version: 66.06
glider: 139
mission: 9
dive: 175
start: 4 24 111 23 7 23
data:
$ID,139
$MISSION,9
$DIVE,175
$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,-2179182.2
$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,14
$R_STBD_OVSHOOT,82
$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
$GPS1,230031,2111.743,-15748.706,9,1.8,15,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-75.9
$GPS2,230631,2111.806,-15748.695,14,1.8,31,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.213,-0.062
$KALMAN_X,-98518.6,-8.1,-37.3,101917.4,-1588.1
$KALMAN_Y,-36597.5,221.2,253.8,38061.7,-187.8
$MHEAD_RNG_PITCHd_Wd,96.5,14926,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-69.95,0.000,2,0.000,0.000,428,2162,3105,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.2,-3.9,13,110,13.12,2.65,0.00,0.000,4,0.135,0.035,2870,671,3107,0,0,0,0,0,0
$GC,122,-1.19,-116.8,13.4,-28.9,18,129,0.00,2.42,0.00,0.000,6,0.000,0.025,2870,2047,3108,0,0,0,0,0,0
$GC,328,-1.19,-116.8,49.6,-16.3,45,332,0.00,2.50,0.00,0.000,4,0.000,0.035,2870,3458,3108,0,0,0,0,0,0
$GC,481,-1.19,-116.8,73.0,-15.3,61,486,0.00,2.42,0.00,0.000,6,0.000,0.033,2870,2079,3110,0,0,0,0,0,0
$GC,745,-1.19,-116.8,109.8,-12.0,85,749,0.00,2.42,0.00,0.000,4,0.000,0.036,2870,3454,3110,0,0,0,0,0,0
$GC,870,-1.19,-116.8,125.2,-13.1,98,874,0.00,2.40,0.00,0.000,6,0.000,0.035,2870,2101,3110,0,0,0,0,0,0
$GC,1133,-1.19,-116.8,157.2,-10.8,122,1134,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2101,3111,0,0,0,0,0,0
$GC,1387,-1.19,-116.8,184.1,-9.9,146,1391,0.00,2.53,0.00,0.000,4,0.000,0.044,2870,693,3112,0,0,0,0,0,0
$GC,1432,-1.19,-116.8,188.8,-10.1,150,1439,0.00,2.35,0.00,0.000,6,0.000,0.023,2870,2044,3112,0,0,0,0,0,0
$GC,1692,-1.19,-116.8,212.1,-9.2,169,1696,0.00,2.53,0.00,0.000,4,0.000,0.042,2871,3452,3111,0,0,0,0,0,0
$GC,1715,-1.19,-116.8,214.8,-10.0,170,1719,0.00,2.40,0.00,0.000,6,0.000,0.037,2870,2095,3112,0,0,0,0,0,0
$GC,2041,-1.19,-116.8,246.4,-9.0,186,2045,0.00,2.50,0.00,0.000,4,0.000,0.046,2871,693,3112,0,0,0,0,0,0
$GC,2097,-1.19,-116.8,251.8,-10.5,188,2101,0.00,2.33,0.00,0.000,6,0.000,0.025,2871,2052,3112,0,0,0,0,0,0
$GC,2414,-1.19,-116.8,276.2,-6.9,203,2418,0.00,2.60,0.00,0.000,4,0.000,0.047,2870,3501,3111,0,0,0,0,0,0
$GC,2465,-1.19,-116.8,280.5,-7.7,205,2470,0.00,2.50,0.00,0.000,6,0.000,0.040,2870,2094,3111,0,0,0,0,0,0
$GC,2785,-1.19,-116.8,304.0,-8.1,220,2789,0.00,2.53,0.00,0.000,4,0.000,0.049,2870,691,3110,0,0,0,0,0,0
$GC,2831,-1.19,-116.8,308.5,-9.5,221,2836,0.00,2.45,0.00,0.000,6,0.000,0.027,2870,2102,3110,0,0,0,0,0,0
$GC,3156,-1.19,-116.8,335.6,-7.9,229,3161,0.00,2.55,0.00,0.000,4,0.000,0.051,2870,3499,3108,0,0,0,0,0,0
$GC,3342,-1.19,-116.8,349.8,-7.4,233,3346,0.00,2.53,0.00,0.000,6,0.000,0.044,2870,2096,3107,0,0,0,0,0,0
$GC,3665,-1.19,-116.8,376.0,-8.2,241,3669,0.00,2.58,0.00,0.000,4,0.000,0.054,2870,691,3106,0,0,0,0,0,0
$GC,3808,-1.19,-116.8,388.1,-8.1,244,3812,0.00,2.45,0.00,0.000,6,0.000,0.031,2870,2097,3105,0,0,0,0,0,0
$GC,4128,-1.19,-116.8,410.7,-7.1,252,4132,0.00,2.60,0.00,0.000,4,0.000,0.056,2869,3502,3103,0,0,0,0,0,0
$GC,4157,-1.19,-116.8,413.1,-7.8,252,4161,0.00,2.55,0.00,0.000,6,0.000,0.048,2870,2097,3103,0,0,0,0,0,0
$GC,4493,-1.19,-116.8,439.9,-7.8,261,4494,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2097,3101,0,0,0,0,0,0
$STATE,4652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4652,begin apogee
$GC,4659,-0.31,0.0,451.4,7.0,265,4757,0.95,0.00,94.12,0.818,6,0.082,0.000,3068,1796,2634,0,0,0,0,0,0
$STATE,4758,end apogee,CONTROL_FINISHED_OK
$STATE,4758,begin climb
$GC,4760,1.19,116.8,452.9,0.0,267,4873,1.48,2.70,100.75,0.799,4,0.056,0.064,3392,397,2156,0,0,0,0,0,0
$GC,4892,1.19,116.8,440.0,13.8,270,4896,0.00,2.53,0.00,0.000,6,0.000,0.028,3392,1805,2152,0,0,0,0,0,0
$GC,5215,1.19,116.8,394.9,13.7,278,5216,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1806,2146,0,0,0,0,0,0
$GC,5540,1.19,116.8,354.5,11.8,286,5544,0.00,2.70,0.00,0.000,4,0.000,0.061,3392,399,2142,0,0,0,0,0,0
$GC,5600,1.19,116.8,346.6,13.3,287,5605,0.00,2.50,0.00,0.000,6,0.000,0.028,3393,1803,2139,0,0,0,0,0,0
$GC,5950,1.19,116.8,312.6,9.4,296,5955,0.00,2.67,0.00,0.000,4,0.000,0.059,3393,396,2138,0,0,0,0,0,0
$GC,5969,1.19,116.8,310.5,10.5,296,5974,0.00,2.47,0.00,0.000,6,0.000,0.027,3392,1803,2137,0,0,0,0,0,0
$GC,6298,1.19,116.8,274.3,11.7,309,6303,0.00,2.67,0.00,0.000,4,0.000,0.058,3392,393,2136,0,0,0,0,0,0
$GC,6322,1.19,116.8,271.1,13.1,310,6327,0.00,2.50,0.00,0.000,6,0.000,0.026,3393,1811,2135,0,0,0,0,0,0
$GC,6647,1.19,116.8,234.8,11.3,326,6648,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1813,2135,0,0,0,0,0,0
$GC,6958,1.19,116.8,203.3,10.3,341,6959,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1815,2134,0,0,0,0,0,0
$GC,7276,1.19,116.8,168.2,11.4,369,7280,0.00,2.62,0.00,0.000,4,0.000,0.052,3392,393,2133,0,0,0,0,0,0
$GC,7329,1.19,116.8,161.8,12.0,374,7333,0.00,2.42,0.00,0.000,6,0.000,0.023,3393,1802,2131,0,0,0,0,0,0
$GC,7592,1.19,116.8,133.3,9.8,398,7596,0.00,2.45,0.00,0.000,4,0.000,0.035,3393,3193,2132,0,0,0,0,0,0
$GC,7627,1.20,120.9,130.2,7.8,401,7631,0.00,2.50,0.00,0.000,6,0.000,0.040,3392,1808,2132,0,0,0,0,0,0
$GC,7892,1.22,137.0,110.7,7.3,425,7912,0.00,2.62,14.20,0.536,4,0.000,0.050,3392,390,2075,0,0,0,0,0,0
$GC,7941,1.22,137.0,106.5,9.0,430,7945,0.00,2.45,0.00,0.000,6,0.000,0.021,3393,1805,2072,0,0,0,0,0,0
$GC,8204,1.22,137.0,85.8,8.7,454,8208,0.00,2.45,0.00,0.000,4,0.000,0.032,3393,3194,2072,0,0,0,0,0,0
$GC,8250,1.22,137.0,81.2,9.7,458,8256,0.00,2.55,0.00,0.000,6,0.000,0.037,3393,1801,2072,0,0,0,0,0,0
$GC,8512,1.22,137.0,57.0,9.0,483,8513,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1801,2072,0,0,0,0,0,0
$GC,8767,1.26,169.6,38.4,6.5,507,8807,0.00,2.60,29.15,0.493,4,0.000,0.048,3393,390,1940,0,0,0,0,0,0
$GC,8867,1.26,169.6,29.9,9.9,517,8873,0.00,2.45,0.00,0.000,6,0.000,0.019,3393,1799,1936,0,0,0,0,0,0
$GC,9135,1.30,200.5,9.3,6.6,566,9171,0.12,2.50,27.00,0.462,4,0.061,0.025,3438,3196,1816,0,0,0,0,0,0
$STATE,9212,end climb,SURFACE_DEPTH_REACHED
$STATE,9212,begin surface coast
$FINISH,0.9,1.023029
$STATE,9247,end surface coast,CONTROL_FINISHED_OK
$STATE,9247,begin surface
$SM_CCo,9272,67.18,0.460,0,0,1288,330.17
$SM_GC,1.59,0.00,0.00,67.18,0.000,0.000,0.460,424,2083,1288,-12.48,-0.51,330.17
$IRIDIUM_FIX,2106.38,-15750.02,180700,202043
$TT8_MAMPS,0.029146
$HUMID,54.17
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.5,13.906
$10V_AH,10.5,13.478
$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,28.600,105.725,265.225,67.175,0.000,29.320,40.912,152.578,4.500,0.000,31.903,1094.645,6051.002,394.999,1714.332,446.075,33.353,1127.676,0.000,1677.907,0.000,29.251,0.000
$DEVICE_MAMPS,134.992,63.661,817.622,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,398.771,382.233,877.793,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31788,589
$CAP_FILE_SIZE,97381,0
$CFSIZE,260165632,248029184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250411,014425,2111.704,-15747.413,43,1.1,43,9.8