version: 66.06
glider: 139
mission: 9
dive: 189
start: 4 26 111 14 4 55
data:
$ID,139
$MISSION,9
$DIVE,189
$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,-2179437.2
$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,19
$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
$GPS1,135830,2104.641,-15743.571,38,1.0,43,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-75.4
$GPS2,140402,2104.655,-15743.551,15,1.0,15,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.027,-0.220
$KALMAN_X,-116490.2,441.5,411.8,127869.8,-2086.8
$KALMAN_Y,-32137.9,-8.0,281.3,20559.7,426.6
$MHEAD_RNG_PITCHd_Wd,163.2,16575,-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,-116.8,0.0,0.0,0,83,0.00,0.00,-65.15,0.000,2,0.000,0.000,429,2145,2991,0,0,0,0,0,0
$GC,87,-1.19,-116.8,3.1,-4.6,12,111,13.07,2.67,-2.47,0.000,4,0.134,0.054,2868,688,3114,0,0,0,0,0,0
$GC,128,-1.19,-116.8,14.6,-27.7,19,135,0.00,2.40,0.00,0.000,6,0.000,0.021,2869,2058,3114,0,0,0,0,0,0
$GC,329,-1.19,-116.8,50.7,-16.9,45,334,0.00,2.58,0.00,0.000,4,0.000,0.035,2869,3506,3116,0,0,0,0,0,0
$GC,445,-1.19,-116.8,69.3,-13.8,57,449,0.00,2.50,0.00,0.000,6,0.000,0.033,2869,2084,3115,0,0,0,0,0,0
$GC,710,-1.19,-116.8,105.5,-14.8,81,715,0.00,2.53,0.00,0.000,4,0.000,0.037,2869,3499,3117,0,0,0,0,0,0
$GC,802,-1.19,-116.8,119.1,-12.2,90,808,0.00,2.50,0.00,0.000,6,0.000,0.033,2869,2095,3117,0,0,0,0,0,0
$GC,1066,-1.19,-116.8,152.7,-14.0,115,1070,0.00,2.50,0.00,0.000,4,0.000,0.038,2869,3506,3118,0,0,0,0,0,0
$GC,1146,-1.19,-116.8,164.3,-13.9,123,1151,0.00,2.50,0.00,0.000,6,0.000,0.034,2869,2095,3118,0,0,0,0,0,0
$GC,1411,-1.19,-116.8,197.5,-10.5,147,1415,0.00,2.50,0.00,0.000,4,0.000,0.040,2868,3503,3119,0,0,0,0,0,0
$GC,1445,-1.19,-116.8,201.7,-11.5,149,1449,0.00,2.47,0.00,0.000,6,0.000,0.035,2869,2093,3118,0,0,0,0,0,0
$GC,1761,-1.19,-116.8,234.8,-9.4,164,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2093,3119,0,0,0,0,0,0
$GC,2072,-1.19,-116.8,260.8,-8.3,179,2076,0.00,2.50,0.00,0.000,4,0.000,0.047,2869,694,3119,0,0,0,0,0,0
$GC,2118,-1.19,-116.8,265.3,-9.0,181,2122,0.00,2.42,0.00,0.000,6,0.000,0.025,2869,2099,3118,0,0,0,0,0,0
$GC,2444,-1.19,-116.8,291.5,-7.2,197,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2100,3117,0,0,0,0,0,0
$GC,2770,-1.19,-116.8,316.1,-7.5,208,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2100,3117,0,0,0,0,0,0
$GC,3097,-1.19,-116.8,342.6,-8.9,216,3101,0.00,2.58,0.00,0.000,4,0.000,0.051,2869,3494,3115,0,0,0,0,0,0
$GC,3125,-1.19,-116.8,345.7,-9.8,216,3130,0.00,2.53,0.00,0.000,6,0.000,0.045,2868,2098,3115,0,0,0,0,0,0
$GC,3463,-1.19,-116.8,374.9,-8.2,225,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2097,3113,0,0,0,0,0,0
$GC,3787,-1.19,-116.8,395.5,-6.0,233,3788,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2097,3111,0,0,0,0,0,0
$GC,4112,-1.19,-116.8,420.1,-7.9,241,4116,0.00,2.60,0.00,0.000,4,0.000,0.055,2869,3501,3109,0,0,0,0,0,0
$GC,4261,-1.19,-116.8,431.7,-6.5,244,4266,0.00,2.55,0.00,0.000,6,0.000,0.048,2869,2094,3108,0,0,0,0,0,0
$STATE,4572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4573,begin apogee
$GC,4579,-0.31,0.0,450.9,5.8,252,4678,0.95,0.00,95.57,0.821,6,0.083,0.000,3065,1794,2634,0,0,0,0,0,0
$STATE,4679,end apogee,CONTROL_FINISHED_OK
$STATE,4679,begin climb
$GC,4682,1.19,116.8,452.2,0.0,254,4790,1.50,0.00,101.18,0.801,6,0.055,0.000,3396,1794,2158,0,0,0,0,0,0
$GC,5090,1.19,116.8,404.3,12.2,264,5095,0.00,2.62,0.00,0.000,4,0.000,0.051,3397,3194,2146,0,0,0,0,0,0
$GC,5146,1.19,116.8,397.3,12.2,265,5151,0.00,2.62,0.00,0.000,6,0.000,0.057,3396,1810,2146,0,0,0,0,0,0
$GC,5460,1.19,116.8,362.2,10.4,273,5465,0.00,2.67,0.00,0.000,4,0.000,0.063,3396,391,2142,0,0,0,0,0,0
$GC,5507,1.19,116.8,356.3,12.5,274,5512,0.00,2.50,0.00,0.000,6,0.000,0.029,3397,1798,2139,0,0,0,0,0,0
$GC,5830,1.19,116.8,319.8,11.1,282,5832,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1803,2138,0,0,0,0,0,0
$GC,6136,1.19,116.8,285.0,11.5,292,6141,0.00,2.55,0.00,0.000,4,0.000,0.044,3397,3200,2137,0,0,0,0,0,0
$GC,6166,1.19,116.8,282.1,10.4,293,6170,0.00,2.60,0.00,0.000,6,0.000,0.049,3396,1794,2136,0,0,0,0,0,0
$GC,6487,1.19,116.8,246.5,11.4,309,6488,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1793,2135,0,0,0,0,0,0
$GC,6795,1.19,116.8,210.5,11.0,324,6799,0.00,2.60,0.00,0.000,4,0.000,0.057,3396,384,2134,0,0,0,0,0,0
$GC,6838,1.19,116.8,205.3,13.0,326,6842,0.00,2.47,0.00,0.000,6,0.000,0.025,3397,1807,2132,0,0,0,0,0,0
$GC,7165,1.19,116.8,173.5,9.1,354,7169,0.00,2.62,0.00,0.000,4,0.000,0.054,3396,391,2132,0,0,0,0,0,0
$GC,7189,1.19,116.8,170.9,11.1,356,7193,0.00,2.47,0.00,0.000,6,0.000,0.024,3397,1811,2131,0,0,0,0,0,0
$GC,7452,1.19,116.8,149.0,8.3,380,7457,0.00,2.45,0.00,0.000,4,0.000,0.036,3397,3191,2131,0,0,0,0,0,0
$GC,7487,1.19,116.8,145.8,8.5,383,7492,0.00,2.50,0.00,0.000,6,0.000,0.038,3397,1800,2131,0,0,0,0,0,0
$GC,7752,1.19,116.8,120.4,8.9,407,7756,0.00,2.55,0.00,0.000,4,0.000,0.051,3396,390,2131,0,0,0,0,0,0
$GC,7778,1.19,116.8,117.8,9.6,409,7783,0.00,2.42,0.00,0.000,6,0.000,0.021,3396,1805,2131,0,0,0,0,0,0
$GC,8043,1.23,147.3,98.8,6.6,433,8071,0.00,2.47,22.75,0.541,4,0.000,0.031,3396,3194,2033,0,0,0,0,0,0
$GC,8141,1.26,169.2,91.8,7.0,443,8168,0.00,2.53,20.33,0.526,6,0.000,0.036,3396,1795,1944,0,0,0,0,0,0
$GC,8430,1.26,169.2,68.5,8.2,471,8432,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1795,1940,0,0,0,0,0,0
$GC,8686,1.27,175.3,48.4,7.7,495,8697,0.00,2.58,6.20,0.400,4,0.000,0.049,3396,390,1919,0,0,0,0,0,0
$GC,8719,1.27,175.3,45.6,8.7,498,8723,0.00,2.40,0.00,0.000,6,0.000,0.019,3397,1804,1916,0,0,0,0,0,0
$GC,8984,1.30,204.7,25.4,6.7,527,9019,0.10,2.70,26.15,0.469,4,0.071,0.048,3437,390,1798,0,0,0,0,0,0
$GC,9067,1.30,204.7,18.0,10.5,543,9073,0.00,2.45,0.00,0.000,6,0.000,0.019,3438,1795,1795,0,0,0,0,0,0
$STATE,9215,end climb,SURFACE_DEPTH_REACHED
$STATE,9215,begin surface coast
$FINISH,0.9,1.012132
$STATE,9248,end surface coast,CONTROL_FINISHED_OK
$STATE,9248,begin surface
$SM_CCo,9272,64.25,0.455,0,0,1288,330.17
$SM_GC,1.60,0.00,0.00,64.25,0.000,0.000,0.455,425,2136,1288,-12.48,1.02,330.17
$IRIDIUM_FIX,2057.14,-15744.48,200700,111158
$TT8_MAMPS,0.028379
$HUMID,53.85
$INTERNAL_PRESSURE,9.62581
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,15.004
$10V_AH,10.6,14.553
$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,28.525,92.125,272.175,64.250,0.000,25.235,50.536,136.286,4.500,0.000,15.873,1050.046,6238.334,396.625,1550.352,435.342,33.355,1057.106,0.000,1534.629,0.000,29.250,0.000
$DEVICE_MAMPS,134.225,62.894,821.457,454.831,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,389.687,372.086,842.788,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31794,576
$CAP_FILE_SIZE,91056,0
$CFSIZE,260165632,247353344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260411,164155,2103.808,-15743.413,44,1.1,44,9.8