2031,0,0,0,0,0,0
$GC,9251,1.26,169.8,10.1,7.0,575,9275,0.00,0.00,20.67,0.456,6,0.000,0.000,3396,1809,1941,0,0,0,0,0,0
$STATE,9350,end climb,SURFACE_DEPTH_REACHED
$STATE,9350,begin surface coast
$FINISH,1.1,1.023346
$STATE,9395,end surface coast,CONTROL_FINISHED_OK
$STATE,9395,begin surface
$SM_CCo,9419,81.60,0.459,0,0,1288,330.17
$SM_GC,1.61,0.00,0.00,81.60,0.000,0.000,0.459,428,2147,1288,-12.46,1.33,330.17
$IRIDIUM_FIX,2104.07,-15747.88,170700,222230
$TT8_MAMPS,0.029146
$HUMID,54.68
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.5,13.295
$10V_AH,10.5,12.861
$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,28.275,121.925,240.025,81.600,0.000,28.389,35.588,148.087,4.500,0.000,31.597,1120.286,6153.342,410.461,1714.871,451.432,33.354,1143.489,0.000,1686.563,0.000,31.420,0.000
$DEVICE_MAMPS,135.759,63.661,816.855,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,406.347,391.143,902.301,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,31824,601
$CAP_FILE_SIZE,100501,0
$CFSIZE,260165632,248414208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240411,033506,2110.332,-15750.064,31,1.1,31,9.8