version: 66.06
glider: 139
mission: 9
dive: 56
start: 4 11 111 5 49 39
data:
$ID,139
$MISSION,9
$DIVE,56
$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,-2175742.8
$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,25
$R_STBD_OVSHOOT,94
$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
$GPS1,054337,2102.522,-15804.339,36,1.5,36,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-75.1
$GPS2,054920,2102.593,-15804.353,15,1.6,15,9.8
$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,71.1,37513,-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,14,begin dive
$GC,17,-1.19,-116.8,0.0,0.0,0,95,0.00,0.00,-71.25,0.000,6,0.000,0.000,429,2144,3111,0,0,0,0,0,0
$GC,99,-1.19,-116.8,2.7,-3.3,14,117,13.32,2.20,0.00,0.000,4,0.138,0.028,2872,3455,3113,0,0,0,0,0,0
$GC,367,-1.19,-116.8,53.9,-14.8,58,371,0.00,2.28,0.00,0.000,6,0.000,0.028,2872,2094,3115,0,0,0,0,0,0
$GC,633,-1.19,-116.8,91.8,-14.7,83,637,0.00,2.28,0.00,0.000,4,0.000,0.028,2872,3450,3115,0,0,0,0,0,0
$GC,833,-1.19,-116.8,121.0,-13.2,104,839,0.00,2.28,0.00,0.000,6,0.000,0.027,2871,2096,3115,0,0,0,0,0,0
$GC,1097,-1.19,-116.8,151.3,-8.9,129,1101,0.00,2.28,0.00,0.000,4,0.000,0.029,2872,3456,3116,0,0,0,0,0,0
$GC,1238,-1.19,-116.8,163.5,-8.9,144,1242,0.00,2.25,0.00,0.000,6,0.000,0.027,2872,2091,3117,0,0,0,0,0,0
$GC,1501,-1.19,-116.8,190.0,-10.3,168,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2091,3118,0,0,0,0,0,0
$GC,1760,-1.19,-116.8,212.7,-7.7,186,1761,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2091,3118,0,0,0,0,0,0
$GC,2070,-1.19,-116.8,237.7,-8.6,201,2071,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2091,3118,0,0,0,0,0,0
$GC,2381,-1.19,-116.8,261.4,-7.6,216,2385,0.00,2.38,0.00,0.000,4,0.000,0.042,2872,690,3118,0,0,0,0,0,0
$GC,2423,-1.19,-116.8,265.2,-9.0,218,2428,0.00,2.22,0.00,0.000,6,0.000,0.023,2871,2050,3117,0,0,0,0,0,0
$GC,2753,-1.19,-116.8,291.3,-7.4,234,2757,0.00,2.33,0.00,0.000,4,0.000,0.043,2871,690,3116,0,0,0,0,0,0
$GC,2804,-1.19,-116.8,295.7,-8.5,236,2808,0.00,2.33,0.00,0.000,6,0.000,0.025,2872,2104,3116,0,0,0,0,0,0
$GC,3121,-1.19,-116.8,317.8,-7.2,246,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2106,3115,0,0,0,0,0,0
$GC,3446,-1.19,-116.8,344.4,-8.5,254,3450,0.00,2.42,0.00,0.000,4,0.000,0.045,2871,695,3114,0,0,0,0,0,0
$GC,3469,-1.19,-116.8,346.8,-9.9,254,3473,0.00,2.30,0.00,0.000,6,0.000,0.026,2871,2099,3114,0,0,0,0,0,0
$GC,3809,-1.19,-116.8,376.5,-8.1,263,3814,0.00,2.40,0.00,0.000,4,0.000,0.041,2871,3506,3111,0,0,0,0,0,0
$GC,3893,-1.19,-116.8,384.2,-9.2,264,3899,0.00,2.38,0.00,0.000,6,0.000,0.033,2872,2103,3111,0,0,0,0,0,0
$GC,4225,-1.19,-116.8,408.5,-7.3,273,4229,0.00,2.40,0.00,0.000,4,0.000,0.041,2872,3497,3109,0,0,0,0,0,0
$GC,4239,-1.19,-116.8,409.9,-8.2,273,4243,0.00,2.38,0.00,0.000,6,0.000,0.035,2871,2098,3109,0,0,0,0,0,0
$GC,4589,-1.19,-116.8,431.0,-5.4,282,4594,0.00,2.42,0.00,0.000,4,0.000,0.051,2871,687,3107,0,0,0,0,0,0
$GC,4747,-1.19,-116.8,442.7,-7.9,285,4751,0.00,2.35,0.00,0.000,6,0.000,0.030,2871,2103,3106,0,0,0,0,0,0
$STATE,4846,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4846,begin apogee
$GC,4853,-0.31,0.0,450.3,7.2,288,4951,0.95,0.00,95.35,0.825,6,0.087,0.000,3065,1828,2635,0,0,0,0,0,0
$STATE,4952,end apogee,CONTROL_FINISHED_OK
$STATE,4952,begin climb
$GC,4955,1.19,116.8,452.4,0.0,290,5061,1.55,0.00,102.12,0.806,6,0.061,0.000,3399,1828,2158,0,0,0,0,0,0
$GC,5373,1.19,116.8,406.0,12.6,301,5378,0.00,2.53,0.00,0.000,4,0.000,0.059,3398,428,2146,0,0,0,0,0,0
$GC,5485,1.19,116.8,389.0,15.0,303,5489,0.00,2.38,0.00,0.000,6,0.000,0.029,3398,1848,2143,0,0,0,0,0,0
$GC,5834,1.19,116.8,346.1,11.8,312,5839,0.00,2.55,0.00,0.000,4,0.000,0.058,3398,429,2140,0,0,0,0,0,0
$GC,5858,1.19,116.8,343.0,13.1,312,5862,0.00,2.35,0.00,0.000,6,0.000,0.029,3398,1841,2139,0,0,0,0,0,0
$GC,6203,1.19,116.8,301.0,11.8,321,6207,0.00,2.50,0.00,0.000,4,0.000,0.056,3398,429,2138,0,0,0,0,0,0
$GC,6254,1.19,116.8,295.5,10.6,322,6259,0.00,2.33,0.00,0.000,6,0.000,0.029,3398,1827,2136,0,0,0,0,0,0
$GC,6575,1.19,116.8,270.9,8.9,338,6579,0.00,2.47,0.00,0.000,4,0.000,0.055,3398,429,2136,0,0,0,0,0,0
$GC,6621,1.19,116.8,265.5,11.4,340,6625,0.00,2.35,0.00,0.000,6,0.000,0.028,3398,1841,2135,0,0,0,0,0,0
$GC,6945,1.19,116.8,227.7,12.8,356,6950,0.00,2.50,0.00,0.000,4,0.000,0.054,3398,429,2134,0,0,0,0,0,0
$GC,7059,1.19,116.8,212.1,13.4,361,7063,0.00,2.33,0.00,0.000,6,0.000,0.026,3398,1838,2132,0,0,0,0,0,0
$GC,7386,1.19,116.8,176.0,10.5,387,7390,0.00,2.47,0.00,0.000,4,0.000,0.051,3398,428,2133,0,0,0,0,0,0
$GC,7414,1.19,116.8,172.4,12.1,389,7420,0.00,2.30,0.00,0.000,6,0.000,0.025,3398,1840,2131,0,0,0,0,0,0
$GC,7677,1.21,128.0,151.9,7.5,414,7689,0.00,2.35,6.20,0.490,4,0.000,0.031,3399,3220,2113,0,0,0,0,0,0
$GC,7706,1.22,138.0,149.7,7.6,417,7726,0.00,2.35,10.93,0.555,6,0.000,0.034,3399,1833,2071,0,0,0,0,0,0
$GC,7981,1.22,138.0,124.3,10.5,443,7985,0.00,2.30,0.00,0.000,4,0.000,0.029,3398,3219,2068,0,0,0,0,0,0
$GC,8027,1.22,138.0,119.3,10.6,447,8032,0.00,2.38,0.00,0.000,6,0.000,0.033,3398,1826,2068,0,0,0,0,0,0
$GC,8288,1.22,138.0,92.8,9.3,472,8292,0.00,2.40,0.00,0.000,4,0.000,0.048,3398,424,2068,0,0,0,0,0,0
$GC,8395,1.22,138.0,83.1,8.7,483,8399,0.00,2.28,0.00,0.000,6,0.000,0.021,3398,1837,2066,0,0,0,0,0,0
$GC,8660,1.24,154.6,63.5,7.3,507,8677,0.00,0.00,15.35,0.495,6,0.000,0.000,3399,1842,2004,0,0,0,0,0,0
$GC,8934,1.24,154.6,39.0,9.7,533,8939,0.00,2.42,0.00,0.000,4,0.000,0.045,3398,424,2002,0,0,0,0,0,0
$GC,8960,1.24,154.6,36.0,11.3,535,8964,0.00,2.25,0.00,0.000,6,0.000,0.020,3399,1832,2000,0,0,0,0,0,0
$GC,9230,1.27,175.6,13.7,7.1,579,9259,0.00,2.35,19.38,0.462,4,0.000,0.024,3399,3218,1919,0,0,0,0,0,0
$GC,9288,1.32,215.6,10.2,6.2,590,9334,0.08,2.40,35.08,0.470,6,0.035,0.031,3438,1825,1755,0,0,0,0,0,0
$STATE,9354,end climb,SURFACE_DEPTH_REACHED
$STATE,9354,begin surface coast
$FINISH,0.6,1.023302
$STATE,9379,end surface coast,CONTROL_FINISHED_OK
$STATE,9379,begin surface
$SM_CCo,9403,60.60,0.463,0,0,1288,330.17
$SM_GC,1.20,0.00,0.00,60.60,0.000,0.000,0.463,427,2123,1288,-12.47,0.62,330.17
$IRIDIUM_FIX,2054.83,-15806.34,050700,030340
$TT8_MAMPS,0.029146
$HUMID,52.48
$INTERNAL_PRESSURE,9.58675
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.3,4.676
$10V_AH,10.6,4.323
$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,28.900,95.250,284.400,60.600,0.000,29.987,37.295,157.944,4.500,0.000,15.289,1107.722,6112.844,429.337,1697.185,461.309,0.000,1146.247,0.000,1694.784,0.000,31.109,0.000
$DEVICE_MAMPS,138.060,59.059,824.525,463.268,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.476,400.799,899.866,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,34980,606
$CAP_FILE_SIZE,96738,0
$CFSIZE,260165632,253808640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110411,082836,2102.602,-15804.067,34,1.1,34,9.8