version: 66.06
glider: 139
mission: 9
dive: 172
start: 4 24 111 14 40 25
data:
$ID,139
$MISSION,9
$DIVE,172
$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,-2179085.8
$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,72
$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
$GPS1,143337,2111.832,-15748.990,58,1.1,58,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-74.0
$GPS2,143932,2111.833,-15749.029,18,1.5,18,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.177,-0.133
$KALMAN_X,-93347.7,207.5,756.2,95155.4,-3585.4
$KALMAN_Y,-37566.3,188.2,-3.7,39375.4,-481.4
$MHEAD_RNG_PITCHd_Wd,117.2,15355,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.19,-116.8,0.0,0.0,0,94,0.00,0.00,-70.62,0.000,6,0.000,0.000,428,2131,3112,0,0,0,0,0,0
$GC,98,-1.19,-116.8,3.8,-5.9,14,117,13.15,2.55,0.00,0.000,4,0.136,0.031,2869,677,3113,0,0,0,0,0,0
$GC,154,-1.19,-116.8,19.5,-19.7,25,161,0.00,2.42,0.00,0.000,6,0.000,0.022,2870,2065,3115,0,0,0,0,0,0
$GC,360,-1.19,-116.8,53.0,-15.9,50,364,0.00,2.50,0.00,0.000,4,0.000,0.042,2870,683,3116,0,0,0,0,0,0
$GC,377,-1.19,-116.8,55.5,-14.8,51,381,0.00,2.45,0.00,0.000,6,0.000,0.021,2870,2107,3115,0,0,0,0,0,0
$GC,639,-1.19,-116.8,92.4,-13.7,75,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2110,3117,0,0,0,0,0,0
$GC,894,-1.19,-116.8,123.3,-11.4,99,899,0.00,2.55,0.00,0.000,4,0.000,0.042,2870,679,3117,0,0,0,0,0,0
$GC,946,-1.19,-116.8,129.6,-12.2,104,950,0.00,2.45,0.00,0.000,6,0.000,0.022,2870,2103,3117,0,0,0,0,0,0
$GC,1208,-1.19,-116.8,157.2,-11.1,128,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2103,3117,0,0,0,0,0,0
$GC,1462,-1.19,-116.8,183.6,-10.7,152,1463,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2104,3118,0,0,0,0,0,0
$GC,1714,-1.19,-116.8,208.7,-10.0,172,1718,0.00,2.53,0.00,0.000,4,0.000,0.043,2870,3506,3118,0,0,0,0,0,0
$GC,1736,-1.19,-116.8,210.9,-11.0,173,1740,0.00,2.53,0.00,0.000,6,0.000,0.036,2870,2084,3118,0,0,0,0,0,0
$GC,2068,-1.19,-116.8,244.1,-10.3,189,2070,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2084,3117,0,0,0,0,0,0
$GC,2375,-1.19,-116.8,274.5,-8.9,204,2376,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2083,3117,0,0,0,0,0,0
$GC,2686,-1.19,-116.8,296.7,-6.4,219,2687,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2083,3117,0,0,0,0,0,0
$GC,2992,-1.19,-116.8,321.9,-8.5,228,2996,0.00,2.58,0.00,0.000,4,0.000,0.048,2870,3495,3116,0,0,0,0,0,0
$GC,3062,-1.19,-116.8,328.4,-8.7,229,3066,0.00,2.50,0.00,0.000,6,0.000,0.043,2870,2098,3116,0,0,0,0,0,0
$GC,3403,-1.19,-116.8,353.6,-6.6,238,3407,0.00,2.55,0.00,0.000,4,0.000,0.050,2870,3492,3114,0,0,0,0,0,0
$GC,3578,-1.19,-116.8,365.8,-7.4,241,3584,0.00,2.53,0.00,0.000,6,0.000,0.046,2870,2099,3114,0,0,0,0,0,0
$GC,3910,-1.19,-116.8,388.2,-6.3,250,3914,0.00,2.58,0.00,0.000,4,0.000,0.054,2870,687,3112,0,0,0,0,0,0
$GC,3994,-1.19,-116.8,394.9,-7.9,251,3999,0.00,2.47,0.00,0.000,6,0.000,0.031,2870,2093,3111,0,0,0,0,0,0
$GC,4325,-1.19,-116.8,416.2,-6.1,260,4330,0.00,2.60,0.00,0.000,4,0.000,0.058,2870,3507,3108,0,0,0,0,0,0
$GC,4340,-1.19,-116.8,417.2,-6.6,260,4344,0.00,2.55,0.00,0.000,6,0.000,0.048,2870,2103,3108,0,0,0,0,0,0
$GC,4690,-1.19,-116.8,438.6,-6.1,269,4695,0.00,2.60,0.00,0.000,4,0.000,0.058,2870,686,3106,0,0,0,0,0,0
$GC,4769,-1.19,-116.8,444.5,-7.2,270,4773,0.00,2.50,0.00,0.000,6,0.000,0.033,2870,2100,3106,0,0,0,0,0,0
$STATE,4854,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4854,begin apogee
$GC,4861,-0.31,0.0,450.5,6.9,272,4960,0.95,0.00,95.32,0.821,6,0.084,0.000,3066,1791,2635,0,0,0,0,0,0
$STATE,4961,end apogee,CONTROL_FINISHED_OK
$STATE,4961,begin climb
$GC,4963,1.19,116.8,452.3,0.0,274,5072,1.50,0.00,100.95,0.802,6,0.056,0.000,3396,1791,2158,0,0,0,0,0,0
$GC,5412,1.19,116.8,400.9,12.6,285,5417,0.00,2.62,0.00,0.000,4,0.000,0.064,3396,399,2146,0,0,0,0,0,0
$GC,5478,1.19,116.8,391.5,14.1,286,5482,0.00,2.53,0.00,0.000,6,0.000,0.030,3396,1805,2142,0,0,0,0,0,0
$GC,5823,1.19,116.8,353.0,10.7,295,5828,0.00,2.70,0.00,0.000,4,0.000,0.061,3396,398,2141,0,0,0,0,0,0
$GC,5856,1.19,116.8,348.9,12.3,295,5861,0.00,2.47,0.00,0.000,6,0.000,0.029,3396,1803,2139,0,0,0,0,0,0
$GC,6187,1.19,116.8,313.2,11.2,303,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1806,2138,0,0,0,0,0,0
$GC,6496,1.19,116.8,278.1,11.4,315,6501,0.00,2.67,0.00,0.000,4,0.000,0.060,3396,398,2137,0,0,0,0,0,0
$GC,6557,1.19,116.8,270.2,11.8,317,6563,0.00,2.47,0.00,0.000,6,0.000,0.027,3397,1806,2133,0,0,0,0,0,0
$GC,6874,1.19,116.8,236.4,9.7,333,6878,0.00,2.65,0.00,0.000,4,0.000,0.057,3396,397,2133,0,0,0,0,0,0
$GC,6897,1.19,116.8,233.5,11.5,334,6902,0.00,2.47,0.00,0.000,6,0.000,0.026,3396,1803,2133,0,0,0,0,0,0
$GC,7222,1.19,116.8,203.3,9.2,350,7227,0.00,2.50,0.00,0.000,4,0.000,0.039,3397,3197,2133,0,0,0,0,0,0
$GC,7259,1.19,116.8,199.7,9.9,351,7265,0.00,2.58,0.00,0.000,6,0.000,0.044,3396,1802,2132,0,0,0,0,0,0
$GC,7584,1.19,116.8,169.3,9.7,382,7588,0.00,2.62,0.00,0.000,4,0.000,0.054,3396,382,2133,0,0,0,0,0,0
$GC,7609,1.19,116.8,166.6,11.6,384,7613,0.00,2.47,0.00,0.000,6,0.000,0.023,3397,1805,2131,0,0,0,0,0,0
$GC,7872,1.19,116.8,142.5,8.8,408,7876,0.00,2.45,0.00,0.000,4,0.000,0.035,3397,3200,2131,0,0,0,0,0,0
$GC,7913,1.19,116.8,139.0,8.3,412,7919,0.00,2.58,0.00,0.000,6,0.000,0.040,3396,1800,2131,0,0,0,0,0,0
$GC,8175,1.19,116.8,118.0,8.6,437,8180,0.00,2.58,0.00,0.000,4,0.000,0.051,3396,381,2132,0,0,0,0,0,0
$GC,8246,1.19,116.8,111.6,9.5,444,8250,0.00,2.45,0.00,0.000,6,0.000,0.021,3397,1802,2131,0,0,0,0,0,0
$GC,8509,1.21,128.5,92.2,7.5,468,8521,0.00,2.70,6.72,0.447,4,0.000,0.049,3396,381,2110,0,0,0,0,0,0
$GC,8579,1.21,128.5,86.3,8.9,475,8583,0.00,2.45,0.00,0.000,6,0.000,0.020,3397,1804,2109,0,0,0,0,0,0
$GC,8844,1.24,153.9,67.0,6.9,499,8870,0.00,0.00,23.50,0.506,6,0.000,0.000,3397,1810,2006,0,0,0,0,0,0
$GC,9128,1.24,153.9,42.6,9.2,526,9133,0.00,2.60,0.00,0.000,4,0.000,0.047,3396,388,2004,0,0,0,0,0,0
$GC,9173,1.24,153.9,37.6,10.2,530,9180,0.00,2.45,0.00,0.000,6,0.000,0.020,3397,1802,2001,0,0,0,0,0,0
$GC,9440,1.28,187.0,17.6,6.5,570,9474,0.00,2.47,29.27,0.466,4,0.000,0.028,3397,3196,1871,0,0,0,0,0,0
$GC,9535,1.28,187.0,10.2,8.3,589,9541,0.00,2.55,0.00,0.000,6,0.000,0.031,3396,1795,1871,0,0,0,0,0,0
$STATE,9628,end climb,SURFACE_DEPTH_REACHED
$STATE,9628,begin surface coast
$FINISH,0.8,1.010359
$STATE,9671,end surface coast,CONTROL_FINISHED_OK
$STATE,9671,begin surface
$SM_CCo,9695,73.38,0.459,0,0,1288,330.17
$SM_GC,1.55,0.00,0.00,73.38,0.000,0.000,0.459,427,2130,1288,-12.47,0.85,330.17
$IRIDIUM_FIX,2104.07,-15750.89,180700,121216
$TT8_MAMPS,0.029146
$HUMID,53.42
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.5,13.676
$10V_AH,10.6,13.245
$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,28.275,102.550,255.775,73.375,0.000,28.359,37.029,166.850,4.500,0.000,18.278,1123.480,6456.873,400.673,1674.246,471.323,33.347,1112.823,0.000,1661.678,0.000,29.244,0.000
$DEVICE_MAMPS,135.759,63.661,821.457,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,414.768,399.212,910.091,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,34980,613
$CAP_FILE_SIZE,97645,0
$CFSIZE,260165632,248172544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240411,172428,2111.207,-15749.247,15,2.9,34,9.8