version: 66.06
glider: 139
mission: 9
dive: 282
start: 5 7 111 11 15 56
data:
$ID,139
$MISSION,9
$DIVE,282
$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,-2181678
$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,65
$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
$GPS1,110458,2108.957,-15755.648,39,1.6,39,9.8
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-71.8
$GPS2,111504,2108.930,-15755.702,11,2.3,30,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.221,-0.008
$KALMAN_X,-164753.3,372.0,654.2,154981.8,-2558.4
$KALMAN_Y,-1618.4,-329.7,-11.0,-1426.5,113.4
$MHEAD_RNG_PITCHd_Wd,82.4,22831,-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,-116.8,0.0,0.0,0,94,0.00,0.00,-70.55,0.000,6,0.000,0.000,424,2139,3112,0,0,0,0,0,0
$GC,97,-1.19,-116.8,3.9,-4.9,14,115,13.18,2.38,0.00,0.000,4,0.137,0.032,2869,3481,3114,0,0,0,0,0,0
$GC,341,-1.19,-116.8,53.0,-16.3,54,348,0.00,2.47,0.00,0.000,6,0.000,0.033,2869,2090,3115,0,0,0,0,0,0
$GC,604,-1.19,-116.8,86.9,-14.1,79,608,0.00,2.53,0.00,0.000,4,0.000,0.041,2869,681,3116,0,0,0,0,0,0
$GC,631,-1.19,-116.8,90.9,-16.1,81,635,0.00,2.38,0.00,0.000,6,0.000,0.021,2869,2078,3116,0,0,0,0,0,0
$GC,897,-1.19,-116.8,122.9,-8.6,105,901,0.00,2.47,0.00,0.000,4,0.000,0.041,2869,691,3117,0,0,0,0,0,0
$GC,959,-1.19,-116.8,129.8,-11.8,111,964,0.00,2.40,0.00,0.000,6,0.000,0.020,2869,2102,3117,0,0,0,0,0,0
$GC,1224,-1.19,-116.8,159.0,-10.4,135,1228,0.00,2.47,0.00,0.000,4,0.000,0.038,2869,3495,3117,0,0,0,0,0,0
$GC,1243,-1.19,-116.8,161.5,-10.7,136,1249,0.00,2.47,0.00,0.000,6,0.000,0.034,2869,2106,3118,0,0,0,0,0,0
$GC,1507,-1.19,-116.8,187.1,-10.0,161,1511,0.00,2.53,0.00,0.000,4,0.000,0.044,2869,687,3118,0,0,0,0,0,0
$GC,1551,-1.19,-116.8,192.4,-11.7,165,1556,0.00,2.40,0.00,0.000,6,0.000,0.022,2869,2099,3118,0,0,0,0,0,0
$GC,1807,-1.19,-116.8,218.7,-9.3,180,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2099,3118,0,0,0,0,0,0
$GC,2117,-1.19,-116.8,248.4,-9.8,195,2122,0.00,2.55,0.00,0.000,4,0.000,0.044,2869,3504,3117,0,0,0,0,0,0
$GC,2162,-1.19,-116.8,252.5,-8.9,197,2166,0.00,2.47,0.00,0.000,6,0.000,0.038,2869,2099,3117,0,0,0,0,0,0
$GC,2493,-1.19,-116.8,274.1,-6.4,213,2497,0.00,2.53,0.00,0.000,4,0.000,0.048,2869,691,3117,0,0,0,0,0,0
$GC,2659,-1.19,-116.8,286.3,-7.5,220,2663,0.00,2.40,0.00,0.000,6,0.000,0.025,2869,2099,3116,0,0,0,0,0,0
$GC,2998,-1.19,-116.8,305.1,-4.9,235,3003,0.00,2.55,0.00,0.000,4,0.000,0.048,2869,692,3115,0,0,0,0,0,0
$GC,3101,-1.19,-116.8,312.3,-7.8,237,3105,0.00,2.45,0.00,0.000,6,0.000,0.026,2869,2106,3115,0,0,0,0,0,0
$GC,3415,-1.19,-116.8,336.7,-8.6,245,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2106,3113,0,0,0,0,0,0
$GC,3740,-1.19,-116.8,365.1,-7.7,253,3745,0.00,2.55,0.00,0.000,4,0.000,0.051,2869,692,3110,0,0,0,0,0,0
$GC,3881,-1.19,-116.8,377.0,-9.2,256,3886,0.00,2.42,0.00,0.000,6,0.000,0.028,2869,2098,3109,0,0,0,0,0,0
$GC,4206,-1.19,-116.8,407.5,-8.8,264,4210,0.00,2.55,0.00,0.000,4,0.000,0.051,2869,691,3107,0,0,0,0,0,0
$GC,4220,-1.19,-116.8,409.1,-9.4,264,4225,0.00,2.47,0.00,0.000,6,0.000,0.028,2869,2107,3107,0,0,0,0,0,0
$GC,4571,-1.19,-116.8,439.5,-8.4,273,4576,0.00,2.55,0.00,0.000,4,0.000,0.053,2869,694,3105,0,0,0,0,0,0
$GC,4595,-1.19,-116.8,441.8,-9.2,273,4599,0.00,2.45,0.00,0.000,6,0.000,0.029,2869,2103,3105,0,0,0,0,0,0
$STATE,4694,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4694,begin apogee
$GC,4701,-0.31,0.0,450.2,8.5,276,4799,0.95,0.00,94.60,0.817,6,0.084,0.000,3066,1793,2635,0,0,0,0,0,0
$STATE,4800,end apogee,CONTROL_FINISHED_OK
$STATE,4800,begin climb
$GC,4803,1.19,116.8,452.1,0.0,278,4908,1.48,0.00,100.68,0.798,6,0.057,0.000,3392,1793,2158,0,0,0,0,0,0
$GC,5251,1.19,116.8,403.8,10.8,289,5255,0.00,2.60,0.00,0.000,4,0.000,0.045,3392,3207,2147,0,0,0,0,0,0
$GC,5265,1.19,116.8,402.1,10.7,289,5270,0.00,2.62,0.00,0.000,6,0.000,0.049,3392,1806,2147,0,0,0,0,0,0
$GC,5615,1.19,116.8,361.2,12.0,298,5620,0.00,2.67,0.00,0.000,4,0.000,0.061,3391,393,2143,0,0,0,0,0,0
$GC,5695,1.19,116.8,350.5,13.9,299,5699,0.00,2.47,0.00,0.000,6,0.000,0.028,3392,1803,2139,0,0,0,0,0,0
$GC,6026,1.19,116.8,313.6,10.9,307,6030,0.00,2.67,0.00,0.000,4,0.000,0.061,3392,395,2138,0,0,0,0,0,0
$GC,6073,1.19,116.8,307.6,13.3,308,6077,0.00,2.47,0.00,0.000,6,0.000,0.028,3392,1803,2137,0,0,0,0,0,0
$GC,6399,1.19,116.8,276.0,9.0,322,6404,0.00,2.53,0.00,0.000,4,0.000,0.043,3392,3215,2137,0,0,0,0,0,0
$GC,6436,1.19,116.8,272.2,10.2,323,6442,0.00,2.60,0.00,0.000,6,0.000,0.050,3392,1802,2137,0,0,0,0,0,0
$GC,6753,1.19,116.8,242.1,8.7,339,6758,0.00,2.65,0.00,0.000,4,0.000,0.061,3391,390,2135,0,0,0,0,0,0
$GC,6827,1.19,116.8,233.9,11.2,342,6832,0.00,2.47,0.00,0.000,6,0.000,0.026,3392,1809,2133,0,0,0,0,0,0
$GC,7148,1.19,116.8,201.3,10.1,358,7149,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1814,2133,0,0,0,0,0,0
$GC,7469,1.19,116.8,175.0,9.3,387,7473,0.00,2.65,0.00,0.000,4,0.000,0.055,3391,386,2132,0,0,0,0,0,0
$GC,7539,1.19,116.8,167.0,11.6,394,7543,0.00,2.47,0.00,0.000,6,0.000,0.024,3392,1806,2131,0,0,0,0,0,0
$GC,7802,1.19,116.8,143.1,9.5,418,7806,0.00,2.45,0.00,0.000,4,0.000,0.036,3392,3204,2132,0,0,0,0,0,0
$GC,7882,1.19,116.8,135.3,9.6,426,7886,0.00,2.53,0.00,0.000,6,0.000,0.040,3391,1800,2132,0,0,0,0,0,0
$GC,8145,1.19,116.8,112.3,8.3,450,8149,0.00,2.58,0.00,0.000,4,0.000,0.052,3392,389,2131,0,0,0,0,0,0
$GC,8262,1.20,120.9,101.6,7.8,462,8266,0.00,2.42,0.00,0.000,6,0.000,0.021,3392,1810,2131,0,0,0,0,0,0
$GC,8526,1.25,159.7,84.9,6.2,486,8565,0.00,2.53,33.08,0.542,4,0.000,0.031,3392,3198,1984,0,0,0,0,0,0
$GC,8601,1.25,159.8,79.2,8.0,494,8605,0.00,2.55,0.00,0.000,6,0.000,0.038,3392,1800,1984,0,0,0,0,0,0
$GC,8865,1.25,159.8,55.8,9.5,518,8869,0.00,2.60,0.00,0.000,4,0.000,0.050,3391,391,1981,0,0,0,0,0,0
$GC,8899,1.25,159.8,52.5,9.4,521,8903,0.00,2.40,0.00,0.000,6,0.000,0.019,3392,1804,1977,0,0,0,0,0,0
$GC,9164,1.37,258.1,35.4,3.5,545,9255,0.17,2.53,83.18,0.499,4,0.049,0.028,3448,3198,1580,0,0,0,0,0,0
$GC,9280,1.37,258.1,25.0,11.0,560,9287,0.00,2.60,0.00,0.000,6,0.000,0.038,3449,1796,1579,0,0,0,0,0,0
$STATE,9471,end climb,SURFACE_DEPTH_REACHED
$STATE,9471,begin surface coast
$FINISH,1.0,1.022805
$STATE,9494,end surface coast,CONTROL_FINISHED_OK
$STATE,9494,begin surface
$SM_CCo,9518,36.92,0.455,0,0,1288,330.17
$SM_GC,1.78,0.00,0.00,36.92,0.000,0.000,0.455,424,2116,1288,-12.48,0.42,330.17
$IRIDIUM_FIX,2101.76,-15758.18,310700,111141
$TT8_MAMPS,0.029146
$HUMID,56.97
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.5,22.891
$10V_AH,10.5,21.819
$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,28.675,111.575,311.525,36.925,0.000,54.018,79.439,262.048,4.500,0.000,31.342,1111.527,6248.425,405.786,1754.375,642.502,33.365,1159.483,0.000,1713.997,0.000,29.264,0.000
$DEVICE_MAMPS,137.293,60.593,816.855,454.831,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,405.548,399.190,879.806,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,31801,599
$CAP_FILE_SIZE,103375,0
$CFSIZE,260165632,242855936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070511,135636,2108.881,-15754.897,40,1.3,45,9.8