version: 66.06
glider: 139
mission: 9
dive: 171
start: 4 24 111 11 57 7
data:
$ID,139
$MISSION,9
$DIVE,171
$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,-2179066.8
$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,18
$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
$GPS1,115037,2111.334,-15749.417,35,0.9,35,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-74.2
$GPS2,115614,2111.363,-15749.434,13,1.4,13,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.194,0.107
$KALMAN_X,-91880.6,554.1,367.6,93034.8,-2925.4
$KALMAN_Y,-37341.7,60.7,221.4,38178.3,-520.7
$MHEAD_RNG_PITCHd_Wd,51.2,15243,-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,-70.38,0.000,6,0.000,0.000,428,2135,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.8,-5.4,14,114,13.10,2.38,0.00,0.000,4,0.134,0.031,2868,3479,3113,0,0,0,0,0,0
$GC,289,-1.19,-116.8,42.7,-15.8,48,296,0.00,2.50,0.00,0.000,6,0.000,0.036,2868,2090,3115,0,0,0,0,0,0
$GC,552,-1.19,-116.8,82.1,-15.0,73,556,0.00,2.45,0.00,0.000,4,0.000,0.035,2868,3470,3116,0,0,0,0,0,0
$GC,707,-1.19,-116.8,105.8,-14.5,89,711,0.00,2.45,0.00,0.000,6,0.000,0.034,2869,2090,3116,0,0,0,0,0,0
$GC,971,-1.19,-116.8,138.6,-12.2,113,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2090,3117,0,0,0,0,0,0
$GC,1232,-1.19,-116.8,170.4,-12.2,138,1236,0.00,2.50,0.00,0.000,4,0.000,0.044,2868,684,3118,0,0,0,0,0,0
$GC,1269,-1.19,-116.8,175.2,-13.5,141,1275,0.00,2.38,0.00,0.000,6,0.000,0.022,2868,2069,3118,0,0,0,0,0,0
$GC,1544,-1.19,-116.8,205.0,-10.8,165,1546,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2069,3118,0,0,0,0,0,0
$GC,1849,-1.19,-116.8,235.0,-9.6,180,1850,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2070,3118,0,0,0,0,0,0
$GC,2159,-1.19,-116.8,266.9,-11.0,195,2164,0.00,2.58,0.00,0.000,4,0.000,0.046,2868,3496,3118,0,0,0,0,0,0
$GC,2179,-1.19,-116.8,269.1,-10.7,196,2184,0.00,2.47,0.00,0.000,6,0.000,0.038,2868,2097,3118,0,0,0,0,0,0
$GC,2510,-1.19,-116.8,294.9,-7.4,212,2514,0.00,2.53,0.00,0.000,4,0.000,0.047,2868,3501,3118,0,0,0,0,0,0
$GC,2657,-1.19,-116.8,306.2,-7.6,217,2661,0.00,2.50,0.00,0.000,6,0.000,0.041,2868,2100,3117,0,0,0,0,0,0
$GC,2971,-1.19,-116.8,330.5,-7.6,225,2976,0.00,2.55,0.00,0.000,4,0.000,0.051,2868,683,3117,0,0,0,0,0,0
$GC,3061,-1.19,-116.8,337.6,-7.9,227,3066,0.00,2.47,0.00,0.000,6,0.000,0.028,2868,2103,3116,0,0,0,0,0,0
$GC,3390,-1.19,-116.8,362.1,-7.3,235,3394,0.00,2.58,0.00,0.000,4,0.000,0.051,2868,692,3114,0,0,0,0,0,0
$GC,3509,-1.19,-116.8,370.8,-7.4,237,3514,0.00,2.45,0.00,0.000,6,0.000,0.030,2868,2104,3114,0,0,0,0,0,0
$GC,3850,-1.19,-116.8,394.5,-6.7,246,3855,0.00,2.55,0.00,0.000,4,0.000,0.056,2868,3498,3112,0,0,0,0,0,0
$GC,4081,-1.19,-116.8,413.2,-8.4,251,4085,0.00,2.53,0.00,0.000,6,0.000,0.047,2868,2105,3110,0,0,0,0,0,0
$GC,4404,-1.19,-116.8,437.2,-7.4,259,4409,0.00,2.60,0.00,0.000,4,0.000,0.057,2868,684,3108,0,0,0,0,0,0
$GC,4474,-1.19,-116.8,442.8,-8.1,260,4479,0.00,2.47,0.00,0.000,6,0.000,0.032,2868,2097,3107,0,0,0,0,0,0
$STATE,4609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4609,begin apogee
$GC,4616,-0.31,0.0,452.1,6.8,264,4715,0.95,0.00,95.90,0.821,6,0.083,0.000,3065,1788,2634,0,0,0,0,0,0
$STATE,4716,end apogee,CONTROL_FINISHED_OK
$STATE,4716,begin climb
$GC,4719,1.19,116.8,453.3,0.0,266,4825,1.50,0.00,101.70,0.804,6,0.056,0.000,3395,1787,2158,0,0,0,0,0,0
$GC,5128,1.19,116.8,402.3,13.4,276,5133,0.00,2.65,0.00,0.000,4,0.000,0.064,3395,398,2147,0,0,0,0,0,0
$GC,5180,1.19,116.8,394.8,13.6,277,5184,0.00,2.53,0.00,0.000,6,0.000,0.029,3395,1813,2143,0,0,0,0,0,0
$GC,5498,1.19,116.8,359.0,11.2,285,5503,0.00,2.70,0.00,0.000,4,0.000,0.061,3395,393,2141,0,0,0,0,0,0
$GC,5518,1.19,116.8,356.5,12.5,285,5522,0.00,2.50,0.00,0.000,6,0.000,0.028,3395,1808,2140,0,0,0,0,0,0
$GC,5863,1.19,116.8,317.3,11.7,294,5867,0.00,2.70,0.00,0.000,4,0.000,0.060,3395,394,2139,0,0,0,0,0,0
$GC,5914,1.19,116.8,310.7,12.4,295,5919,0.00,2.47,0.00,0.000,6,0.000,0.028,3395,1797,2136,0,0,0,0,0,0
$GC,6236,1.19,116.8,277.0,10.2,308,6240,0.00,2.65,0.00,0.000,4,0.000,0.059,3395,397,2136,0,0,0,0,0,0
$GC,6287,1.19,116.8,270.8,12.0,310,6291,0.00,2.50,0.00,0.000,6,0.000,0.028,3396,1805,2134,0,0,0,0,0,0
$GC,6607,1.19,116.8,235.4,12.1,326,6611,0.00,2.50,0.00,0.000,4,0.000,0.042,3395,3198,2133,0,0,0,0,0,0
$GC,6630,1.19,116.8,232.5,12.5,327,6634,0.00,2.55,0.00,0.000,6,0.000,0.044,3395,1805,2133,0,0,0,0,0,0
$GC,6956,1.19,116.8,199.8,8.4,343,6957,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1805,2133,0,0,0,0,0,0
$GC,7211,1.19,116.8,179.8,8.8,367,7216,0.00,2.60,0.00,0.000,4,0.000,0.054,3395,393,2132,0,0,0,0,0,0
$GC,7267,1.19,116.8,174.2,9.3,372,7274,0.00,2.50,0.00,0.000,6,0.000,0.024,3395,1808,2131,0,0,0,0,0,0
$GC,7531,1.19,116.8,148.1,10.8,397,7536,0.00,2.62,0.00,0.000,4,0.000,0.052,3395,386,2132,0,0,0,0,0,0
$GC,7557,1.19,116.8,144.8,12.5,399,7562,0.00,2.47,0.00,0.000,6,0.000,0.022,3395,1812,2131,0,0,0,0,0,0
$GC,7822,1.19,116.8,117.8,9.7,423,7826,0.00,2.60,0.00,0.000,4,0.000,0.049,3395,392,2132,0,0,0,0,0,0
$GC,7866,1.19,116.8,112.9,10.7,427,7871,0.00,2.42,0.00,0.000,6,0.000,0.021,3395,1806,2131,0,0,0,0,0,0
$GC,8131,1.19,116.8,88.6,9.5,451,8135,0.00,2.42,0.00,0.000,4,0.000,0.031,3395,3197,2132,0,0,0,0,0,0
$GC,8146,1.19,116.8,86.8,9.3,452,8151,0.00,2.50,0.00,0.000,6,0.000,0.035,3395,1797,2132,0,0,0,0,0,0
$GC,8412,1.24,153.6,64.5,6.3,476,8446,0.00,2.62,28.17,0.515,4,0.000,0.049,3395,383,2007,0,0,0,0,0,0
$GC,8460,1.24,154.9,60.9,8.0,480,8467,0.00,2.50,0.00,0.000,6,0.000,0.020,3395,1805,2004,0,0,0,0,0,0
$GC,8723,1.24,154.9,40.0,8.6,505,8727,0.00,2.62,0.00,0.000,4,0.000,0.048,3395,388,2004,0,0,0,0,0,0
$GC,8784,1.24,154.9,33.5,11.5,511,8788,0.00,2.42,0.00,0.000,6,0.000,0.019,3395,1803,2001,0,0,0,0,0,0
$GC,9049,1.26,172.7,11.8,7.2,556,9073,0.00,2.45,17.08,0.453,4,0.000,0.029,3396,3188,1930,0,0,0,0,0,0
$GC,9118,1.31,213.4,7.6,6.2,570,9164,0.08,2.55,35.92,0.466,6,0.035,0.034,3438,1795,1763,0,0,0,0,0,0
$STATE,9174,end climb,SURFACE_DEPTH_REACHED
$STATE,9175,begin surface coast
$FINISH,0.8,1.000361
$STATE,9209,end surface coast,CONTROL_FINISHED_OK
$STATE,9209,begin surface
$SM_CCo,9233,59.75,0.460,0,0,1288,330.17
$SM_GC,1.55,0.00,0.00,59.75,0.000,0.000,0.460,428,2131,1288,-12.46,0.88,330.17
$IRIDIUM_FIX,2101.76,-15753.03,180700,090921
$TT8_MAMPS,0.029146
$HUMID,54.80
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.50
$XPDR_PINGS,1
$24V_AH,23.5,13.600
$10V_AH,10.5,13.166
$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,28.575,107.075,278.775,59.750,0.000,31.753,36.489,152.958,4.750,0.000,13.724,1093.605,5953.097,417.315,1721.268,448.562,33.348,1151.893,0.000,1702.482,0.000,29.245,0.000
$DEVICE_MAMPS,134.225,64.428,821.457,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,396.010,380.220,879.581,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31749,586
$CAP_FILE_SIZE,98151,0
$CFSIZE,260165632,248225792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,240411,143337,2111.832,-15748.990,58,1.1,58,9.8