version: 66.06
glider: 139
mission: 9
dive: 281
start: 5 7 111 8 28 44
data:
$ID,139
$MISSION,9
$DIVE,281
$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,-2181646
$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,90
$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
$GPS1,081524,2108.828,-15756.624,47,1.1,64,9.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-70.5
$GPS2,082750,2108.846,-15756.669,10,1.8,10,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.220,0.023
$KALMAN_X,-163474.7,678.9,-145.8,152530.3,-1315.0
$KALMAN_Y,-2256.3,37.8,346.7,-1669.9,-535.4
$MHEAD_RNG_PITCHd_Wd,74.2,24415,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,88,0.00,0.00,-69.45,0.000,6,0.000,0.000,430,2169,3112,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.7,-5.3,13,110,13.05,2.65,0.00,0.000,4,0.133,0.035,2873,680,3114,0,0,0,0,0,0
$GC,118,-1.19,-116.8,13.4,-28.0,17,125,0.00,2.38,0.00,0.000,6,0.000,0.021,2872,2051,3115,0,0,0,0,0,0
$GC,320,-1.19,-116.8,55.7,-20.5,42,324,0.00,2.58,0.00,0.000,4,0.000,0.035,2872,3498,3116,0,0,0,0,0,0
$GC,354,-1.19,-116.8,62.6,-21.8,45,359,0.00,2.45,0.00,0.000,6,0.000,0.031,2872,2090,3116,0,0,0,0,0,0
$GC,620,-1.19,-116.8,100.3,-12.4,69,624,0.00,2.47,0.00,0.000,4,0.000,0.034,2872,3502,3117,0,0,0,0,0,0
$GC,718,-1.19,-116.8,111.8,-11.3,79,722,0.00,2.45,0.00,0.000,6,0.000,0.034,2872,2101,3117,0,0,0,0,0,0
$GC,982,-1.19,-116.8,141.9,-10.9,103,986,0.00,2.55,0.00,0.000,4,0.000,0.044,2872,689,3117,0,0,0,0,0,0
$GC,1083,-1.19,-116.8,153.8,-11.0,113,1089,0.00,2.40,0.00,0.000,6,0.000,0.020,2872,2113,3117,0,0,0,0,0,0
$GC,1346,-1.19,-116.8,179.1,-10.8,138,1350,0.00,2.55,0.00,0.000,4,0.000,0.041,2872,685,3118,0,0,0,0,0,0
$GC,1363,-1.19,-116.8,181.0,-10.8,139,1367,0.00,2.40,0.00,0.000,6,0.000,0.021,2872,2104,3118,0,0,0,0,0,0
$GC,1634,-1.19,-116.8,209.1,-10.6,160,1639,0.00,2.50,0.00,0.000,4,0.000,0.042,2872,693,3118,0,0,0,0,0,0
$GC,1727,-1.19,-116.8,219.3,-10.2,164,1732,0.00,2.38,0.00,0.000,6,0.000,0.021,2872,2100,3118,0,0,0,0,0,0
$GC,2052,-1.19,-116.8,252.2,-10.4,180,2057,0.00,2.55,0.00,0.000,4,0.000,0.045,2872,694,3117,0,0,0,0,0,0
$GC,2119,-1.19,-116.8,259.6,-11.0,183,2126,0.00,2.40,0.00,0.000,6,0.000,0.023,2872,2104,3117,0,0,0,0,0,0
$GC,2461,-1.19,-116.8,288.8,-7.9,199,2462,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2104,3116,0,0,0,0,0,0
$GC,2763,-1.19,-116.8,315.0,-8.4,210,2767,0.00,2.53,0.00,0.000,4,0.000,0.047,2872,691,3115,0,0,0,0,0,0
$GC,2856,-1.19,-116.8,323.9,-10.1,212,2860,0.00,2.42,0.00,0.000,6,0.000,0.025,2872,2107,3115,0,0,0,0,0,0
$GC,3180,-1.19,-116.8,350.2,-7.3,220,3184,0.00,2.55,0.00,0.000,4,0.000,0.048,2872,689,3114,0,0,0,0,0,0
$GC,3199,-1.19,-116.8,351.7,-7.4,220,3203,0.00,2.45,0.00,0.000,6,0.000,0.026,2872,2106,3114,0,0,0,0,0,0
$GC,3544,-1.19,-116.8,372.9,-6.3,229,3548,0.00,2.55,0.00,0.000,4,0.000,0.049,2873,3505,3112,0,0,0,0,0,0
$GC,3559,-1.19,-116.8,373.9,-6.8,229,3564,0.00,2.50,0.00,0.000,6,0.000,0.043,2872,2105,3111,0,0,0,0,0,0
$GC,3909,-1.19,-116.8,398.6,-7.2,238,3914,0.00,2.58,0.00,0.000,4,0.000,0.052,2872,689,3109,0,0,0,0,0,0
$GC,3999,-1.19,-116.8,405.7,-8.0,240,4004,0.00,2.45,0.00,0.000,6,0.000,0.028,2872,2107,3109,0,0,0,0,0,0
$GC,4327,-1.19,-116.8,427.7,-6.7,248,4332,0.00,2.58,0.00,0.000,4,0.000,0.052,2872,690,3106,0,0,0,0,0,0
$GC,4347,-1.19,-116.8,429.3,-7.4,248,4351,0.00,2.45,0.00,0.000,6,0.000,0.028,2873,2104,3106,0,0,0,0,0,0
$STATE,4648,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4648,begin apogee
$GC,4656,-0.31,0.0,452.8,7.5,256,4754,0.93,0.00,94.72,0.816,6,0.081,0.000,3065,1793,2635,0,0,0,0,0,0
$STATE,4755,end apogee,CONTROL_FINISHED_OK
$STATE,4755,begin climb
$GC,4757,1.19,116.8,454.7,0.0,258,4870,1.48,2.70,100.35,0.796,4,0.054,0.046,3392,3198,2157,0,0,0,0,0,0
$GC,4903,1.19,116.8,441.1,12.2,261,4907,0.00,2.65,0.00,0.000,6,0.000,0.055,3392,1811,2155,0,0,0,0,0,0
$GC,5253,1.19,116.8,396.1,13.0,270,5257,0.00,2.67,0.00,0.000,4,0.000,0.061,3391,393,2147,0,0,0,0,0,0
$GC,5300,1.19,116.8,389.3,13.7,271,5304,0.00,2.47,0.00,0.000,6,0.000,0.028,3392,1799,2143,0,0,0,0,0,0
$GC,5623,1.19,116.8,349.5,13.1,279,5624,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1801,2141,0,0,0,0,0,0
$GC,5948,1.19,116.8,310.3,11.8,287,5952,0.00,2.65,0.00,0.000,4,0.000,0.059,3392,392,2140,0,0,0,0,0,0
$GC,5991,1.19,116.8,304.1,15.1,288,5996,0.00,2.47,0.00,0.000,6,0.000,0.028,3392,1802,2138,0,0,0,0,0,0
$GC,6324,1.19,116.8,265.5,10.1,303,6329,0.00,2.67,0.00,0.000,4,0.000,0.059,3392,390,2138,0,0,0,0,0,0
$GC,6375,1.19,116.8,259.7,11.1,305,6380,0.00,2.50,0.00,0.000,6,0.000,0.027,3392,1808,2135,0,0,0,0,0,0
$GC,6697,1.19,116.8,227.0,9.2,321,6701,0.00,2.50,0.00,0.000,4,0.000,0.041,3392,3215,2135,0,0,0,0,0,0
$GC,6734,1.19,116.8,223.2,9.6,322,6741,0.00,2.62,0.00,0.000,6,0.000,0.047,3392,1804,2135,0,0,0,0,0,0
$GC,7053,1.19,116.8,191.5,10.8,341,7055,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1804,2134,0,0,0,0,0,0
$GC,7308,1.19,116.8,167.1,10.1,365,7309,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1804,2134,0,0,0,0,0,0
$GC,7563,1.19,116.8,138.3,9.3,389,7567,0.00,2.50,0.00,0.000,4,0.000,0.034,3392,3207,2133,0,0,0,0,0,0
$GC,7591,1.19,116.8,135.7,8.5,391,7597,0.00,2.53,0.00,0.000,6,0.000,0.038,3392,1798,2134,0,0,0,0,0,0
$GC,7854,1.19,116.8,113.9,8.9,416,7858,0.00,2.58,0.00,0.000,4,0.000,0.051,3392,389,2133,0,0,0,0,0,0
$GC,7962,1.19,116.8,104.0,8.8,427,7967,0.00,2.42,0.00,0.000,6,0.000,0.021,3392,1812,2132,0,0,0,0,0,0
$GC,8227,1.26,169.2,88.1,5.6,451,8274,0.00,2.50,41.25,0.542,4,0.000,0.031,3392,3192,1945,0,0,0,0,0,0
$GC,8284,1.26,169.2,83.4,8.6,457,8290,0.00,2.55,0.00,0.000,6,0.000,0.036,3392,1793,1945,0,0,0,0,0,0
$GC,8548,1.26,169.2,56.0,10.0,482,8553,0.00,2.55,0.00,0.000,4,0.000,0.049,3392,390,1941,0,0,0,0,0,0
$GC,8603,1.26,169.2,50.7,8.8,487,8609,0.00,2.45,0.00,0.000,6,0.000,0.020,3392,1801,1937,0,0,0,0,0,0
$GC,8865,1.30,203.8,36.8,6.4,512,8906,0.12,2.50,29.73,0.486,4,0.060,0.028,3439,3205,1802,0,0,0,0,0,0
$GC,8948,1.31,209.4,30.4,7.8,520,8960,0.00,2.58,6.45,0.395,6,0.000,0.038,3439,1794,1781,0,0,0,0,0,0
$STATE,9187,end climb,SURFACE_DEPTH_REACHED
$STATE,9187,begin surface coast
$FINISH,1.0,1.023085
$STATE,9210,end surface coast,CONTROL_FINISHED_OK
$STATE,9210,begin surface
$SM_CCo,9234,61.12,0.459,0,0,1288,330.17
$SM_GC,1.79,0.00,0.00,61.12,0.000,0.000,0.459,424,2142,1288,-12.48,1.19,330.17
$IRIDIUM_FIX,2059.45,-15758.18,310700,080816
$TT8_MAMPS,0.029146
$HUMID,56.34
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.5,22.803
$10V_AH,10.5,21.738
$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,28.500,111.900,272.500,61.125,0.000,85.441,100.787,302.827,4.500,0.000,13.114,1060.334,6227.012,401.996,1615.411,740.841,33.360,1119.316,0.000,1602.092,0.000,29.260,0.000
$DEVICE_MAMPS,132.691,61.360,816.088,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,383.645,372.795,804.572,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,31829,567
$CAP_FILE_SIZE,104832,0
$CFSIZE,260165632,242905088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070511,110458,2108.957,-15755.648,39,1.6,39,9.8