version: 66.06
glider: 139
mission: 9
dive: 168
start: 4 24 111 3 41 29
data:
$ID,139
$MISSION,9
$DIVE,168
$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,-2179020
$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,89
$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
$GPS1,033506,2110.332,-15750.064,31,1.1,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-74.3
$GPS2,034037,2110.286,-15750.120,14,1.3,19,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.196,0.103
$KALMAN_X,-86095.7,346.4,519.6,86120.5,-3158.2
$KALMAN_Y,-36505.0,-8.4,-136.7,35779.1,-521.5
$MHEAD_RNG_PITCHd_Wd,52.4,14949,-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,-116.8,0.0,0.0,0,93,0.00,0.00,-70.82,0.000,6,0.000,0.000,428,2147,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.6,-4.5,14,115,13.12,2.30,0.00,0.000,4,0.135,0.028,2869,3456,3114,0,0,0,0,0,0
$GC,139,-1.19,-116.8,16.5,-26.6,22,146,0.00,2.45,0.00,0.000,6,0.000,0.035,2869,2097,3114,0,0,0,0,0,0
$GC,346,-1.19,-116.8,49.9,-16.1,48,350,0.00,2.38,0.00,0.000,4,0.000,0.033,2868,3450,3116,0,0,0,0,0,0
$GC,382,-1.19,-116.8,55.8,-14.9,51,389,0.00,2.42,0.00,0.000,6,0.000,0.033,2868,2094,3116,0,0,0,0,0,0
$GC,643,-1.19,-116.8,92.8,-13.6,76,648,0.00,2.38,0.00,0.000,4,0.000,0.035,2868,3448,3116,0,0,0,0,0,0
$GC,750,-1.19,-116.8,106.2,-12.4,87,754,0.00,2.38,0.00,0.000,6,0.000,0.034,2868,2094,3116,0,0,0,0,0,0
$GC,1015,-1.19,-116.8,136.4,-11.7,111,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2095,3116,0,0,0,0,0,0
$GC,1276,-1.19,-116.8,164.4,-9.8,136,1280,0.00,2.38,0.00,0.000,4,0.000,0.037,2868,3447,3117,0,0,0,0,0,0
$GC,1294,-1.19,-116.8,166.3,-9.5,137,1300,0.00,2.38,0.00,0.000,6,0.000,0.035,2868,2101,3117,0,0,0,0,0,0
$GC,1557,-1.19,-116.8,193.8,-10.8,162,1562,0.00,2.38,0.00,0.000,4,0.000,0.040,2868,3446,3118,0,0,0,0,0,0
$GC,1611,-1.19,-116.8,199.7,-11.0,167,1616,0.00,2.38,0.00,0.000,6,0.000,0.038,2868,2101,3118,0,0,0,0,0,0
$GC,1869,-1.19,-116.8,224.0,-8.4,180,1874,0.00,2.50,0.00,0.000,4,0.000,0.044,2868,690,3117,0,0,0,0,0,0
$GC,1902,-1.19,-116.8,227.5,-10.5,181,1906,0.00,2.33,0.00,0.000,6,0.000,0.023,2869,2044,3118,0,0,0,0,0,0
$GC,2217,-1.19,-116.8,256.7,-8.6,196,2218,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2045,3118,0,0,0,0,0,0
$GC,2528,-1.19,-116.8,282.2,-8.8,211,2532,0.00,2.53,0.00,0.000,4,0.000,0.046,2868,3451,3118,0,0,0,0,0,0
$GC,2673,-1.19,-116.8,293.5,-6.8,217,2677,0.00,2.40,0.00,0.000,6,0.000,0.041,2868,2097,3117,0,0,0,0,0,0
$GC,2990,-1.19,-116.8,315.3,-7.3,228,2992,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2096,3116,0,0,0,0,0,0
$GC,3318,-1.19,-116.8,341.1,-7.7,236,3322,0.00,2.55,0.00,0.000,4,0.000,0.051,2868,692,3115,0,0,0,0,0,0
$GC,3440,-1.19,-116.8,351.3,-8.1,238,3444,0.00,2.35,0.00,0.000,6,0.000,0.027,2868,2042,3114,0,0,0,0,0,0
$GC,3776,-1.19,-116.8,375.7,-7.4,247,3781,0.00,2.55,0.00,0.000,4,0.000,0.053,2868,3444,3112,0,0,0,0,0,0
$GC,3919,-1.19,-116.8,387.5,-8.3,250,3923,0.00,2.45,0.00,0.000,6,0.000,0.046,2868,2092,3111,0,0,0,0,0,0
$GC,4239,-1.19,-116.8,406.7,-5.7,258,4243,0.00,2.47,0.00,0.000,4,0.000,0.052,2868,3442,3109,0,0,0,0,0,0
$GC,4254,-1.19,-116.8,407.7,-5.8,258,4258,0.00,2.42,0.00,0.000,6,0.000,0.046,2868,2093,3109,0,0,0,0,0,0
$GC,4605,-1.19,-116.8,429.4,-6.1,267,4609,0.00,2.58,0.00,0.000,4,0.000,0.054,2868,692,3107,0,0,0,0,0,0
$GC,4624,-1.19,-116.8,430.8,-6.4,267,4629,0.00,2.38,0.00,0.000,6,0.000,0.030,2868,2040,3107,0,0,0,0,0,0
$STATE,4926,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4926,begin apogee
$GC,4933,-0.31,0.0,450.9,6.8,275,5032,0.95,0.00,95.07,0.822,6,0.084,0.000,3064,1791,2635,0,0,0,0,0,0
$STATE,5032,end apogee,CONTROL_FINISHED_OK
$STATE,5032,begin climb
$GC,5035,1.19,116.8,452.6,0.0,277,5147,1.50,2.62,100.57,0.803,4,0.056,0.051,3394,3139,2157,0,0,0,0,0,0
$GC,5153,1.19,116.8,442.3,11.7,279,5158,0.00,2.58,0.00,0.000,6,0.000,0.063,3394,1808,2156,0,0,0,0,0,0
$GC,5484,1.19,116.8,401.6,11.8,287,5489,0.00,2.72,0.00,0.000,4,0.000,0.068,3394,391,2147,0,0,0,0,0,0
$GC,5587,1.19,116.8,388.2,12.8,289,5591,0.00,2.38,0.00,0.000,6,0.000,0.030,3394,1743,2142,0,0,0,0,0,0
$GC,5900,1.19,116.8,356.8,9.7,297,5905,0.00,2.55,0.00,0.000,4,0.000,0.051,3395,3153,2140,0,0,0,0,0,0
$GC,5967,1.19,116.8,350.7,9.7,298,5972,0.00,2.58,0.00,0.000,6,0.000,0.054,3394,1797,2140,0,0,0,0,0,0
$GC,6312,1.19,116.8,312.2,12.0,307,6317,0.00,2.65,0.00,0.000,4,0.000,0.061,3394,389,2138,0,0,0,0,0,0
$GC,6378,1.19,116.8,302.9,15.1,308,6382,0.00,2.40,0.00,0.000,6,0.000,0.028,3394,1746,2136,0,0,0,0,0,0
$GC,6708,1.19,116.8,267.3,9.5,323,6712,0.00,2.55,0.00,0.000,4,0.000,0.045,3394,3145,2135,0,0,0,0,0,0
$GC,6768,1.19,116.8,261.2,8.7,325,6773,0.00,2.50,0.00,0.000,6,0.000,0.051,3394,1793,2136,0,0,0,0,0,0
$GC,7085,1.19,116.8,229.9,10.5,341,7086,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1793,2134,0,0,0,0,0,0
$GC,7394,1.19,116.8,194.3,11.3,358,7398,0.00,2.58,0.00,0.000,4,0.000,0.055,3394,394,2133,0,0,0,0,0,0
$GC,7447,1.19,116.8,187.9,12.0,363,7451,0.00,2.33,0.00,0.000,6,0.000,0.025,3394,1744,2132,0,0,0,0,0,0
$GC,7711,1.19,116.8,161.7,10.0,387,7715,0.00,2.50,0.00,0.000,4,0.000,0.038,3395,3146,2132,0,0,0,0,0,0
$GC,7781,1.19,116.8,154.7,9.5,394,7785,0.00,2.45,0.00,0.000,6,0.000,0.044,3394,1795,2132,0,0,0,0,0,0
$GC,8044,1.19,116.8,131.8,8.9,418,8045,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1795,2132,0,0,0,0,0,0
$GC,8296,1.19,116.8,108.4,8.9,442,8300,0.00,2.55,0.00,0.000,4,0.000,0.051,3394,392,2132,0,0,0,0,0,0
$GC,8331,1.19,116.8,105.0,10.2,445,8335,0.00,2.28,0.00,0.000,6,0.000,0.020,3394,1754,2131,0,0,0,0,0,0
$GC,8596,1.24,152.4,84.7,6.4,469,8633,0.00,2.62,27.05,0.532,4,0.000,0.031,3394,3193,2012,0,0,0,0,0,0
$GC,8654,1.26,173.2,80.6,7.1,475,8683,0.00,2.55,19.58,0.515,6,0.000,0.037,3395,1798,1927,0,0,0,0,0,0
$GC,8938,1.26,173.2,56.3,9.6,502,8943,0.00,2.58,0.00,0.000,4,0.000,0.048,3394,386,1923,0,0,0,0,0,0
$GC,8973,1.26,173.2,52.7,10.7,505,8977,0.00,2.45,0.00,0.000,6,0.000,0.019,3394,1807,1920,0,0,0,0,0,0
$GC,9237,1.26,173.2,30.4,8.1,529,9241,0.00,2.42,0.00,0.000,4,0.000,0.029,3395,3193,1920,0,0,0,0,0,0
$GC,9270,1.27,175.5,27.6,7.9,535,9276,0.00,2.55,0.00,0.000,6,0.000,0.037,3394,1801,1920,0,0,0,0,0,0
$GC,9471,1.27,175.5,10.6,8.6,572,9478,0.00,2.58,0.00,0.000,4,0.000,0.048,3394,394,1920,0,0,0,0,0,0
$GC,9519,1.27,175.5,6.1,9.2,582,9525,0.00,2.42,0.00,0.000,6,0.000,0.019,3394,1795,1918,0,0,0,0,0,0
$STATE,9552,end climb,SURFACE_DEPTH_REACHED
$STATE,9552,begin surface coast
$FINISH,0.8,1.023279
$STATE,9585,end surface coast,CONTROL_FINISHED_OK
$STATE,9585,begin surface
$SM_CCo,9609,78.15,0.460,0,0,1288,330.17
$SM_GC,1.57,0.00,0.00,78.15,0.000,0.000,0.460,429,2126,1288,-12.46,0.74,330.17
$IRIDIUM_FIX,2104.07,-15753.03,180700,010133
$TT8_MAMPS,0.028379
$HUMID,53.89
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.5,13.370
$10V_AH,10.6,12.938
$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,28.225,114.600,242.275,78.150,0.000,24.966,37.501,143.295,4.500,0.000,19.885,1113.152,6361.965,409.497,1702.589,431.811,33.347,1146.290,0.000,1676.969,0.000,29.255,0.000
$DEVICE_MAMPS,134.992,68.263,822.224,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,402.163,384.325,867.896,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31842,594
$CAP_FILE_SIZE,100345,0
$CFSIZE,260165632,248365056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240411,062407,2110.595,-15750.098,31,0.9,31,9.8