version: 66.06
glider: 139
mission: 9
dive: 59
start: 4 11 111 14 7 56
data:
$ID,139
$MISSION,9
$DIVE,59
$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,-2175816
$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,35
$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
$GPS1,135738,2102.195,-15803.731,16,1.9,16,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-72.0
$GPS2,140738,2102.198,-15803.771,36,1.3,37,9.8
$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,69.7,36648,-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,16,-1.19,-116.8,0.0,0.0,0,93,0.00,0.00,-71.00,0.000,6,0.000,0.000,424,2094,3113,0,0,0,0,0,0
$GC,97,-1.19,-116.8,2.8,-3.8,14,115,13.43,2.40,0.00,0.000,4,0.141,0.035,2866,678,3115,0,0,0,0,0,0
$GC,235,-1.19,-116.8,35.0,-20.3,42,239,0.00,2.33,0.00,0.000,6,0.000,0.021,2867,2103,3116,0,0,0,0,0,0
$GC,497,-1.19,-116.8,76.8,-15.3,66,501,0.00,2.30,0.00,0.000,4,0.000,0.028,2867,3503,3116,0,0,0,0,0,0
$GC,680,-1.19,-116.8,105.1,-14.0,86,684,0.00,2.38,0.00,0.000,6,0.000,0.026,2866,2081,3117,0,0,0,0,0,0
$GC,943,-1.19,-116.8,137.3,-13.2,110,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2081,3118,0,0,0,0,0,0
$GC,1195,-1.19,-116.8,168.5,-12.3,134,1200,0.00,2.40,0.00,0.000,4,0.000,0.031,2866,3510,3118,0,0,0,0,0,0
$GC,1323,-1.19,-116.8,184.6,-11.3,147,1329,0.00,2.35,0.00,0.000,6,0.000,0.027,2866,2100,3119,0,0,0,0,0,0
$GC,1592,-1.19,-116.8,208.8,-7.8,168,1593,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2099,3119,0,0,0,0,0,0
$GC,1903,-1.19,-116.8,231.8,-8.1,183,1907,0.00,2.35,0.00,0.000,4,0.000,0.033,2867,3506,3119,0,0,0,0,0,0
$GC,1917,-1.19,-116.8,233.3,-9.1,183,1923,0.00,2.35,0.00,0.000,6,0.000,0.028,2867,2099,3119,0,0,0,0,0,0
$GC,2234,-1.19,-116.8,262.6,-8.8,199,2238,0.00,2.38,0.00,0.000,4,0.000,0.043,2867,689,3118,0,0,0,0,0,0
$GC,2267,-1.19,-116.8,265.6,-8.8,200,2271,0.00,2.30,0.00,0.000,6,0.000,0.023,2867,2106,3118,0,0,0,0,0,0
$GC,2584,-1.19,-116.8,291.1,-7.7,215,2588,0.00,2.42,0.00,0.000,4,0.000,0.042,2867,686,3117,0,0,0,0,0,0
$GC,2685,-1.19,-116.8,301.0,-9.7,219,2690,0.00,2.30,0.00,0.000,6,0.000,0.025,2866,2099,3117,0,0,0,0,0,0
$GC,3016,-1.19,-116.8,333.0,-9.5,227,3021,0.00,2.35,0.00,0.000,4,0.000,0.038,2867,3502,3116,0,0,0,0,0,0
$GC,3045,-1.19,-116.8,335.8,-9.7,227,3049,0.00,2.35,0.00,0.000,6,0.000,0.031,2866,2102,3115,0,0,0,0,0,0
$GC,3381,-1.19,-116.8,363.3,-7.6,236,3385,0.00,2.42,0.00,0.000,4,0.000,0.046,2866,689,3113,0,0,0,0,0,0
$GC,3419,-1.19,-116.8,366.1,-7.8,236,3424,0.00,2.33,0.00,0.000,6,0.000,0.027,2867,2103,3113,0,0,0,0,0,0
$GC,3750,-1.19,-116.8,384.3,-5.1,245,3754,0.00,2.38,0.00,0.000,4,0.000,0.041,2867,3509,3111,0,0,0,0,0,0
$GC,3894,-1.19,-116.8,392.6,-5.6,248,3898,0.00,2.40,0.00,0.000,6,0.000,0.034,2867,2095,3110,0,0,0,0,0,0
$GC,4212,-1.19,-116.8,414.6,-7.4,256,4217,0.00,2.42,0.00,0.000,4,0.000,0.051,2866,683,3108,0,0,0,0,0,0
$GC,4287,-1.19,-116.8,421.8,-9.7,257,4291,0.00,2.38,0.00,0.000,6,0.000,0.029,2866,2105,3108,0,0,0,0,0,0
$GC,4622,-1.19,-116.8,448.9,-8.1,266,4627,0.00,2.45,0.00,0.000,4,0.000,0.051,2866,690,3105,0,0,0,0,0,0
$STATE,4634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4634,begin apogee
$GC,4643,-0.31,0.0,450.1,8.1,266,4742,0.95,0.00,95.65,0.831,6,0.091,0.000,3062,1855,2635,0,0,0,0,0,0
$STATE,4743,end apogee,CONTROL_FINISHED_OK
$STATE,4743,begin climb
$GC,4746,1.19,116.8,452.4,0.0,268,4858,1.52,2.42,101.65,0.810,4,0.061,0.038,3394,3222,2157,0,0,0,0,0,0
$GC,4877,1.19,116.8,440.9,11.6,271,4882,0.00,2.45,0.00,0.000,6,0.000,0.043,3393,1840,2155,0,0,0,0,0,0
$GC,5200,1.19,116.8,399.9,12.3,279,5204,0.00,2.55,0.00,0.000,4,0.000,0.061,3393,423,2146,0,0,0,0,0,0
$GC,5274,1.19,116.8,390.2,13.2,280,5279,0.00,2.38,0.00,0.000,6,0.000,0.030,3393,1826,2142,0,0,0,0,0,0
$GC,5610,1.19,116.8,355.4,10.1,289,5614,0.00,2.40,0.00,0.000,4,0.000,0.038,3393,3224,2141,0,0,0,0,0,0
$GC,5661,1.19,116.8,350.4,9.7,290,5666,0.00,2.45,0.00,0.000,6,0.000,0.041,3393,1830,2140,0,0,0,0,0,0
$GC,5980,1.19,116.8,312.0,13.0,298,5984,0.00,2.53,0.00,0.000,4,0.000,0.058,3393,412,2138,0,0,0,0,0,0
$GC,6026,1.19,116.8,305.5,14.4,299,6030,0.00,2.35,0.00,0.000,6,0.000,0.028,3393,1831,2136,0,0,0,0,0,0
$GC,6354,1.19,116.8,267.3,11.0,313,6358,0.00,2.53,0.00,0.000,4,0.000,0.057,3393,415,2135,0,0,0,0,0,0
$GC,6421,1.19,116.8,259.1,12.1,316,6426,0.00,2.38,0.00,0.000,6,0.000,0.028,3393,1842,2134,0,0,0,0,0,0
$GC,6751,1.19,116.8,221.9,11.1,332,6755,0.00,2.53,0.00,0.000,4,0.000,0.054,3393,411,2133,0,0,0,0,0,0
$GC,6819,1.19,116.8,213.6,13.1,335,6823,0.00,2.33,0.00,0.000,6,0.000,0.027,3393,1831,2132,0,0,0,0,0,0
$GC,7146,1.19,116.8,182.8,8.7,359,7150,0.00,2.47,0.00,0.000,4,0.000,0.053,3393,414,2132,0,0,0,0,0,0
$GC,7174,1.19,116.8,179.4,11.7,361,7179,0.00,2.33,0.00,0.000,6,0.000,0.025,3393,1838,2131,0,0,0,0,0,0
$GC,7437,1.19,116.8,154.8,11.1,386,7441,0.00,2.30,0.00,0.000,4,0.000,0.031,3394,3218,2132,0,0,0,0,0,0
$GC,7473,1.19,116.8,150.4,10.7,389,7479,0.00,2.38,0.00,0.000,6,0.000,0.034,3394,1825,2131,0,0,0,0,0,0
$GC,7736,1.19,116.8,128.0,9.4,414,7741,0.00,2.40,0.00,0.000,4,0.000,0.049,3393,424,2131,0,0,0,0,0,0
$GC,7755,1.19,116.8,125.6,11.0,415,7761,0.00,2.30,0.00,0.000,6,0.000,0.022,3394,1844,2131,0,0,0,0,0,0
$GC,8018,1.19,116.8,99.8,9.1,440,8019,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1849,2131,0,0,0,0,0,0
$GC,8272,1.22,134.7,78.1,7.2,464,8293,0.00,2.53,12.00,0.502,4,0.000,0.047,3393,424,2084,0,0,0,0,0,0
$GC,8340,1.22,134.7,72.9,8.5,471,8344,0.00,2.28,0.00,0.000,6,0.000,0.021,3393,1833,2082,0,0,0,0,0,0
$GC,8604,1.22,134.7,51.8,8.7,495,8610,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1838,2082,0,0,0,0,0,0
$GC,8867,1.25,161.2,31.7,6.8,520,8896,0.00,0.00,24.45,0.486,6,0.000,0.000,3394,1838,1975,0,0,0,0,0,0
$GC,9158,1.27,175.5,10.7,7.4,571,9176,0.00,2.47,13.20,0.444,4,0.000,0.044,3393,415,1918,0,0,0,0,0,0
$GC,9201,1.27,180.7,7.4,7.8,579,9214,0.00,2.30,5.75,0.370,6,0.000,0.019,3393,1823,1896,0,0,0,0,0,0
$STATE,9257,end climb,SURFACE_DEPTH_REACHED
$STATE,9257,begin surface coast
$FINISH,0.4,1.023364
$STATE,9292,end surface coast,CONTROL_FINISHED_OK
$STATE,9292,begin surface
$SM_CCo,9316,77.07,0.468,0,0,1289,330.17
$SM_GC,1.06,0.00,0.00,77.07,0.000,0.000,0.468,427,2127,1289,-12.47,0.76,330.17
$IRIDIUM_FIX,2052.52,-15807.20,050700,141409
$TT8_MAMPS,0.029146
$HUMID,53.62
$INTERNAL_PRESSURE,9.58675
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.3,4.922
$10V_AH,10.6,4.553
$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,28.700,105.125,252.700,77.075,0.000,52.929,81.421,253.912,4.500,0.000,37.534,1105.115,6118.224,400.993,1743.775,626.728,0.000,1141.123,0.000,1703.896,0.000,29.247,0.000
$DEVICE_MAMPS,141.128,60.593,830.661,467.870,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,402.853,386.971,892.410,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31804,595
$CAP_FILE_SIZE,102906,0
$CFSIZE,260165632,253661184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110411,164554,2102.224,-15803.872,29,1.5,46,9.8