version: 66.06
glider: 139
mission: 9
dive: 278
start: 5 7 111 0 14 9
data:
$ID,139
$MISSION,9
$DIVE,278
$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,-2181600.5
$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,17
$R_STBD_OVSHOOT,78
$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
$GPS1,000101,2108.477,-15758.697,61,1.0,61,9.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-71.4
$GPS2,001317,2108.440,-15758.725,17,1.5,19,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.222,-0.001
$KALMAN_X,-159881.6,-18.6,805.9,145133.8,-2060.4
$KALMAN_Y,-3012.0,593.0,-213.1,-1661.0,-65.2
$MHEAD_RNG_PITCHd_Wd,80.4,27741,-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,14,begin dive
$GC,17,-1.19,-116.8,0.0,0.0,0,89,0.00,0.00,-69.22,0.000,2,0.000,0.000,424,2141,3073,0,0,0,0,0,0
$GC,93,-1.19,-116.8,3.2,-3.3,13,112,13.10,2.35,-0.75,0.000,4,0.135,0.044,2867,3469,3112,0,0,0,0,0,0
$GC,124,-1.19,-116.8,13.3,-27.9,18,131,0.00,2.45,0.00,0.000,6,0.000,0.030,2867,2091,3114,0,0,0,0,0,0
$GC,330,-1.19,-116.8,53.4,-16.2,44,334,0.00,2.40,0.00,0.000,4,0.000,0.031,2867,3464,3114,0,0,0,0,0,0
$GC,365,-1.19,-116.8,58.8,-15.1,47,369,0.00,2.40,0.00,0.000,6,0.000,0.035,2867,2100,3114,0,0,0,0,0,0
$GC,629,-1.19,-116.8,104.4,-19.4,71,633,0.00,2.40,0.00,0.000,4,0.000,0.033,2867,3466,3115,0,0,0,0,0,0
$GC,644,-1.19,-116.8,107.8,-18.7,72,648,0.00,2.40,0.00,0.000,6,0.000,0.033,2867,2090,3115,0,0,0,0,0,0
$GC,907,-1.19,-116.8,141.8,-11.1,96,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2090,3115,0,0,0,0,0,0
$GC,1159,-1.19,-116.8,167.7,-9.6,120,1164,0.00,2.40,0.00,0.000,4,0.000,0.036,2867,3460,3116,0,0,0,0,0,0
$GC,1176,-1.19,-116.8,169.2,-9.6,121,1180,0.00,2.38,0.00,0.000,6,0.000,0.034,2867,2099,3116,0,0,0,0,0,0
$GC,1440,-1.19,-116.8,198.8,-11.3,145,1445,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2099,3116,0,0,0,0,0,0
$GC,1706,-1.19,-116.8,227.2,-8.8,159,1711,0.00,2.42,0.00,0.000,4,0.000,0.039,2867,3460,3117,0,0,0,0,0,0
$GC,1726,-1.19,-116.8,228.9,-8.1,160,1730,0.00,2.40,0.00,0.000,6,0.000,0.036,2866,2089,3116,0,0,0,0,0,0
$GC,2056,-1.19,-116.8,252.2,-6.8,176,2057,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2088,3116,0,0,0,0,0,0
$GC,2367,-1.19,-116.8,280.5,-10.4,191,2371,0.00,2.53,0.00,0.000,4,0.000,0.048,2866,684,3115,0,0,0,0,0,0
$GC,2412,-1.19,-116.8,285.8,-11.8,193,2416,0.00,2.35,0.00,0.000,6,0.000,0.024,2867,2063,3115,0,0,0,0,0,0
$GC,2759,-1.19,-116.8,320.0,-9.4,205,2763,0.00,2.42,0.00,0.000,4,0.000,0.046,2866,698,3114,0,0,0,0,0,0
$GC,2848,-1.19,-116.8,329.5,-11.2,206,2853,0.00,2.40,0.00,0.000,6,0.000,0.025,2866,2100,3113,0,0,0,0,0,0
$GC,3179,-1.19,-116.8,357.4,-8.6,215,3183,0.00,2.53,0.00,0.000,4,0.000,0.048,2867,3499,3111,0,0,0,0,0,0
$GC,3235,-1.19,-116.8,362.2,-8.7,216,3239,0.00,2.50,0.00,0.000,6,0.000,0.044,2866,2104,3110,0,0,0,0,0,0
$GC,3553,-1.19,-116.8,380.9,-5.3,224,3558,0.00,2.58,0.00,0.000,4,0.000,0.051,2866,682,3108,0,0,0,0,0,0
$GC,3656,-1.19,-116.8,389.1,-7.9,226,3660,0.00,2.45,0.00,0.000,6,0.000,0.028,2866,2101,3107,0,0,0,0,0,0
$GC,3970,-1.19,-116.8,410.1,-6.3,234,3974,0.00,2.55,0.00,0.000,4,0.000,0.051,2866,691,3105,0,0,0,0,0,0
$GC,4040,-1.19,-116.8,416.7,-9.9,235,4044,0.00,2.45,0.00,0.000,6,0.000,0.028,2867,2100,3105,0,0,0,0,0,0
$STATE,4134,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4134,begin apogee
$GC,4142,-0.31,0.0,426.1,9.9,238,4239,0.95,0.00,94.32,0.795,6,0.081,0.000,3065,1789,2635,0,0,0,0,0,0
$STATE,4240,end apogee,CONTROL_FINISHED_OK
$STATE,4240,begin climb
$GC,4243,1.19,116.8,430.2,0.0,240,4348,1.48,0.00,100.38,0.778,6,0.054,0.000,3392,1789,2158,0,0,0,0,0,0
$GC,4653,1.19,116.8,382.5,14.4,250,4657,0.00,2.62,0.00,0.000,4,0.000,0.059,3392,402,2148,0,0,0,0,0,0
$GC,4696,1.19,116.8,375.8,16.7,251,4700,0.00,2.45,0.00,0.000,6,0.000,0.026,3392,1801,2145,0,0,0,0,0,0
$GC,5023,1.19,116.8,333.9,11.9,259,5024,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1803,2142,0,0,0,0,0,0
$GC,5348,1.19,116.8,299.4,10.4,267,5353,0.00,2.65,0.00,0.000,4,0.000,0.058,3392,403,2140,0,0,0,0,0,0
$GC,5377,1.19,116.8,296.2,10.9,268,5381,0.00,2.47,0.00,0.000,6,0.000,0.025,3392,1811,2138,0,0,0,0,0,0
$GC,5697,1.19,116.8,265.3,9.4,284,5701,0.00,2.62,0.00,0.000,4,0.000,0.056,3392,404,2138,0,0,0,0,0,0
$GC,5740,1.19,116.8,261.0,10.6,286,5744,0.00,2.42,0.00,0.000,6,0.000,0.025,3392,1800,2135,0,0,0,0,0,0
$GC,6069,1.19,116.8,227.8,10.6,302,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1801,2136,0,0,0,0,0,0
$GC,6379,1.19,116.8,196.6,9.5,318,6380,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1802,2134,0,0,0,0,0,0
$GC,6634,1.19,116.8,173.2,8.8,342,6635,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1801,2134,0,0,0,0,0,0
$GC,6889,1.19,116.8,151.1,9.1,366,6893,0.00,2.58,0.00,0.000,4,0.000,0.052,3392,400,2134,0,0,0,0,0,0
$GC,6944,1.19,116.8,144.7,13.2,371,6950,0.00,2.40,0.00,0.000,6,0.000,0.022,3392,1804,2132,0,0,0,0,0,0
$GC,7207,1.19,116.8,119.7,8.7,396,7211,0.00,2.60,0.00,0.000,4,0.000,0.051,3392,399,2132,0,0,0,0,0,0
$GC,7231,1.19,116.8,117.1,10.2,398,7236,0.00,2.42,0.00,0.000,6,0.000,0.021,3392,1809,2131,0,0,0,0,0,0
$GC,7495,1.20,120.1,95.5,7.9,422,7499,0.00,2.42,0.00,0.000,4,0.000,0.032,3392,3198,2132,0,0,0,0,0,0
$GC,7556,1.21,129.3,90.8,7.6,428,7570,0.00,2.47,7.65,0.470,6,0.000,0.038,3392,1807,2106,0,0,0,0,0,0
$GC,7833,1.21,131.3,70.0,7.9,454,7837,0.00,2.55,0.00,0.000,4,0.000,0.048,3392,396,2105,0,0,0,0,0,0
$GC,7878,1.21,131.3,65.9,9.0,458,7884,0.00,2.42,0.00,0.000,6,0.000,0.019,3392,1800,2103,0,0,0,0,0,0
$GC,8141,1.24,150.2,47.3,7.2,483,8165,0.00,2.47,19.10,0.484,4,0.000,0.030,3392,3201,2021,0,0,0,0,0,0
$GC,8212,1.32,215.4,43.4,5.0,490,8275,0.15,2.50,56.10,0.501,6,0.053,0.035,3444,1802,1755,0,0,0,0,0,0
$GC,8535,1.32,215.4,14.6,8.9,535,8541,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,1803,1750,0,0,0,0,0,0
$STATE,8649,end climb,SURFACE_DEPTH_REACHED
$STATE,8650,begin surface coast
$FINISH,1.0,1.023009
$STATE,8684,end surface coast,CONTROL_FINISHED_OK
$STATE,8684,begin surface
$SM_CCo,8708,57.05,0.456,0,0,1288,330.17
$SM_GC,1.84,0.00,0.00,57.05,0.000,0.000,0.456,425,2142,1288,-12.48,1.19,330.17
$IRIDIUM_FIX,2101.76,-15800.33,310700,000048
$TT8_MAMPS,0.029146
$HUMID,57.00
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,21.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,380.9,72.2
$24V_AH,23.5,22.545
$10V_AH,10.5,21.512
$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,28.650,89.900,277.550,57.050,0.000,83.987,170.142,225.049,4.000,0.000,19.159,1020.430,5842.312,403.805,1527.204,711.311,33.359,1051.540,0.000,1508.228,0.000,27.611,0.000
$DEVICE_MAMPS,134.992,59.059,795.379,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,380.528,375.004,840.266,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31816,562
$CAP_FILE_SIZE,93491,0
$CFSIZE,260165632,243060736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070511,024125,2108.458,-15757.943,14,1.7,31,9.8