version: 66.06
glider: 139
mission: 9
dive: 192
start: 4 26 111 22 51 8
data:
$ID,139
$MISSION,9
$DIVE,192
$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,535.98047
$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,-2179509
$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,83
$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
$GPS1,223437,2101.664,-15744.029,35,1.1,35,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-70.7
$GPS2,225014,2101.705,-15744.015,15,1.1,15,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.124,-0.184
$KALMAN_X,-115742.7,325.0,-143.8,126995.5,-121.6
$KALMAN_Y,-29860.5,158.1,-345.6,13288.8,1008.3
$MHEAD_RNG_PITCHd_Wd,204.2,12304,-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,-116.8,0.0,0.0,0,119,0.00,0.00,-99.20,0.000,6,0.000,0.000,426,2154,3112,0,0,0,0,0,0
$GC,123,-1.19,-116.8,3.8,-5.9,19,142,13.12,2.62,0.00,0.000,4,0.136,0.035,2869,677,3114,0,0,0,0,0,0
$GC,311,-1.19,-116.8,44.6,-16.8,52,315,0.00,2.35,0.00,0.000,6,0.000,0.021,2869,2057,3115,0,0,0,0,0,0
$GC,573,-1.19,-116.8,79.7,-12.5,76,578,0.00,2.55,0.00,0.000,4,0.000,0.035,2869,3505,3115,0,0,0,0,0,0
$GC,592,-1.19,-116.8,82.4,-12.6,77,598,0.00,2.50,0.00,0.000,6,0.000,0.032,2869,2084,3114,0,0,0,0,0,0
$GC,855,-1.19,-116.8,116.9,-12.5,102,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2084,3115,0,0,0,0,0,0
$GC,1108,-1.19,-116.8,147.8,-12.0,126,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2084,3115,0,0,0,0,0,0
$GC,1362,-1.19,-116.8,174.5,-9.6,150,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2084,3114,0,0,0,0,0,0
$GC,1618,-1.19,-116.8,203.3,-10.9,173,1622,0.00,2.47,0.00,0.000,4,0.000,0.044,2869,693,3115,0,0,0,0,0,0
$GC,1663,-1.19,-116.8,207.9,-10.3,175,1667,0.00,2.42,0.00,0.000,6,0.000,0.022,2869,2105,3115,0,0,0,0,0,0
$GC,1994,-1.19,-116.8,233.8,-8.2,191,1995,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2106,3115,0,0,0,0,0,0
$GC,2302,-1.19,-116.8,260.7,-8.7,206,2307,0.00,2.53,0.00,0.000,4,0.000,0.044,2869,3506,3114,0,0,0,0,0,0
$GC,2380,-1.19,-116.8,268.9,-10.2,209,2385,0.00,2.50,0.00,0.000,6,0.000,0.039,2869,2103,3114,0,0,0,0,0,0
$GC,2696,-1.19,-116.8,295.4,-8.2,224,2697,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2103,3112,0,0,0,0,0,0
$GC,3002,-1.19,-116.8,317.2,-7.0,233,3006,0.00,2.55,0.00,0.000,4,0.000,0.049,2869,688,3110,0,0,0,0,0,0
$GC,3030,-1.19,-116.8,319.6,-8.2,233,3034,0.00,2.45,0.00,0.000,6,0.000,0.027,2869,2103,3110,0,0,0,0,0,0
$GC,3368,-1.19,-116.8,344.3,-7.3,242,3372,0.00,2.55,0.00,0.000,4,0.000,0.049,2869,692,3108,0,0,0,0,0,0
$GC,3411,-1.19,-116.8,347.7,-7.0,243,3416,0.00,2.45,0.00,0.000,6,0.000,0.028,2869,2100,3107,0,0,0,0,0,0
$GC,3739,-1.19,-116.8,369.4,-6.6,251,3744,0.00,2.58,0.00,0.000,4,0.000,0.051,2869,692,3105,0,0,0,0,0,0
$GC,3795,-1.19,-116.8,374.0,-8.1,252,3800,0.00,2.45,0.00,0.000,6,0.000,0.028,2869,2100,3105,0,0,0,0,0,0
$GC,4110,-1.19,-116.8,395.1,-6.2,260,4111,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2102,3102,0,0,0,0,0,0
$STATE,4392,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4392,begin apogee
$GC,4400,-0.31,0.0,415.9,7.7,267,4497,0.95,0.00,93.68,0.789,6,0.084,0.000,3065,1795,2634,0,0,0,0,0,0
$STATE,4497,end apogee,CONTROL_FINISHED_OK
$STATE,4498,begin climb
$GC,4500,1.19,116.8,418.6,0.0,269,4605,1.52,0.00,101.15,0.772,6,0.054,0.000,3399,1795,2158,0,0,0,0,0,0
$GC,4919,1.19,116.8,370.1,13.7,280,4923,0.00,2.65,0.00,0.000,4,0.000,0.061,3398,400,2147,0,0,0,0,0,0
$GC,4942,1.19,116.8,366.4,14.6,280,4947,0.00,2.47,0.00,0.000,6,0.000,0.028,3399,1807,2145,0,0,0,0,0,0
$GC,5283,1.19,116.8,326.1,11.6,289,5287,0.00,2.67,0.00,0.000,4,0.000,0.060,3399,401,2143,0,0,0,0,0,0
$GC,5326,1.19,116.8,320.7,12.5,290,5331,0.00,2.47,0.00,0.000,6,0.000,0.027,3399,1807,2140,0,0,0,0,0,0
$GC,5657,1.19,116.8,283.5,12.0,301,5661,0.00,2.67,0.00,0.000,4,0.000,0.058,3399,399,2139,0,0,0,0,0,0
$GC,5703,1.19,116.8,277.3,13.9,303,5707,0.00,2.45,0.00,0.000,6,0.000,0.027,3399,1799,2138,0,0,0,0,0,0
$GC,6034,1.19,116.8,238.0,10.9,319,6035,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1804,2137,0,0,0,0,0,0
$GC,6341,1.19,116.8,204.4,11.3,334,6346,0.00,2.50,0.00,0.000,4,0.000,0.040,3399,3196,2136,0,0,0,0,0,0
$GC,6365,1.19,116.8,201.6,11.6,335,6369,0.00,2.55,0.00,0.000,6,0.000,0.044,3399,1809,2136,0,0,0,0,0,0
$GC,6699,1.19,116.8,167.9,8.5,366,6703,0.00,2.62,0.00,0.000,4,0.000,0.054,3399,390,2134,0,0,0,0,0,0
$GC,6734,1.19,116.8,165.1,9.0,369,6738,0.00,2.47,0.00,0.000,6,0.000,0.024,3399,1810,2133,0,0,0,0,0,0
$GC,6999,1.20,125.1,144.4,7.6,393,7003,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1815,2133,0,0,0,0,0,0
$GC,7260,1.20,125.1,121.0,10.3,418,7264,0.00,2.62,0.00,0.000,4,0.000,0.051,3399,385,2133,0,0,0,0,0,0
$GC,7279,1.20,125.1,118.8,11.4,419,7284,0.00,2.45,0.00,0.000,6,0.000,0.021,3399,1806,2132,0,0,0,0,0,0
$GC,7542,1.22,139.0,97.3,7.4,444,7564,0.00,2.70,15.52,0.531,4,0.000,0.049,3398,390,2068,0,0,0,0,0,0
$GC,7608,1.22,139.0,92.0,8.8,451,7612,0.00,2.42,0.00,0.000,6,0.000,0.021,3399,1805,2065,0,0,0,0,0,0
$GC,7872,1.24,155.3,71.4,7.3,475,7894,0.00,2.45,15.23,0.498,4,0.000,0.029,3399,3190,2001,0,0,0,0,0,0
$GC,7941,1.25,165.1,66.5,7.6,482,7961,0.00,2.53,10.40,0.472,6,0.000,0.036,3399,1800,1961,0,0,0,0,0,0
$GC,8217,1.26,173.9,45.6,7.6,508,8231,0.00,2.62,8.32,0.436,4,0.000,0.049,3399,396,1926,0,0,0,0,0,0
$GC,8274,1.26,173.9,40.9,8.6,514,8278,0.00,2.40,0.00,0.000,6,0.000,0.019,3399,1807,1923,0,0,0,0,0,0
$GC,8537,1.33,223.6,23.3,5.7,548,8588,0.12,2.50,42.75,0.479,4,0.060,0.028,3444,3188,1722,0,0,0,0,0,0
$GC,8636,1.33,223.6,14.9,9.3,567,8643,0.00,2.55,0.00,0.000,6,0.000,0.036,3444,1803,1722,0,0,0,0,0,0
$STATE,8755,end climb,SURFACE_DEPTH_REACHED
$STATE,8755,begin surface coast
$FINISH,1.0,1.010568
$STATE,8784,end surface coast,CONTROL_FINISHED_OK
$STATE,8784,begin surface
$SM_CCo,8808,159.80,0.459,0,0,449,535.98
$SM_GC,1.40,0.00,0.00,159.80,0.000,0.000,0.459,426,2132,449,-12.47,0.88,535.98
$IRIDIUM_FIX,2054.83,-15744.48,200700,222222
$TT8_MAMPS,0.028379
$HUMID,52.95
$INTERNAL_PRESSURE,9.56722
$TCM_TEMP,22.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,400.6,44.6
$24V_AH,23.5,15.305
$10V_AH,10.6,14.798
$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,28.675,86.800,287.050,159.800,0.000,137.597,437.683,0.000,4.250,0.000,15.550,1050.308,5978.074,538.177,1548.527,793.802,33.361,1188.342,0.000,1539.214,0.000,29.089,0.000
$DEVICE_MAMPS,135.759,60.593,789.243,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,400.754,397.081,915.288,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,31844,594
$CAP_FILE_SIZE,87838,0
$CFSIZE,260165632,247169024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270411,012142,2100.940,-15744.521,11,1.5,27,9.8