version: 66.06
glider: 139
mission: 9
dive: 193
start: 4 27 111 1 47 11
data:
$ID,139
$MISSION,9
$DIVE,193
$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,-2179545
$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,17
$R_STBD_OVSHOOT,77
$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
$GPS1,012142,2100.940,-15744.521,11,1.5,27,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-70.9
$GPS2,014619,2100.997,-15744.452,35,1.8,35,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.156,-0.158
$KALMAN_X,-115358.3,444.7,10.5,125583.2,195.9
$KALMAN_Y,-29336.0,39.3,-9.2,11234.8,819.3
$MHEAD_RNG_PITCHd_Wd,214.9,10954,-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,16,-1.19,-116.8,0.0,0.0,0,120,0.00,0.00,-100.03,0.000,6,0.000,0.000,424,2130,3114,0,0,0,0,0,0
$GC,123,-1.19,-116.8,3.4,-4.7,19,141,13.10,2.60,0.00,0.000,4,0.135,0.037,2867,672,3115,0,0,0,0,0,0
$GC,149,-1.19,-116.8,12.8,-26.9,23,156,0.00,2.42,0.00,0.000,6,0.000,0.021,2867,2069,3116,0,0,0,0,0,0
$GC,351,-1.19,-116.8,54.5,-17.7,49,355,0.00,2.47,0.00,0.000,4,0.000,0.041,2867,680,3116,0,0,0,0,0,0
$GC,548,-1.19,-116.8,84.8,-14.6,70,552,0.00,2.42,0.00,0.000,6,0.000,0.021,2867,2097,3116,0,0,0,0,0,0
$GC,811,-1.19,-116.8,119.4,-14.5,94,816,0.00,2.50,0.00,0.000,4,0.000,0.042,2867,684,3115,0,0,0,0,0,0
$GC,841,-1.19,-116.8,124.0,-14.8,97,846,0.00,2.40,0.00,0.000,6,0.000,0.021,2867,2101,3116,0,0,0,0,0,0
$GC,1106,-1.19,-116.8,156.2,-10.5,121,1110,0.00,2.53,0.00,0.000,4,0.000,0.041,2867,678,3116,0,0,0,0,0,0
$GC,1139,-1.19,-116.8,160.0,-11.4,124,1144,0.00,2.42,0.00,0.000,6,0.000,0.021,2867,2102,3116,0,0,0,0,0,0
$GC,1407,-1.19,-116.8,188.6,-10.5,149,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2102,3116,0,0,0,0,0,0
$GC,1658,-1.19,-116.8,211.0,-8.4,167,1662,0.00,2.50,0.00,0.000,4,0.000,0.041,2867,3497,3116,0,0,0,0,0,0
$GC,1687,-1.19,-116.8,213.3,-7.9,168,1691,0.00,2.50,0.00,0.000,6,0.000,0.035,2867,2085,3116,0,0,0,0,0,0
$GC,2007,-1.19,-116.8,243.4,-10.7,184,2011,0.00,2.53,0.00,0.000,4,0.000,0.041,2867,3501,3115,0,0,0,0,0,0
$GC,2133,-1.19,-116.8,256.8,-10.7,189,2137,0.00,2.50,0.00,0.000,6,0.000,0.039,2867,2104,3115,0,0,0,0,0,0
$GC,2449,-1.19,-116.8,287.3,-8.0,204,2453,0.00,2.53,0.00,0.000,4,0.000,0.044,2867,3495,3113,0,0,0,0,0,0
$GC,2576,-1.19,-116.8,297.3,-7.8,209,2580,0.00,2.50,0.00,0.000,6,0.000,0.040,2867,2100,3112,0,0,0,0,0,0
$GC,2908,-1.19,-116.8,319.2,-6.4,218,2909,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2099,3110,0,0,0,0,0,0
$GC,3234,-1.19,-116.8,342.9,-7.4,226,3238,0.00,2.55,0.00,0.000,4,0.000,0.051,2867,692,3108,0,0,0,0,0,0
$GC,3277,-1.19,-116.8,346.6,-8.1,227,3282,0.00,2.45,0.00,0.000,6,0.000,0.028,2867,2092,3108,0,0,0,0,0,0
$GC,3605,-1.19,-116.8,370.5,-7.3,235,3610,0.00,2.55,0.00,0.000,4,0.000,0.052,2867,691,3105,0,0,0,0,0,0
$GC,3643,-1.19,-116.8,373.6,-8.4,235,3649,0.00,2.47,0.00,0.000,6,0.000,0.030,2867,2104,3105,0,0,0,0,0,0
$GC,3976,-1.19,-116.8,396.5,-6.8,244,3981,0.00,2.60,0.00,0.000,4,0.000,0.054,2867,693,3103,0,0,0,0,0,0
$GC,4033,-1.19,-116.8,400.9,-7.4,245,4037,0.00,2.47,0.00,0.000,6,0.000,0.031,2867,2099,3102,0,0,0,0,0,0
$STATE,4222,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4222,begin apogee
$GC,4229,-0.31,0.0,414.3,6.9,250,4327,0.95,0.00,93.95,0.788,6,0.082,0.000,3065,1796,2635,0,0,0,0,0,0
$STATE,4327,end apogee,CONTROL_FINISHED_OK
$STATE,4327,begin climb
$GC,4330,1.19,116.8,416.4,0.0,252,4442,1.50,2.67,100.20,0.770,4,0.055,0.046,3396,3203,2158,0,0,0,0,0,0
$GC,4471,1.19,116.8,402.7,12.0,255,4476,0.00,2.67,0.00,0.000,6,0.000,0.054,3396,1804,2156,0,0,0,0,0,0
$GC,4785,1.19,116.8,363.7,12.4,263,4789,0.00,2.70,0.00,0.000,4,0.000,0.063,3396,386,2147,0,0,0,0,0,0
$GC,4832,1.19,116.8,357.3,12.9,264,4836,0.00,2.53,0.00,0.000,6,0.000,0.028,3396,1806,2144,0,0,0,0,0,0
$GC,5155,1.19,116.8,321.7,11.1,272,5159,0.00,2.70,0.00,0.000,4,0.000,0.061,3396,388,2142,0,0,0,0,0,0
$GC,5192,1.19,116.8,316.5,13.8,272,5198,0.00,2.53,0.00,0.000,6,0.000,0.027,3397,1809,2140,0,0,0,0,0,0
$GC,5506,1.19,116.8,282.5,10.2,284,5510,0.00,2.70,0.00,0.000,4,0.000,0.058,3396,386,2138,0,0,0,0,0,0
$GC,5520,1.19,116.8,280.9,10.2,284,5527,0.00,2.53,0.00,0.000,6,0.000,0.027,3396,1804,2138,0,0,0,0,0,0
$GC,5836,1.19,116.8,251.4,9.5,300,5840,0.00,2.65,0.00,0.000,4,0.000,0.058,3396,390,2137,0,0,0,0,0,0
$GC,5865,1.19,116.8,248.2,12.2,301,5869,0.00,2.47,0.00,0.000,6,0.000,0.025,3396,1805,2135,0,0,0,0,0,0
$GC,6186,1.19,116.8,216.8,8.7,317,6191,0.00,2.47,0.00,0.000,4,0.000,0.040,3396,3197,2135,0,0,0,0,0,0
$GC,6252,1.19,116.8,210.9,8.8,320,6256,0.00,2.58,0.00,0.000,6,0.000,0.044,3396,1799,2135,0,0,0,0,0,0
$GC,6579,1.19,116.8,182.7,8.7,344,6583,0.00,2.58,0.00,0.000,4,0.000,0.054,3396,390,2133,0,0,0,0,0,0
$GC,6650,1.19,116.8,175.8,10.3,351,6654,0.00,2.47,0.00,0.000,6,0.000,0.024,3396,1809,2132,0,0,0,0,0,0
$GC,6915,1.20,122.8,152.1,7.7,375,6919,0.00,2.45,0.00,0.000,4,0.000,0.035,3396,3201,2132,0,0,0,0,0,0
$GC,6959,1.20,122.8,148.4,8.2,379,6963,0.00,2.55,0.00,0.000,6,0.000,0.040,3396,1799,2132,0,0,0,0,0,0
$GC,7224,1.25,159.3,130.1,6.3,403,7264,0.00,2.67,33.10,0.577,4,0.000,0.051,3396,393,1983,0,0,0,0,0,0
$GC,7303,1.25,159.3,124.1,9.2,411,7309,0.00,2.45,0.00,0.000,6,0.000,0.021,3397,1801,1979,0,0,0,0,0,0
$GC,7565,1.25,159.3,102.0,8.7,436,7566,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1806,1979,0,0,0,0,0,0
$GC,7819,1.25,159.3,79.7,8.6,460,7824,0.00,2.60,0.00,0.000,4,0.000,0.048,3396,388,1978,0,0,0,0,0,0
$GC,7836,1.25,159.3,78.4,8.8,461,7841,0.00,2.45,0.00,0.000,6,0.000,0.020,3396,1814,1977,0,0,0,0,0,0
$GC,8103,1.25,159.3,56.6,8.8,485,8107,0.00,2.60,0.00,0.000,4,0.000,0.048,3396,389,1977,0,0,0,0,0,0
$GC,8163,1.25,159.3,50.8,8.5,491,8167,0.00,2.42,0.00,0.000,6,0.000,0.019,3396,1805,1976,0,0,0,0,0,0
$GC,8428,1.31,209.4,34.7,5.7,515,8477,0.10,2.45,42.60,0.483,4,0.071,0.028,3438,3185,1780,0,0,0,0,0,0
$GC,8509,1.36,247.2,29.0,6.3,524,8549,0.00,2.55,32.38,0.471,6,0.000,0.038,3437,1803,1625,0,0,0,0,0,0
$GC,8745,1.36,247.2,5.6,11.6,567,8752,0.00,2.60,0.00,0.000,4,0.000,0.045,3437,389,1620,0,0,0,0,0,0
$STATE,8766,end climb,SURFACE_DEPTH_REACHED
$STATE,8766,begin surface coast
$FINISH,0.9,1.019339
$STATE,8788,end surface coast,CONTROL_FINISHED_OK
$STATE,8788,begin surface
$SM_CCo,8815,40.88,0.448,0,0,1289,330.17
$SM_GC,1.60,0.00,0.00,40.88,0.000,0.000,0.448,430,2077,1289,-12.46,-0.65,330.17
$IRIDIUM_FIX,2050.21,-15742.34,210700,010103
$TT8_MAMPS,0.029146
$HUMID,54.52
$INTERNAL_PRESSURE,9.64535
$TCM_TEMP,22.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,382.5,60.2
$24V_AH,23.5,15.428
$10V_AH,10.5,14.885
$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,28.525,117.525,302.225,40.875,0.000,128.128,229.297,717.925,4.000,0.000,35.292,1055.123,5866.503,411.790,1667.952,1334.631,33.360,1153.317,0.000,1630.171,0.000,27.586,0.000
$DEVICE_MAMPS,134.992,62.894,787.709,447.928,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,388.285,382.832,864.866,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355660
$DATA_FILE_SIZE,31870,576
$CAP_FILE_SIZE,116650,0
$CFSIZE,260165632,247144448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270411,041624,2100.762,-15744.880,40,1.3,58,9.8