version: 66.06
glider: 139
mission: 9
dive: 195
start: 4 27 111 7 1 7
data:
$ID,139
$MISSION,9
$DIVE,195
$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,-2179571.2
$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,59
$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
$GPS1,065444,2100.314,-15745.315,12,1.7,18,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-73.4
$GPS2,070014,2100.324,-15745.307,12,1.8,12,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.150,-0.163
$KALMAN_X,-113527.4,305.9,342.6,122081.4,161.8
$KALMAN_Y,-26989.6,-163.2,197.6,7633.0,972.2
$MHEAD_RNG_PITCHd_Wd,212.7,9049,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.19,-116.8,0.0,0.0,0,90,0.00,0.00,-69.68,0.000,6,0.000,0.000,427,2112,3113,0,0,0,0,0,0
$GC,93,-1.19,-116.8,3.6,-5.5,13,112,13.10,2.45,0.00,0.000,4,0.134,0.034,2870,3487,3115,0,0,0,0,0,0
$GC,124,-1.19,-116.8,14.8,-31.6,18,130,0.00,2.50,0.00,0.000,6,0.000,0.032,2870,2094,3116,0,0,0,0,0,0
$GC,329,-1.19,-116.8,52.8,-18.0,44,333,0.00,2.50,0.00,0.000,4,0.000,0.041,2870,686,3116,0,0,0,0,0,0
$GC,513,-1.19,-116.8,83.8,-15.8,64,517,0.00,2.40,0.00,0.000,6,0.000,0.021,2871,2077,3117,0,0,0,0,0,0
$GC,776,-1.19,-116.8,120.0,-12.9,88,781,0.00,2.47,0.00,0.000,4,0.000,0.042,2870,688,3118,0,0,0,0,0,0
$GC,807,-1.19,-116.8,124.0,-13.6,91,811,0.00,2.42,0.00,0.000,6,0.000,0.021,2870,2103,3118,0,0,0,0,0,0
$GC,1071,-1.19,-116.8,156.9,-11.9,115,1075,0.00,2.50,0.00,0.000,4,0.000,0.039,2871,3505,3118,0,0,0,0,0,0
$GC,1145,-1.19,-116.8,167.2,-13.2,122,1151,0.00,2.53,0.00,0.000,6,0.000,0.035,2870,2094,3118,0,0,0,0,0,0
$GC,1409,-1.19,-116.8,196.5,-10.6,147,1414,0.00,2.50,0.00,0.000,4,0.000,0.039,2870,3496,3119,0,0,0,0,0,0
$GC,1453,-1.19,-116.8,201.4,-9.8,151,1458,0.00,2.47,0.00,0.000,6,0.000,0.035,2870,2098,3119,0,0,0,0,0,0
$GC,1786,-1.19,-116.8,229.2,-7.8,167,1790,0.00,2.50,0.00,0.000,4,0.000,0.044,2870,691,3119,0,0,0,0,0,0
$GC,1852,-1.19,-116.8,235.5,-9.1,170,1856,0.00,2.42,0.00,0.000,6,0.000,0.024,2871,2100,3119,0,0,0,0,0,0
$GC,2184,-1.19,-116.8,261.9,-8.0,186,2188,0.00,2.55,0.00,0.000,4,0.000,0.046,2870,686,3119,0,0,0,0,0,0
$GC,2221,-1.19,-116.8,265.6,-9.3,187,2226,0.00,2.45,0.00,0.000,6,0.000,0.025,2870,2101,3119,0,0,0,0,0,0
$GC,2538,-1.19,-116.8,294.3,-9.7,203,2542,0.00,2.55,0.00,0.000,4,0.000,0.048,2870,692,3118,0,0,0,0,0,0
$GC,2769,-1.19,-116.8,316.7,-7.9,210,2773,0.00,2.45,0.00,0.000,6,0.000,0.027,2870,2103,3116,0,0,0,0,0,0
$GC,3092,-1.19,-116.8,337.9,-6.2,218,3096,0.00,2.55,0.00,0.000,4,0.000,0.050,2870,3498,3116,0,0,0,0,0,0
$GC,3263,-1.19,-116.8,350.2,-7.2,221,3267,0.00,2.53,0.00,0.000,6,0.000,0.043,2870,2099,3115,0,0,0,0,0,0
$GC,3594,-1.19,-116.8,373.0,-6.8,229,3598,0.00,2.55,0.00,0.000,4,0.000,0.052,2870,692,3113,0,0,0,0,0,0
$GC,3632,-1.19,-116.8,376.0,-7.5,229,3637,0.00,2.45,0.00,0.000,6,0.000,0.029,2870,2097,3113,0,0,0,0,0,0
$GC,3964,-1.19,-116.8,397.5,-6.0,238,3968,0.00,2.58,0.00,0.000,4,0.000,0.054,2870,688,3110,0,0,0,0,0,0
$GC,4029,-1.19,-116.8,401.9,-6.8,239,4033,0.00,2.50,0.00,0.000,6,0.000,0.031,2870,2106,3110,0,0,0,0,0,0
$STATE,4209,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4209,begin apogee
$GC,4216,-0.31,0.0,413.0,6.1,244,4315,0.95,0.00,95.05,0.785,6,0.082,0.000,3067,1792,2635,0,0,0,0,0,0
$STATE,4316,end apogee,CONTROL_FINISHED_OK
$STATE,4316,begin climb
$GC,4318,1.19,116.8,413.8,0.0,246,4430,1.48,2.70,100.20,0.767,4,0.055,0.062,3394,397,2156,0,0,0,0,0,0
$GC,4440,1.19,116.8,400.6,13.3,248,4446,0.00,2.53,0.00,0.000,6,0.000,0.027,3394,1812,2153,0,0,0,0,0,0
$GC,4772,1.19,116.8,358.1,12.4,257,4776,0.00,2.67,0.00,0.000,4,0.000,0.060,3393,400,2145,0,0,0,0,0,0
$GC,4837,1.19,116.8,349.6,13.4,258,4842,0.00,2.50,0.00,0.000,6,0.000,0.028,3394,1805,2142,0,0,0,0,0,0
$GC,5182,1.19,116.8,311.1,11.1,267,5187,0.00,2.55,0.00,0.000,4,0.000,0.046,3394,3196,2140,0,0,0,0,0,0
$GC,5225,1.19,116.8,306.2,11.2,268,5230,0.00,2.60,0.00,0.000,6,0.000,0.051,3394,1808,2140,0,0,0,0,0,0
$GC,5557,1.19,116.8,272.0,10.4,282,5562,0.00,2.62,0.00,0.000,4,0.000,0.059,3394,391,2138,0,0,0,0,0,0
$GC,5600,1.19,116.8,266.8,13.3,284,5604,0.00,2.50,0.00,0.000,6,0.000,0.027,3394,1806,2135,0,0,0,0,0,0
$GC,5929,1.19,116.8,228.4,11.1,300,5934,0.00,2.65,0.00,0.000,4,0.000,0.057,3393,391,2135,0,0,0,0,0,0
$GC,5944,1.19,116.8,226.8,10.5,300,5950,0.00,2.50,0.00,0.000,6,0.000,0.025,3394,1805,2134,0,0,0,0,0,0
$GC,6261,1.19,116.8,196.3,9.2,317,6266,0.00,2.65,0.00,0.000,4,0.000,0.055,3394,391,2133,0,0,0,0,0,0
$GC,6345,1.19,116.8,187.3,10.4,325,6350,0.00,2.45,0.00,0.000,6,0.000,0.025,3394,1795,2132,0,0,0,0,0,0
$GC,6608,1.19,116.8,164.2,8.2,350,6612,0.00,2.47,0.00,0.000,4,0.000,0.036,3394,3196,2132,0,0,0,0,0,0
$GC,6653,1.19,116.8,160.0,9.2,354,6660,0.00,2.58,0.00,0.000,6,0.000,0.042,3394,1801,2132,0,0,0,0,0,0
$GC,6916,1.19,116.8,138.1,8.8,379,6917,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1801,2132,0,0,0,0,0,0
$GC,7171,1.19,116.8,114.7,9.3,403,7175,0.00,2.58,0.00,0.000,4,0.000,0.051,3394,390,2132,0,0,0,0,0,0
$GC,7208,1.19,116.8,110.9,10.3,406,7215,0.00,2.45,0.00,0.000,6,0.000,0.021,3394,1806,2131,0,0,0,0,0,0
$GC,7472,1.19,116.8,88.6,8.4,431,7477,0.00,2.62,0.00,0.000,4,0.000,0.049,3394,385,2131,0,0,0,0,0,0
$GC,7499,1.19,116.8,86.1,9.8,433,7503,0.00,2.42,0.00,0.000,6,0.000,0.020,3394,1802,2131,0,0,0,0,0,0
$GC,7764,1.21,128.7,67.2,7.5,457,7775,0.00,2.67,6.78,0.432,4,0.000,0.048,3394,389,2109,0,0,0,0,0,0
$GC,7796,1.21,128.7,64.3,8.5,460,7801,0.00,2.42,0.00,0.000,6,0.000,0.020,3394,1806,2107,0,0,0,0,0,0
$GC,8061,1.22,139.7,45.2,7.5,484,8082,0.00,2.67,11.05,0.453,4,0.000,0.048,3394,389,2063,0,0,0,0,0,0
$GC,8096,1.22,139.7,41.9,8.9,487,8103,0.00,2.45,0.00,0.000,6,0.000,0.019,3393,1801,2062,0,0,0,0,0,0
$GC,8361,1.29,192.4,26.7,5.6,517,8413,0.10,2.47,45.80,0.480,4,0.071,0.026,3434,3194,1849,0,0,0,0,0,0
$GC,8429,1.29,192.4,20.6,10.4,529,8436,0.00,2.58,0.00,0.000,6,0.000,0.035,3434,1797,1848,0,0,0,0,0,0
$STATE,8608,end climb,SURFACE_DEPTH_REACHED
$STATE,8608,begin surface coast
$FINISH,1.0,1.022904
$STATE,8636,end surface coast,CONTROL_FINISHED_OK
$STATE,8636,begin surface
$SM_CCo,8660,70.60,0.456,0,0,1288,330.17
$SM_GC,1.42,0.00,0.00,70.60,0.000,0.000,0.456,427,2154,1288,-12.47,1.53,330.17
$IRIDIUM_FIX,2052.52,-15742.34,210700,040438
$TT8_MAMPS,0.028379
$HUMID,54.37
$INTERNAL_PRESSURE,9.62581
$TCM_TEMP,22.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,400.1,41.1
$24V_AH,23.5,15.582
$10V_AH,10.5,15.036
$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,28.550,117.225,258.875,70.600,0.000,23.901,34.802,155.894,4.250,0.000,12.391,1061.817,5479.253,403.790,1673.991,444.970,33.364,1138.845,0.000,1656.808,0.000,29.092,0.000
$DEVICE_MAMPS,134.225,62.127,784.641,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,382.548,378.783,865.312,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355672
$DATA_FILE_SIZE,31708,567
$CAP_FILE_SIZE,98523,0
$CFSIZE,260165632,247062528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270411,092755,2059.577,-15745.822,38,1.6,38,9.8