version: 66.06
glider: 139
mission: 9
dive: 174
start: 4 24 111 20 22 50
data:
$ID,139
$MISSION,9
$DIVE,174
$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,-2179149.5
$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,17
$R_STBD_OVSHOOT,77
$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
$GPS1,201607,2111.604,-15749.396,46,1.1,46,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-73.5
$GPS2,202155,2111.691,-15749.457,9,1.3,14,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.219,-0.032
$KALMAN_X,-96836.9,-152.2,-456.3,99485.3,-1974.6
$KALMAN_Y,-37140.9,300.1,130.3,38440.5,-114.5
$MHEAD_RNG_PITCHd_Wd,88.4,15688,-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,12,begin dive
$GC,15,-1.19,-116.8,0.0,0.0,0,87,0.00,0.00,-69.78,0.000,6,0.000,0.000,424,2133,3112,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.2,-3.9,13,110,13.12,2.60,0.00,0.000,4,0.135,0.038,2869,680,3114,0,0,0,0,0,0
$GC,139,-1.19,-116.8,17.6,-27.2,22,145,0.00,2.40,0.00,0.000,6,0.000,0.023,2869,2049,3115,0,0,0,0,0,0
$GC,345,-1.19,-116.8,52.4,-14.4,47,349,0.00,2.50,0.00,0.000,4,0.000,0.036,2869,3468,3116,0,0,0,0,0,0
$GC,604,-1.19,-116.8,90.8,-14.4,75,609,0.00,2.42,0.00,0.000,6,0.000,0.032,2869,2090,3117,0,0,0,0,0,0
$GC,869,-1.19,-116.8,123.6,-11.9,100,873,0.00,2.42,0.00,0.000,4,0.000,0.036,2869,3467,3117,0,0,0,0,0,0
$GC,896,-1.19,-116.8,127.8,-13.5,102,903,0.00,2.45,0.00,0.000,6,0.000,0.035,2869,2096,3118,0,0,0,0,0,0
$GC,1160,-1.19,-116.8,157.9,-10.8,127,1165,0.00,2.42,0.00,0.000,4,0.000,0.038,2869,3458,3118,0,0,0,0,0,0
$GC,1222,-1.19,-116.8,165.4,-11.9,133,1227,0.00,2.40,0.00,0.000,6,0.000,0.035,2869,2095,3118,0,0,0,0,0,0
$GC,1487,-1.19,-116.8,191.5,-10.8,157,1491,0.00,2.45,0.00,0.000,4,0.000,0.040,2869,3464,3119,0,0,0,0,0,0
$GC,1513,-1.19,-116.8,194.5,-10.1,159,1517,0.00,2.40,0.00,0.000,6,0.000,0.036,2869,2099,3119,0,0,0,0,0,0
$GC,1778,-1.19,-116.8,217.0,-8.4,174,1783,0.00,2.45,0.00,0.000,4,0.000,0.042,2869,3463,3119,0,0,0,0,0,0
$GC,1856,-1.19,-116.8,223.9,-9.0,177,1860,0.00,2.42,0.00,0.000,6,0.000,0.038,2869,2091,3119,0,0,0,0,0,0
$GC,2172,-1.19,-116.8,252.6,-10.1,192,2176,0.00,2.50,0.00,0.000,4,0.000,0.047,2869,692,3119,0,0,0,0,0,0
$GC,2241,-1.19,-116.8,260.0,-10.7,195,2245,0.00,2.38,0.00,0.000,6,0.000,0.027,2869,2058,3119,0,0,0,0,0,0
$GC,2573,-1.19,-116.8,290.6,-9.2,211,2577,0.00,2.60,0.00,0.000,4,0.000,0.048,2869,3504,3118,0,0,0,0,0,0
$GC,2639,-1.19,-116.8,297.5,-9.8,214,2643,0.00,2.53,0.00,0.000,6,0.000,0.042,2869,2102,3118,0,0,0,0,0,0
$GC,2964,-1.19,-116.8,324.7,-7.9,223,2969,0.00,2.55,0.00,0.000,4,0.000,0.049,2870,3510,3116,0,0,0,0,0,0
$GC,2988,-1.19,-116.8,326.6,-7.9,223,2993,0.00,2.53,0.00,0.000,6,0.000,0.043,2869,2100,3116,0,0,0,0,0,0
$GC,3329,-1.19,-116.8,353.0,-7.4,232,3334,0.00,2.58,0.00,0.000,4,0.000,0.051,2869,3503,3115,0,0,0,0,0,0
$GC,3344,-1.19,-116.8,354.1,-6.9,232,3349,0.00,2.53,0.00,0.000,6,0.000,0.045,2869,2101,3115,0,0,0,0,0,0
$GC,3695,-1.19,-116.8,380.3,-7.9,241,3699,0.00,2.58,0.00,0.000,4,0.000,0.053,2869,691,3113,0,0,0,0,0,0
$GC,3843,-1.19,-116.8,391.3,-7.1,244,3847,0.00,2.47,0.00,0.000,6,0.000,0.030,2869,2101,3112,0,0,0,0,0,0
$GC,4157,-1.19,-116.8,413.0,-7.1,252,4161,0.00,2.58,0.00,0.000,4,0.000,0.053,2869,691,3109,0,0,0,0,0,0
$GC,4167,-1.19,-116.8,413.8,-7.4,252,4171,0.00,2.47,0.00,0.000,6,0.000,0.031,2869,2100,3109,0,0,0,0,0,0
$GC,4481,-1.19,-116.8,436.5,-7.2,260,4482,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2101,3107,0,0,0,0,0,0
$STATE,4722,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4722,begin apogee
$GC,4729,-0.31,0.0,452.4,6.4,266,4827,0.95,0.00,95.45,0.821,6,0.082,0.000,3067,1790,2635,0,0,0,0,0,0
$STATE,4828,end apogee,CONTROL_FINISHED_OK
$STATE,4828,begin climb
$GC,4831,1.19,116.8,453.7,0.0,268,4937,1.48,0.00,101.18,0.801,6,0.055,0.000,3393,1789,2157,0,0,0,0,0,0
$GC,5241,1.19,116.8,405.8,13.0,278,5245,0.00,2.65,0.00,0.000,4,0.000,0.049,3393,3201,2147,0,0,0,0,0,0
$GC,5264,1.19,116.8,402.5,12.2,278,5269,0.00,2.65,0.00,0.000,6,0.000,0.054,3393,1808,2147,0,0,0,0,0,0
$GC,5605,1.19,116.8,361.5,11.8,287,5610,0.00,2.70,0.00,0.000,4,0.000,0.063,3392,387,2143,0,0,0,0,0,0
$GC,5648,1.19,116.8,355.9,13.5,288,5653,0.00,2.55,0.00,0.000,6,0.000,0.028,3393,1812,2140,0,0,0,0,0,0
$GC,5976,1.19,116.8,316.3,12.0,296,5981,0.00,2.70,0.00,0.000,4,0.000,0.060,3393,386,2138,0,0,0,0,0,0
$GC,6005,1.19,116.8,312.3,14.6,296,6009,0.00,2.53,0.00,0.000,6,0.000,0.028,3393,1807,2137,0,0,0,0,0,0
$GC,6324,1.19,116.8,277.8,9.6,309,6329,0.00,2.53,0.00,0.000,4,0.000,0.044,3393,3197,2137,0,0,0,0,0,0
$GC,6362,1.19,116.8,274.0,10.1,310,6369,0.00,2.62,0.00,0.000,6,0.000,0.050,3393,1802,2137,0,0,0,0,0,0
$GC,6678,1.19,116.8,237.9,11.4,326,6682,0.00,2.62,0.00,0.000,4,0.000,0.060,3393,388,2135,0,0,0,0,0,0
$GC,6784,1.19,116.8,224.7,11.5,330,6791,0.00,2.53,0.00,0.000,6,0.000,0.026,3393,1807,2133,0,0,0,0,0,0
$GC,7100,1.19,116.8,194.7,9.6,348,7105,0.00,2.50,0.00,0.000,4,0.000,0.041,3393,3197,2133,0,0,0,0,0,0
$GC,7153,1.19,116.8,189.5,9.7,353,7158,0.00,2.55,0.00,0.000,6,0.000,0.044,3392,1800,2133,0,0,0,0,0,0
$GC,7418,1.19,116.8,163.6,9.5,377,7422,0.00,2.60,0.00,0.000,4,0.000,0.054,3393,382,2132,0,0,0,0,0,0
$GC,7437,1.19,116.8,161.2,10.2,378,7444,0.00,2.50,0.00,0.000,6,0.000,0.023,3393,1806,2132,0,0,0,0,0,0
$GC,7701,1.19,116.8,135.7,8.8,403,7705,0.00,2.62,0.00,0.000,4,0.000,0.051,3393,385,2132,0,0,0,0,0,0
$GC,7735,1.19,116.8,132.3,9.3,406,7739,0.00,2.42,0.00,0.000,6,0.000,0.022,3393,1803,2131,0,0,0,0,0,0
$GC,7998,1.19,116.8,108.8,8.7,430,8002,0.00,2.60,0.00,0.000,4,0.000,0.049,3393,388,2132,0,0,0,0,0,0
$GC,8017,1.19,116.8,106.7,9.6,431,8022,0.00,2.45,0.00,0.000,6,0.000,0.021,3393,1807,2131,0,0,0,0,0,0
$GC,8278,1.19,116.8,84.3,8.5,456,8282,0.00,2.45,0.00,0.000,4,0.000,0.034,3393,3195,2132,0,0,0,0,0,0
$GC,8340,1.24,153.2,79.7,6.4,462,8373,0.00,2.50,27.73,0.531,6,0.000,0.037,3393,1797,2010,0,0,0,0,0,0
$GC,8631,1.26,173.2,57.9,7.1,489,8655,0.00,2.62,18.02,0.494,4,0.000,0.049,3393,378,1929,0,0,0,0,0,0
$GC,8692,1.26,173.2,52.6,10.3,495,8699,0.00,2.47,0.00,0.000,6,0.000,0.020,3393,1797,1925,0,0,0,0,0,0
$GC,8954,1.26,173.2,30.4,9.1,520,8959,0.00,2.62,0.00,0.000,4,0.000,0.048,3393,384,1925,0,0,0,0,0,0
$GC,8992,1.26,173.2,26.7,10.2,527,8999,0.00,2.47,0.00,0.000,6,0.000,0.019,3393,1804,1923,0,0,0,0,0,0
$GC,9197,1.30,198.4,10.7,6.9,564,9226,0.12,2.47,22.55,0.459,4,0.061,0.028,3440,3195,1825,0,0,0,0,0,0
$GC,9272,1.30,198.4,4.3,9.5,579,9278,0.00,2.58,0.00,0.000,6,0.000,0.039,3439,1803,1824,0,0,0,0,0,0
$STATE,9285,end climb,SURFACE_DEPTH_REACHED
$STATE,9285,begin surface coast
$FINISH,0.8,1.018628
$STATE,9312,end surface coast,CONTROL_FINISHED_OK
$STATE,9312,begin surface
$SM_CCo,9336,69.60,0.463,0,0,1288,330.17
$SM_GC,1.47,0.00,0.00,69.60,0.000,0.000,0.463,429,2162,1288,-12.46,1.75,330.17
$IRIDIUM_FIX,2104.07,-15750.89,180700,171707
$TT8_MAMPS,0.029146
$HUMID,54.92
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.5,13.830
$10V_AH,10.5,13.401
$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,28.525,127.225,264.925,69.600,0.000,22.621,37.046,169.559,4.500,0.000,15.025,1105.725,6101.208,431.669,1654.785,465.411,33.351,1152.236,0.000,1639.823,0.000,29.246,0.000
$DEVICE_MAMPS,134.992,62.894,820.690,462.501,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,396.383,380.445,865.273,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31824,586
$CAP_FILE_SIZE,101705,0
$CFSIZE,260165632,248074240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240411,230031,2111.743,-15748.706,9,1.8,15,9.8