version: 66.06
glider: 139
mission: 9
dive: 50
start: 4 10 111 12 57 24
data:
$ID,139
$MISSION,9
$DIVE,50
$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,2
$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,-2175603.5
$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,1830
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,55
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,125122,2102.024,-15803.372,14,2.3,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-74.0
$GPS2,125706,2101.973,-15803.380,15,0.9,31,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,68.8,36064,-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,-116.8,0.0,0.0,0,94,0.00,0.00,-70.75,0.000,6,0.000,0.000,426,2164,3113,0,0,0,0,0,0
$GC,97,-1.19,-116.8,3.4,-6.1,14,115,13.35,0.00,0.00,0.000,6,0.139,0.000,2870,2164,3115,0,0,0,0,0,0
$GC,312,-1.19,-116.8,47.1,-16.7,44,318,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2165,3116,0,0,0,0,0,0
$GC,575,-1.19,-116.8,88.3,-13.5,69,579,0.00,2.20,0.00,0.000,4,0.000,0.029,2870,3493,3116,0,0,0,0,0,0
$GC,593,-1.19,-116.8,91.3,-13.5,70,600,0.00,2.38,0.00,0.000,6,0.000,0.028,2870,2091,3116,0,0,0,0,0,0
$GC,859,-1.19,-116.8,126.1,-13.7,95,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2089,3117,0,0,0,0,0,0
$GC,1120,-1.19,-116.8,157.6,-10.4,120,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2089,3118,0,0,0,0,0,0
$GC,1375,-1.19,-116.8,183.1,-8.6,144,1379,0.00,2.35,0.00,0.000,4,0.000,0.039,2870,689,3119,0,0,0,0,0,0
$GC,1412,-1.19,-116.8,186.4,-8.9,148,1417,0.00,2.28,0.00,0.000,6,0.000,0.021,2870,2096,3118,0,0,0,0,0,0
$GC,1674,-1.19,-116.8,211.5,-10.3,167,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2099,3119,0,0,0,0,0,0
$GC,1980,-1.19,-116.8,239.0,-8.3,182,1984,0.00,2.40,0.00,0.000,4,0.000,0.041,2869,688,3119,0,0,0,0,0,0
$GC,2001,-1.19,-116.8,240.7,-8.2,183,2005,0.00,2.33,0.00,0.000,6,0.000,0.024,2870,2101,3119,0,0,0,0,0,0
$GC,2332,-1.19,-116.8,266.5,-7.5,199,2336,0.00,2.35,0.00,0.000,4,0.000,0.035,2870,3496,3118,0,0,0,0,0,0
$GC,2600,-1.19,-116.8,288.6,-8.2,210,2607,0.00,2.38,0.00,0.000,6,0.000,0.031,2870,2099,3117,0,0,0,0,0,0
$GC,2934,-1.19,-116.8,312.1,-6.9,223,2938,0.00,2.38,0.00,0.000,4,0.000,0.037,2870,3504,3116,0,0,0,0,0,0
$GC,3063,-1.19,-116.8,322.0,-7.9,225,3069,0.00,2.38,0.00,0.000,6,0.000,0.031,2870,2096,3116,0,0,0,0,0,0
$GC,3395,-1.19,-116.8,345.7,-7.4,234,3399,0.00,2.42,0.00,0.000,4,0.000,0.046,2870,685,3114,0,0,0,0,0,0
$GC,3428,-1.19,-116.8,348.5,-8.1,234,3432,0.00,2.33,0.00,0.000,6,0.000,0.027,2870,2102,3113,0,0,0,0,0,0
$GC,3759,-1.19,-116.8,375.3,-8.6,242,3763,0.00,2.38,0.00,0.000,4,0.000,0.040,2870,3499,3111,0,0,0,0,0,0
$GC,3833,-1.19,-116.8,381.3,-8.0,243,3837,0.00,2.35,0.00,0.000,6,0.000,0.034,2870,2099,3111,0,0,0,0,0,0
$GC,4175,-1.19,-116.8,404.0,-6.5,252,4180,0.00,2.42,0.00,0.000,4,0.000,0.041,2869,3509,3108,0,0,0,0,0,0
$GC,4245,-1.19,-116.8,409.0,-6.6,253,4250,0.00,2.40,0.00,0.000,6,0.000,0.035,2870,2099,3108,0,0,0,0,0,0
$GC,4586,-1.19,-116.8,432.1,-6.9,262,4590,0.00,2.42,0.00,0.000,4,0.000,0.052,2869,693,3106,0,0,0,0,0,0
$GC,4674,-1.19,-116.8,438.2,-6.6,263,4680,0.00,2.33,0.00,0.000,6,0.000,0.030,2869,2098,3106,0,0,0,0,0,0
$STATE,4882,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4883,begin apogee
$GC,4890,-0.31,0.0,451.0,6.1,269,4989,0.98,0.00,95.78,0.829,6,0.088,0.000,3068,1825,2635,0,0,0,0,0,0
$STATE,4990,end apogee,CONTROL_FINISHED_OK
$STATE,4990,begin climb
$GC,4992,1.19,116.8,452.3,0.0,271,5104,1.50,2.58,101.68,0.808,4,0.061,0.061,3392,431,2156,0,0,0,0,0,0
$GC,5115,1.19,116.8,440.5,12.4,273,5120,0.00,2.40,0.00,0.000,6,0.000,0.029,3393,1841,2153,0,0,0,0,0,0
$GC,5446,1.19,116.8,401.3,11.5,282,5450,0.00,2.58,0.00,0.000,4,0.000,0.060,3392,426,2146,0,0,0,0,0,0
$GC,5529,1.19,116.8,389.6,14.4,283,5535,0.00,2.35,0.00,0.000,6,0.000,0.030,3393,1833,2142,0,0,0,0,0,0
$GC,5861,1.19,116.8,348.9,12.5,292,5862,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1838,2140,0,0,0,0,0,0
$GC,6185,1.19,116.8,306.2,12.6,300,6190,0.00,2.53,0.00,0.000,4,0.000,0.058,3392,427,2138,0,0,0,0,0,0
$GC,6278,1.19,116.8,293.9,13.8,302,6282,0.00,2.33,0.00,0.000,6,0.000,0.029,3392,1832,2136,0,0,0,0,0,0
$GC,6603,1.19,116.8,258.5,10.5,318,6607,0.00,2.50,0.00,0.000,4,0.000,0.056,3392,424,2135,0,0,0,0,0,0
$GC,6654,1.19,116.8,252.7,11.2,320,6658,0.00,2.33,0.00,0.000,6,0.000,0.028,3393,1830,2134,0,0,0,0,0,0
$GC,6974,1.19,116.8,221.1,10.8,336,6978,0.00,2.35,0.00,0.000,4,0.000,0.035,3393,3222,2134,0,0,0,0,0,0
$GC,7056,1.19,116.8,212.5,9.6,339,7060,0.00,2.38,0.00,0.000,6,0.000,0.039,3392,1834,2134,0,0,0,0,0,0
$GC,7380,1.19,116.8,177.7,10.6,363,7385,0.00,2.45,0.00,0.000,4,0.000,0.053,3392,421,2133,0,0,0,0,0,0
$GC,7478,1.19,116.8,167.5,9.2,373,7483,0.00,2.33,0.00,0.000,6,0.000,0.025,3393,1837,2131,0,0,0,0,0,0
$GC,7743,1.19,116.8,141.3,9.3,397,7747,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1842,2132,0,0,0,0,0,0
$GC,8004,1.19,116.8,115.8,10.2,422,8008,0.00,2.30,0.00,0.000,4,0.000,0.030,3393,3221,2132,0,0,0,0,0,0
$GC,8050,1.19,116.8,111.0,10.2,426,8056,0.00,2.38,0.00,0.000,6,0.000,0.034,3393,1834,2132,0,0,0,0,0,0
$GC,8315,1.22,134.8,90.2,7.2,451,8334,0.00,2.50,12.05,0.512,4,0.000,0.048,3393,423,2084,0,0,0,0,0,0
$GC,8392,1.23,149.2,84.6,7.4,459,8412,0.00,2.28,14.07,0.517,6,0.000,0.021,3393,1843,2026,0,0,0,0,0,0
$GC,8667,1.27,179.9,66.4,6.6,485,8700,0.00,2.55,27.67,0.521,4,0.000,0.048,3392,418,1900,0,0,0,0,0,0
$GC,8743,1.27,179.9,60.3,9.3,493,8747,0.00,2.28,0.00,0.000,6,0.000,0.020,3393,1830,1896,0,0,0,0,0,0
$GC,9008,1.27,182.0,39.6,7.9,517,9012,0.00,2.45,0.00,0.000,4,0.000,0.046,3393,420,1895,0,0,0,0,0,0
$GC,9076,1.27,182.0,32.3,10.8,524,9081,0.00,2.28,0.00,0.000,6,0.000,0.020,3393,1832,1894,0,0,0,0,0,0
$GC,9342,1.27,182.0,7.5,8.9,570,9348,0.00,2.47,0.00,0.000,4,0.000,0.047,3393,421,1893,0,0,0,0,0,0
$STATE,9387,end climb,SURFACE_DEPTH_REACHED
$STATE,9387,begin surface coast
$FINISH,2.1,1.023396
$STATE,9393,end surface coast,CONTROL_FINISHED_OK
$STATE,9393,begin surface
$SM_CCo,9420,77.90,0.466,0,0,1288,330.17
$SM_GC,0.97,0.00,0.00,77.90,0.000,0.000,0.466,426,2093,1288,-12.47,-0.20,330.17
$IRIDIUM_FIX,2052.52,-15802.06,040700,101025
$TT8_MAMPS,0.029146
$HUMID,53.89
$INTERNAL_PRESSURE,9.57698
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.3,4.207
$10V_AH,10.5,3.858
$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,28.575,96.250,251.250,77.900,0.000,30.314,34.672,145.244,4.500,0.000,32.073,1079.186,6217.145,404.620,1708.757,432.985,0.000,1137.403,0.000,1677.205,0.000,29.250,0.000
$DEVICE_MAMPS,138.827,60.593,829.127,466.336,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,393.197,377.620,847.761,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31850,581
$CAP_FILE_SIZE,96138,0
$CFSIZE,260165632,254107648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100411,153652,2101.891,-15803.704,11,4.7,30,9.8