version: 66.06
glider: 139
mission: 9
dive: 197
start: 4 27 111 12 21 42
data:
$ID,139
$MISSION,9
$DIVE,197
$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,-2179603.2
$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,46
$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
$GPS1,121506,2058.755,-15746.703,38,1.6,44,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-72.8
$GPS2,122049,2058.769,-15746.706,10,1.8,15,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.157,-0.156
$KALMAN_X,-111535.9,-39.2,-312.9,118688.7,1152.5
$KALMAN_Y,-25712.5,-49.9,-496.1,4067.8,1574.8
$MHEAD_RNG_PITCHd_Wd,215.4,5679,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-70.32,0.000,6,0.000,0.000,430,2106,3113,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.2,-3.9,13,111,13.10,2.55,0.00,0.000,4,0.135,0.035,2869,674,3115,0,0,0,0,0,0
$GC,228,-1.19,-116.8,37.4,-19.3,39,233,0.00,2.45,0.00,0.000,6,0.000,0.021,2869,2094,3117,0,0,0,0,0,0
$GC,491,-1.19,-116.8,82.4,-15.2,63,495,0.00,2.47,0.00,0.000,4,0.000,0.035,2869,3505,3117,0,0,0,0,0,0
$GC,543,-1.19,-116.8,90.2,-13.7,68,547,0.00,2.50,0.00,0.000,6,0.000,0.032,2869,2090,3118,0,0,0,0,0,0
$GC,806,-1.19,-116.8,125.0,-12.6,92,810,0.00,2.53,0.00,0.000,4,0.000,0.036,2869,3509,3118,0,0,0,0,0,0
$GC,823,-1.19,-116.8,127.1,-12.2,93,827,0.00,2.50,0.00,0.000,6,0.000,0.033,2869,2097,3119,0,0,0,0,0,0
$GC,1087,-1.19,-116.8,156.7,-11.1,117,1091,0.00,2.50,0.00,0.000,4,0.000,0.043,2869,691,3119,0,0,0,0,0,0
$GC,1138,-1.19,-116.8,163.4,-12.5,122,1143,0.00,2.42,0.00,0.000,6,0.000,0.023,2869,2101,3119,0,0,0,0,0,0
$GC,1401,-1.19,-116.8,187.0,-9.2,146,1406,0.00,2.53,0.00,0.000,4,0.000,0.042,2869,691,3120,0,0,0,0,0,0
$GC,1436,-1.19,-116.8,190.3,-9.6,149,1440,0.00,2.42,0.00,0.000,6,0.000,0.023,2869,2100,3120,0,0,0,0,0,0
$GC,1705,-1.19,-116.8,213.0,-8.9,167,1709,0.00,2.53,0.00,0.000,4,0.000,0.044,2868,685,3121,0,0,0,0,0,0
$GC,1725,-1.19,-116.8,214.6,-7.9,168,1729,0.00,2.45,0.00,0.000,6,0.000,0.024,2869,2106,3121,0,0,0,0,0,0
$GC,2055,-1.19,-116.8,240.6,-8.0,184,2060,0.00,2.50,0.00,0.000,4,0.000,0.045,2869,3502,3120,0,0,0,0,0,0
$GC,2098,-1.19,-116.8,244.4,-8.4,186,2103,0.00,2.50,0.00,0.000,6,0.000,0.039,2869,2097,3120,0,0,0,0,0,0
$GC,2428,-1.19,-116.8,272.3,-8.5,202,2432,0.00,2.55,0.00,0.000,4,0.000,0.049,2869,683,3119,0,0,0,0,0,0
$GC,2554,-1.19,-116.8,285.3,-10.7,207,2558,0.00,2.47,0.00,0.000,6,0.000,0.027,2869,2105,3119,0,0,0,0,0,0
$GC,2870,-1.19,-116.8,309.8,-7.6,219,2874,0.00,2.58,0.00,0.000,4,0.000,0.048,2869,691,3117,0,0,0,0,0,0
$GC,2898,-1.19,-116.8,312.3,-8.5,219,2903,0.00,2.45,0.00,0.000,6,0.000,0.027,2868,2108,3117,0,0,0,0,0,0
$GC,3234,-1.19,-116.8,337.0,-8.4,228,3239,0.00,2.55,0.00,0.000,4,0.000,0.051,2869,3498,3116,0,0,0,0,0,0
$GC,3268,-1.19,-116.8,339.8,-7.8,228,3272,0.00,2.53,0.00,0.000,6,0.000,0.044,2869,2098,3115,0,0,0,0,0,0
$GC,3605,-1.19,-116.8,362.3,-6.9,237,3610,0.00,2.60,0.00,0.000,4,0.000,0.053,2869,685,3113,0,0,0,0,0,0
$GC,3695,-1.19,-116.8,370.3,-9.2,239,3699,0.00,2.50,0.00,0.000,6,0.000,0.031,2869,2105,3113,0,0,0,0,0,0
$GC,4023,-1.19,-116.8,394.5,-6.8,247,4027,0.00,2.55,0.00,0.000,4,0.000,0.054,2869,3502,3110,0,0,0,0,0,0
$GC,4038,-1.19,-116.8,395.6,-6.6,247,4042,0.00,2.55,0.00,0.000,6,0.000,0.047,2868,2098,3110,0,0,0,0,0,0
$GC,4388,-1.19,-116.8,419.0,-7.1,256,4389,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2098,3108,0,0,0,0,0,0
$GC,4715,-1.19,-116.8,442.1,-6.9,264,4720,0.00,2.60,0.00,0.000,4,0.000,0.056,2869,3501,3106,0,0,0,0,0,0
$GC,4776,-1.19,-116.8,446.6,-7.1,265,4781,0.00,2.58,0.00,0.000,6,0.000,0.048,2869,2093,3106,0,0,0,0,0,0
$STATE,4839,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4839,begin apogee
$GC,4846,-0.31,0.0,451.0,6.8,267,4945,0.95,0.00,95.00,0.827,6,0.082,0.000,3066,1794,2635,0,0,0,0,0,0
$STATE,4945,end apogee,CONTROL_FINISHED_OK
$STATE,4945,begin climb
$GC,4948,1.19,116.8,452.8,0.0,269,5054,1.52,0.00,101.57,0.808,6,0.056,0.000,3398,1793,2158,0,0,0,0,0,0
$GC,5367,1.19,116.8,405.5,12.8,280,5368,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1793,2146,0,0,0,0,0,0
$GC,5692,1.19,116.8,362.1,13.2,288,5693,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1794,2142,0,0,0,0,0,0
$GC,6017,1.19,116.8,326.0,11.3,296,6021,0.00,2.62,0.00,0.000,4,0.000,0.061,3397,400,2140,0,0,0,0,0,0
$GC,6036,1.19,116.8,323.7,11.9,296,6040,0.00,2.50,0.00,0.000,6,0.000,0.027,3397,1809,2138,0,0,0,0,0,0
$GC,6363,1.19,116.8,286.0,11.2,307,6365,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1811,2138,0,0,0,0,0,0
$GC,6672,1.19,116.8,255.3,9.7,322,6676,0.00,2.67,0.00,0.000,4,0.000,0.058,3397,397,2136,0,0,0,0,0,0
$GC,6700,1.19,116.8,251.9,12.7,323,6704,0.00,2.47,0.00,0.000,6,0.000,0.026,3398,1803,2134,0,0,0,0,0,0
$GC,7021,1.19,116.8,217.5,10.5,339,7023,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1807,2134,0,0,0,0,0,0
$GC,7333,1.19,116.8,186.2,8.2,360,7334,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1807,2133,0,0,0,0,0,0
$GC,7588,1.19,116.8,162.3,9.0,384,7592,0.00,2.60,0.00,0.000,4,0.000,0.053,3397,399,2133,0,0,0,0,0,0
$GC,7605,1.19,116.8,160.9,8.7,385,7610,0.00,2.45,0.00,0.000,6,0.000,0.024,3398,1807,2132,0,0,0,0,0,0
$GC,7870,1.21,131.3,140.6,7.4,409,7889,0.00,2.65,9.30,0.538,4,0.000,0.051,3398,400,2098,0,0,0,0,0,0
$GC,7918,1.21,131.3,136.0,9.3,414,7922,0.00,2.42,0.00,0.000,6,0.000,0.023,3398,1799,2095,0,0,0,0,0,0
$GC,8187,1.21,131.3,114.1,8.2,439,8191,0.00,2.58,0.00,0.000,4,0.000,0.050,3398,399,2096,0,0,0,0,0,0
$GC,8231,1.21,131.3,110.3,9.2,443,8235,0.00,2.42,0.00,0.000,6,0.000,0.021,3397,1806,2095,0,0,0,0,0,0
$GC,8496,1.23,141.9,92.9,7.5,467,8508,0.00,0.00,10.35,0.496,6,0.000,0.000,3398,1811,2056,0,0,0,0,0,0
$GC,8764,1.25,162.0,74.0,7.1,492,8788,0.00,2.65,18.92,0.509,4,0.000,0.048,3397,399,1973,0,0,0,0,0,0
$GC,8812,1.26,173.5,70.2,7.5,496,8830,0.00,2.45,11.00,0.474,6,0.000,0.020,3397,1800,1926,0,0,0,0,0,0
$GC,9084,1.26,173.5,50.5,8.3,522,9085,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1801,1925,0,0,0,0,0,0
$GC,9339,1.26,173.5,31.2,8.5,546,9343,0.00,2.55,0.00,0.000,4,0.000,0.046,3397,398,1925,0,0,0,0,0,0
$GC,9415,1.27,180.6,24.9,7.7,561,9428,0.00,2.40,7.15,0.401,6,0.000,0.019,3398,1795,1898,0,0,0,0,0,0
$GC,9625,1.35,245.7,11.0,5.0,599,9688,0.15,2.62,55.83,0.466,4,0.052,0.052,3450,399,1632,0,0,0,0,0,0
$STATE,9704,end climb,SURFACE_DEPTH_REACHED
$STATE,9704,begin surface coast
$FINISH,0.7,1.012633
$STATE,9726,end surface coast,CONTROL_FINISHED_OK
$STATE,9726,begin surface
$SM_CCo,9753,43.95,0.451,0,0,1287,330.17
$SM_GC,1.45,0.00,0.00,43.95,0.000,0.000,0.451,430,2101,1287,-12.46,0.03,330.17
$IRIDIUM_FIX,2052.52,-15747.49,210700,090928
$TT8_MAMPS,0.029146
$HUMID,53.97
$INTERNAL_PRESSURE,9.62581
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,23.5,15.738
$10V_AH,10.6,15.189
$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,28.650,106.975,309.125,43.950,0.000,27.875,46.304,148.254,5.250,0.000,15.232,1113.840,6528.454,428.835,1609.302,462.175,33.357,1110.310,0.000,1600.516,0.000,34.995,0.000
$DEVICE_MAMPS,134.992,60.593,826.826,450.996,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,418.265,406.766,910.289,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,34905,618
$CAP_FILE_SIZE,97379,0
$CFSIZE,260165632,246964224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270411,150609,2058.229,-15747.564,11,6.1,30,9.8