version: 66.06
glider: 139
mission: 9
dive: 58
start: 4 11 111 11 21 21
data:
$ID,139
$MISSION,9
$DIVE,58
$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,-2175777.8
$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,82
$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
$GPS1,111207,2102.465,-15803.905,38,1.3,38,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-75.2
$GPS2,112101,2102.479,-15803.888,16,1.9,16,9.8
$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,70.5,36755,-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,14,begin dive
$GC,17,-1.19,-116.8,0.0,0.0,0,94,0.00,0.00,-70.55,0.000,6,0.000,0.000,432,2120,3113,0,0,0,0,0,0
$GC,97,-1.19,-116.8,2.8,-3.7,14,116,13.30,2.45,0.00,0.000,4,0.138,0.033,2869,675,3115,0,0,0,0,0,0
$GC,128,-1.19,-116.8,13.0,-29.2,19,134,0.00,2.30,0.00,0.000,6,0.000,0.021,2869,2066,3115,0,0,0,0,0,0
$GC,330,-1.19,-116.8,49.7,-16.1,45,334,0.00,2.38,0.00,0.000,4,0.000,0.029,2869,3490,3116,0,0,0,0,0,0
$GC,532,-1.19,-116.8,81.9,-15.0,67,537,0.00,2.35,0.00,0.000,6,0.000,0.028,2868,2084,3117,0,0,0,0,0,0
$GC,796,-1.19,-116.8,118.1,-13.6,91,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2082,3117,0,0,0,0,0,0
$GC,1058,-1.19,-116.8,150.2,-11.7,116,1062,0.00,2.35,0.00,0.000,4,0.000,0.031,2869,3491,3118,0,0,0,0,0,0
$GC,1320,-1.19,-116.8,179.5,-12.3,144,1327,0.00,2.35,0.00,0.000,6,0.000,0.026,2869,2093,3118,0,0,0,0,0,0
$GC,1582,-1.19,-116.8,206.1,-9.7,166,1587,0.00,2.35,0.00,0.000,4,0.000,0.040,2869,689,3119,0,0,0,0,0,0
$GC,1615,-1.19,-116.8,209.5,-9.1,167,1619,0.00,2.30,0.00,0.000,6,0.000,0.021,2869,2099,3118,0,0,0,0,0,0
$GC,1930,-1.19,-116.8,235.5,-9.0,182,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2103,3119,0,0,0,0,0,0
$GC,2242,-1.19,-116.8,259.9,-7.1,197,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2103,3119,0,0,0,0,0,0
$GC,2549,-1.19,-116.8,285.2,-8.2,212,2553,0.00,2.38,0.00,0.000,4,0.000,0.041,2868,694,3118,0,0,0,0,0,0
$GC,2670,-1.19,-116.8,295.6,-8.7,217,2674,0.00,2.30,0.00,0.000,6,0.000,0.024,2869,2097,3117,0,0,0,0,0,0
$GC,2989,-1.19,-116.8,322.6,-9.1,227,2993,0.00,2.38,0.00,0.000,4,0.000,0.038,2869,3501,3116,0,0,0,0,0,0
$GC,3196,-1.19,-116.8,341.9,-10.1,231,3201,0.00,2.35,0.00,0.000,6,0.000,0.032,2869,2096,3116,0,0,0,0,0,0
$GC,3537,-1.19,-116.8,366.1,-6.2,240,3538,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2096,3113,0,0,0,0,0,0
$GC,3862,-1.19,-116.8,387.1,-6.7,248,3866,0.00,2.40,0.00,0.000,4,0.000,0.038,2869,3496,3111,0,0,0,0,0,0
$GC,3900,-1.19,-116.8,389.9,-7.5,248,3905,0.00,2.38,0.00,0.000,6,0.000,0.034,2869,2097,3111,0,0,0,0,0,0
$GC,4231,-1.19,-116.8,411.8,-6.7,257,4236,0.00,2.40,0.00,0.000,4,0.000,0.041,2869,3503,3109,0,0,0,0,0,0
$GC,4312,-1.19,-116.8,417.7,-7.0,258,4316,0.00,2.38,0.00,0.000,6,0.000,0.035,2869,2100,3108,0,0,0,0,0,0
$GC,4644,-1.19,-116.8,439.2,-6.4,266,4648,0.00,2.45,0.00,0.000,4,0.000,0.051,2868,690,3106,0,0,0,0,0,0
$GC,4663,-1.19,-116.8,440.6,-7.1,266,4667,0.00,2.35,0.00,0.000,6,0.000,0.029,2869,2096,3106,0,0,0,0,0,0
$STATE,4847,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4847,begin apogee
$GC,4854,-0.31,0.0,451.5,5.7,271,4953,0.98,0.00,95.60,0.827,6,0.087,0.000,3068,1832,2635,0,0,0,0,0,0
$STATE,4954,end apogee,CONTROL_FINISHED_OK
$STATE,4954,begin climb
$GC,4957,1.19,116.8,451.4,0.0,273,5063,1.52,0.00,102.43,0.805,6,0.060,0.000,3395,1832,2157,0,0,0,0,0,0
$GC,5375,1.19,116.8,398.0,12.8,284,5379,0.00,2.53,0.00,0.000,4,0.000,0.059,3395,433,2147,0,0,0,0,0,0
$GC,5464,1.19,116.8,385.0,14.9,286,5469,0.00,2.38,0.00,0.000,6,0.000,0.028,3395,1842,2142,0,0,0,0,0,0
$GC,5792,1.19,116.8,345.0,12.2,294,5796,0.00,2.53,0.00,0.000,4,0.000,0.058,3394,425,2140,0,0,0,0,0,0
$GC,5811,1.19,116.8,342.4,13.5,294,5815,0.00,2.38,0.00,0.000,6,0.000,0.028,3395,1841,2139,0,0,0,0,0,0
$GC,6156,1.19,116.8,296.2,13.3,303,6160,0.00,2.53,0.00,0.000,4,0.000,0.056,3395,432,2138,0,0,0,0,0,0
$GC,6177,1.19,116.8,293.2,14.4,304,6181,0.00,2.35,0.00,0.000,6,0.000,0.028,3395,1840,2137,0,0,0,0,0,0
$GC,6506,1.19,116.8,256.1,9.6,320,6511,0.00,2.53,0.00,0.000,4,0.000,0.056,3395,423,2136,0,0,0,0,0,0
$GC,6603,1.19,116.8,245.6,10.8,324,6607,0.00,2.35,0.00,0.000,6,0.000,0.027,3395,1839,2134,0,0,0,0,0,0
$GC,6923,1.19,116.8,213.0,10.2,340,6927,0.00,2.35,0.00,0.000,4,0.000,0.034,3395,3231,2134,0,0,0,0,0,0
$GC,7006,1.19,116.8,203.5,12.0,343,7012,0.00,2.40,0.00,0.000,6,0.000,0.038,3395,1830,2133,0,0,0,0,0,0
$GC,7331,1.19,116.8,163.7,11.9,372,7336,0.00,2.45,0.00,0.000,4,0.000,0.051,3395,415,2133,0,0,0,0,0,0
$GC,7414,1.19,116.8,154.3,11.1,380,7421,0.00,2.35,0.00,0.000,6,0.000,0.025,3395,1834,2132,0,0,0,0,0,0
$GC,7678,1.21,127.5,131.6,7.5,405,7689,0.00,2.53,5.60,0.465,4,0.000,0.048,3395,422,2115,0,0,0,0,0,0
$GC,7701,1.21,129.2,129.6,7.9,407,7706,0.00,2.33,0.00,0.000,6,0.000,0.023,3395,1846,2114,0,0,0,0,0,0
$GC,7966,1.22,139.2,108.9,7.6,431,7986,0.00,2.55,11.98,0.532,4,0.000,0.048,3395,423,2066,0,0,0,0,0,0
$GC,7998,1.23,146.6,106.4,7.7,434,8012,0.00,2.30,8.10,0.491,6,0.000,0.021,3395,1839,2036,0,0,0,0,0,0
$GC,8273,1.25,160.2,84.9,7.4,460,8293,0.00,2.47,13.30,0.512,4,0.000,0.047,3395,421,1980,0,0,0,0,0,0
$GC,8324,1.25,160.2,80.7,9.3,465,8328,0.00,2.30,0.00,0.000,6,0.000,0.021,3395,1836,1978,0,0,0,0,0,0
$GC,8588,1.27,178.6,60.1,7.2,489,8612,0.00,2.53,17.08,0.499,4,0.000,0.047,3395,424,1906,0,0,0,0,0,0
$GC,8639,1.27,178.6,55.7,8.5,494,8645,0.00,2.30,0.00,0.000,6,0.000,0.020,3395,1832,1903,0,0,0,0,0,0
$GC,8901,1.29,192.2,35.9,7.4,519,8923,0.10,2.35,12.82,0.462,4,0.072,0.025,3433,3219,1851,0,0,0,0,0,0
$GC,8929,1.29,192.2,33.2,9.9,521,8935,0.00,2.40,0.00,0.000,6,0.000,0.031,3433,1828,1850,0,0,0,0,0,0
$GC,9192,1.29,192.2,4.5,11.5,567,9199,0.00,2.45,0.00,0.000,4,0.000,0.046,3432,421,1849,0,0,0,0,0,0
$STATE,9206,end climb,SURFACE_DEPTH_REACHED
$STATE,9206,begin surface coast
$FINISH,0.5,1.010244
$STATE,9224,end surface coast,CONTROL_FINISHED_OK
$STATE,9224,begin surface
$SM_CCo,9250,71.88,0.466,0,0,1288,330.17
$SM_GC,1.23,0.00,0.00,71.88,0.000,0.000,0.466,424,2093,1288,-12.48,-0.23,330.17
$IRIDIUM_FIX,2054.83,-15806.34,050700,111142
$TT8_MAMPS,0.029146
$HUMID,53.38
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.3,4.837
$10V_AH,10.5,4.474
$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,28.850,101.400,266.900,71.875,0.000,57.427,68.320,224.344,4.500,0.000,16.331,1073.131,6123.505,442.423,1645.655,575.081,0.000,1142.511,0.000,1626.831,0.000,29.245,0.000
$DEVICE_MAMPS,138.060,59.059,826.826,466.336,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,387.422,369.897,830.275,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31722,573
$CAP_FILE_SIZE,99822,0
$CFSIZE,260165632,253710336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110411,135738,2102.195,-15803.731,16,1.9,16,9.8