version: 66.06
glider: 139
mission: 9
dive: 51
start: 4 10 111 15 42 45
data:
$ID,139
$MISSION,9
$DIVE,51
$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,-2175636.5
$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,41
$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
$GPS1,153652,2101.891,-15803.704,11,4.7,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-76.1
$GPS2,154227,2101.868,-15803.745,12,5.2,31,9.8
$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,68.7,36721,-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,-71.47,0.000,6,0.000,0.000,427,2094,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,2.9,-4.4,14,115,13.45,2.42,0.00,0.000,4,0.142,0.035,2869,671,3114,0,0,0,0,0,0
$GC,135,-1.19,-116.8,14.6,-29.3,21,142,0.00,2.38,0.00,0.000,6,0.000,0.021,2869,2101,3115,0,0,0,0,0,0
$GC,336,-1.19,-116.8,45.9,-14.8,48,337,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2105,3116,0,0,0,0,0,0
$GC,592,-1.19,-116.8,80.6,-12.2,72,596,0.00,2.40,0.00,0.000,4,0.000,0.039,2869,678,3117,0,0,0,0,0,0
$GC,652,-1.19,-116.8,88.6,-13.5,78,656,0.00,2.35,0.00,0.000,6,0.000,0.021,2869,2110,3117,0,0,0,0,0,0
$GC,917,-1.19,-116.8,123.1,-13.6,102,921,0.00,2.30,0.00,0.000,4,0.000,0.031,2870,3499,3118,0,0,0,0,0,0
$GC,953,-1.19,-116.8,128.5,-13.3,105,958,0.00,2.35,0.00,0.000,6,0.000,0.028,2869,2089,3117,0,0,0,0,0,0
$GC,1216,-1.19,-116.8,160.0,-11.3,130,1221,0.00,2.35,0.00,0.000,4,0.000,0.031,2869,3497,3118,0,0,0,0,0,0
$GC,1339,-1.19,-116.8,172.9,-10.4,143,1343,0.00,2.33,0.00,0.000,6,0.000,0.028,2870,2097,3119,0,0,0,0,0,0
$GC,1607,-1.19,-116.8,195.1,-8.8,168,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2096,3119,0,0,0,0,0,0
$GC,1855,-1.19,-116.8,217.9,-9.3,183,1860,0.00,2.38,0.00,0.000,4,0.000,0.041,2869,683,3119,0,0,0,0,0,0
$GC,1938,-1.19,-116.8,226.4,-10.3,186,1944,0.00,2.35,0.00,0.000,6,0.000,0.023,2869,2103,3119,0,0,0,0,0,0
$GC,2254,-1.19,-116.8,258.5,-11.0,202,2258,0.00,2.35,0.00,0.000,4,0.000,0.035,2870,3500,3119,0,0,0,0,0,0
$GC,2405,-1.19,-116.8,277.0,-12.9,208,2412,0.00,2.38,0.00,0.000,6,0.000,0.031,2870,2102,3118,0,0,0,0,0,0
$GC,2720,-1.19,-116.8,303.4,-6.1,223,2724,0.00,2.35,0.00,0.000,4,0.000,0.036,2869,3496,3117,0,0,0,0,0,0
$GC,2813,-1.19,-116.8,308.3,-4.6,225,2818,0.00,2.35,0.00,0.000,6,0.000,0.031,2869,2099,3117,0,0,0,0,0,0
$GC,3137,-1.19,-116.8,326.4,-6.5,233,3141,0.00,2.40,0.00,0.000,4,0.000,0.046,2869,689,3116,0,0,0,0,0,0
$GC,3234,-1.19,-116.8,334.4,-8.7,235,3238,0.00,2.33,0.00,0.000,6,0.000,0.026,2869,2103,3116,0,0,0,0,0,0
$GC,3553,-1.19,-116.8,359.3,-8.1,243,3557,0.00,2.38,0.00,0.000,4,0.000,0.040,2869,3496,3114,0,0,0,0,0,0
$GC,3659,-1.19,-116.8,368.4,-8.1,245,3664,0.00,2.35,0.00,0.000,6,0.000,0.034,2869,2101,3113,0,0,0,0,0,0
$GC,4009,-1.19,-116.8,393.0,-6.9,254,4010,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2101,3111,0,0,0,0,0,0
$GC,4334,-1.19,-116.8,412.6,-6.3,262,4339,0.00,2.45,0.00,0.000,4,0.000,0.043,2870,3505,3109,0,0,0,0,0,0
$GC,4510,-1.19,-116.8,426.7,-8.4,265,4515,0.00,2.40,0.00,0.000,6,0.000,0.037,2869,2103,3108,0,0,0,0,0,0
$STATE,4799,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4799,begin apogee
$GC,4806,-0.31,0.0,452.5,9.5,273,4906,0.98,0.00,95.80,0.832,6,0.091,0.000,3067,1825,2635,0,0,0,0,0,0
$STATE,4906,end apogee,CONTROL_FINISHED_OK
$STATE,4906,begin climb
$GC,4909,1.19,116.8,456.6,0.0,275,5021,1.50,2.50,101.57,0.811,4,0.061,0.039,3392,3224,2157,0,0,0,0,0,0
$GC,5050,1.19,116.8,446.9,11.7,278,5054,0.00,2.47,0.00,0.000,6,0.000,0.046,3392,1836,2155,0,0,0,0,0,0
$GC,5364,1.19,116.8,408.2,13.0,286,5368,0.00,2.58,0.00,0.000,4,0.000,0.061,3391,414,2146,0,0,0,0,0,0
$GC,5429,1.19,116.8,398.3,14.8,287,5434,0.00,2.40,0.00,0.000,6,0.000,0.030,3392,1833,2143,0,0,0,0,0,0
$GC,5774,1.19,116.8,349.5,14.0,296,5779,0.00,2.55,0.00,0.000,4,0.000,0.060,3392,420,2141,0,0,0,0,0,0
$GC,5802,1.19,116.8,345.3,14.2,296,5807,0.00,2.38,0.00,0.000,6,0.000,0.030,3392,1832,2139,0,0,0,0,0,0
$GC,6138,1.19,116.8,303.1,12.2,305,6143,0.00,2.53,0.00,0.000,4,0.000,0.059,3392,416,2138,0,0,0,0,0,0
$GC,6157,1.19,116.8,300.4,12.8,305,6161,0.00,2.38,0.00,0.000,6,0.000,0.029,3392,1837,2137,0,0,0,0,0,0
$GC,6488,1.19,116.8,266.3,9.3,321,6492,0.00,2.53,0.00,0.000,4,0.000,0.058,3392,413,2136,0,0,0,0,0,0
$GC,6521,1.19,116.8,263.0,9.7,322,6525,0.00,2.35,0.00,0.000,6,0.000,0.028,3392,1825,2135,0,0,0,0,0,0
$GC,6838,1.19,116.8,238.6,8.6,337,6842,0.00,2.38,0.00,0.000,4,0.000,0.035,3392,3225,2135,0,0,0,0,0,0
$GC,6883,1.19,116.8,234.8,8.3,339,6888,0.00,2.40,0.00,0.000,6,0.000,0.039,3392,1828,2135,0,0,0,0,0,0
$GC,7214,1.19,116.8,200.2,12.1,355,7218,0.00,2.47,0.00,0.000,4,0.000,0.054,3392,414,2133,0,0,0,0,0,0
$GC,7278,1.19,116.8,191.1,14.5,361,7283,0.00,2.35,0.00,0.000,6,0.000,0.025,3392,1846,2132,0,0,0,0,0,0
$GC,7541,1.19,116.8,164.0,8.0,386,7545,0.00,2.50,0.00,0.000,4,0.000,0.051,3392,412,2132,0,0,0,0,0,0
$GC,7611,1.19,116.8,157.4,8.5,393,7616,0.00,2.33,0.00,0.000,6,0.000,0.024,3392,1836,2131,0,0,0,0,0,0
$GC,7876,1.22,134.9,138.1,7.2,417,7896,0.00,2.35,12.15,0.559,4,0.000,0.031,3392,3214,2084,0,0,0,0,0,0
$GC,7919,1.22,134.9,134.2,8.8,421,7925,0.00,2.38,0.00,0.000,6,0.000,0.034,3392,1826,2084,0,0,0,0,0,0
$GC,8182,1.22,134.9,108.7,9.8,446,8184,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1826,2083,0,0,0,0,0,0
$GC,8435,1.22,134.9,87.2,8.2,470,8440,0.00,2.40,0.00,0.000,4,0.000,0.048,3392,422,2083,0,0,0,0,0,0
$GC,8459,1.22,134.9,84.8,10.8,472,8464,0.00,2.28,0.00,0.000,6,0.000,0.021,3392,1845,2081,0,0,0,0,0,0
$GC,8724,1.22,140.4,61.3,7.8,496,8736,0.00,2.47,6.45,0.427,4,0.000,0.045,3392,423,2061,0,0,0,0,0,0
$GC,8774,1.22,140.4,56.9,9.3,501,8778,0.00,2.28,0.00,0.000,6,0.000,0.021,3392,1833,2060,0,0,0,0,0,0
$GC,9043,1.23,147.4,36.1,7.7,526,9057,0.00,2.50,7.47,0.425,4,0.000,0.045,3392,421,2033,0,0,0,0,0,0
$GC,9126,1.23,147.4,28.5,8.9,536,9133,0.00,2.30,0.00,0.000,6,0.000,0.020,3392,1832,2031,0,0,0,0,0,0
$GC,9330,1.24,153.5,12.2,7.7,573,9343,0.00,2.45,7.03,0.400,4,0.000,0.044,3392,421,2008,0,0,0,0,0,0
$GC,9363,1.26,168.3,9.8,7.3,579,9387,0.00,2.30,14.43,0.449,6,0.000,0.019,3393,1850,1946,0,0,0,0,0,0
$STATE,9435,end climb,SURFACE_DEPTH_REACHED
$STATE,9435,begin surface coast
$FINISH,0.5,1.023485
$STATE,9465,end surface coast,CONTROL_FINISHED_OK
$STATE,9465,begin surface
$SM_CCo,9489,83.15,0.468,0,0,1288,330.17
$SM_GC,1.21,0.00,0.00,83.15,0.000,0.000,0.468,430,2103,1288,-12.46,0.11,330.17
$IRIDIUM_FIX,2052.52,-15802.06,040700,131359
$TT8_MAMPS,0.029146
$HUMID,53.07
$INTERNAL_PRESSURE,9.57698
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.3,4.282
$10V_AH,10.6,3.935
$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,28.775,110.925,244.900,83.150,0.000,30.386,34.582,136.811,4.500,0.000,32.152,1125.915,6157.883,408.682,1776.500,440.222,0.000,1172.506,0.000,1743.639,0.000,29.246,0.000
$DEVICE_MAMPS,141.895,61.360,832.195,467.870,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,404.247,389.663,882.617,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31902,597
$CAP_FILE_SIZE,101937,0
$CFSIZE,260165632,254054400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100411,182336,2102.052,-15804.035,40,0.9,40,9.8