version: 66.06
glider: 139
mission: 9
dive: 112
start: 4 17 111 16 56 58
data:
$ID,139
$MISSION,9
$DIVE,112
$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,-2176909.2
$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,58
$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
$GPS1,165019,2106.104,-15751.392,13,2.0,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-75.4
$GPS2,165606,2106.127,-15751.341,16,1.3,33,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.215,0.052
$KALMAN_X,-48783.6,-24.2,-456.2,58440.7,-2269.8
$KALMAN_Y,-10494.7,-375.1,91.5,12808.0,-589.8
$MHEAD_RNG_PITCHd_Wd,66.6,14565,-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,-116.8,0.0,0.0,0,92,0.00,0.00,-70.53,0.000,6,0.000,0.000,431,2123,3111,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.6,-5.6,14,114,13.18,0.00,0.00,0.000,6,0.137,0.000,2869,2122,3114,0,0,0,0,0,0
$GC,311,-1.19,-116.8,51.3,-19.9,43,315,0.00,2.25,0.00,0.000,4,0.000,0.028,2868,3482,3115,0,0,0,0,0,0
$GC,573,-1.19,-116.8,93.3,-9.6,71,579,0.00,2.30,0.00,0.000,6,0.000,0.026,2868,2084,3116,0,0,0,0,0,0
$GC,836,-1.19,-116.8,126.7,-11.8,96,840,0.00,2.33,0.00,0.000,4,0.000,0.028,2868,3488,3116,0,0,0,0,0,0
$GC,1098,-1.19,-116.8,159.1,-11.0,124,1105,0.00,2.33,0.00,0.000,6,0.000,0.026,2869,2104,3117,0,0,0,0,0,0
$GC,1364,-1.19,-116.8,186.0,-9.7,149,1368,0.00,2.28,0.00,0.000,4,0.000,0.028,2869,3482,3117,0,0,0,0,0,0
$GC,1390,-1.19,-116.8,189.3,-11.0,151,1394,0.00,2.28,0.00,0.000,6,0.000,0.027,2869,2100,3117,0,0,0,0,0,0
$GC,1656,-1.19,-116.8,214.8,-8.8,168,1660,0.00,2.30,0.00,0.000,4,0.000,0.030,2868,3485,3118,0,0,0,0,0,0
$GC,1723,-1.19,-116.8,220.9,-8.7,171,1727,0.00,2.30,0.00,0.000,6,0.000,0.027,2869,2098,3118,0,0,0,0,0,0
$GC,2053,-1.19,-116.8,248.5,-8.7,187,2057,0.00,2.30,0.00,0.000,4,0.000,0.031,2869,3481,3118,0,0,0,0,0,0
$GC,2149,-1.19,-116.8,258.5,-10.6,191,2153,0.00,2.30,0.00,0.000,6,0.000,0.029,2869,2100,3118,0,0,0,0,0,0
$GC,2472,-1.19,-116.8,288.2,-9.0,207,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2098,3118,0,0,0,0,0,0
$GC,2797,-1.19,-116.8,311.8,-6.4,219,2801,0.00,2.40,0.00,0.000,4,0.000,0.044,2869,693,3116,0,0,0,0,0,0
$GC,2881,-1.19,-116.8,318.2,-7.8,220,2886,0.00,2.25,0.00,0.000,6,0.000,0.024,2868,2084,3116,0,0,0,0,0,0
$GC,3213,-1.19,-116.8,342.2,-7.4,229,3217,0.00,2.38,0.00,0.000,4,0.000,0.038,2868,3498,3115,0,0,0,0,0,0
$GC,3232,-1.19,-116.8,344.0,-8.7,229,3237,0.00,2.35,0.00,0.000,6,0.000,0.031,2868,2102,3115,0,0,0,0,0,0
$GC,3578,-1.19,-116.8,372.5,-7.9,238,3582,0.00,2.38,0.00,0.000,4,0.000,0.038,2868,3502,3112,0,0,0,0,0,0
$GC,3611,-1.19,-116.8,374.9,-7.5,238,3615,0.00,2.38,0.00,0.000,6,0.000,0.035,2868,2098,3112,0,0,0,0,0,0
$GC,3942,-1.19,-116.8,396.4,-6.5,246,3946,0.00,2.40,0.00,0.000,4,0.000,0.039,2868,3498,3110,0,0,0,0,0,0
$GC,3977,-1.19,-116.8,398.9,-7.3,246,3981,0.00,2.35,0.00,0.000,6,0.000,0.035,2869,2102,3110,0,0,0,0,0,0
$GC,4309,-1.19,-116.8,422.1,-6.9,254,4313,0.00,2.45,0.00,0.000,4,0.000,0.051,2868,691,3107,0,0,0,0,0,0
$GC,4390,-1.19,-116.8,428.3,-7.8,255,4394,0.00,2.33,0.00,0.000,6,0.000,0.028,2868,2097,3107,0,0,0,0,0,0
$STATE,4720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4720,begin apogee
$GC,4727,-0.31,0.0,452.1,7.6,263,4825,0.95,0.00,95.22,0.827,6,0.084,0.000,3065,1801,2635,0,0,0,0,0,0
$STATE,4826,end apogee,CONTROL_FINISHED_OK
$STATE,4826,begin climb
$GC,4829,1.19,116.8,454.4,0.0,265,4941,1.50,2.45,100.85,0.806,4,0.057,0.037,3394,3201,2157,0,0,0,0,0,0
$GC,4979,1.19,116.8,441.4,11.6,268,4983,0.00,2.50,0.00,0.000,6,0.000,0.044,3394,1799,2154,0,0,0,0,0,0
$GC,5324,1.19,116.8,399.8,11.9,277,5328,0.00,2.53,0.00,0.000,4,0.000,0.060,3394,380,2146,0,0,0,0,0,0
$GC,5421,1.19,116.8,386.5,13.2,279,5425,0.00,2.40,0.00,0.000,6,0.000,0.028,3393,1804,2142,0,0,0,0,0,0
$GC,5739,1.19,116.8,351.4,11.0,287,5740,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1809,2140,0,0,0,0,0,0
$GC,6064,1.19,116.8,319.6,9.8,295,6068,0.00,2.53,0.00,0.000,4,0.000,0.057,3394,386,2138,0,0,0,0,0,0
$GC,6092,1.19,116.8,316.5,10.9,295,6096,0.00,2.35,0.00,0.000,6,0.000,0.028,3394,1801,2136,0,0,0,0,0,0
$GC,6411,1.19,116.8,285.9,10.0,307,6415,0.00,2.53,0.00,0.000,4,0.000,0.056,3394,382,2136,0,0,0,0,0,0
$GC,6477,1.19,116.8,278.0,11.8,310,6481,0.00,2.38,0.00,0.000,6,0.000,0.027,3394,1809,2134,0,0,0,0,0,0
$GC,6806,1.19,116.8,246.9,8.9,326,6810,0.00,2.33,0.00,0.000,4,0.000,0.033,3394,3205,2134,0,0,0,0,0,0
$GC,6843,1.19,116.8,243.5,8.6,327,6849,0.00,2.42,0.00,0.000,6,0.000,0.039,3394,1792,2134,0,0,0,0,0,0
$GC,7160,1.19,116.8,213.5,9.1,343,7164,0.00,2.45,0.00,0.000,4,0.000,0.054,3394,379,2133,0,0,0,0,0,0
$GC,7220,1.19,116.8,206.7,11.3,345,7225,0.00,2.35,0.00,0.000,6,0.000,0.025,3394,1812,2132,0,0,0,0,0,0
$GC,7544,1.19,116.8,177.1,9.0,372,7548,0.00,2.33,0.00,0.000,4,0.000,0.029,3394,3211,2132,0,0,0,0,0,0
$GC,7579,1.19,116.8,174.1,8.3,375,7583,0.00,2.42,0.00,0.000,6,0.000,0.035,3394,1796,2132,0,0,0,0,0,0
$GC,7843,1.19,116.8,151.6,8.7,399,7848,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1795,2132,0,0,0,0,0,0
$GC,8104,1.19,116.8,126.6,9.9,424,8106,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1795,2132,0,0,0,0,0,0
$GC,8360,1.21,125.6,105.4,7.6,448,8371,0.00,2.38,4.00,0.370,4,0.000,0.028,3394,3203,2122,0,0,0,0,0,0
$GC,8430,1.21,125.6,99.4,8.2,455,8436,0.00,2.38,0.00,0.000,6,0.000,0.031,3394,1790,2122,0,0,0,0,0,0
$GC,8694,1.24,157.0,80.4,6.6,480,8733,0.00,2.45,28.92,0.528,4,0.000,0.046,3394,383,1992,0,0,0,0,0,0
$GC,8738,1.24,157.0,76.1,9.8,484,8745,0.00,2.35,0.00,0.000,6,0.000,0.020,3394,1811,1991,0,0,0,0,0,0
$GC,9003,1.25,159.6,55.5,7.9,509,9007,0.00,2.47,0.00,0.000,4,0.000,0.047,3394,385,1990,0,0,0,0,0,0
$GC,9089,1.25,159.6,47.9,8.2,518,9094,0.00,2.28,0.00,0.000,6,0.000,0.019,3394,1789,1987,0,0,0,0,0,0
$GC,9354,1.28,182.3,29.6,7.0,542,9383,0.00,2.47,22.23,0.472,4,0.000,0.044,3394,378,1890,0,0,0,0,0,0
$GC,9446,1.28,182.3,21.5,9.6,561,9452,0.00,2.35,0.00,0.000,6,0.000,0.018,3394,1821,1886,0,0,0,0,0,0
$GC,9648,1.29,190.6,6.0,7.6,598,9661,0.10,2.50,7.93,0.398,4,0.072,0.044,3435,383,1857,0,0,0,0,0,0
$GC,9678,1.29,190.6,3.1,9.1,603,9684,0.00,2.30,0.00,0.000,6,0.000,0.018,3435,1782,1855,0,0,0,0,0,0
$STATE,9689,end climb,SURFACE_DEPTH_REACHED
$STATE,9690,begin surface coast
$FINISH,0.5,1.012671
$STATE,9718,end surface coast,CONTROL_FINISHED_OK
$STATE,9719,begin surface
$SM_CCo,9742,72.47,0.459,0,0,1288,330.17
$SM_GC,1.28,0.00,0.00,72.47,0.000,0.000,0.459,428,2162,1288,-12.46,1.75,330.17
$IRIDIUM_FIX,2057.14,-15748.75,110700,141443
$TT8_MAMPS,0.029146
$HUMID,52.91
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.4,9.027
$10V_AH,10.6,8.631
$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,28.525,105.475,259.150,72.475,0.000,28.224,34.592,144.195,4.500,0.000,33.209,1131.920,6409.611,407.372,1779.083,436.274,33.344,1168.813,0.000,1742.399,0.000,29.247,0.000
$DEVICE_MAMPS,136.526,59.826,826.826,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,412.272,393.250,897.818,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,35081,610
$CAP_FILE_SIZE,101295,0
$CFSIZE,260165632,251080704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170411,194146,2106.110,-15750.603,14,2.9,33,9.8