version: 66.06
glider: 139
mission: 9
dive: 245
start: 5 3 111 1 14 38
data:
$ID,139
$MISSION,9
$DIVE,245
$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,-2180673
$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,85
$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
$GPS1,010749,2105.772,-15745.564,9,1.4,13,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-75.7
$GPS2,011346,2105.851,-15745.587,16,2.5,35,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.222,-0.006
$KALMAN_X,-158454.8,265.8,-52.3,166964.3,-2116.6
$KALMAN_Y,-15627.6,454.6,-184.3,6271.0,66.4
$MHEAD_RNG_PITCHd_Wd,81.9,4612,-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,-69.85,0.000,2,0.000,0.000,428,2147,3103,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.2,-3.7,13,110,13.10,2.60,0.00,0.000,4,0.135,0.033,2867,678,3105,0,0,0,0,0,0
$GC,118,-1.19,-116.8,12.6,-25.5,17,124,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2054,3106,0,0,0,0,0,0
$GC,318,-1.19,-116.8,50.6,-17.2,43,323,0.00,2.55,0.00,0.000,4,0.000,0.033,2867,3505,3107,0,0,0,0,0,0
$GC,344,-1.19,-116.8,55.2,-17.8,45,349,0.00,2.50,0.00,0.000,6,0.000,0.033,2867,2082,3107,0,0,0,0,0,0
$GC,607,-1.19,-116.8,96.8,-11.5,69,611,0.00,2.50,0.00,0.000,4,0.000,0.035,2867,3505,3108,0,0,0,0,0,0
$GC,803,-1.19,-116.8,120.9,-12.0,90,807,0.00,2.45,0.00,0.000,6,0.000,0.032,2867,2100,3108,0,0,0,0,0,0
$GC,1066,-1.19,-116.8,149.2,-11.6,114,1070,0.00,2.50,0.00,0.000,4,0.000,0.035,2868,3498,3110,0,0,0,0,0,0
$GC,1137,-1.19,-116.8,157.4,-12.9,121,1141,0.00,2.45,0.00,0.000,6,0.000,0.034,2867,2099,3110,0,0,0,0,0,0
$GC,1401,-1.19,-116.8,189.4,-10.8,145,1406,0.00,2.50,0.00,0.000,4,0.000,0.043,2867,691,3110,0,0,0,0,0,0
$GC,1427,-1.19,-116.8,192.8,-11.2,147,1432,0.00,2.38,0.00,0.000,6,0.000,0.021,2868,2100,3110,0,0,0,0,0,0
$GC,1696,-1.19,-116.8,218.5,-8.9,163,1700,0.00,2.50,0.00,0.000,4,0.000,0.040,2868,3499,3110,0,0,0,0,0,0
$GC,1716,-1.19,-116.8,220.5,-9.3,164,1720,0.00,2.47,0.00,0.000,6,0.000,0.037,2867,2103,3110,0,0,0,0,0,0
$GC,2045,-1.19,-116.8,248.8,-9.3,180,2050,0.00,2.50,0.00,0.000,4,0.000,0.041,2867,3497,3111,0,0,0,0,0,0
$GC,2129,-1.19,-116.8,256.8,-9.3,183,2134,0.00,2.47,0.00,0.000,6,0.000,0.038,2867,2094,3111,0,0,0,0,0,0
$GC,2446,-1.19,-116.8,287.1,-8.9,199,2450,0.00,2.53,0.00,0.000,4,0.000,0.043,2868,3495,3110,0,0,0,0,0,0
$GC,2623,-1.19,-116.8,302.5,-8.3,206,2628,0.00,2.47,0.00,0.000,6,0.000,0.040,2867,2100,3109,0,0,0,0,0,0
$GC,2954,-1.19,-116.8,326.3,-7.1,215,2959,0.00,2.60,0.00,0.000,4,0.000,0.051,2868,686,3108,0,0,0,0,0,0
$GC,3011,-1.19,-116.8,330.7,-7.6,216,3015,0.00,2.45,0.00,0.000,6,0.000,0.025,2867,2101,3107,0,0,0,0,0,0
$GC,3325,-1.19,-116.8,353.1,-7.1,224,3329,0.00,2.55,0.00,0.000,4,0.000,0.051,2867,692,3105,0,0,0,0,0,0
$GC,3373,-1.19,-116.8,356.9,-7.4,225,3378,0.00,2.42,0.00,0.000,6,0.000,0.027,2867,2100,3105,0,0,0,0,0,0
$GC,3697,-1.19,-116.8,379.3,-7.1,233,3701,0.00,2.55,0.00,0.000,4,0.000,0.051,2868,3503,3103,0,0,0,0,0,0
$GC,3776,-1.19,-116.8,385.2,-7.5,234,3780,0.00,2.55,0.00,0.000,6,0.000,0.044,2867,2092,3102,0,0,0,0,0,0
$GC,4107,-1.19,-116.8,409.2,-7.4,242,4112,0.00,2.58,0.00,0.000,4,0.000,0.054,2867,692,3100,0,0,0,0,0,0
$GC,4205,-1.19,-116.8,417.8,-8.6,244,4209,0.00,2.45,0.00,0.000,6,0.000,0.029,2867,2099,3099,0,0,0,0,0,0
$GC,4524,-1.19,-116.8,445.3,-8.4,252,4528,0.00,2.62,0.00,0.000,4,0.000,0.057,2867,3506,3097,0,0,0,0,0,0
$GC,4570,-1.19,-116.8,449.3,-8.3,253,4575,0.00,2.55,0.00,0.000,6,0.000,0.048,2867,2095,3097,0,0,0,0,0,0
$STATE,4578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4578,begin apogee
$GC,4585,-0.31,0.0,450.1,8.5,253,4682,0.93,0.00,93.47,0.821,6,0.083,0.000,3062,1796,2635,0,0,0,0,0,0
$STATE,4683,end apogee,CONTROL_FINISHED_OK
$STATE,4683,begin climb
$GC,4686,1.19,116.8,452.3,0.0,255,4794,1.50,0.00,100.95,0.802,6,0.057,0.000,3393,1795,2157,0,0,0,0,0,0
$GC,5135,1.19,116.8,398.1,13.7,266,5139,0.00,2.67,0.00,0.000,4,0.000,0.064,3392,396,2146,0,0,0,0,0,0
$GC,5191,1.19,116.8,389.8,14.8,267,5195,0.00,2.50,0.00,0.000,6,0.000,0.028,3392,1803,2142,0,0,0,0,0,0
$GC,5505,1.19,116.8,350.1,12.3,275,5509,0.00,2.55,0.00,0.000,4,0.000,0.046,3392,3212,2141,0,0,0,0,0,0
$GC,5538,1.19,116.8,346.2,11.0,275,5542,0.00,2.65,0.00,0.000,6,0.000,0.051,3392,1800,2140,0,0,0,0,0,0
$GC,5869,1.19,116.8,306.9,12.1,283,5873,0.00,2.65,0.00,0.000,4,0.000,0.060,3392,392,2138,0,0,0,0,0,0
$GC,5902,1.19,116.8,302.4,13.3,283,5906,0.00,2.47,0.00,0.000,6,0.000,0.027,3392,1804,2137,0,0,0,0,0,0
$GC,6218,1.19,116.8,266.7,9.9,297,6219,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1808,2136,0,0,0,0,0,0
$GC,6526,1.19,116.8,236.5,8.7,312,6527,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1808,2135,0,0,0,0,0,0
$GC,6837,1.19,116.8,207.3,9.9,327,6841,0.00,2.65,0.00,0.000,4,0.000,0.055,3391,392,2133,0,0,0,0,0,0
$GC,6853,1.19,116.8,205.6,10.2,327,6858,0.00,2.47,0.00,0.000,6,0.000,0.025,3392,1809,2132,0,0,0,0,0,0
$GC,7179,1.19,116.8,174.4,9.1,355,7183,0.00,2.62,0.00,0.000,4,0.000,0.054,3392,393,2132,0,0,0,0,0,0
$GC,7198,1.19,116.8,172.1,10.2,356,7205,0.00,2.47,0.00,0.000,6,0.000,0.023,3392,1803,2131,0,0,0,0,0,0
$GC,7461,1.19,116.8,150.1,8.8,381,7465,0.00,2.62,0.00,0.000,4,0.000,0.051,3392,390,2132,0,0,0,0,0,0
$GC,7487,1.19,116.8,147.2,10.2,383,7491,0.00,2.42,0.00,0.000,6,0.000,0.022,3392,1805,2131,0,0,0,0,0,0
$GC,7751,1.19,116.8,122.8,9.2,407,7756,0.00,2.42,0.00,0.000,4,0.000,0.032,3393,3201,2131,0,0,0,0,0,0
$GC,7803,1.19,116.8,117.7,9.2,412,7807,0.00,2.55,0.00,0.000,6,0.000,0.039,3392,1796,2132,0,0,0,0,0,0
$GC,8066,1.26,168.2,98.5,5.7,436,8113,0.00,2.62,40.53,0.550,4,0.000,0.056,3392,389,1947,0,0,0,0,0,0
$GC,8162,1.26,168.2,91.1,8.8,446,8166,0.00,2.45,0.00,0.000,6,0.000,0.021,3392,1799,1942,0,0,0,0,0,0
$GC,8425,1.26,168.2,67.1,8.9,470,8429,0.00,2.47,0.00,0.000,4,0.000,0.030,3393,3209,1942,0,0,0,0,0,0
$GC,8450,1.27,176.2,65.0,7.7,472,8464,0.00,2.58,7.68,0.441,6,0.000,0.036,3392,1789,1915,0,0,0,0,0,0
$GC,8727,1.27,176.2,42.3,8.2,498,8731,0.00,2.53,0.00,0.000,4,0.000,0.048,3392,393,1913,0,0,0,0,0,0
$GC,8752,1.27,176.2,40.1,9.2,500,8757,0.00,2.42,0.00,0.000,6,0.000,0.019,3393,1806,1911,0,0,0,0,0,0
$GC,9017,1.30,203.5,20.8,6.8,535,9047,0.12,2.40,24.20,0.467,4,0.061,0.026,3438,3197,1805,0,0,0,0,0,0
$GC,9076,1.30,203.5,16.1,8.4,546,9083,0.00,2.55,0.00,0.000,6,0.000,0.035,3438,1805,1804,0,0,0,0,0,0
$STATE,9222,end climb,SURFACE_DEPTH_REACHED
$STATE,9224,begin surface coast
$FINISH,1.0,1.005993
$STATE,9258,end surface coast,CONTROL_FINISHED_OK
$STATE,9258,begin surface
$SM_CCo,9281,65.05,0.458,0,0,1288,330.17
$SM_GC,1.57,0.00,0.00,65.05,0.000,0.000,0.458,426,2115,1288,-12.48,0.42,330.17
$IRIDIUM_FIX,2059.45,-15745.74,260700,222212
$TT8_MAMPS,0.029146
$HUMID,55.04
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,22.00
$XPDR_PINGS,2
$24V_AH,23.5,19.484
$10V_AH,10.5,18.840
$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,28.500,121.925,266.825,65.050,0.000,29.775,39.279,146.115,5.000,0.000,36.624,1092.395,6063.300,392.685,1707.219,449.898,33.350,1139.334,0.000,1664.658,0.000,29.250,0.000
$DEVICE_MAMPS,134.992,64.428,821.457,457.899,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,391.656,381.955,849.711,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355672
$DATA_FILE_SIZE,31729,579
$CAP_FILE_SIZE,101624,0
$CFSIZE,260165632,244662272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030511,035137,2105.859,-15745.166,33,1.0,33,9.8