version: 66.06
glider: 139
mission: 9
dive: 199
start: 4 27 111 17 58 55
data:
$ID,139
$MISSION,9
$DIVE,199
$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,-2179675.2
$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,17
$R_STBD_OVSHOOT,78
$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
$GPS1,175222,2058.063,-15748.280,17,4.8,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-73.6
$GPS2,175804,2058.102,-15748.282,14,6.0,33,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.206,-0.082
$KALMAN_X,-110510.0,-441.4,83.7,114942.3,1005.8
$KALMAN_Y,-24461.9,-190.5,314.7,903.1,750.9
$MHEAD_RNG_PITCHd_Wd,238.6,2751,-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,-116.8,0.0,0.0,0,89,0.00,0.00,-70.03,0.000,2,0.000,0.000,429,2154,3106,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.1,-3.6,13,110,13.07,2.65,0.00,0.000,4,0.134,0.038,2869,677,3108,0,0,0,0,0,0
$GC,311,-1.19,-116.8,53.1,-18.4,49,318,0.00,2.40,0.00,0.000,6,0.000,0.022,2869,2058,3109,0,0,0,0,0,0
$GC,572,-1.19,-116.8,92.6,-13.7,74,576,0.00,2.55,0.00,0.000,4,0.000,0.035,2869,3510,3110,0,0,0,0,0,0
$GC,589,-1.19,-116.8,94.8,-13.5,75,593,0.00,2.50,0.00,0.000,6,0.000,0.031,2869,2090,3111,0,0,0,0,0,0
$GC,851,-1.19,-116.8,125.6,-11.2,99,856,0.00,2.53,0.00,0.000,4,0.000,0.042,2869,680,3112,0,0,0,0,0,0
$GC,868,-1.19,-116.8,127.4,-10.8,100,873,0.00,2.45,0.00,0.000,6,0.000,0.021,2869,2110,3111,0,0,0,0,0,0
$GC,1131,-1.19,-116.8,158.6,-12.3,124,1135,0.00,2.53,0.00,0.000,4,0.000,0.042,2869,691,3112,0,0,0,0,0,0
$GC,1193,-1.19,-116.8,166.9,-14.0,130,1197,0.00,2.42,0.00,0.000,6,0.000,0.022,2868,2107,3112,0,0,0,0,0,0
$GC,1456,-1.19,-116.8,197.9,-9.9,154,1460,0.00,2.47,0.00,0.000,4,0.000,0.040,2869,3505,3112,0,0,0,0,0,0
$GC,1473,-1.19,-116.8,199.8,-10.0,155,1478,0.00,2.47,0.00,0.000,6,0.000,0.035,2869,2095,3112,0,0,0,0,0,0
$GC,1732,-1.19,-116.8,227.3,-10.7,168,1736,0.00,2.53,0.00,0.000,4,0.000,0.041,2869,3499,3113,0,0,0,0,0,0
$GC,1806,-1.19,-116.8,234.4,-8.8,171,1810,0.00,2.50,0.00,0.000,6,0.000,0.038,2869,2097,3113,0,0,0,0,0,0
$GC,2128,-1.19,-116.8,259.5,-6.8,187,2133,0.00,2.50,0.00,0.000,4,0.000,0.044,2869,3490,3112,0,0,0,0,0,0
$GC,2179,-1.19,-116.8,264.1,-7.8,189,2184,0.00,2.50,0.00,0.000,6,0.000,0.039,2869,2090,3113,0,0,0,0,0,0
$GC,2506,-1.19,-116.8,288.5,-7.5,205,2510,0.00,2.53,0.00,0.000,4,0.000,0.048,2869,686,3112,0,0,0,0,0,0
$GC,2597,-1.19,-116.8,295.3,-7.1,209,2601,0.00,2.45,0.00,0.000,6,0.000,0.026,2869,2096,3112,0,0,0,0,0,0
$GC,2924,-1.19,-116.8,322.4,-8.9,219,2928,0.00,2.55,0.00,0.000,4,0.000,0.048,2868,692,3111,0,0,0,0,0,0
$GC,2970,-1.19,-116.8,327.2,-10.0,220,2975,0.00,2.45,0.00,0.000,6,0.000,0.028,2869,2103,3110,0,0,0,0,0,0
$GC,3293,-1.19,-116.8,354.2,-7.6,228,3298,0.00,2.55,0.00,0.000,4,0.000,0.051,2869,3503,3108,0,0,0,0,0,0
$GC,3337,-1.19,-116.8,357.2,-6.1,229,3342,0.00,2.55,0.00,0.000,6,0.000,0.045,2868,2099,3108,0,0,0,0,0,0
$GC,3665,-1.19,-116.8,377.9,-6.2,237,3670,0.00,2.58,0.00,0.000,4,0.000,0.053,2869,686,3106,0,0,0,0,0,0
$GC,3809,-1.19,-116.8,387.3,-7.3,240,3814,0.00,2.47,0.00,0.000,6,0.000,0.030,2869,2098,3104,0,0,0,0,0,0
$GC,4128,-1.19,-116.8,405.7,-5.8,248,4132,0.00,2.58,0.00,0.000,4,0.000,0.054,2869,3502,3103,0,0,0,0,0,0
$GC,4198,-1.19,-116.8,410.7,-7.0,249,4203,0.00,2.58,0.00,0.000,6,0.000,0.047,2869,2092,3103,0,0,0,0,0,0
$GC,4539,-1.19,-116.8,433.4,-7.0,258,4543,0.00,2.58,0.00,0.000,4,0.000,0.056,2869,690,3100,0,0,0,0,0,0
$GC,4644,-1.19,-116.8,441.5,-7.7,260,4648,0.00,2.50,0.00,0.000,6,0.000,0.032,2868,2101,3099,0,0,0,0,0,0
$STATE,4752,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4752,begin apogee
$GC,4759,-0.31,0.0,449.3,6.7,263,4857,0.95,0.00,94.18,0.822,6,0.084,0.000,3065,1789,2634,0,0,0,0,0,0
$STATE,4858,end apogee,CONTROL_FINISHED_OK
$STATE,4858,begin climb
$GC,4860,1.19,116.8,450.7,0.0,265,4969,1.50,0.00,100.75,0.805,6,0.056,0.000,3396,1789,2157,0,0,0,0,0,0
$GC,5309,1.19,116.8,400.0,11.9,276,5314,0.00,2.62,0.00,0.000,4,0.000,0.062,3396,398,2145,0,0,0,0,0,0
$GC,5347,1.19,116.8,395.1,13.1,276,5353,0.00,2.45,0.00,0.000,6,0.000,0.028,3396,1806,2143,0,0,0,0,0,0
$GC,5678,1.19,116.8,357.5,11.5,285,5683,0.00,2.70,0.00,0.000,4,0.000,0.061,3395,396,2141,0,0,0,0,0,0
$GC,5739,1.19,116.8,349.2,13.3,286,5743,0.00,2.53,0.00,0.000,6,0.000,0.028,3396,1808,2139,0,0,0,0,0,0
$GC,6089,1.19,116.8,308.0,11.9,295,6093,0.00,2.53,0.00,0.000,4,0.000,0.045,3396,3197,2138,0,0,0,0,0,0
$GC,6123,1.19,116.8,304.2,12.0,295,6127,0.00,2.60,0.00,0.000,6,0.000,0.051,3396,1808,2137,0,0,0,0,0,0
$GC,6439,1.19,116.8,267.7,11.7,309,6444,0.00,2.65,0.00,0.000,4,0.000,0.059,3396,391,2136,0,0,0,0,0,0
$GC,6484,1.19,116.8,262.0,13.6,311,6488,0.00,2.50,0.00,0.000,6,0.000,0.027,3396,1802,2134,0,0,0,0,0,0
$GC,6815,1.19,116.8,227.1,10.4,327,6819,0.00,2.53,0.00,0.000,4,0.000,0.042,3396,3200,2134,0,0,0,0,0,0
$GC,6829,1.19,116.8,225.2,10.9,327,6835,0.00,2.58,0.00,0.000,6,0.000,0.044,3396,1798,2134,0,0,0,0,0,0
$GC,7147,1.19,116.8,194.2,8.8,346,7151,0.00,2.55,0.00,0.000,4,0.000,0.038,3396,3200,2133,0,0,0,0,0,0
$GC,7163,1.19,116.8,192.8,9.0,347,7168,0.00,2.58,0.00,0.000,6,0.000,0.042,3396,1796,2133,0,0,0,0,0,0
$GC,7428,1.19,116.8,169.9,9.2,371,7432,0.00,2.55,0.00,0.000,4,0.000,0.038,3396,3203,2132,0,0,0,0,0,0
$GC,7454,1.19,116.8,167.2,9.5,373,7458,0.00,2.58,0.00,0.000,6,0.000,0.043,3396,1801,2133,0,0,0,0,0,0
$GC,7718,1.19,116.8,144.1,8.6,397,7723,0.00,2.58,0.00,0.000,4,0.000,0.053,3396,388,2132,0,0,0,0,0,0
$GC,7788,1.19,116.8,136.7,10.6,404,7793,0.00,2.45,0.00,0.000,6,0.000,0.022,3396,1808,2131,0,0,0,0,0,0
$GC,8051,1.19,116.8,109.9,10.1,428,8052,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1813,2132,0,0,0,0,0,0
$GC,8304,1.25,161.2,90.8,6.0,452,8344,0.00,2.67,34.60,0.544,4,0.000,0.050,3396,391,1976,0,0,0,0,0,0
$GC,8398,1.26,168.3,84.7,7.7,461,8414,0.00,2.45,7.00,0.446,6,0.000,0.021,3396,1807,1947,0,0,0,0,0,0
$GC,8669,1.26,168.3,63.6,8.5,487,8674,0.00,2.62,0.00,0.000,4,0.000,0.048,3396,390,1946,0,0,0,0,0,0
$GC,8765,1.26,168.3,54.3,10.1,497,8769,0.00,2.42,0.00,0.000,6,0.000,0.019,3396,1803,1944,0,0,0,0,0,0
$GC,9029,1.30,201.1,35.2,6.5,521,9069,0.10,2.62,28.88,0.483,4,0.071,0.046,3435,391,1813,0,0,0,0,0,0
$GC,9082,1.30,201.1,30.7,9.4,526,9086,0.00,2.45,0.00,0.000,6,0.000,0.019,3436,1807,1811,0,0,0,0,0,0
$GC,9347,1.30,201.1,4.3,10.4,574,9354,0.00,2.62,0.00,0.000,4,0.000,0.044,3436,391,1810,0,0,0,0,0,0
$STATE,9361,end climb,SURFACE_DEPTH_REACHED
$STATE,9361,begin surface coast
$FINISH,0.9,1.022899
$STATE,9383,end surface coast,CONTROL_FINISHED_OK
$STATE,9383,begin surface
$SM_CCo,9410,64.25,0.458,0,0,1287,330.17
$SM_GC,1.73,0.00,0.00,64.25,0.000,0.000,0.458,431,2102,1287,-12.45,0.03,330.17
$IRIDIUM_FIX,2050.21,-15750.49,210700,151523
$TT8_MAMPS,0.029913
$HUMID,54.60
$INTERNAL_PRESSURE,9.62581
$TCM_TEMP,22.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,440.0,36.8
$24V_AH,23.5,15.899
$10V_AH,10.6,15.343
$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,28.475,127.750,265.400,64.250,0.000,31.354,32.344,139.722,5.250,0.000,34.843,1112.352,6114.725,406.542,1741.996,441.725,33.356,1160.588,0.000,1695.879,0.000,35.083,0.000
$DEVICE_MAMPS,134.225,62.127,822.224,457.899,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,393.508,376.654,847.158,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,31787,581
$CAP_FILE_SIZE,104174,0
$CFSIZE,260165632,246861824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270411,203807,2057.697,-15749.099,38,1.1,38,9.8