version: 66.06
glider: 139
mission: 9
dive: 248
start: 5 3 111 10 14 1
data:
$ID,139
$MISSION,9
$DIVE,248
$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,-2180716
$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,20
$R_STBD_OVSHOOT,43
$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
$GPS1,095531,2105.777,-15743.723,14,2.0,31,9.8
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-72.9
$GPS2,101308,2105.855,-15743.520,13,1.4,13,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.042,-0.218
$KALMAN_X,-160495.6,544.8,1103.9,171132.5,-2175.9
$KALMAN_Y,-12560.5,76.3,366.2,3036.5,151.1
$MHEAD_RNG_PITCHd_Wd,159.3,18340,-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,-116.8,0.0,0.0,0,121,0.00,0.00,-99.35,0.000,6,0.000,0.000,426,2113,3112,0,0,0,0,0,0
$GC,125,-1.19,-116.8,3.7,-5.3,19,144,13.15,2.53,0.00,0.000,4,0.136,0.031,2869,677,3113,0,0,0,0,0,0
$GC,281,-1.19,-116.8,40.4,-16.0,47,285,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2095,3115,0,0,0,0,0,0
$GC,544,-1.19,-116.8,78.3,-12.6,71,548,0.00,2.47,0.00,0.000,4,0.000,0.035,2868,3498,3115,0,0,0,0,0,0
$GC,563,-1.19,-116.8,81.1,-13.4,72,569,0.00,2.50,0.00,0.000,6,0.000,0.033,2868,2095,3115,0,0,0,0,0,0
$GC,827,-1.19,-116.8,115.1,-13.6,97,831,0.00,2.47,0.00,0.000,4,0.000,0.035,2868,3499,3115,0,0,0,0,0,0
$GC,870,-1.19,-116.8,120.9,-13.4,101,875,0.00,2.45,0.00,0.000,6,0.000,0.031,2869,2096,3115,0,0,0,0,0,0
$GC,1134,-1.19,-116.8,152.7,-12.0,125,1139,0.00,2.50,0.00,0.000,4,0.000,0.036,2868,3505,3115,0,0,0,0,0,0
$GC,1323,-1.19,-116.8,173.2,-9.0,145,1327,0.00,2.45,0.00,0.000,6,0.000,0.033,2868,2100,3115,0,0,0,0,0,0
$GC,1588,-1.19,-116.8,197.5,-9.9,169,1593,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2100,3115,0,0,0,0,0,0
$GC,1844,-1.19,-116.8,223.0,-9.8,183,1848,0.00,2.53,0.00,0.000,4,0.000,0.041,2868,3502,3115,0,0,0,0,0,0
$GC,1998,-1.19,-116.8,239.5,-10.4,189,2004,0.00,2.47,0.00,0.000,6,0.000,0.035,2869,2102,3115,0,0,0,0,0,0
$GC,2315,-1.19,-116.8,267.9,-9.8,205,2319,0.00,2.55,0.00,0.000,4,0.000,0.048,2868,692,3113,0,0,0,0,0,0
$GC,2338,-1.19,-116.8,270.5,-10.7,206,2343,0.00,2.40,0.00,0.000,6,0.000,0.024,2868,2100,3113,0,0,0,0,0,0
$GC,2664,-1.19,-116.8,299.5,-7.8,222,2668,0.00,2.55,0.00,0.000,4,0.000,0.046,2868,3506,3112,0,0,0,0,0,0
$GC,2877,-1.19,-116.8,315.7,-8.5,227,2882,0.00,2.50,0.00,0.000,6,0.000,0.040,2869,2098,3111,0,0,0,0,0,0
$GC,3213,-1.19,-116.8,346.6,-9.6,236,3218,0.00,2.58,0.00,0.000,4,0.000,0.050,2868,686,3108,0,0,0,0,0,0
$GC,3265,-1.19,-116.8,352.0,-10.7,237,3269,0.00,2.42,0.00,0.000,6,0.000,0.026,2868,2099,3108,0,0,0,0,0,0
$GC,3583,-1.19,-116.8,379.2,-8.0,245,3588,0.00,2.58,0.00,0.000,4,0.000,0.050,2868,692,3106,0,0,0,0,0,0
$GC,3787,-1.19,-116.8,395.8,-8.5,249,3791,0.00,2.42,0.00,0.000,6,0.000,0.028,2868,2101,3105,0,0,0,0,0,0
$GC,4133,-1.19,-116.8,421.2,-7.0,258,4137,0.00,2.58,0.00,0.000,4,0.000,0.052,2868,692,3102,0,0,0,0,0,0
$GC,4195,-1.19,-116.8,426.1,-7.4,259,4200,0.00,2.45,0.00,0.000,6,0.000,0.029,2868,2105,3102,0,0,0,0,0,0
$GC,4546,-1.19,-116.8,449.4,-6.0,268,4547,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2106,3099,0,0,0,0,0,0
$STATE,4583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4583,begin apogee
$GC,4590,-0.31,0.0,451.8,6.1,269,4687,0.95,0.00,94.10,0.815,6,0.083,0.000,3065,1795,2635,0,0,0,0,0,0
$STATE,4688,end apogee,CONTROL_FINISHED_OK
$STATE,4688,begin climb
$GC,4691,1.19,116.8,452.6,0.0,271,4803,1.48,2.67,101.25,0.794,4,0.055,0.048,3392,3203,2158,0,0,0,0,0,0
$GC,4809,1.19,116.8,441.6,11.4,273,4813,0.00,2.62,0.00,0.000,6,0.000,0.051,3392,1810,2157,0,0,0,0,0,0
$GC,5140,1.19,116.8,400.7,12.0,281,5145,0.00,2.70,0.00,0.000,4,0.000,0.064,3391,389,2147,0,0,0,0,0,0
$GC,5178,1.19,116.8,395.6,13.3,281,5183,0.00,2.50,0.00,0.000,6,0.000,0.028,3392,1799,2143,0,0,0,0,0,0
$GC,5509,1.19,116.8,357.6,11.4,290,5513,0.00,2.70,0.00,0.000,4,0.000,0.061,3391,389,2141,0,0,0,0,0,0
$GC,5593,1.19,116.8,345.9,14.4,291,5598,0.00,2.50,0.00,0.000,6,0.000,0.028,3392,1798,2138,0,0,0,0,0,0
$GC,5924,1.19,116.8,306.9,11.5,300,5925,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1800,2138,0,0,0,0,0,0
$GC,6233,1.19,116.8,271.4,10.9,313,6234,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1800,2137,0,0,0,0,0,0
$GC,6542,1.19,116.8,238.9,10.2,328,6546,0.00,2.53,0.00,0.000,4,0.000,0.041,3392,3205,2135,0,0,0,0,0,0
$GC,6602,1.19,116.8,232.4,10.5,330,6609,0.00,2.62,0.00,0.000,6,0.000,0.045,3392,1796,2135,0,0,0,0,0,0
$GC,6918,1.19,116.8,202.0,9.3,346,6922,0.00,2.55,0.00,0.000,4,0.000,0.036,3392,3210,2134,0,0,0,0,0,0
$GC,7002,1.19,116.8,194.3,9.2,352,7009,0.00,2.60,0.00,0.000,6,0.000,0.044,3392,1806,2134,0,0,0,0,0,0
$GC,7265,1.19,116.8,169.1,8.9,377,7269,0.00,2.60,0.00,0.000,4,0.000,0.053,3392,387,2132,0,0,0,0,0,0
$GC,7291,1.19,116.8,166.4,11.0,379,7296,0.00,2.47,0.00,0.000,6,0.000,0.023,3392,1814,2131,0,0,0,0,0,0
$GC,7556,1.20,122.4,144.2,7.8,403,7560,0.00,2.45,0.00,0.000,4,0.000,0.034,3392,3203,2132,0,0,0,0,0,0
$GC,7582,1.20,124.7,141.9,7.9,405,7586,0.00,2.55,0.00,0.000,6,0.000,0.039,3392,1798,2131,0,0,0,0,0,0
$GC,7847,1.22,133.4,121.9,7.6,429,7867,0.00,2.55,10.70,0.521,4,0.000,0.032,3392,3196,2091,0,0,0,0,0,0
$GC,7900,1.22,133.4,117.5,8.2,434,7907,0.00,2.58,0.00,0.000,6,0.000,0.039,3392,1799,2091,0,0,0,0,0,0
$GC,8163,1.22,133.4,95.2,8.5,459,8168,0.00,2.58,0.00,0.000,4,0.000,0.050,3392,390,2089,0,0,0,0,0,0
$GC,8233,1.22,133.4,88.4,9.7,466,8238,0.00,2.42,0.00,0.000,6,0.000,0.021,3392,1802,2087,0,0,0,0,0,0
$GC,8499,1.31,210.4,73.3,4.5,490,8568,0.12,0.00,66.97,0.525,6,0.062,0.000,3435,1805,1777,0,0,0,0,0,0
$GC,8820,1.31,210.4,42.9,11.1,521,8825,0.00,2.60,0.00,0.000,4,0.000,0.049,3435,392,1771,0,0,0,0,0,0
$GC,8874,1.31,210.4,35.4,13.8,526,8881,0.00,2.45,0.00,0.000,6,0.000,0.019,3435,1802,1767,0,0,0,0,0,0
$GC,9141,1.31,210.4,9.1,9.3,571,9147,0.00,2.45,0.00,0.000,4,0.000,0.027,3435,3196,1767,0,0,0,0,0,0
$GC,9172,1.31,210.4,5.8,10.7,577,9178,0.00,2.55,0.00,0.000,6,0.000,0.036,3435,1800,1767,0,0,0,0,0,0
$STATE,9200,end climb,SURFACE_DEPTH_REACHED
$STATE,9201,begin surface coast
$FINISH,1.0,1.022812
$STATE,9229,end surface coast,CONTROL_FINISHED_OK
$STATE,9230,begin surface
$SM_CCo,9253,60.00,0.456,0,0,1288,330.17
$SM_GC,1.86,0.00,0.00,60.00,0.000,0.000,0.456,430,2133,1288,-12.45,0.90,330.17
$IRIDIUM_FIX,2059.45,-15743.60,270700,101038
$TT8_MAMPS,0.029146
$HUMID,56.34
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.5,19.790
$10V_AH,10.5,19.091
$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,28.575,107.100,273.025,60.000,0.000,106.207,230.568,412.084,4.500,0.000,13.552,1094.372,6137.038,426.802,1723.044,992.172,33.365,1184.114,0.000,1706.862,0.000,29.250,0.000
$DEVICE_MAMPS,135.759,63.661,815.321,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,396.263,387.842,862.210,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355636
$DATA_FILE_SIZE,31867,587
$CAP_FILE_SIZE,107027,0
$CFSIZE,260165632,244506624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030511,125036,2104.508,-15744.068,42,1.0,42,9.8