version: 66.06
glider: 139
mission: 9
dive: 283
start: 5 7 111 14 12 10
data:
$ID,139
$MISSION,9
$DIVE,283
$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,-2181736.5
$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,18
$R_STBD_OVSHOOT,57
$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
$GPS1,135636,2108.881,-15754.897,40,1.3,45,9.8
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-71.6
$GPS2,141117,2108.882,-15755.020,37,3.1,56,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.211,-0.068
$KALMAN_X,-165435.3,-42.6,489.9,157416.3,-2603.2
$KALMAN_Y,-1245.5,-432.4,-274.9,-1516.5,831.9
$MHEAD_RNG_PITCHd_Wd,98.2,21668,-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,-69.55,0.000,6,0.000,0.000,423,2115,3111,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.8,-5.9,13,110,13.07,0.00,0.00,0.000,6,0.133,0.000,2869,2115,3114,0,0,0,0,0,0
$GC,312,-1.19,-116.8,53.3,-19.3,43,317,0.00,2.45,0.00,0.000,4,0.000,0.036,2869,3491,3115,0,0,0,0,0,0
$GC,436,-1.19,-116.8,72.5,-15.8,56,440,0.00,2.47,0.00,0.000,6,0.000,0.036,2870,2089,3116,0,0,0,0,0,0
$GC,700,-1.19,-116.8,103.2,-11.7,80,705,0.00,2.47,0.00,0.000,4,0.000,0.033,2869,3491,3116,0,0,0,0,0,0
$GC,772,-1.19,-116.8,111.2,-10.2,87,776,0.00,2.42,0.00,0.000,6,0.000,0.032,2870,2093,3116,0,0,0,0,0,0
$GC,1036,-1.19,-116.8,138.6,-9.8,111,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2093,3117,0,0,0,0,0,0
$GC,1298,-1.19,-116.8,167.3,-10.3,136,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2092,3117,0,0,0,0,0,0
$GC,1552,-1.19,-116.8,196.1,-10.3,160,1554,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2092,3117,0,0,0,0,0,0
$GC,1802,-1.19,-116.8,220.7,-9.6,174,1806,0.00,2.53,0.00,0.000,4,0.000,0.045,2869,691,3117,0,0,0,0,0,0
$GC,1816,-1.19,-116.8,222.3,-9.5,174,1823,0.00,2.40,0.00,0.000,6,0.000,0.023,2869,2077,3117,0,0,0,0,0,0
$GC,2132,-1.19,-116.8,250.8,-8.6,190,2136,0.00,2.47,0.00,0.000,4,0.000,0.045,2869,692,3116,0,0,0,0,0,0
$GC,2183,-1.19,-116.8,255.9,-10.4,192,2187,0.00,2.40,0.00,0.000,6,0.000,0.023,2870,2107,3116,0,0,0,0,0,0
$GC,2503,-1.19,-116.8,288.2,-9.9,208,2504,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2108,3115,0,0,0,0,0,0
$GC,2810,-1.19,-116.8,313.3,-7.3,219,2814,0.00,2.55,0.00,0.000,4,0.000,0.047,2870,695,3114,0,0,0,0,0,0
$GC,2839,-1.19,-116.8,315.5,-7.2,219,2843,0.00,2.42,0.00,0.000,6,0.000,0.025,2869,2098,3114,0,0,0,0,0,0
$GC,3176,-1.19,-116.8,342.1,-8.0,228,3180,0.00,2.53,0.00,0.000,4,0.000,0.048,2869,695,3112,0,0,0,0,0,0
$GC,3393,-1.19,-116.8,362.5,-9.7,232,3398,0.00,2.42,0.00,0.000,6,0.000,0.027,2869,2102,3111,0,0,0,0,0,0
$GC,3726,-1.19,-116.8,386.4,-7.0,240,3731,0.00,2.55,0.00,0.000,4,0.000,0.051,2869,693,3108,0,0,0,0,0,0
$GC,3765,-1.19,-116.8,389.2,-7.1,240,3770,0.00,2.42,0.00,0.000,6,0.000,0.028,2869,2099,3108,0,0,0,0,0,0
$GC,4098,-1.19,-116.8,405.1,-4.1,249,4102,0.00,2.60,0.00,0.000,4,0.000,0.052,2869,691,3106,0,0,0,0,0,0
$GC,4117,-1.19,-116.8,406.2,-4.9,249,4121,0.00,2.45,0.00,0.000,6,0.000,0.028,2869,2100,3106,0,0,0,0,0,0
$GC,4463,-1.19,-116.8,427.4,-7.5,258,4467,0.00,2.60,0.00,0.000,4,0.000,0.054,2869,3499,3104,0,0,0,0,0,0
$GC,4491,-1.19,-116.8,429.8,-7.5,258,4496,0.00,2.53,0.00,0.000,6,0.000,0.046,2869,2108,3103,0,0,0,0,0,0
$STATE,4743,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4743,begin apogee
$GC,4750,-0.31,0.0,451.8,7.7,265,4848,0.95,0.00,94.47,0.824,6,0.082,0.000,3066,1791,2635,0,0,0,0,0,0
$STATE,4849,end apogee,CONTROL_FINISHED_OK
$STATE,4849,begin climb
$GC,4852,1.19,116.8,453.6,0.0,267,4958,1.48,0.00,101.50,0.802,6,0.055,0.000,3393,1791,2158,0,0,0,0,0,0
$GC,5261,1.19,116.8,413.1,11.5,277,5263,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1791,2146,0,0,0,0,0,0
$GC,5584,1.19,116.8,378.4,11.2,285,5589,0.00,2.62,0.00,0.000,4,0.000,0.062,3392,396,2143,0,0,0,0,0,0
$GC,5604,1.19,116.8,375.9,11.9,285,5608,0.00,2.47,0.00,0.000,6,0.000,0.028,3393,1801,2141,0,0,0,0,0,0
$GC,5949,1.19,116.8,338.3,10.5,294,5953,0.00,2.65,0.00,0.000,4,0.000,0.061,3392,402,2140,0,0,0,0,0,0
$GC,5982,1.19,116.8,334.4,12.1,294,5986,0.00,2.47,0.00,0.000,6,0.000,0.028,3393,1800,2138,0,0,0,0,0,0
$GC,6313,1.19,116.8,304.4,8.7,302,6317,0.00,2.62,0.00,0.000,4,0.000,0.060,3393,401,2137,0,0,0,0,0,0
$GC,6360,1.19,116.8,299.0,11.2,303,6364,0.00,2.45,0.00,0.000,6,0.000,0.028,3393,1800,2136,0,0,0,0,0,0
$GC,6686,1.19,116.8,266.0,10.4,319,6687,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1802,2136,0,0,0,0,0,0
$GC,6994,1.19,116.8,232.5,10.7,334,6998,0.00,2.62,0.00,0.000,4,0.000,0.058,3393,400,2135,0,0,0,0,0,0
$GC,7038,1.19,116.8,227.6,11.5,336,7043,0.00,2.45,0.00,0.000,6,0.000,0.026,3393,1803,2133,0,0,0,0,0,0
$GC,7360,1.19,116.8,196.2,9.2,353,7364,0.00,2.47,0.00,0.000,4,0.000,0.038,3393,3204,2133,0,0,0,0,0,0
$GC,7459,1.19,116.8,187.5,8.7,363,7463,0.00,2.55,0.00,0.000,6,0.000,0.046,3393,1806,2133,0,0,0,0,0,0
$GC,7724,1.21,128.3,167.3,7.5,387,7736,0.00,2.67,6.28,0.505,4,0.000,0.055,3393,394,2113,0,0,0,0,0,0
$GC,7762,1.21,128.3,163.1,11.2,391,7766,0.00,2.45,0.00,0.000,6,0.000,0.023,3393,1809,2110,0,0,0,0,0,0
$GC,8026,1.21,128.3,139.0,8.4,415,8031,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1813,2111,0,0,0,0,0,0
$GC,8288,1.21,128.3,118.0,8.1,440,8292,0.00,2.62,0.00,0.000,4,0.000,0.051,3393,393,2111,0,0,0,0,0,0
$GC,8307,1.22,134.6,116.4,7.7,441,8323,0.00,2.42,7.10,0.481,6,0.000,0.022,3393,1809,2085,0,0,0,0,0,0
$GC,8578,1.22,134.6,94.3,8.6,467,8579,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1809,2085,0,0,0,0,0,0
$GC,8833,1.26,168.5,76.1,6.5,491,8873,0.00,2.53,30.60,0.530,4,0.000,0.031,3393,3194,1947,0,0,0,0,0,0
$GC,8897,1.29,197.6,72.0,6.7,497,8933,0.08,2.58,26.50,0.518,6,0.036,0.039,3432,1803,1828,0,0,0,0,0,0
$GC,9187,1.29,197.6,47.7,8.3,525,9192,0.00,2.60,0.00,0.000,4,0.000,0.051,3432,390,1823,0,0,0,0,0,0
$GC,9248,1.29,197.6,41.4,11.5,531,9252,0.00,2.40,0.00,0.000,6,0.000,0.019,3432,1800,1819,0,0,0,0,0,0
$GC,9513,1.29,197.6,14.1,14.4,569,9519,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,1803,1819,0,0,0,0,0,0
$STATE,9599,end climb,SURFACE_DEPTH_REACHED
$STATE,9599,begin surface coast
$FINISH,1.5,1.023021
$STATE,9622,end surface coast,CONTROL_FINISHED_OK
$STATE,9622,begin surface
$SM_CCo,9647,66.55,0.462,0,0,1288,330.17
$SM_GC,1.74,0.00,0.00,66.55,0.000,0.000,0.462,426,2154,1288,-12.47,1.50,330.17
$IRIDIUM_FIX,2059.45,-15756.04,310700,141444
$TT8_MAMPS,0.029146
$HUMID,56.61
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.5,22.987
$10V_AH,10.5,21.899
$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,28.475,91.425,266.450,66.550,0.000,84.300,113.451,380.111,4.500,0.000,57.751,1071.969,6670.917,419.458,1611.673,822.192,33.359,1088.620,0.000,1557.436,0.000,29.248,0.000
$DEVICE_MAMPS,133.458,62.127,823.758,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,399.290,385.108,830.267,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355724
$DATA_FILE_SIZE,31747,589
$CAP_FILE_SIZE,102198,0
$CFSIZE,260165632,242810880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070511,165525,2108.608,-15754.794,42,1.3,42,9.8