version: 66.06
glider: 139
mission: 9
dive: 79
start: 4 13 111 21 44 8
data:
$ID,139
$MISSION,9
$DIVE,79
$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,-2176213.2
$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,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,82
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.30000001
$ROLL_ADJ_DBAND,1
$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
$GPS1,213830,2107.435,-15759.356,40,0.9,45,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-74.6
$GPS2,214349,2107.450,-15759.390,11,1.0,16,9.8
$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,86.3,28621,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,93,0.00,0.00,-71.78,0.000,6,0.000,0.000,427,2153,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,2.7,-3.3,14,115,13.25,2.20,0.00,0.000,4,0.137,0.028,2869,3465,3114,0,0,0,0,0,0
$GC,338,-1.19,-116.8,44.1,-14.4,57,342,0.00,2.30,0.00,0.000,6,0.000,0.028,2869,2088,3116,0,0,0,0,0,0
$GC,606,-1.19,-116.8,79.5,-14.9,82,610,0.00,2.30,0.00,0.000,4,0.000,0.028,2869,3459,3116,0,0,0,0,0,0
$GC,712,-1.19,-116.8,93.2,-12.8,93,717,0.00,2.30,0.00,0.000,6,0.000,0.027,2869,2088,3117,0,0,0,0,0,0
$GC,978,-1.19,-116.8,126.2,-12.4,117,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2088,3117,0,0,0,0,0,0
$GC,1239,-1.19,-116.8,156.3,-10.3,142,1243,0.00,2.30,0.00,0.000,4,0.000,0.029,2869,3461,3118,0,0,0,0,0,0
$GC,1356,-1.19,-116.8,168.6,-9.9,154,1361,0.00,2.25,0.00,0.000,6,0.000,0.026,2869,2098,3118,0,0,0,0,0,0
$GC,1619,-1.19,-116.8,192.6,-9.4,178,1623,0.00,2.38,0.00,0.000,4,0.000,0.040,2869,685,3119,0,0,0,0,0,0
$GC,1677,-1.19,-116.8,198.1,-9.4,184,1681,0.00,2.25,0.00,0.000,6,0.000,0.021,2869,2067,3119,0,0,0,0,0,0
$GC,1933,-1.19,-116.8,221.0,-9.4,197,1937,0.00,2.40,0.00,0.000,4,0.000,0.033,2869,3497,3119,0,0,0,0,0,0
$GC,2124,-1.19,-116.8,241.2,-10.5,205,2128,0.00,2.33,0.00,0.000,6,0.000,0.028,2869,2094,3118,0,0,0,0,0,0
$GC,2446,-1.19,-116.8,270.6,-8.8,221,2450,0.00,2.38,0.00,0.000,4,0.000,0.032,2869,3502,3118,0,0,0,0,0,0
$GC,2460,-1.19,-116.8,272.0,-8.4,221,2466,0.00,2.33,0.00,0.000,6,0.000,0.028,2869,2105,3118,0,0,0,0,0,0
$GC,2777,-1.19,-116.8,299.4,-8.2,237,2778,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2104,3119,0,0,0,0,0,0
$GC,3083,-1.19,-116.8,323.4,-7.9,245,3084,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2103,3117,0,0,0,0,0,0
$GC,3406,-1.19,-116.8,354.4,-10.2,253,3407,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2103,3116,0,0,0,0,0,0
$GC,3730,-1.19,-116.8,388.2,-9.7,261,3734,0.00,2.40,0.00,0.000,4,0.000,0.046,2869,692,3114,0,0,0,0,0,0
$GC,3758,-1.19,-116.8,390.8,-9.8,261,3763,0.00,2.33,0.00,0.000,6,0.000,0.026,2869,2100,3114,0,0,0,0,0,0
$GC,4095,-1.19,-116.8,413.1,-5.8,270,4099,0.00,2.40,0.00,0.000,4,0.000,0.040,2869,3508,3112,0,0,0,0,0,0
$GC,4175,-1.19,-116.8,416.5,-4.2,271,4180,0.00,2.38,0.00,0.000,6,0.000,0.034,2869,2099,3111,0,0,0,0,0,0
$GC,4507,-1.19,-116.8,429.3,-4.3,279,4511,0.00,2.40,0.00,0.000,4,0.000,0.039,2869,3499,3109,0,0,0,0,0,0
$GC,4605,-1.19,-116.8,434.2,-5.8,281,4609,0.00,2.40,0.00,0.000,6,0.000,0.035,2869,2092,3108,0,0,0,0,0,0
$STATE,4880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4880,begin apogee
$GC,4887,-0.31,0.0,450.2,6.1,288,4985,0.98,0.00,95.22,0.828,6,0.087,0.000,3068,1802,2635,0,0,0,0,0,0
$STATE,4986,end apogee,CONTROL_FINISHED_OK
$STATE,4986,begin climb
$GC,4989,1.19,116.8,451.3,0.0,290,5101,1.50,2.55,100.35,0.810,4,0.060,0.058,3394,399,2156,0,0,0,0,0,0
$GC,5117,1.19,116.8,439.8,12.3,293,5121,0.00,2.38,0.00,0.000,6,0.000,0.028,3395,1807,2153,0,0,0,0,0,0
$GC,5445,1.19,116.8,400.8,11.4,301,5446,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1812,2145,0,0,0,0,0,0
$GC,5770,1.19,116.8,362.5,11.5,309,5774,0.00,2.55,0.00,0.000,4,0.000,0.058,3394,388,2141,0,0,0,0,0,0
$GC,5793,1.19,116.8,359.3,13.3,309,5797,0.00,2.38,0.00,0.000,6,0.000,0.028,3394,1802,2140,0,0,0,0,0,0
$GC,6134,1.19,116.8,316.2,12.3,318,6135,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1808,2138,0,0,0,0,0,0
$GC,6442,1.19,116.8,277.9,11.3,329,6446,0.00,2.35,0.00,0.000,4,0.000,0.035,3394,3204,2137,0,0,0,0,0,0
$GC,6488,1.19,116.8,272.7,10.7,331,6492,0.00,2.45,0.00,0.000,6,0.000,0.038,3394,1797,2137,0,0,0,0,0,0
$GC,6814,1.19,116.8,244.8,8.7,347,6818,0.00,2.47,0.00,0.000,4,0.000,0.055,3394,381,2136,0,0,0,0,0,0
$GC,6915,1.19,116.8,232.7,12.0,351,6920,0.00,2.35,0.00,0.000,6,0.000,0.026,3394,1815,2133,0,0,0,0,0,0
$GC,7231,1.19,116.8,203.0,8.8,366,7232,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1822,2133,0,0,0,0,0,0
$GC,7548,1.19,116.8,171.5,10.7,394,7552,0.00,2.50,0.00,0.000,4,0.000,0.051,3394,386,2132,0,0,0,0,0,0
$GC,7567,1.19,116.8,169.3,11.9,395,7572,0.00,2.33,0.00,0.000,6,0.000,0.023,3395,1814,2132,0,0,0,0,0,0
$GC,7830,1.19,116.8,138.3,13.1,420,7831,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1820,2132,0,0,0,0,0,0
$GC,8083,1.19,116.8,110.8,10.1,444,8087,0.00,2.47,0.00,0.000,4,0.000,0.048,3394,377,2132,0,0,0,0,0,0
$GC,8117,1.19,116.8,107.0,12.2,447,8122,0.00,2.33,0.00,0.000,6,0.000,0.021,3395,1810,2132,0,0,0,0,0,0
$GC,8382,1.26,170.1,87.0,5.6,471,8429,0.00,2.33,42.20,0.551,4,0.000,0.025,3395,3199,1941,0,0,0,0,0,0
$GC,8449,1.34,236.6,83.0,5.0,478,8515,0.15,2.40,57.22,0.542,6,0.055,0.031,3442,1791,1669,0,0,0,0,0,0
$GC,8770,1.34,236.6,46.2,12.0,509,8774,0.00,2.42,0.00,0.000,4,0.000,0.048,3442,387,1663,0,0,0,0,0,0
$GC,8851,1.34,236.6,34.4,15.5,517,8857,0.00,2.33,0.00,0.000,6,0.000,0.019,3442,1789,1660,0,0,0,0,0,0
$STATE,9081,end climb,SURFACE_DEPTH_REACHED
$STATE,9082,begin surface coast
$FINISH,0.5,1.017721
$STATE,9104,end surface coast,CONTROL_FINISHED_OK
$STATE,9105,begin surface
$SM_CCo,9129,47.67,0.465,0,0,1288,330.17
$SM_GC,1.15,0.00,0.00,47.67,0.000,0.000,0.465,431,2140,1288,-12.45,1.13,330.17
$IRIDIUM_FIX,2059.45,-15738.45,070700,191936
$TT8_MAMPS,0.029146
$HUMID,54.21
$INTERNAL_PRESSURE,9.58675
$TCM_TEMP,21.20
$XPDR_PINGS,0
$24V_AH,23.3,6.470
$10V_AH,10.6,6.087
$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,28.900,81.550,295.000,47.675,0.000,31.251,33.143,138.412,4.500,0.000,16.954,1025.703,6107.393,386.966,1567.832,410.951,0.000,1068.543,0.000,1550.407,0.000,29.237,0.000
$DEVICE_MAMPS,136.526,58.292,828.360,464.802,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,379.501,361.700,797.757,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31737,561
$CAP_FILE_SIZE,89365,0
$CFSIZE,260165632,252698624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140411,001830,2107.212,-15759.271,41,1.3,46,9.8