version: 66.06
glider: 139
mission: 9
dive: 52
start: 4 10 111 18 33 9
data:
$ID,139
$MISSION,9
$DIVE,52
$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,-2175654.8
$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,22
$R_STBD_OVSHOOT,69
$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
$GPS1,182336,2102.052,-15804.035,40,0.9,40,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-70.5
$GPS2,183250,2102.059,-15804.156,17,1.3,17,9.8
$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,69.5,37350,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.19,-116.8,0.0,0.0,0,95,0.00,0.00,-70.28,0.000,6,0.000,0.000,429,2104,3112,0,0,0,0,0,0
$GC,98,-1.19,-116.8,3.4,-5.7,14,116,13.35,2.40,0.00,0.000,4,0.140,0.031,2869,678,3114,0,0,0,0,0,0
$GC,166,-1.19,-116.8,21.1,-18.5,28,173,0.00,2.33,0.00,0.000,6,0.000,0.021,2869,2077,3115,0,0,0,0,0,0
$GC,368,-1.19,-116.8,54.3,-16.1,51,369,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2080,3116,0,0,0,0,0,0
$GC,623,-1.19,-116.8,93.7,-13.8,75,627,0.00,2.40,0.00,0.000,4,0.000,0.039,2870,675,3116,0,0,0,0,0,0
$GC,638,-1.19,-116.8,96.1,-14.4,76,642,0.00,2.30,0.00,0.000,6,0.000,0.021,2869,2102,3116,0,0,0,0,0,0
$GC,901,-1.19,-116.8,126.7,-11.4,100,905,0.00,2.33,0.00,0.000,4,0.000,0.031,2869,3495,3117,0,0,0,0,0,0
$GC,1088,-1.19,-116.8,150.4,-12.0,120,1092,0.00,2.35,0.00,0.000,6,0.000,0.027,2869,2088,3117,0,0,0,0,0,0
$GC,1353,-1.19,-116.8,180.9,-11.3,144,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2087,3118,0,0,0,0,0,0
$GC,1624,-1.19,-116.8,206.3,-9.6,167,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2086,3118,0,0,0,0,0,0
$GC,1933,-1.19,-116.8,234.0,-7.9,182,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2087,3118,0,0,0,0,0,0
$GC,2243,-1.19,-116.8,259.6,-8.8,197,2248,0.00,2.38,0.00,0.000,4,0.000,0.035,2870,3493,3118,0,0,0,0,0,0
$GC,2430,-1.19,-116.8,275.8,-8.8,205,2434,0.00,2.35,0.00,0.000,6,0.000,0.030,2869,2093,3117,0,0,0,0,0,0
$GC,2758,-1.19,-116.8,305.2,-9.6,220,2759,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2092,3117,0,0,0,0,0,0
$GC,3083,-1.19,-116.8,332.6,-8.1,228,3087,0.00,2.38,0.00,0.000,4,0.000,0.045,2869,693,3115,0,0,0,0,0,0
$GC,3120,-1.19,-116.8,336.3,-10.3,228,3124,0.00,2.30,0.00,0.000,6,0.000,0.026,2869,2101,3115,0,0,0,0,0,0
$GC,3451,-1.19,-116.8,367.8,-9.4,236,3452,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2103,3113,0,0,0,0,0,0
$GC,3777,-1.19,-116.8,391.7,-7.0,244,3778,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2104,3111,0,0,0,0,0,0
$GC,4103,-1.19,-116.8,414.4,-6.2,252,4104,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2104,3109,0,0,0,0,0,0
$GC,4427,-1.19,-116.8,434.6,-6.3,260,4428,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2105,3107,0,0,0,0,0,0
$STATE,4667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4667,begin apogee
$GC,4674,-0.31,0.0,452.2,7.5,266,4773,0.95,0.00,95.62,0.821,6,0.087,0.000,3063,1827,2635,0,0,0,0,0,0
$STATE,4774,end apogee,CONTROL_FINISHED_OK
$STATE,4774,begin climb
$GC,4777,1.19,116.8,453.6,0.0,268,4889,1.52,2.55,101.18,0.801,4,0.061,0.059,3394,437,2156,0,0,0,0,0,0
$GC,4899,1.19,116.8,441.9,12.8,270,4904,0.00,2.38,0.00,0.000,6,0.000,0.028,3395,1839,2153,0,0,0,0,0,0
$GC,5230,1.19,116.8,399.5,13.1,279,5234,0.00,2.55,0.00,0.000,4,0.000,0.059,3394,431,2146,0,0,0,0,0,0
$GC,5258,1.19,116.8,395.3,14.7,279,5262,0.00,2.35,0.00,0.000,6,0.000,0.029,3395,1833,2142,0,0,0,0,0,0
$GC,5598,1.19,116.8,353.0,12.9,288,5602,0.00,2.53,0.00,0.000,4,0.000,0.059,3394,429,2141,0,0,0,0,0,0
$GC,5641,1.19,116.8,346.8,14.8,289,5645,0.00,2.35,0.00,0.000,6,0.000,0.029,3395,1830,2138,0,0,0,0,0,0
$GC,5973,1.19,116.8,306.3,12.0,297,5977,0.00,2.50,0.00,0.000,4,0.000,0.058,3394,427,2138,0,0,0,0,0,0
$GC,6020,1.19,116.8,299.7,14.2,298,6024,0.00,2.35,0.00,0.000,6,0.000,0.029,3395,1830,2136,0,0,0,0,0,0
$GC,6348,1.20,118.1,266.5,8.0,313,6353,0.00,2.38,0.00,0.000,4,0.000,0.037,3395,3221,2136,0,0,0,0,0,0
$GC,6368,1.20,124.7,264.9,7.7,314,6378,0.00,2.42,4.20,0.474,6,0.000,0.039,3395,1829,2126,0,0,0,0,0,0
$GC,6700,1.20,124.7,233.7,11.3,330,6704,0.00,2.50,0.00,0.000,4,0.000,0.057,3394,417,2124,0,0,0,0,0,0
$GC,6789,1.20,124.7,221.7,13.7,334,6794,0.00,2.35,0.00,0.000,6,0.000,0.026,3394,1834,2121,0,0,0,0,0,0
$GC,7115,1.20,124.7,187.1,11.2,355,7119,0.00,2.33,0.00,0.000,4,0.000,0.031,3395,3231,2121,0,0,0,0,0,0
$GC,7148,1.20,124.7,182.9,11.5,358,7152,0.00,2.40,0.00,0.000,6,0.000,0.037,3395,1828,2122,0,0,0,0,0,0
$GC,7411,1.21,132.8,160.6,7.6,382,7425,0.00,2.50,8.18,0.538,4,0.000,0.051,3394,428,2093,0,0,0,0,0,0
$GC,7480,1.21,132.8,154.3,9.7,389,7485,0.00,2.30,0.00,0.000,6,0.000,0.024,3395,1837,2090,0,0,0,0,0,0
$GC,7743,1.21,133.1,133.3,8.0,414,7747,0.00,2.30,0.00,0.000,4,0.000,0.030,3395,3222,2090,0,0,0,0,0,0
$GC,7773,1.22,136.1,130.9,7.9,417,7783,0.00,2.38,4.22,0.398,6,0.000,0.033,3395,1820,2080,0,0,0,0,0,0
$GC,8038,1.22,136.1,107.2,11.6,442,8042,0.00,2.33,0.00,0.000,4,0.000,0.028,3395,3223,2079,0,0,0,0,0,0
$GC,8073,1.22,136.1,103.5,11.0,445,8077,0.00,2.35,0.00,0.000,6,0.000,0.032,3395,1828,2079,0,0,0,0,0,0
$GC,8338,1.22,138.7,80.0,7.9,469,8349,0.00,2.47,4.12,0.364,4,0.000,0.048,3395,424,2069,0,0,0,0,0,0
$GC,8414,1.22,138.7,72.8,9.7,477,8418,0.00,2.28,0.00,0.000,6,0.000,0.021,3395,1834,2067,0,0,0,0,0,0
$GC,8678,1.24,153.7,52.5,7.3,501,8699,0.00,2.47,14.90,0.482,4,0.000,0.044,3395,418,2006,0,0,0,0,0,0
$GC,8758,1.24,153.7,45.5,9.2,509,8764,0.00,2.30,0.00,0.000,6,0.000,0.020,3395,1832,2003,0,0,0,0,0,0
$GC,9022,1.24,153.7,24.2,8.1,540,9029,0.00,2.30,0.00,0.000,4,0.000,0.026,3395,3213,2003,0,0,0,0,0,0
$GC,9041,1.24,153.7,22.4,8.7,543,9047,0.00,2.38,0.00,0.000,6,0.000,0.030,3395,1824,2003,0,0,0,0,0,0
$GC,9243,1.24,153.7,7.6,8.1,580,9249,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1824,2003,0,0,0,0,0,0
$STATE,9292,end climb,SURFACE_DEPTH_REACHED
$STATE,9292,begin surface coast
$FINISH,0.5,1.010729
$STATE,9325,end surface coast,CONTROL_FINISHED_OK
$STATE,9325,begin surface
$SM_CCo,9349,93.43,0.463,0,0,1288,330.17
$SM_GC,1.15,0.00,0.00,93.43,0.000,0.000,0.463,431,2136,1288,-12.45,1.02,330.17
$IRIDIUM_FIX,2054.83,-15802.06,040700,181811
$TT8_MAMPS,0.028379
$HUMID,52.32
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.3,4.365
$10V_AH,10.6,4.013
$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,28.500,86.650,232.425,93.425,0.000,50.531,74.074,244.489,4.500,0.000,17.397,1076.927,6309.403,399.560,1618.589,594.270,0.000,1082.354,0.000,1597.906,0.000,29.251,0.000
$DEVICE_MAMPS,139.594,59.059,820.690,463.268,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,403.099,385.742,884.999,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31841,595
$CAP_FILE_SIZE,96418,0
$CFSIZE,260165632,254009344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100411,211136,2102.344,-15804.251,15,1.7,25,9.8