version: 66.06
glider: 139
mission: 9
dive: 280
start: 5 7 111 5 36 57
data:
$ID,139
$MISSION,9
$DIVE,280
$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,-2181632.2
$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,16
$R_STBD_OVSHOOT,69
$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
$GPS1,052936,2108.641,-15757.377,27,1.4,27,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-70.9
$GPS2,053602,2108.667,-15757.480,18,1.4,18,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.222,0.007
$KALMAN_X,-161927.2,658.6,-594.1,150045.8,-1109.3
$KALMAN_Y,-2829.2,454.1,223.5,-1721.6,-366.5
$MHEAD_RNG_PITCHd_Wd,78.4,25710,-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,-69.60,0.000,6,0.000,0.000,424,2136,3113,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.7,-5.8,13,110,13.15,2.60,0.00,0.000,4,0.136,0.036,2870,677,3115,0,0,0,0,0,0
$GC,204,-1.19,-116.8,34.4,-17.8,35,209,0.00,2.38,0.00,0.000,6,0.000,0.020,2870,2075,3117,0,0,0,0,0,0
$GC,467,-1.19,-116.8,70.8,-14.2,59,471,0.00,2.50,0.00,0.000,4,0.000,0.035,2870,3498,3117,0,0,0,0,0,0
$GC,503,-1.19,-116.8,75.8,-11.7,62,510,0.00,2.50,0.00,0.000,6,0.000,0.032,2870,2091,3118,0,0,0,0,0,0
$GC,769,-1.19,-116.8,110.4,-14.6,87,774,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2091,3118,0,0,0,0,0,0
$GC,1030,-1.19,-116.8,150.5,-16.1,112,1035,0.00,2.53,0.00,0.000,4,0.000,0.042,2870,685,3119,0,0,0,0,0,0
$GC,1083,-1.19,-116.8,159.0,-16.3,117,1087,0.00,2.42,0.00,0.000,6,0.000,0.020,2870,2107,3119,0,0,0,0,0,0
$GC,1351,-1.19,-116.8,191.4,-12.5,142,1355,0.00,2.53,0.00,0.000,4,0.000,0.043,2870,685,3119,0,0,0,0,0,0
$GC,1485,-1.19,-116.8,206.3,-10.4,153,1489,0.00,2.42,0.00,0.000,6,0.000,0.021,2870,2105,3119,0,0,0,0,0,0
$GC,1816,-1.19,-116.8,234.9,-7.9,169,1820,0.00,2.50,0.00,0.000,4,0.000,0.041,2870,3502,3120,0,0,0,0,0,0
$GC,1922,-1.19,-116.8,244.7,-10.1,173,1927,0.00,2.50,0.00,0.000,6,0.000,0.037,2870,2092,3120,0,0,0,0,0,0
$GC,2239,-1.19,-116.8,270.6,-8.0,189,2244,0.00,2.53,0.00,0.000,4,0.000,0.046,2870,682,3120,0,0,0,0,0,0
$GC,2254,-1.19,-116.8,272.2,-8.4,189,2259,0.00,2.40,0.00,0.000,6,0.000,0.023,2870,2098,3120,0,0,0,0,0,0
$GC,2571,-1.19,-116.8,297.3,-7.7,205,2575,0.00,2.55,0.00,0.000,4,0.000,0.047,2870,687,3119,0,0,0,0,0,0
$GC,2595,-1.19,-116.8,299.5,-8.7,206,2599,0.00,2.42,0.00,0.000,6,0.000,0.024,2870,2098,3119,0,0,0,0,0,0
$GC,2936,-1.19,-116.8,326.2,-7.5,215,2937,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2099,3117,0,0,0,0,0,0
$GC,3261,-1.19,-116.8,352.1,-7.9,223,3265,0.00,2.53,0.00,0.000,4,0.000,0.048,2870,3498,3116,0,0,0,0,0,0
$GC,3304,-1.19,-116.8,355.7,-8.0,224,3309,0.00,2.53,0.00,0.000,6,0.000,0.043,2870,2099,3116,0,0,0,0,0,0
$GC,3632,-1.19,-116.8,379.4,-7.3,232,3633,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2098,3114,0,0,0,0,0,0
$GC,3958,-1.19,-116.8,402.2,-6.9,240,3960,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2098,3111,0,0,0,0,0,0
$GC,4283,-1.19,-116.8,422.2,-6.5,248,4287,0.00,2.60,0.00,0.000,4,0.000,0.055,2870,691,3109,0,0,0,0,0,0
$GC,4334,-1.19,-116.8,426.2,-8.2,249,4339,0.00,2.42,0.00,0.000,6,0.000,0.028,2870,2097,3109,0,0,0,0,0,0
$GC,4655,-1.19,-116.8,448.0,-6.5,257,4656,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2098,3107,0,0,0,0,0,0
$STATE,4691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4691,begin apogee
$GC,4698,-0.31,0.0,450.5,6.4,258,4796,0.95,0.00,95.20,0.820,6,0.083,0.000,3067,1789,2635,0,0,0,0,0,0
$STATE,4797,end apogee,CONTROL_FINISHED_OK
$STATE,4797,begin climb
$GC,4800,1.19,116.8,451.7,0.0,260,4909,1.50,2.70,101.12,0.800,4,0.054,0.062,3394,398,2158,0,0,0,0,0,0
$GC,4926,1.19,116.8,440.4,12.6,263,4930,0.00,2.50,0.00,0.000,6,0.000,0.025,3395,1803,2153,0,0,0,0,0,0
$GC,5262,1.19,116.8,400.5,12.1,272,5266,0.00,2.67,0.00,0.000,4,0.000,0.061,3394,403,2146,0,0,0,0,0,0
$GC,5286,1.19,116.8,397.3,13.4,272,5290,0.00,2.45,0.00,0.000,6,0.000,0.026,3395,1798,2143,0,0,0,0,0,0
$GC,5626,1.19,116.8,354.1,12.7,281,5631,0.00,2.65,0.00,0.000,4,0.000,0.059,3395,402,2142,0,0,0,0,0,0
$GC,5645,1.19,116.8,351.7,12.0,281,5650,0.00,2.47,0.00,0.000,6,0.000,0.026,3395,1803,2140,0,0,0,0,0,0
$GC,5991,1.19,116.8,313.3,11.1,290,5995,0.00,2.53,0.00,0.000,4,0.000,0.042,3395,3204,2140,0,0,0,0,0,0
$GC,6047,1.19,116.8,306.9,10.6,291,6051,0.00,2.60,0.00,0.000,6,0.000,0.050,3395,1808,2139,0,0,0,0,0,0
$GC,6366,1.19,116.8,273.0,10.0,305,6370,0.00,2.65,0.00,0.000,4,0.000,0.059,3395,393,2138,0,0,0,0,0,0
$GC,6417,1.19,116.8,266.6,11.6,307,6421,0.00,2.47,0.00,0.000,6,0.000,0.025,3395,1801,2136,0,0,0,0,0,0
$GC,6739,1.19,116.8,232.4,9.0,323,6743,0.00,2.50,0.00,0.000,4,0.000,0.041,3395,3202,2136,0,0,0,0,0,0
$GC,6804,1.19,116.8,226.6,8.3,326,6809,0.00,2.58,0.00,0.000,6,0.000,0.044,3395,1801,2135,0,0,0,0,0,0
$GC,7134,1.21,131.0,199.8,7.4,342,7149,0.00,2.65,9.15,0.576,4,0.000,0.056,3395,393,2101,0,0,0,0,0,0
$GC,7188,1.21,131.0,195.3,9.2,347,7193,0.00,2.45,0.00,0.000,6,0.000,0.022,3395,1806,2099,0,0,0,0,0,0
$GC,7453,1.21,131.0,171.4,9.7,371,7457,0.00,2.65,0.00,0.000,4,0.000,0.054,3395,392,2099,0,0,0,0,0,0
$GC,7504,1.21,131.0,164.9,12.9,376,7508,0.00,2.45,0.00,0.000,6,0.000,0.022,3395,1802,2097,0,0,0,0,0,0
$GC,7767,1.21,131.0,138.5,9.9,400,7772,0.00,2.47,0.00,0.000,4,0.000,0.033,3395,3208,2097,0,0,0,0,0,0
$GC,7786,1.21,131.0,136.4,10.2,401,7792,0.00,2.55,0.00,0.000,6,0.000,0.038,3395,1802,2097,0,0,0,0,0,0
$GC,8050,1.22,136.6,112.3,7.8,426,8061,0.00,2.60,6.43,0.462,4,0.000,0.049,3395,388,2076,0,0,0,0,0,0
$GC,8118,1.22,136.6,106.4,8.6,433,8123,0.00,2.42,0.00,0.000,6,0.000,0.020,3395,1807,2075,0,0,0,0,0,0
$GC,8383,1.24,155.6,88.2,7.2,457,8403,0.00,0.00,17.80,0.517,6,0.000,0.000,3395,1813,2000,0,0,0,0,0,0
$GC,8658,1.33,226.1,70.8,4.8,483,8725,0.12,2.50,60.78,0.524,4,0.061,0.029,3439,3200,1713,0,0,0,0,0,0
$GC,8770,1.33,226.1,60.6,9.7,495,8775,0.00,2.55,0.00,0.000,6,0.000,0.036,3439,1800,1711,0,0,0,0,0,0
$GC,9035,1.33,226.1,31.1,10.9,519,9039,0.00,2.60,0.00,0.000,4,0.000,0.049,3439,391,1708,0,0,0,0,0,0
$GC,9102,1.33,226.1,23.8,10.3,532,9108,0.00,2.42,0.00,0.000,6,0.000,0.018,3439,1796,1704,0,0,0,0,0,0
$STATE,9302,end climb,SURFACE_DEPTH_REACHED
$STATE,9302,begin surface coast
$FINISH,1.1,1.023011
$STATE,9325,end surface coast,CONTROL_FINISHED_OK
$STATE,9325,begin surface
$SM_CCo,9350,54.28,0.456,0,0,1288,330.17
$SM_GC,1.72,0.00,0.00,54.28,0.000,0.000,0.456,431,2168,1288,-12.45,1.92,330.17
$IRIDIUM_FIX,2101.76,-15800.33,310700,020203
$TT8_MAMPS,0.029146
$HUMID,56.73
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,22.00
$XPDR_PINGS,1
$24V_AH,23.5,22.712
$10V_AH,10.6,21.661
$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,28.575,106.975,290.475,54.275,0.000,23.842,36.707,200.410,4.750,0.000,18.159,1050.890,6273.427,415.629,1560.641,493.480,33.361,1092.144,0.000,1540.862,0.000,29.251,0.000
$DEVICE_MAMPS,135.759,62.127,819.923,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,387.686,375.131,822.673,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,31710,573
$CAP_FILE_SIZE,95589,0
$CFSIZE,260165632,242962432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070511,081524,2108.828,-15756.624,47,1.1,64,9.8