version: 66.06
glider: 139
mission: 9
dive: 87
start: 4 14 111 19 34 26
data:
$ID,139
$MISSION,9
$DIVE,87
$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,1
$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,-2176423.8
$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,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,86
$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
$GPS1,192455,2105.020,-15756.692,43,1.0,43,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-72.9
$GPS2,193337,2105.030,-15756.653,10,1.0,15,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.221,0.014
$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,76.7,23778,-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,15,-1.19,-116.8,0.0,0.0,0,93,0.00,0.00,-71.43,0.000,6,0.000,0.000,429,2139,3113,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.0,-4.1,14,115,13.25,2.20,0.00,0.000,4,0.137,0.028,2869,3455,3115,0,0,0,0,0,0
$GC,367,-1.19,-116.8,53.2,-15.3,58,371,0.00,2.28,0.00,0.000,6,0.000,0.027,2870,2086,3116,0,0,0,0,0,0
$GC,628,-1.19,-116.8,96.0,-15.3,82,632,0.00,2.38,0.00,0.000,4,0.000,0.039,2869,685,3116,0,0,0,0,0,0
$GC,652,-1.19,-116.8,99.3,-12.8,84,659,0.00,2.22,0.00,0.000,6,0.000,0.020,2869,2067,3116,0,0,0,0,0,0
$GC,924,-1.19,-116.8,130.7,-9.7,109,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2070,3117,0,0,0,0,0,0
$GC,1185,-1.19,-116.8,159.3,-11.6,134,1189,0.00,2.38,0.00,0.000,4,0.000,0.031,2869,3492,3118,0,0,0,0,0,0
$GC,1302,-1.19,-116.8,172.3,-11.9,146,1306,0.00,2.30,0.00,0.000,6,0.000,0.027,2869,2098,3118,0,0,0,0,0,0
$GC,1564,-1.19,-116.8,202.5,-10.9,169,1568,0.00,2.33,0.00,0.000,4,0.000,0.030,2869,3496,3119,0,0,0,0,0,0
$GC,1615,-1.19,-116.8,208.2,-10.2,171,1619,0.00,2.30,0.00,0.000,6,0.000,0.027,2869,2099,3119,0,0,0,0,0,0
$GC,1937,-1.19,-116.8,237.2,-7.4,187,1941,0.00,2.35,0.00,0.000,4,0.000,0.040,2869,693,3119,0,0,0,0,0,0
$GC,2006,-1.19,-116.8,242.3,-7.0,190,2010,0.00,2.30,0.00,0.000,6,0.000,0.021,2869,2107,3119,0,0,0,0,0,0
$GC,2331,-1.19,-116.8,266.2,-8.4,206,2336,0.00,2.38,0.00,0.000,4,0.000,0.038,2869,686,3118,0,0,0,0,0,0
$GC,2354,-1.19,-116.8,267.8,-7.9,207,2359,0.00,2.30,0.00,0.000,6,0.000,0.023,2869,2103,3118,0,0,0,0,0,0
$GC,2685,-1.19,-116.8,294.6,-8.6,223,2689,0.00,2.40,0.00,0.000,4,0.000,0.042,2869,689,3117,0,0,0,0,0,0
$GC,2814,-1.19,-116.8,306.5,-9.5,227,2819,0.00,2.33,0.00,0.000,6,0.000,0.024,2869,2105,3117,0,0,0,0,0,0
$GC,3145,-1.19,-116.8,336.8,-9.2,236,3149,0.00,2.40,0.00,0.000,4,0.000,0.044,2869,696,3116,0,0,0,0,0,0
$GC,3207,-1.19,-116.8,342.7,-9.4,237,3211,0.00,2.30,0.00,0.000,6,0.000,0.025,2869,2100,3116,0,0,0,0,0,0
$GC,3557,-1.19,-116.8,366.8,-6.0,246,3558,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2103,3113,0,0,0,0,0,0
$GC,3882,-1.19,-116.8,387.2,-6.4,254,3883,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2103,3111,0,0,0,0,0,0
$GC,4207,-1.19,-116.8,404.5,-5.0,262,4211,0.00,2.40,0.00,0.000,4,0.000,0.041,2869,3505,3108,0,0,0,0,0,0
$GC,4318,-1.19,-116.8,412.6,-7.2,264,4323,0.00,2.38,0.00,0.000,6,0.000,0.035,2869,2096,3108,0,0,0,0,0,0
$GC,4668,-1.19,-116.8,435.0,-6.2,273,4670,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2096,3106,0,0,0,0,0,0
$STATE,4909,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4909,begin apogee
$GC,4916,-0.31,0.0,451.5,6.7,279,5015,0.95,0.00,95.60,0.833,6,0.087,0.000,3065,1808,2635,0,0,0,0,0,0
$STATE,5016,end apogee,CONTROL_FINISHED_OK
$STATE,5016,begin climb
$GC,5019,1.19,116.8,453.1,0.0,281,5125,1.50,0.00,101.88,0.812,6,0.059,0.000,3391,1807,2158,0,0,0,0,0,0
$GC,5428,1.19,116.8,407.9,12.1,291,5432,0.00,2.55,0.00,0.000,4,0.000,0.059,3391,390,2146,0,0,0,0,0,0
$GC,5471,1.19,116.8,401.8,13.8,292,5476,0.00,2.38,0.00,0.000,6,0.000,0.028,3391,1806,2143,0,0,0,0,0,0
$GC,5801,1.19,116.8,361.0,13.1,300,5805,0.00,2.40,0.00,0.000,4,0.000,0.036,3391,3207,2141,0,0,0,0,0,0
$GC,5839,1.19,116.8,355.4,13.3,300,5845,0.00,2.47,0.00,0.000,6,0.000,0.042,3391,1802,2141,0,0,0,0,0,0
$GC,6171,1.19,116.8,312.6,12.9,309,6175,0.00,2.53,0.00,0.000,4,0.000,0.057,3391,383,2139,0,0,0,0,0,0
$GC,6205,1.19,116.8,308.1,14.1,309,6209,0.00,2.38,0.00,0.000,6,0.000,0.028,3391,1812,2137,0,0,0,0,0,0
$GC,6519,1.19,116.8,274.5,9.0,322,6524,0.00,2.55,0.00,0.000,4,0.000,0.056,3391,381,2137,0,0,0,0,0,0
$GC,6579,1.19,116.8,267.8,12.2,324,6586,0.00,2.40,0.00,0.000,6,0.000,0.028,3391,1799,2135,0,0,0,0,0,0
$GC,6895,1.19,116.8,234.6,11.7,340,6899,0.00,2.47,0.00,0.000,4,0.000,0.054,3391,387,2135,0,0,0,0,0,0
$GC,6923,1.19,116.8,230.7,13.5,341,6927,0.00,2.38,0.00,0.000,6,0.000,0.026,3391,1822,2133,0,0,0,0,0,0
$GC,7244,1.19,116.8,199.5,8.8,357,7249,0.00,2.53,0.00,0.000,4,0.000,0.053,3391,379,2133,0,0,0,0,0,0
$GC,7345,1.19,116.8,188.6,11.6,367,7350,0.00,2.35,0.00,0.000,6,0.000,0.025,3392,1799,2132,0,0,0,0,0,0
$GC,7608,1.19,116.8,160.0,10.6,392,7612,0.00,2.35,0.00,0.000,4,0.000,0.031,3391,3208,2132,0,0,0,0,0,0
$GC,7632,1.19,116.8,157.0,11.4,394,7636,0.00,2.42,0.00,0.000,6,0.000,0.034,3391,1792,2132,0,0,0,0,0,0
$GC,7895,1.19,116.8,133.9,8.1,418,7896,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,1793,2132,0,0,0,0,0,0
$GC,8148,1.24,153.3,113.9,6.4,442,8185,0.00,2.40,28.05,0.573,4,0.000,0.025,3391,3212,2009,0,0,0,0,0,0
$GC,8247,1.27,178.4,107.6,6.9,452,8275,0.00,2.45,23.12,0.555,6,0.000,0.033,3392,1801,1907,0,0,0,0,0,0
$GC,8533,1.27,178.4,81.0,10.4,479,8537,0.10,2.47,0.00,0.000,4,0.073,0.048,3427,387,1902,0,0,0,0,0,0
$GC,8570,1.27,178.4,76.1,13.4,482,8577,0.00,2.35,0.00,0.000,6,0.000,0.020,3428,1819,1899,0,0,0,0,0,0
$GC,8835,1.27,178.4,50.0,9.0,507,8839,0.00,2.50,0.00,0.000,4,0.000,0.047,3427,382,1899,0,0,0,0,0,0
$GC,8914,1.27,178.4,41.1,11.8,515,8918,0.00,2.30,0.00,0.000,6,0.000,0.019,3427,1794,1898,0,0,0,0,0,0
$GC,9180,1.27,178.4,14.3,10.1,553,9186,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,1801,1898,0,0,0,0,0,0
$STATE,9299,end climb,SURFACE_DEPTH_REACHED
$STATE,9299,begin surface coast
$FINISH,0.4,1.023462
$STATE,9329,end surface coast,CONTROL_FINISHED_OK
$STATE,9329,begin surface
$SM_CCo,9353,77.85,0.469,0,0,1288,330.17
$SM_GC,1.24,0.00,0.00,77.85,0.000,0.000,0.469,430,2153,1288,-12.46,1.50,330.17
$IRIDIUM_FIX,2054.83,-15756.91,080700,191931
$TT8_MAMPS,0.029913
$HUMID,54.37
$INTERNAL_PRESSURE,9.58675
$TCM_TEMP,21.50
$XPDR_PINGS,1
$24V_AH,23.4,7.096
$10V_AH,10.5,6.698
$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,28.650,91.500,248.650,77.850,0.000,54.246,70.985,210.620,4.750,0.000,15.746,1073.921,6269.911,418.869,1614.627,579.714,29.238,1098.699,0.000,1605.240,0.000,31.107,0.000
$DEVICE_MAMPS,137.293,59.059,832.962,468.637,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,393.038,373.821,832.752,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31770,580
$CAP_FILE_SIZE,96283,0
$CFSIZE,260165632,252309504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140411,221306,2104.959,-15756.568,39,1.0,50,9.8