version: 66.06
glider: 139
mission: 9
dive: 53
start: 4 10 111 21 17 50
data:
$ID,139
$MISSION,9
$DIVE,53
$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,-2175670.8
$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,23
$R_STBD_OVSHOOT,90
$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
$GPS1,211136,2102.344,-15804.251,15,1.7,25,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-70.1
$GPS2,211731,2102.384,-15804.282,15,1.7,15,9.8
$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,70.4,37456,-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,-70.30,0.000,6,0.000,0.000,431,2136,3113,0,0,0,0,0,0
$GC,99,-1.19,-116.8,3.5,-6.5,14,117,13.35,2.22,0.00,0.000,4,0.140,0.028,2869,3461,3116,0,0,0,0,0,0
$GC,279,-1.19,-116.8,42.3,-16.7,46,283,0.00,2.30,0.00,0.000,6,0.000,0.028,2869,2092,3117,0,0,0,0,0,0
$GC,540,-1.19,-116.8,84.1,-14.8,70,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2092,3117,0,0,0,0,0,0
$GC,794,-1.19,-116.8,122.4,-12.7,94,798,0.00,2.28,0.00,0.000,4,0.000,0.030,2869,3449,3118,0,0,0,0,0,0
$GC,1059,-1.19,-116.8,149.8,-9.6,123,1063,0.00,2.25,0.00,0.000,6,0.000,0.027,2869,2089,3118,0,0,0,0,0,0
$GC,1324,-1.19,-116.8,177.1,-11.4,147,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2089,3119,0,0,0,0,0,0
$GC,1595,-1.19,-116.8,203.4,-8.4,171,1599,0.00,2.35,0.00,0.000,4,0.000,0.040,2869,685,3119,0,0,0,0,0,0
$GC,1609,-1.19,-116.8,204.9,-8.5,171,1613,0.00,2.25,0.00,0.000,6,0.000,0.022,2869,2061,3119,0,0,0,0,0,0
$GC,1925,-1.19,-116.8,232.6,-8.7,186,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2064,3119,0,0,0,0,0,0
$GC,2235,-1.19,-116.8,257.4,-8.9,201,2239,0.00,2.33,0.00,0.000,4,0.000,0.041,2869,687,3119,0,0,0,0,0,0
$GC,2286,-1.19,-116.8,263.3,-11.2,203,2290,0.00,2.30,0.00,0.000,6,0.000,0.024,2869,2105,3119,0,0,0,0,0,0
$GC,2608,-1.19,-116.8,296.8,-9.2,219,2609,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2106,3118,0,0,0,0,0,0
$GC,2933,-1.19,-116.8,322.9,-7.3,228,2937,0.00,2.35,0.00,0.000,4,0.000,0.038,2869,3505,3117,0,0,0,0,0,0
$GC,3026,-1.19,-116.8,329.8,-7.0,230,3030,0.00,2.35,0.00,0.000,6,0.000,0.031,2869,2097,3117,0,0,0,0,0,0
$GC,3349,-1.19,-116.8,348.0,-5.4,238,3353,0.00,2.40,0.00,0.000,4,0.000,0.038,2869,3500,3115,0,0,0,0,0,0
$GC,3368,-1.19,-116.8,349.1,-5.8,238,3373,0.00,2.38,0.00,0.000,6,0.000,0.033,2869,2095,3115,0,0,0,0,0,0
$GC,3714,-1.19,-116.8,370.8,-6.9,247,3718,0.00,2.42,0.00,0.000,4,0.000,0.048,2869,686,3113,0,0,0,0,0,0
$GC,3797,-1.19,-116.8,377.8,-8.4,248,3803,0.00,2.35,0.00,0.000,6,0.000,0.028,2869,2097,3112,0,0,0,0,0,0
$GC,4130,-1.19,-116.8,403.0,-7.3,257,4134,0.00,2.42,0.00,0.000,4,0.000,0.048,2870,689,3110,0,0,0,0,0,0
$GC,4167,-1.19,-116.8,406.0,-7.8,257,4173,0.00,2.33,0.00,0.000,6,0.000,0.028,2869,2099,3110,0,0,0,0,0,0
$GC,4499,-1.19,-116.8,428.6,-6.7,266,4503,0.00,2.42,0.00,0.000,4,0.000,0.049,2869,693,3108,0,0,0,0,0,0
$GC,4561,-1.19,-116.8,433.2,-7.6,267,4565,0.00,2.35,0.00,0.000,6,0.000,0.029,2869,2101,3108,0,0,0,0,0,0
$STATE,4867,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4868,begin apogee
$GC,4874,-0.31,0.0,451.3,5.7,275,4974,0.98,0.00,96.20,0.826,6,0.088,0.000,3067,1827,2634,0,0,0,0,0,0
$STATE,4975,end apogee,CONTROL_FINISHED_OK
$STATE,4975,begin climb
$GC,4978,1.19,116.8,452.0,0.0,277,5090,1.50,2.55,101.57,0.808,4,0.060,0.059,3393,435,2156,0,0,0,0,0,0
$GC,5119,1.19,116.8,438.4,12.8,280,5123,0.00,2.40,0.00,0.000,6,0.000,0.028,3394,1844,2151,0,0,0,0,0,0
$GC,5432,1.19,116.8,401.5,11.7,288,5437,0.00,2.55,0.00,0.000,4,0.000,0.059,3393,427,2146,0,0,0,0,0,0
$GC,5479,1.19,116.8,394.9,14.1,289,5483,0.00,2.35,0.00,0.000,6,0.000,0.029,3394,1836,2143,0,0,0,0,0,0
$GC,5802,1.19,116.8,357.5,11.1,297,5806,0.00,2.53,0.00,0.000,4,0.000,0.059,3393,432,2141,0,0,0,0,0,0
$GC,5862,1.19,116.8,350.5,12.4,298,5866,0.00,2.35,0.00,0.000,6,0.000,0.029,3394,1832,2139,0,0,0,0,0,0
$GC,6212,1.19,116.8,310.5,12.0,307,6213,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1837,2138,0,0,0,0,0,0
$GC,6520,1.19,116.8,274.0,12.6,319,6525,0.00,2.50,0.00,0.000,4,0.000,0.055,3393,429,2137,0,0,0,0,0,0
$GC,6540,1.19,116.8,271.2,13.3,320,6545,0.00,2.35,0.00,0.000,6,0.000,0.028,3394,1840,2135,0,0,0,0,0,0
$GC,6870,1.19,116.8,234.7,9.8,336,6874,0.00,2.50,0.00,0.000,4,0.000,0.054,3393,427,2135,0,0,0,0,0,0
$GC,6943,1.19,116.8,227.2,10.5,339,6947,0.00,2.33,0.00,0.000,6,0.000,0.027,3394,1830,2133,0,0,0,0,0,0
$GC,7264,1.19,116.8,198.9,8.8,355,7268,0.00,2.45,0.00,0.000,4,0.000,0.053,3394,431,2133,0,0,0,0,0,0
$GC,7384,1.19,116.8,185.6,11.8,367,7390,0.00,2.30,0.00,0.000,6,0.000,0.025,3394,1836,2132,0,0,0,0,0,0
$GC,7647,1.19,116.8,156.6,10.4,392,7651,0.00,2.45,0.00,0.000,4,0.000,0.051,3394,429,2132,0,0,0,0,0,0
$GC,7711,1.19,116.8,148.9,11.6,398,7718,0.00,2.30,0.00,0.000,6,0.000,0.025,3394,1815,2131,0,0,0,0,0,0
$GC,7975,1.19,116.8,123.7,8.6,423,7980,0.00,2.40,0.00,0.000,4,0.000,0.049,3393,428,2132,0,0,0,0,0,0
$GC,8009,1.19,116.8,120.2,9.7,426,8013,0.00,2.30,0.00,0.000,6,0.000,0.023,3394,1843,2131,0,0,0,0,0,0
$GC,8272,1.19,116.8,100.2,8.1,450,8276,0.00,2.28,0.00,0.000,4,0.000,0.030,3394,3221,2131,0,0,0,0,0,0
$GC,8302,1.21,128.2,97.9,7.5,453,8314,0.00,2.35,6.50,0.459,6,0.000,0.032,3394,1832,2111,0,0,0,0,0,0
$GC,8577,1.21,129.0,75.1,8.0,479,8581,0.00,2.40,0.00,0.000,4,0.000,0.047,3393,424,2111,0,0,0,0,0,0
$GC,8639,1.21,129.0,70.1,8.8,485,8643,0.00,2.25,0.00,0.000,6,0.000,0.021,3394,1841,2110,0,0,0,0,0,0
$GC,8903,1.24,153.3,51.9,6.9,509,8934,0.00,2.55,23.23,0.499,4,0.000,0.046,3394,420,2009,0,0,0,0,0,0
$GC,8959,1.25,160.2,47.5,7.7,515,8973,0.00,2.28,7.38,0.425,6,0.000,0.020,3394,1838,1980,0,0,0,0,0,0
$GC,9236,1.25,160.7,27.3,8.0,544,9243,0.00,2.45,0.00,0.000,4,0.000,0.045,3394,431,1979,0,0,0,0,0,0
$GC,9322,1.25,160.7,18.6,9.4,563,9329,0.00,2.25,0.00,0.000,6,0.000,0.020,3394,1810,1977,0,0,0,0,0,0
$GC,9524,1.26,169.2,3.4,7.6,600,9531,0.00,0.00,5.35,0.359,2,0.000,0.000,3394,1815,1962,0,0,0,0,0,0
$STATE,9532,end climb,SURFACE_DEPTH_REACHED
$STATE,9532,begin surface coast
$FINISH,0.3,1.023438
$STATE,9571,end surface coast,CONTROL_FINISHED_OK
$STATE,9571,begin surface
$SM_CCo,9595,83.35,0.463,0,0,1288,330.17
$SM_GC,1.06,0.00,0.00,83.35,0.000,0.000,0.463,426,2141,1288,-12.47,1.16,330.17
$IRIDIUM_FIX,2052.52,-15807.20,040700,181808
$TT8_MAMPS,0.029146
$HUMID,53.34
$INTERNAL_PRESSURE,9.58675
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.3,4.442
$10V_AH,10.6,4.090
$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,28.575,100.350,240.225,83.350,0.000,29.368,35.573,173.584,4.500,0.000,15.208,1124.768,6321.927,400.433,1724.220,464.787,0.000,1132.011,0.000,1707.835,0.000,29.243,0.000
$DEVICE_MAMPS,139.594,59.059,826.059,463.268,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,411.951,391.193,902.770,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,34811,608
$CAP_FILE_SIZE,99060,0
$CFSIZE,260165632,253952000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110411,000030,2102.194,-15804.254,43,1.4,43,9.8