version: 66.06
glider: 139
mission: 9
dive: 347
start: 5 15 111 4 27 13
data:
$ID,139
$MISSION,9
$DIVE,347
$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,-2183085.2
$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,19
$R_STBD_OVSHOOT,73
$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
$GPS1,042032,2052.254,-15744.866,14,1.8,14,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-74.5
$GPS2,042620,2052.225,-15744.838,16,1.8,16,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.015,0.221
$KALMAN_X,-200588.6,-257.8,-367.5,211239.2,1731.0
$KALMAN_Y,-88354.1,1039.4,765.1,52212.8,-4047.9
$MHEAD_RNG_PITCHd_Wd,346.3,42137,-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,-69.55,0.000,6,0.000,0.000,428,2139,3113,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.6,-4.1,13,109,13.05,2.38,0.00,0.000,4,0.133,0.034,2868,3471,3115,0,0,0,0,0,0
$GC,121,-1.19,-116.8,14.5,-31.3,18,128,0.00,2.45,0.00,0.000,6,0.000,0.031,2868,2097,3116,0,0,0,0,0,0
$GC,323,-1.19,-116.8,57.8,-22.5,43,327,0.00,2.40,0.00,0.000,4,0.000,0.031,2868,3467,3118,0,0,0,0,0,0
$GC,340,-1.19,-116.8,61.7,-22.9,44,344,0.00,2.42,0.00,0.000,6,0.000,0.032,2868,2090,3118,0,0,0,0,0,0
$GC,604,-1.19,-116.8,101.4,-15.1,68,608,0.00,2.50,0.00,0.000,4,0.000,0.043,2868,691,3118,0,0,0,0,0,0
$GC,620,-1.19,-116.8,103.6,-12.5,69,625,0.00,2.35,0.00,0.000,6,0.000,0.020,2868,2068,3118,0,0,0,0,0,0
$GC,885,-1.19,-116.8,134.3,-11.1,93,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2072,3118,0,0,0,0,0,0
$GC,1146,-1.19,-116.8,163.6,-11.7,118,1150,0.00,2.47,0.00,0.000,4,0.000,0.042,2868,690,3120,0,0,0,0,0,0
$GC,1236,-1.19,-116.8,174.2,-10.8,127,1240,0.00,2.38,0.00,0.000,6,0.000,0.021,2868,2098,3120,0,0,0,0,0,0
$GC,1500,-1.19,-116.8,200.0,-8.3,151,1507,0.00,2.45,0.00,0.000,4,0.000,0.039,2868,3494,3120,0,0,0,0,0,0
$GC,1677,-1.19,-116.8,220.6,-10.8,159,1681,0.00,2.45,0.00,0.000,6,0.000,0.034,2868,2094,3120,0,0,0,0,0,0
$GC,1993,-1.19,-116.8,248.6,-7.3,174,1994,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2093,3120,0,0,0,0,0,0
$GC,2304,-1.19,-116.8,273.3,-7.4,189,2308,0.00,2.50,0.00,0.000,4,0.000,0.041,2868,3501,3120,0,0,0,0,0,0
$GC,2359,-1.19,-116.8,279.2,-10.5,191,2364,0.00,2.47,0.00,0.000,6,0.000,0.037,2868,2093,3120,0,0,0,0,0,0
$STATE,2384,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2384,begin apogee
$GC,2391,-0.31,0.0,281.5,9.4,192,2488,0.95,0.00,94.25,0.643,6,0.076,0.000,3068,1791,2635,0,0,0,0,0,0
$STATE,2489,end apogee,CONTROL_FINISHED_OK
$STATE,2489,begin climb
$GC,2492,1.19,116.8,284.4,0.0,197,2597,1.48,2.62,96.88,0.637,4,0.049,0.036,3397,3198,2158,0,0,0,0,0,0
$GC,2627,1.19,116.8,274.0,12.5,203,2633,0.00,2.53,0.00,0.000,6,0.000,0.040,3397,1810,2156,0,0,0,0,0,0
$GC,2946,1.19,116.8,236.1,11.7,219,2947,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1810,2149,0,0,0,0,0,0
$GC,3254,1.19,116.8,196.2,13.2,235,3258,0.00,2.53,0.00,0.000,4,0.000,0.036,3397,3206,2147,0,0,0,0,0,0
$GC,3297,1.19,116.8,191.1,10.6,239,3302,0.00,2.55,0.00,0.000,6,0.000,0.041,3397,1802,2147,0,0,0,0,0,0
$GC,3562,1.19,116.8,164.4,9.7,263,3567,0.00,2.53,0.00,0.000,4,0.000,0.033,3397,3211,2144,0,0,0,0,0,0
$GC,3616,1.19,116.8,159.0,9.4,268,3620,0.00,2.55,0.00,0.000,6,0.000,0.040,3397,1799,2144,0,0,0,0,0,0
$GC,3879,1.19,116.8,136.6,10.4,292,3883,0.00,2.50,0.00,0.000,4,0.000,0.032,3397,3208,2143,0,0,0,0,0,0
$GC,3921,1.19,116.8,131.7,10.2,296,3925,0.00,2.53,0.00,0.000,6,0.000,0.039,3397,1801,2143,0,0,0,0,0,0
$GC,4185,1.22,137.9,112.6,7.1,320,4207,0.00,2.65,16.27,0.516,4,0.000,0.051,3397,399,2072,0,0,0,0,0,0
$GC,4233,1.23,145.0,108.8,7.7,325,4245,0.00,2.42,7.32,0.450,6,0.000,0.020,3397,1824,2042,0,0,0,0,0,0
$GC,4508,1.29,191.9,93.6,5.9,351,4556,0.00,2.72,40.65,0.524,4,0.000,0.048,3397,397,1851,0,0,0,0,0,0
$GC,4646,1.29,191.9,79.7,12.7,366,4650,0.00,2.40,0.00,0.000,6,0.000,0.019,3397,1794,1844,0,0,0,0,0,0
$GC,4911,1.29,194.8,57.1,7.9,390,4915,0.00,2.58,0.00,0.000,4,0.000,0.047,3396,389,1844,0,0,0,0,0,0
$GC,4939,1.29,194.8,54.2,9.6,392,4946,0.00,2.42,0.00,0.000,6,0.000,0.019,3397,1800,1842,0,0,0,0,0,0
$GC,5203,1.35,245.4,36.3,5.7,417,5256,0.15,2.67,44.72,0.473,4,0.052,0.047,3451,398,1633,0,0,0,0,0,0
$GC,5304,1.35,245.4,25.1,14.1,431,5311,0.00,2.42,0.00,0.000,6,0.000,0.018,3451,1794,1627,0,0,0,0,0,0
$STATE,5499,end climb,SURFACE_DEPTH_REACHED
$STATE,5500,begin surface coast
$FINISH,1.2,1.015255
$STATE,5522,end surface coast,CONTROL_FINISHED_OK
$STATE,5522,begin surface
$SM_CCo,5546,43.30,0.443,0,0,1288,330.17
$SM_GC,1.87,0.00,0.00,43.30,0.000,0.000,0.443,426,2150,1288,-12.48,1.39,330.17
$IRIDIUM_FIX,2045.60,-15748.36,080800,020235
$TT8_MAMPS,0.029146
$HUMID,54.96
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,22.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,240.8,69.0
$24V_AH,23.6,28.214
$10V_AH,10.6,26.837
$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,28.525,70.850,300.100,43.300,0.000,24.288,51.169,149.819,2.250,0.000,16.489,824.111,3043.182,387.791,1263.879,423.209,33.367,923.387,0.000,1258.520,0.000,16.617,0.000
$DEVICE_MAMPS,133.458,51.389,642.746,442.559,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,316.242,353.961,787.271,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,25610,471
$CAP_FILE_SIZE,69944,0
$CFSIZE,260165632,239706112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150511,060136,2052.731,-15744.822,33,1.2,33,9.8