version: 66.06
glider: 139
mission: 9
dive: 114
start: 4 17 111 22 30 43
data:
$ID,139
$MISSION,9
$DIVE,114
$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,-2176962.2
$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,73
$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
$GPS1,222436,2106.200,-15750.001,38,0.9,43,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-76.1
$GPS2,222950,2106.189,-15749.993,16,1.4,16,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.199,0.098
$KALMAN_X,-52398.6,-56.3,888.7,63066.5,-3499.0
$KALMAN_Y,-12313.8,135.2,-22.9,14347.2,-1030.2
$MHEAD_RNG_PITCHd_Wd,53.9,12245,-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,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,93,0.00,0.00,-70.60,0.000,6,0.000,0.000,430,2146,3111,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.4,-4.6,14,115,13.15,2.20,0.00,0.000,4,0.136,0.024,2868,3475,3113,0,0,0,0,0,0
$GC,267,-1.19,-116.8,40.0,-16.1,46,272,0.00,2.35,0.00,0.000,6,0.000,0.028,2868,2081,3114,0,0,0,0,0,0
$GC,529,-1.19,-116.8,83.2,-15.9,70,533,0.00,2.30,0.00,0.000,4,0.000,0.027,2868,3473,3115,0,0,0,0,0,0
$GC,679,-1.19,-116.8,105.3,-13.8,86,683,0.00,2.30,0.00,0.000,6,0.000,0.026,2868,2093,3116,0,0,0,0,0,0
$GC,944,-1.19,-116.8,140.5,-13.0,110,948,0.00,2.28,0.00,0.000,4,0.000,0.028,2868,3468,3116,0,0,0,0,0,0
$GC,1206,-1.19,-116.8,168.7,-9.0,138,1213,0.00,2.30,0.00,0.000,6,0.000,0.028,2868,2102,3116,0,0,0,0,0,0
$GC,1470,-1.19,-116.8,194.4,-10.7,163,1474,0.00,2.30,0.00,0.000,4,0.000,0.030,2868,3477,3117,0,0,0,0,0,0
$GC,1674,-1.19,-116.8,217.4,-10.3,175,1678,0.00,2.30,0.00,0.000,6,0.000,0.028,2868,2098,3117,0,0,0,0,0,0
$GC,2006,-1.19,-116.8,244.6,-7.6,191,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2097,3117,0,0,0,0,0,0
$GC,2313,-1.19,-116.8,268.9,-7.9,206,2317,0.00,2.33,0.00,0.000,4,0.000,0.033,2868,3475,3116,0,0,0,0,0,0
$GC,2349,-1.19,-116.8,272.1,-8.5,207,2355,0.00,2.33,0.00,0.000,6,0.000,0.031,2868,2093,3116,0,0,0,0,0,0
$GC,2666,-1.19,-116.8,298.2,-8.4,223,2670,0.00,2.33,0.00,0.000,4,0.000,0.034,2868,3467,3115,0,0,0,0,0,0
$GC,2686,-1.19,-116.8,299.9,-7.7,224,2691,0.00,2.28,0.00,0.000,6,0.000,0.031,2868,2100,3115,0,0,0,0,0,0
$GC,3039,-1.19,-116.8,321.9,-5.9,233,3040,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2099,3114,0,0,0,0,0,0
$GC,3362,-1.19,-116.8,348.2,-8.8,241,3366,0.00,2.40,0.00,0.000,4,0.000,0.047,2868,690,3112,0,0,0,0,0,0
$GC,3399,-1.19,-116.8,351.8,-9.6,241,3404,0.00,2.28,0.00,0.000,6,0.000,0.025,2868,2069,3112,0,0,0,0,0,0
$GC,3730,-1.19,-116.8,375.2,-6.5,250,3734,0.00,2.35,0.00,0.000,4,0.000,0.047,2868,694,3110,0,0,0,0,0,0
$GC,3802,-1.19,-116.8,379.7,-6.8,251,3807,0.00,2.33,0.00,0.000,6,0.000,0.026,2868,2098,3109,0,0,0,0,0,0
$GC,4148,-1.19,-116.8,401.9,-6.5,260,4150,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2101,3107,0,0,0,0,0,0
$GC,4473,-1.19,-116.8,426.0,-7.8,268,4477,0.00,2.42,0.00,0.000,4,0.000,0.049,2868,692,3105,0,0,0,0,0,0
$GC,4487,-1.19,-116.8,427.3,-8.0,268,4491,0.00,2.33,0.00,0.000,6,0.000,0.028,2868,2100,3105,0,0,0,0,0,0
$STATE,4793,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4793,begin apogee
$GC,4800,-0.31,0.0,450.4,7.1,276,4898,0.95,0.00,94.70,0.825,6,0.085,0.000,3065,1804,2635,0,0,0,0,0,0
$STATE,4899,end apogee,CONTROL_FINISHED_OK
$STATE,4899,begin climb
$GC,4902,1.19,116.8,452.2,0.0,278,5010,1.50,0.00,100.43,0.806,6,0.058,0.000,3394,1804,2158,0,0,0,0,0,0
$GC,5355,1.19,116.8,398.6,12.8,289,5359,0.00,2.53,0.00,0.000,4,0.000,0.060,3393,387,2146,0,0,0,0,0,0
$GC,5411,1.19,116.8,390.5,14.0,290,5415,0.00,2.38,0.00,0.000,6,0.000,0.028,3393,1809,2143,0,0,0,0,0,0
$GC,5725,1.19,116.8,351.4,12.0,298,5729,0.00,2.55,0.00,0.000,4,0.000,0.059,3393,391,2141,0,0,0,0,0,0
$GC,5762,1.19,116.8,346.3,13.4,298,5768,0.00,2.38,0.00,0.000,6,0.000,0.028,3393,1809,2139,0,0,0,0,0,0
$GC,6093,1.19,116.8,309.2,10.7,307,6098,0.00,2.55,0.00,0.000,4,0.000,0.058,3393,383,2138,0,0,0,0,0,0
$GC,6140,1.19,116.8,303.3,12.8,308,6144,0.00,2.35,0.00,0.000,6,0.000,0.028,3393,1795,2137,0,0,0,0,0,0
$GC,6469,1.19,116.8,271.1,9.3,323,6473,0.00,2.40,0.00,0.000,4,0.000,0.034,3394,3215,2136,0,0,0,0,0,0
$GC,6492,1.19,116.8,268.6,10.1,324,6497,0.00,2.42,0.00,0.000,6,0.000,0.038,3393,1804,2136,0,0,0,0,0,0
$GC,6817,1.19,116.8,232.7,11.9,340,6821,0.00,2.50,0.00,0.000,4,0.000,0.056,3393,383,2134,0,0,0,0,0,0
$GC,6831,1.19,116.8,230.8,12.3,340,6838,0.00,2.38,0.00,0.000,6,0.000,0.026,3393,1813,2134,0,0,0,0,0,0
$GC,7149,1.19,116.8,198.1,9.0,357,7153,0.00,2.30,0.00,0.000,4,0.000,0.031,3394,3204,2134,0,0,0,0,0,0
$GC,7186,1.19,116.8,194.4,8.9,360,7192,0.00,2.45,0.00,0.000,6,0.000,0.038,3393,1801,2134,0,0,0,0,0,0
$GC,7449,1.19,116.8,172.3,9.2,385,7453,0.00,2.45,0.00,0.000,4,0.000,0.053,3393,385,2133,0,0,0,0,0,0
$GC,7531,1.19,116.8,163.1,11.3,393,7536,0.00,2.33,0.00,0.000,6,0.000,0.023,3393,1807,2131,0,0,0,0,0,0
$GC,7792,1.19,116.8,137.7,8.7,418,7796,0.00,2.47,0.00,0.000,4,0.000,0.051,3393,378,2132,0,0,0,0,0,0
$GC,7829,1.19,116.8,134.1,10.2,421,7834,0.00,2.33,0.00,0.000,6,0.000,0.022,3394,1802,2131,0,0,0,0,0,0
$GC,8092,1.22,136.4,116.1,7.1,446,8111,0.00,2.35,13.43,0.542,4,0.000,0.027,3394,3206,2078,0,0,0,0,0,0
$GC,8191,1.22,136.4,107.9,9.3,456,8198,0.00,2.42,0.00,0.000,6,0.000,0.033,3393,1798,2078,0,0,0,0,0,0
$GC,8453,1.22,136.4,83.8,9.0,481,8458,0.00,2.42,0.00,0.000,4,0.000,0.048,3393,380,2077,0,0,0,0,0,0
$GC,8480,1.22,136.4,81.3,9.6,483,8484,0.00,2.30,0.00,0.000,6,0.000,0.020,3394,1825,2075,0,0,0,0,0,0
$GC,8744,1.27,178.2,62.8,6.1,507,8787,0.00,2.30,36.85,0.517,4,0.000,0.025,3394,3182,1908,0,0,0,0,0,0
$GC,8797,1.32,216.3,59.4,6.3,512,8836,0.10,2.40,33.72,0.508,6,0.032,0.030,3438,1797,1753,0,0,0,0,0,0
$GC,9093,1.32,216.3,29.0,10.6,540,9099,0.00,2.47,0.00,0.000,4,0.000,0.048,3437,389,1747,0,0,0,0,0,0
$GC,9166,1.32,216.3,19.9,12.9,556,9173,0.00,2.30,0.00,0.000,6,0.000,0.018,3438,1785,1744,0,0,0,0,0,0
$STATE,9313,end climb,SURFACE_DEPTH_REACHED
$STATE,9313,begin surface coast
$FINISH,0.7,1.007875
$STATE,9335,end surface coast,CONTROL_FINISHED_OK
$STATE,9335,begin surface
$SM_CCo,9359,59.33,0.459,0,0,1288,330.17
$SM_GC,1.28,0.00,0.00,59.33,0.000,0.000,0.459,429,2170,1288,-12.46,1.98,330.17
$IRIDIUM_FIX,2057.14,-15751.76,110700,191924
$TT8_MAMPS,0.028379
$HUMID,54.29
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.4,9.180
$10V_AH,10.5,8.782
$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,28.625,100.400,279.125,59.325,0.000,30.272,34.176,131.151,4.500,0.000,17.038,1079.353,6178.448,396.306,1666.745,415.012,33.347,1129.046,0.000,1645.431,0.000,31.334,0.000
$DEVICE_MAMPS,135.759,59.826,824.525,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,396.822,379.085,842.797,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31705,587
$CAP_FILE_SIZE,96047,0
$CFSIZE,260165632,250994688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180411,010832,2106.144,-15750.139,12,1.8,12,9.8