version: 66.06
glider: 139
mission: 9
dive: 170
start: 4 24 111 9 16 7
data:
$ID,139
$MISSION,9
$DIVE,170
$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,-2179052.2
$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,18
$R_STBD_OVSHOOT,69
$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
$GPS1,090945,2110.982,-15749.990,9,1.8,16,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-74.0
$GPS2,091514,2111.042,-15750.066,14,1.8,14,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.217,0.047
$KALMAN_X,-90061.1,734.3,-326.6,90639.8,-2368.6
$KALMAN_Y,-37335.1,-16.0,199.1,37678.7,-571.7
$MHEAD_RNG_PITCHd_Wd,68.1,15695,-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,12,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,-70.70,0.000,6,0.000,0.000,430,2122,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.5,-4.3,14,115,13.12,2.40,0.00,0.000,4,0.135,0.031,2870,3478,3113,0,0,0,0,0,0
$GC,177,-1.19,-116.8,24.3,-18.3,31,184,0.00,2.50,0.00,0.000,6,0.000,0.035,2871,2094,3115,0,0,0,0,0,0
$GC,376,-1.19,-116.8,59.3,-16.6,52,381,0.00,2.42,0.00,0.000,4,0.000,0.035,2871,3467,3116,0,0,0,0,0,0
$GC,511,-1.19,-116.8,78.5,-12.4,66,516,0.00,2.42,0.00,0.000,6,0.000,0.033,2870,2097,3116,0,0,0,0,0,0
$GC,774,-1.19,-116.8,112.7,-14.2,90,779,0.00,2.45,0.00,0.000,4,0.000,0.037,2870,3467,3117,0,0,0,0,0,0
$GC,821,-1.19,-116.8,119.8,-14.1,94,828,0.00,2.45,0.00,0.000,6,0.000,0.034,2870,2094,3117,0,0,0,0,0,0
$GC,1085,-1.19,-116.8,156.4,-12.9,119,1089,0.00,2.45,0.00,0.000,4,0.000,0.038,2871,3467,3118,0,0,0,0,0,0
$GC,1159,-1.19,-116.8,165.7,-10.7,126,1165,0.00,2.45,0.00,0.000,6,0.000,0.035,2871,2100,3117,0,0,0,0,0,0
$GC,1423,-1.19,-116.8,194.4,-11.5,151,1428,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2100,3118,0,0,0,0,0,0
$GC,1679,-1.19,-116.8,221.8,-9.6,166,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2099,3118,0,0,0,0,0,0
$GC,1990,-1.19,-116.8,249.9,-9.6,181,1995,0.00,2.50,0.00,0.000,4,0.000,0.044,2871,692,3118,0,0,0,0,0,0
$GC,2050,-1.19,-116.8,256.2,-10.5,183,2056,0.00,2.33,0.00,0.000,6,0.000,0.024,2870,2063,3118,0,0,0,0,0,0
$GC,2367,-1.19,-116.8,286.0,-9.8,199,2371,0.00,2.47,0.00,0.000,4,0.000,0.046,2870,692,3117,0,0,0,0,0,0
$GC,2418,-1.19,-116.8,291.2,-9.6,201,2422,0.00,2.42,0.00,0.000,6,0.000,0.025,2870,2105,3117,0,0,0,0,0,0
$GC,2735,-1.19,-116.8,318.4,-8.4,212,2739,0.00,2.55,0.00,0.000,4,0.000,0.051,2871,3499,3116,0,0,0,0,0,0
$GC,2828,-1.19,-116.8,325.6,-7.9,214,2833,0.00,2.53,0.00,0.000,6,0.000,0.044,2870,2104,3116,0,0,0,0,0,0
$GC,3152,-1.19,-116.8,349.5,-7.6,222,3153,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2104,3115,0,0,0,0,0,0
$GC,3476,-1.19,-116.8,377.4,-8.7,230,3478,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2104,3113,0,0,0,0,0,0
$GC,3802,-1.19,-116.8,402.4,-7.5,238,3807,0.00,2.58,0.00,0.000,4,0.000,0.054,2870,3498,3111,0,0,0,0,0,0
$GC,3909,-1.19,-116.8,410.4,-7.1,240,3914,0.00,2.53,0.00,0.000,6,0.000,0.048,2871,2100,3110,0,0,0,0,0,0
$GC,4260,-1.19,-116.8,431.5,-5.7,249,4264,0.00,2.60,0.00,0.000,4,0.000,0.057,2870,691,3107,0,0,0,0,0,0
$GC,4397,-1.19,-116.8,440.6,-6.6,252,4402,0.00,2.47,0.00,0.000,6,0.000,0.031,2870,2096,3107,0,0,0,0,0,0
$STATE,4559,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4560,begin apogee
$GC,4567,-0.31,0.0,451.5,6.6,256,4666,0.95,0.00,95.70,0.816,6,0.083,0.000,3067,1796,2635,0,0,0,0,0,0
$STATE,4667,end apogee,CONTROL_FINISHED_OK
$STATE,4667,begin climb
$GC,4669,1.19,116.8,453.4,0.0,258,4776,1.50,0.00,102.03,0.798,6,0.055,0.000,3395,1795,2158,0,0,0,0,0,0
$GC,5088,1.19,116.8,406.8,12.5,269,5092,0.00,2.67,0.00,0.000,4,0.000,0.063,3394,394,2146,0,0,0,0,0,0
$GC,5154,1.19,116.8,397.2,13.8,270,5159,0.00,2.53,0.00,0.000,6,0.000,0.028,3394,1807,2143,0,0,0,0,0,0
$GC,5499,1.19,116.8,357.9,10.5,279,5504,0.00,2.55,0.00,0.000,4,0.000,0.050,3394,3198,2141,0,0,0,0,0,0
$GC,5551,1.19,116.8,352.5,10.6,280,5556,0.00,2.60,0.00,0.000,6,0.000,0.052,3394,1809,2141,0,0,0,0,0,0
$GC,5870,1.19,116.8,316.7,11.6,288,5874,0.00,2.65,0.00,0.000,4,0.000,0.060,3394,390,2138,0,0,0,0,0,0
$GC,5913,1.19,116.8,311.1,13.6,289,5917,0.00,2.50,0.00,0.000,6,0.000,0.026,3395,1801,2137,0,0,0,0,0,0
$GC,6244,1.19,116.8,270.2,12.9,302,6248,0.00,2.53,0.00,0.000,4,0.000,0.046,3394,3197,2136,0,0,0,0,0,0
$GC,6267,1.19,116.8,267.2,12.3,303,6271,0.00,2.60,0.00,0.000,6,0.000,0.049,3394,1799,2136,0,0,0,0,0,0
$GC,6593,1.19,116.8,232.0,9.8,319,6597,0.00,2.62,0.00,0.000,4,0.000,0.058,3394,390,2134,0,0,0,0,0,0
$GC,6659,1.19,116.8,224.1,12.5,322,6663,0.00,2.50,0.00,0.000,6,0.000,0.025,3394,1810,2133,0,0,0,0,0,0
$GC,6982,1.19,116.8,190.3,10.5,341,6983,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1811,2133,0,0,0,0,0,0
$GC,7236,1.19,116.8,165.5,9.2,365,7240,0.00,2.62,0.00,0.000,4,0.000,0.052,3395,390,2132,0,0,0,0,0,0
$GC,7274,1.19,116.8,161.5,10.2,368,7281,0.00,2.47,0.00,0.000,6,0.000,0.023,3394,1804,2131,0,0,0,0,0,0
$GC,7539,1.21,131.6,139.7,7.3,393,7558,0.00,2.62,9.45,0.530,4,0.000,0.050,3394,391,2097,0,0,0,0,0,0
$GC,7587,1.21,131.6,134.9,10.2,398,7592,0.00,2.45,0.00,0.000,6,0.000,0.021,3394,1804,2095,0,0,0,0,0,0
$GC,7851,1.21,131.6,108.7,10.2,422,7852,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1809,2096,0,0,0,0,0,0
$GC,8103,1.21,131.6,83.1,9.7,446,8104,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1810,2095,0,0,0,0,0,0
$GC,8360,1.22,136.4,62.1,7.8,470,8369,0.00,0.00,5.65,0.404,6,0.000,0.000,3394,1810,2078,0,0,0,0,0,0
$GC,8627,1.26,168.9,42.6,6.5,495,8663,0.00,0.00,29.42,0.493,6,0.000,0.000,3395,1810,1946,0,0,0,0,0,0
$GC,8922,1.32,219.0,21.0,5.7,535,8972,0.12,0.00,43.30,0.478,6,0.061,0.000,3440,1810,1740,0,0,0,0,0,0
$STATE,9087,end climb,SURFACE_DEPTH_REACHED
$STATE,9087,begin surface coast
$FINISH,1.0,1.012647
$STATE,9115,end surface coast,CONTROL_FINISHED_OK
$STATE,9115,begin surface
$SM_CCo,9139,56.70,0.458,0,0,1288,330.17
$SM_GC,1.54,0.00,0.00,56.70,0.000,0.000,0.458,428,2134,1288,-12.46,0.96,330.17
$IRIDIUM_FIX,2104.07,-15747.88,180700,060646
$TT8_MAMPS,0.029146
$HUMID,55.04
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.60
$XPDR_PINGS,1
$24V_AH,23.5,13.522
$10V_AH,10.5,13.089
$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,28.650,81.475,285.550,56.700,0.000,27.452,34.061,148.073,4.750,0.000,14.673,1035.890,6062.355,430.316,1574.790,424.140,33.353,1094.035,0.000,1564.326,0.000,29.254,0.000
$DEVICE_MAMPS,134.992,62.894,816.088,457.899,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,384.766,366.775,842.771,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,31704,570
$CAP_FILE_SIZE,88522,0
$CFSIZE,260165632,248279040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240411,115037,2111.334,-15749.417,35,0.9,35,9.8