version: 66.06
glider: 139
mission: 9
dive: 237
start: 5 2 111 3 9 59
data:
$ID,139
$MISSION,9
$DIVE,237
$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,-2180505.8
$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,19
$R_STBD_OVSHOOT,76
$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
$GPS1,030332,2106.607,-15751.354,13,1.8,13,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-74.3
$GPS2,030907,2106.666,-15751.320,14,1.7,19,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.221,-0.021
$KALMAN_X,-148924.4,503.5,-305.1,147547.0,-2091.8
$KALMAN_Y,-16228.9,316.1,-85.1,8421.7,191.5
$MHEAD_RNG_PITCHd_Wd,85.6,14603,-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,-70.05,0.000,2,0.000,0.000,424,2147,3112,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.5,-5.2,13,110,13.12,2.60,0.00,0.000,4,0.135,0.035,2868,679,3114,0,0,0,0,0,0
$GC,122,-1.19,-116.8,14.2,-30.1,18,128,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2060,3115,0,0,0,0,0,0
$GC,329,-1.19,-116.8,51.0,-14.9,44,333,0.00,2.58,0.00,0.000,4,0.000,0.035,2868,3509,3117,0,0,0,0,0,0
$GC,451,-1.19,-116.8,69.7,-14.5,57,455,0.00,2.47,0.00,0.000,6,0.000,0.034,2868,2094,3117,0,0,0,0,0,0
$GC,717,-1.19,-116.8,105.5,-12.1,81,721,0.00,2.47,0.00,0.000,4,0.000,0.033,2868,3508,3117,0,0,0,0,0,0
$GC,797,-1.19,-116.8,117.0,-14.0,89,802,0.00,2.47,0.00,0.000,6,0.000,0.031,2868,2087,3118,0,0,0,0,0,0
$GC,1060,-1.19,-116.8,149.4,-10.5,113,1064,0.00,2.50,0.00,0.000,4,0.000,0.035,2868,3498,3118,0,0,0,0,0,0
$GC,1160,-1.19,-116.8,159.8,-9.9,123,1167,0.00,2.42,0.00,0.000,6,0.000,0.033,2868,2101,3119,0,0,0,0,0,0
$GC,1423,-1.19,-116.8,187.3,-11.5,148,1428,0.00,2.55,0.00,0.000,4,0.000,0.044,2868,682,3119,0,0,0,0,0,0
$GC,1466,-1.19,-116.8,192.7,-11.9,152,1470,0.00,2.42,0.00,0.000,6,0.000,0.021,2868,2107,3120,0,0,0,0,0,0
$GC,1737,-1.19,-116.8,223.9,-9.4,168,1741,0.00,2.47,0.00,0.000,4,0.000,0.041,2869,3498,3119,0,0,0,0,0,0
$GC,1760,-1.19,-116.8,225.8,-8.9,169,1764,0.00,2.45,0.00,0.000,6,0.000,0.035,2868,2102,3119,0,0,0,0,0,0
$GC,2092,-1.19,-116.8,251.3,-8.0,185,2094,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2101,3119,0,0,0,0,0,0
$GC,2398,-1.19,-116.8,275.3,-8.7,200,2400,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2101,3119,0,0,0,0,0,0
$GC,2728,-1.19,-116.8,304.1,-8.5,215,2732,0.00,2.55,0.00,0.000,4,0.000,0.045,2868,3496,3117,0,0,0,0,0,0
$GC,2761,-1.19,-116.8,307.0,-8.4,215,2765,0.00,2.47,0.00,0.000,6,0.000,0.040,2868,2101,3117,0,0,0,0,0,0
$GC,3092,-1.19,-116.8,332.5,-8.0,223,3093,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2100,3116,0,0,0,0,0,0
$GC,3419,-1.19,-116.8,357.9,-7.7,231,3423,0.00,2.55,0.00,0.000,4,0.000,0.048,2868,3498,3114,0,0,0,0,0,0
$GC,3434,-1.19,-116.8,359.3,-7.9,231,3438,0.00,2.50,0.00,0.000,6,0.000,0.043,2868,2094,3114,0,0,0,0,0,0
$GC,3784,-1.19,-116.8,385.6,-7.5,240,3788,0.00,2.58,0.00,0.000,4,0.000,0.054,2868,683,3112,0,0,0,0,0,0
$GC,3868,-1.19,-116.8,392.7,-8.6,241,3873,0.00,2.42,0.00,0.000,6,0.000,0.028,2868,2091,3111,0,0,0,0,0,0
$GC,4200,-1.19,-116.8,418.0,-7.8,250,4204,0.00,2.55,0.00,0.000,4,0.000,0.054,2868,691,3109,0,0,0,0,0,0
$GC,4246,-1.19,-116.8,422.3,-9.4,251,4250,0.00,2.45,0.00,0.000,6,0.000,0.030,2868,2104,3109,0,0,0,0,0,0
$GC,4571,-1.19,-116.8,448.1,-7.7,259,4575,0.00,2.58,0.00,0.000,4,0.000,0.055,2868,3499,3106,0,0,0,0,0,0
$STATE,4592,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4592,begin apogee
$GC,4601,-0.31,0.0,450.3,8.3,259,4700,0.93,0.00,95.28,0.822,6,0.085,0.000,3061,1803,2635,0,0,0,0,0,0
$STATE,4701,end apogee,CONTROL_FINISHED_OK
$STATE,4701,begin climb
$GC,4704,1.19,116.8,453.4,0.0,262,4812,1.50,0.00,100.97,0.802,6,0.056,0.000,3393,1802,2157,0,0,0,0,0,0
$GC,5112,1.19,116.8,412.6,10.7,272,5116,0.00,2.67,0.00,0.000,4,0.000,0.064,3392,396,2147,0,0,0,0,0,0
$GC,5131,1.19,116.8,410.1,12.9,272,5135,0.00,2.47,0.00,0.000,6,0.000,0.028,3392,1800,2144,0,0,0,0,0,0
$GC,5476,1.19,116.8,370.1,11.4,281,5480,0.00,2.67,0.00,0.000,4,0.000,0.061,3391,396,2142,0,0,0,0,0,0
$GC,5519,1.19,116.8,364.2,14.3,282,5524,0.00,2.50,0.00,0.000,6,0.000,0.028,3392,1801,2139,0,0,0,0,0,0
$GC,5847,1.19,116.8,327.4,11.0,290,5848,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1804,2139,0,0,0,0,0,0
$GC,6152,1.19,116.8,295.2,10.4,298,6153,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1805,2138,0,0,0,0,0,0
$GC,6462,1.19,116.8,263.1,10.7,313,6467,0.00,2.62,0.00,0.000,4,0.000,0.058,3392,395,2136,0,0,0,0,0,0
$GC,6491,1.19,116.8,259.0,14.6,314,6495,0.00,2.47,0.00,0.000,6,0.000,0.026,3392,1805,2134,0,0,0,0,0,0
$GC,6811,1.19,116.8,226.2,9.5,330,6812,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1809,2134,0,0,0,0,0,0
$GC,7122,1.19,116.8,192.4,11.0,348,7123,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1808,2133,0,0,0,0,0,0
$GC,7378,1.19,116.8,166.3,8.2,372,7382,0.00,2.62,0.00,0.000,4,0.000,0.053,3392,394,2133,0,0,0,0,0,0
$GC,7422,1.19,116.8,162.5,8.8,376,7426,0.00,2.42,0.00,0.000,6,0.000,0.024,3392,1804,2131,0,0,0,0,0,0
$GC,7685,1.19,116.8,141.9,8.3,400,7686,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1807,2131,0,0,0,0,0,0
$GC,7937,1.19,116.8,119.3,10.1,424,7941,0.00,2.42,0.00,0.000,4,0.000,0.031,3392,3205,2132,0,0,0,0,0,0
$GC,7972,1.19,116.8,116.0,10.1,427,7976,0.00,2.55,0.00,0.000,6,0.000,0.038,3392,1795,2132,0,0,0,0,0,0
$GC,8237,1.19,116.8,90.8,8.9,451,8241,0.00,2.58,0.00,0.000,4,0.000,0.051,3391,386,2132,0,0,0,0,0,0
$GC,8274,1.19,116.8,86.7,9.8,454,8281,0.00,2.45,0.00,0.000,6,0.000,0.021,3392,1800,2131,0,0,0,0,0,0
$GC,8539,1.26,167.9,69.3,5.7,479,8581,0.00,0.00,40.40,0.525,6,0.000,0.000,3392,1802,1949,0,0,0,0,0,0
$GC,8835,1.28,186.7,48.1,7.2,507,8859,0.10,2.67,16.88,0.480,4,0.072,0.048,3431,393,1872,0,0,0,0,0,0
$GC,8939,1.28,186.7,35.5,12.4,518,8944,0.00,2.42,0.00,0.000,6,0.000,0.020,3431,1806,1867,0,0,0,0,0,0
$GC,9204,1.28,186.7,10.6,9.1,561,9210,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1811,1867,0,0,0,0,0,0
$STATE,9292,end climb,SURFACE_DEPTH_REACHED
$STATE,9292,begin surface coast
$FINISH,1.3,1.022944
$STATE,9325,end surface coast,CONTROL_FINISHED_OK
$STATE,9325,begin surface
$SM_CCo,9349,71.43,0.461,0,0,1287,330.17
$SM_GC,1.63,0.00,0.00,71.43,0.000,0.000,0.461,425,2143,1287,-12.48,1.24,330.17
$IRIDIUM_FIX,2101.76,-15750.89,260700,000008
$TT8_MAMPS,0.028379
$HUMID,54.88
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.5,18.866
$10V_AH,10.5,18.229
$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,28.500,91.675,253.525,71.425,0.000,29.791,39.096,140.625,4.500,0.000,20.097,1067.107,6309.196,395.690,1555.449,429.128,33.356,1050.803,0.000,1538.019,0.000,29.249,0.000
$DEVICE_MAMPS,134.992,63.661,822.224,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,395.338,381.517,852.338,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355672
$DATA_FILE_SIZE,31709,583
$CAP_FILE_SIZE,90771,0
$CFSIZE,260165632,245051392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020511,054807,2106.702,-15750.385,28,1.5,28,9.8