version: 66.06
glider: 139
mission: 9
dive: 238
start: 5 2 111 5 54 37
data:
$ID,139
$MISSION,9
$DIVE,238
$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,-2180520.5
$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,72
$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
$GPS1,054807,2106.702,-15750.385,28,1.5,28,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-74.9
$GPS2,055344,2106.731,-15750.322,13,1.4,13,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.218,-0.042
$KALMAN_X,-150099.5,668.8,-1.6,149972.4,-1708.8
$KALMAN_Y,-15714.1,106.7,-29.8,8182.3,376.6
$MHEAD_RNG_PITCHd_Wd,91.2,12905,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.19,-116.8,0.0,0.0,0,89,0.00,0.00,-69.18,0.000,2,0.000,0.000,425,2141,3084,0,0,0,0,0,0
$GC,93,-1.19,-116.8,3.2,-4.2,13,111,13.07,0.00,-0.52,0.000,6,0.133,0.000,2868,2141,3112,0,0,0,0,0,0
$GC,313,-1.19,-116.8,49.3,-15.2,43,316,0.00,2.35,0.00,0.000,4,0.000,0.033,2868,3471,3115,0,0,0,0,0,0
$GC,403,-1.19,-116.8,63.5,-14.8,53,407,0.00,2.45,0.00,0.000,6,0.000,0.033,2868,2084,3115,0,0,0,0,0,0
$GC,665,-1.19,-116.8,99.7,-12.4,77,672,0.00,2.42,0.00,0.000,4,0.000,0.034,2868,3475,3115,0,0,0,0,0,0
$GC,691,-1.19,-116.8,103.1,-12.5,79,697,0.00,2.40,0.00,0.000,6,0.000,0.032,2868,2097,3116,0,0,0,0,0,0
$GC,952,-1.19,-116.8,134.6,-12.5,104,957,0.00,2.42,0.00,0.000,4,0.000,0.035,2868,3464,3116,0,0,0,0,0,0
$GC,1218,-1.19,-116.8,167.8,-13.1,132,1225,0.00,2.42,0.00,0.000,6,0.000,0.035,2868,2106,3117,0,0,0,0,0,0
$GC,1482,-1.19,-116.8,198.4,-11.9,157,1487,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2106,3117,0,0,0,0,0,0
$GC,1749,-1.19,-116.8,228.3,-10.0,171,1753,0.00,2.40,0.00,0.000,4,0.000,0.038,2868,3466,3117,0,0,0,0,0,0
$GC,1772,-1.19,-116.8,230.6,-8.9,172,1776,0.00,2.42,0.00,0.000,6,0.000,0.036,2868,2091,3117,0,0,0,0,0,0
$GC,2097,-1.19,-116.8,256.7,-7.8,188,2101,0.00,2.42,0.00,0.000,4,0.000,0.040,2868,3463,3117,0,0,0,0,0,0
$GC,2158,-1.19,-116.8,261.3,-7.6,190,2165,0.00,2.42,0.00,0.000,6,0.000,0.038,2868,2106,3117,0,0,0,0,0,0
$GC,2474,-1.19,-116.8,286.7,-9.1,206,2478,0.00,2.58,0.00,0.000,4,0.000,0.048,2868,684,3117,0,0,0,0,0,0
$GC,2488,-1.19,-116.8,288.3,-10.0,206,2495,0.00,2.40,0.00,0.000,6,0.000,0.025,2867,2062,3117,0,0,0,0,0,0
$GC,2824,-1.19,-116.8,318.9,-9.4,218,2828,0.00,2.62,0.00,0.000,4,0.000,0.047,2868,3506,3115,0,0,0,0,0,0
$GC,2884,-1.19,-116.8,325.4,-10.2,219,2889,0.00,2.50,0.00,0.000,6,0.000,0.041,2868,2099,3116,0,0,0,0,0,0
$GC,3236,-1.19,-116.8,356.6,-8.5,228,3240,0.00,2.58,0.00,0.000,4,0.000,0.048,2867,3503,3114,0,0,0,0,0,0
$GC,3301,-1.19,-116.8,361.8,-8.0,229,3305,0.00,2.53,0.00,0.000,6,0.000,0.043,2868,2096,3114,0,0,0,0,0,0
$GC,3646,-1.19,-116.8,384.4,-6.3,238,3647,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2096,3111,0,0,0,0,0,0
$GC,3972,-1.19,-116.8,408.2,-7.4,246,3976,0.00,2.60,0.00,0.000,4,0.000,0.054,2868,686,3109,0,0,0,0,0,0
$GC,4061,-1.19,-116.8,415.8,-8.9,248,4065,0.00,2.47,0.00,0.000,6,0.000,0.029,2868,2100,3109,0,0,0,0,0,0
$GC,4389,-1.19,-116.8,437.2,-5.7,256,4393,0.00,2.62,0.00,0.000,4,0.000,0.054,2868,687,3106,0,0,0,0,0,0
$GC,4404,-1.19,-116.8,438.1,-5.5,256,4408,0.00,2.45,0.00,0.000,6,0.000,0.030,2868,2099,3106,0,0,0,0,0,0
$STATE,4629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4629,begin apogee
$GC,4636,-0.31,0.0,450.1,5.1,262,4734,0.95,0.00,95.20,0.821,6,0.082,0.000,3065,1791,2635,0,0,0,0,0,0
$STATE,4735,end apogee,CONTROL_FINISHED_OK
$STATE,4735,begin climb
$GC,4738,1.19,116.8,450.7,0.0,264,4844,1.52,0.00,101.85,0.801,6,0.054,0.000,3399,1792,2157,0,0,0,0,0,0
$GC,5157,1.19,116.8,395.9,13.8,275,5161,0.00,2.62,0.00,0.000,4,0.000,0.063,3398,401,2146,0,0,0,0,0,0
$GC,5185,1.19,116.8,391.2,16.5,275,5189,0.00,2.50,0.00,0.000,6,0.000,0.028,3399,1803,2143,0,0,0,0,0,0
$GC,5521,1.19,116.8,345.5,13.4,284,5525,0.00,2.65,0.00,0.000,4,0.000,0.061,3398,400,2141,0,0,0,0,0,0
$GC,5535,1.19,116.8,343.4,12.7,284,5540,0.00,2.47,0.00,0.000,6,0.000,0.027,3399,1802,2140,0,0,0,0,0,0
$GC,5885,1.19,116.8,301.6,11.6,293,5890,0.00,2.65,0.00,0.000,4,0.000,0.058,3398,400,2139,0,0,0,0,0,0
$GC,5900,1.19,116.8,299.7,11.9,293,5904,0.00,2.45,0.00,0.000,6,0.000,0.027,3399,1808,2137,0,0,0,0,0,0
$GC,6235,1.19,116.8,259.3,11.6,309,6236,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1813,2137,0,0,0,0,0,0
$GC,6543,1.19,116.8,227.9,10.0,324,6547,0.00,2.50,0.00,0.000,4,0.000,0.041,3399,3209,2136,0,0,0,0,0,0
$GC,6604,1.19,116.8,221.8,9.9,326,6611,0.00,2.60,0.00,0.000,6,0.000,0.045,3398,1809,2135,0,0,0,0,0,0
$GC,6921,1.19,116.8,188.5,11.3,346,6926,0.00,2.62,0.00,0.000,4,0.000,0.054,3399,394,2134,0,0,0,0,0,0
$GC,6946,1.19,116.8,185.5,13.0,348,6950,0.00,2.45,0.00,0.000,6,0.000,0.024,3399,1803,2132,0,0,0,0,0,0
$GC,7209,1.19,116.8,156.9,10.4,372,7214,0.00,2.62,0.00,0.000,4,0.000,0.052,3398,393,2132,0,0,0,0,0,0
$GC,7246,1.19,116.8,152.6,11.1,375,7252,0.00,2.42,0.00,0.000,6,0.000,0.023,3399,1808,2131,0,0,0,0,0,0
$GC,7509,1.19,116.8,128.6,8.5,400,7514,0.00,2.60,0.00,0.000,4,0.000,0.051,3398,393,2131,0,0,0,0,0,0
$GC,7553,1.19,116.8,124.6,9.6,404,7558,0.00,2.40,0.00,0.000,6,0.000,0.021,3399,1802,2130,0,0,0,0,0,0
$GC,7817,1.19,116.8,102.9,8.9,428,7818,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1804,2132,0,0,0,0,0,0
$GC,8070,1.20,119.7,81.0,7.9,452,8074,0.00,2.58,0.00,0.000,4,0.000,0.049,3398,392,2132,0,0,0,0,0,0
$GC,8132,1.20,119.7,75.2,9.4,458,8136,0.00,2.40,0.00,0.000,6,0.000,0.020,3399,1803,2131,0,0,0,0,0,0
$GC,8396,1.23,141.8,56.4,7.0,482,8417,0.00,0.00,18.15,0.495,6,0.000,0.000,3399,1808,2056,0,0,0,0,0,0
$GC,8671,1.24,157.0,36.5,7.3,508,8692,0.00,2.62,14.27,0.466,4,0.000,0.047,3399,394,1994,0,0,0,0,0,0
$GC,8765,1.24,157.0,27.4,10.1,521,8771,0.00,2.45,0.00,0.000,6,0.000,0.020,3399,1801,1990,0,0,0,0,0,0
$GC,8968,1.30,200.8,14.6,6.0,558,9013,0.00,2.62,37.88,0.472,4,0.000,0.044,3399,393,1815,0,0,0,0,0,0
$GC,9025,1.33,226.0,11.0,6.9,568,9055,0.08,2.47,22.40,0.456,6,0.033,0.019,3441,1817,1712,0,0,0,0,0,0
$STATE,9111,end climb,SURFACE_DEPTH_REACHED
$STATE,9111,begin surface coast
$FINISH,1.2,1.022987
$STATE,9144,end surface coast,CONTROL_FINISHED_OK
$STATE,9144,begin surface
$SM_CCo,9168,55.22,0.458,0,0,1288,330.17
$SM_GC,1.78,0.00,0.00,55.22,0.000,0.000,0.458,430,2153,1288,-12.46,1.50,330.17
$IRIDIUM_FIX,2059.45,-15753.90,260700,030320
$TT8_MAMPS,0.029146
$HUMID,54.64
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.5,18.944
$10V_AH,10.5,18.305
$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,28.475,101.225,289.750,55.225,0.000,22.805,35.155,158.967,4.500,0.000,14.066,1063.932,6025.191,433.826,1581.678,459.391,33.353,1108.484,0.000,1580.021,0.000,29.257,0.000
$DEVICE_MAMPS,133.458,62.894,821.457,457.899,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,397.511,388.941,885.095,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,31810,589
$CAP_FILE_SIZE,93321,0
$CFSIZE,260165632,245006336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020511,082937,2106.472,-15749.310,37,1.2,37,9.8