version: 66.06
glider: 139
mission: 9
dive: 198
start: 4 27 111 15 16 26
data:
$ID,139
$MISSION,9
$DIVE,198
$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,-2179639.8
$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,26
$R_STBD_OVSHOOT,40
$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
$GPS1,150609,2058.229,-15747.564,11,6.1,30,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-74.7
$GPS2,151534,2058.317,-15747.565,15,4.0,34,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.180,-0.129
$KALMAN_X,-111175.6,-245.1,-219.9,116957.6,1034.9
$KALMAN_Y,-25201.9,-84.9,-86.2,2340.5,1259.7
$MHEAD_RNG_PITCHd_Wd,224.7,4038,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-69.78,0.000,2,0.000,0.000,429,2102,3112,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.4,-5.0,13,110,13.07,2.50,0.00,0.000,4,0.134,0.032,2869,3508,3115,0,0,0,0,0,0
$GC,118,-1.19,-116.8,13.1,-27.1,17,124,0.00,2.53,0.00,0.000,6,0.000,0.031,2868,2097,3116,0,0,0,0,0,0
$GC,325,-1.19,-116.8,54.2,-17.2,43,329,0.00,2.53,0.00,0.000,4,0.000,0.041,2868,685,3117,0,0,0,0,0,0
$GC,495,-1.19,-116.8,84.8,-16.3,61,500,0.00,2.45,0.00,0.000,6,0.000,0.021,2869,2106,3116,0,0,0,0,0,0
$GC,757,-1.19,-116.8,122.0,-13.2,85,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2110,3117,0,0,0,0,0,0
$GC,1013,-1.19,-116.8,152.4,-11.7,109,1017,0.00,2.55,0.00,0.000,4,0.000,0.042,2868,686,3118,0,0,0,0,0,0
$GC,1052,-1.19,-116.8,157.5,-13.5,112,1058,0.00,2.45,0.00,0.000,6,0.000,0.022,2869,2103,3118,0,0,0,0,0,0
$GC,1314,-1.19,-116.8,189.9,-11.5,137,1318,0.00,2.53,0.00,0.000,4,0.000,0.042,2869,685,3118,0,0,0,0,0,0
$GC,1347,-1.19,-116.8,193.5,-10.4,140,1351,0.00,2.45,0.00,0.000,6,0.000,0.023,2869,2109,3118,0,0,0,0,0,0
$GC,1607,-1.19,-116.8,214.7,-7.4,156,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2110,3119,0,0,0,0,0,0
$GC,1918,-1.19,-116.8,242.0,-8.9,171,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2110,3119,0,0,0,0,0,0
$GC,2226,-1.19,-116.8,268.9,-7.9,186,2230,0.00,2.55,0.00,0.000,4,0.000,0.048,2869,692,3118,0,0,0,0,0,0
$GC,2386,-1.19,-116.8,284.5,-9.8,193,2390,0.00,2.45,0.00,0.000,6,0.000,0.026,2868,2102,3117,0,0,0,0,0,0
$GC,2731,-1.19,-116.8,308.2,-6.5,207,2735,0.00,2.58,0.00,0.000,4,0.000,0.048,2869,687,3115,0,0,0,0,0,0
$GC,2769,-1.19,-116.8,311.4,-9.0,207,2775,0.00,2.47,0.00,0.000,6,0.000,0.028,2869,2105,3116,0,0,0,0,0,0
$GC,3101,-1.19,-116.8,340.7,-9.8,216,3106,0.00,2.55,0.00,0.000,4,0.000,0.051,2868,3497,3114,0,0,0,0,0,0
$GC,3203,-1.19,-116.8,350.7,-9.4,218,3208,0.00,2.55,0.00,0.000,6,0.000,0.044,2868,2095,3113,0,0,0,0,0,0
$GC,3518,-1.19,-116.8,376.8,-7.9,226,3522,0.00,2.58,0.00,0.000,4,0.000,0.054,2868,685,3111,0,0,0,0,0,0
$GC,3578,-1.19,-116.8,381.7,-8.2,227,3582,0.00,2.47,0.00,0.000,6,0.000,0.030,2869,2104,3111,0,0,0,0,0,0
$GC,3928,-1.19,-116.8,403.9,-6.1,236,3933,0.00,2.58,0.00,0.000,4,0.000,0.054,2868,3501,3108,0,0,0,0,0,0
$GC,4018,-1.19,-116.8,410.1,-6.8,238,4023,0.00,2.55,0.00,0.000,6,0.000,0.047,2868,2101,3108,0,0,0,0,0,0
$GC,4348,-1.19,-116.8,432.6,-6.9,246,4352,0.00,2.62,0.00,0.000,4,0.000,0.057,2868,684,3105,0,0,0,0,0,0
$GC,4409,-1.19,-116.8,437.6,-7.9,247,4413,0.00,2.50,0.00,0.000,6,0.000,0.032,2868,2098,3105,0,0,0,0,0,0
$STATE,4475,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4475,begin apogee
$GC,4482,-0.31,0.0,442.7,7.8,249,4580,0.95,0.00,94.57,0.814,6,0.082,0.000,3066,1795,2635,0,0,0,0,0,0
$STATE,4581,end apogee,CONTROL_FINISHED_OK
$STATE,4581,begin climb
$GC,4583,1.19,116.8,444.9,0.0,251,4691,1.48,0.00,100.78,0.795,6,0.055,0.000,3392,1794,2158,0,0,0,0,0,0
$GC,4991,1.19,116.8,401.5,12.0,261,4996,0.00,2.65,0.00,0.000,4,0.000,0.063,3391,401,2146,0,0,0,0,0,0
$GC,5029,1.19,116.8,396.1,13.8,261,5034,0.00,2.53,0.00,0.000,6,0.000,0.028,3392,1811,2143,0,0,0,0,0,0
$GC,5360,1.19,116.8,356.4,11.5,270,5361,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1811,2141,0,0,0,0,0,0
$GC,5685,1.19,116.8,322.2,10.0,278,5689,0.00,2.67,0.00,0.000,4,0.000,0.060,3392,399,2139,0,0,0,0,0,0
$GC,5723,1.19,116.8,317.5,13.0,278,5728,0.00,2.50,0.00,0.000,6,0.000,0.028,3392,1803,2137,0,0,0,0,0,0
$GC,6036,1.19,116.8,284.4,11.0,290,6040,0.00,2.65,0.00,0.000,4,0.000,0.058,3391,400,2136,0,0,0,0,0,0
$GC,6086,1.19,116.8,278.2,12.2,292,6091,0.00,2.47,0.00,0.000,6,0.000,0.027,3392,1802,2135,0,0,0,0,0,0
$GC,6407,1.19,116.8,243.7,10.1,308,6411,0.00,2.62,0.00,0.000,4,0.000,0.057,3392,400,2134,0,0,0,0,0,0
$GC,6450,1.19,116.8,238.8,11.8,310,6454,0.00,2.47,0.00,0.000,6,0.000,0.027,3392,1800,2133,0,0,0,0,0,0
$GC,6779,1.19,116.8,206.3,9.3,326,6780,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1806,2132,0,0,0,0,0,0
$GC,7095,1.22,137.1,180.4,7.1,352,7115,0.00,2.53,14.40,0.604,4,0.000,0.038,3392,3200,2074,0,0,0,0,0,0
$GC,7136,1.23,149.2,177.3,7.5,356,7155,0.00,2.58,12.27,0.583,6,0.000,0.041,3392,1805,2026,0,0,0,0,0,0
$GC,7410,1.23,149.2,154.1,8.6,382,7414,0.00,2.62,0.00,0.000,4,0.000,0.054,3392,390,2021,0,0,0,0,0,0
$GC,7493,1.23,149.2,145.6,10.5,390,7499,0.00,2.50,0.00,0.000,6,0.000,0.022,3392,1808,2018,0,0,0,0,0,0
$GC,7757,1.23,149.2,121.4,9.2,415,7762,0.00,2.62,0.00,0.000,4,0.000,0.051,3391,389,2018,0,0,0,0,0,0
$GC,7811,1.23,149.2,115.4,11.8,420,7815,0.00,2.45,0.00,0.000,6,0.000,0.021,3392,1804,2017,0,0,0,0,0,0
$GC,8074,1.26,171.8,95.5,7.0,444,8096,0.00,0.00,19.95,0.530,6,0.000,0.000,3392,1809,1934,0,0,0,0,0,0
$GC,8351,1.27,177.5,73.6,7.8,470,8362,0.00,0.00,6.22,0.423,6,0.000,0.000,3392,1809,1911,0,0,0,0,0,0
$GC,8619,1.31,206.8,54.2,6.7,495,8653,0.12,2.70,26.45,0.495,4,0.061,0.048,3437,393,1791,0,0,0,0,0,0
$GC,8750,1.31,206.8,41.5,10.2,509,8755,0.00,2.42,0.00,0.000,6,0.000,0.019,3438,1801,1785,0,0,0,0,0,0
$GC,9015,1.31,206.8,17.1,10.1,544,9022,0.00,2.62,0.00,0.000,4,0.000,0.047,3437,393,1785,0,0,0,0,0,0
$GC,9060,1.31,206.8,12.4,11.0,553,9066,0.00,2.45,0.00,0.000,6,0.000,0.019,3437,1803,1784,0,0,0,0,0,0
$STATE,9157,end climb,SURFACE_DEPTH_REACHED
$STATE,9157,begin surface coast
$FINISH,0.8,1.010720
$STATE,9192,end surface coast,CONTROL_FINISHED_OK
$STATE,9192,begin surface
$SM_CCo,9216,62.92,0.454,0,0,1288,330.17
$SM_GC,1.50,0.00,0.00,62.92,0.000,0.000,0.454,429,2151,1288,-12.46,1.44,330.17
$IRIDIUM_FIX,2052.52,-15747.49,210700,151545
$TT8_MAMPS,0.029146
$HUMID,54.44
$INTERNAL_PRESSURE,9.63558
$TCM_TEMP,22.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,442.7,23.8
$24V_AH,23.5,15.823
$10V_AH,10.5,15.266
$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,28.475,97.525,274.650,62.925,0.000,52.236,68.598,232.977,5.000,0.000,35.813,1072.875,6115.657,409.912,1650.316,597.749,33.354,1107.279,0.000,1615.063,0.000,36.907,0.000
$DEVICE_MAMPS,134.225,62.894,813.787,454.064,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,390.370,379.447,837.788,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,31807,577
$CAP_FILE_SIZE,99128,0
$CFSIZE,260165632,246915072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270411,175222,2058.063,-15748.280,17,4.8,36,9.8