version: 66.06
glider: 139
mission: 9
dive: 284
start: 5 7 111 17 6 11
data:
$ID,139
$MISSION,9
$DIVE,284
$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,-2181769.2
$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,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
$GPS1,165525,2108.608,-15754.794,42,1.3,42,9.8
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-72.0
$GPS2,170519,2108.663,-15754.938,14,1.2,31,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.200,-0.097
$KALMAN_X,-166523.8,-333.8,-336.7,159769.9,-1465.7
$KALMAN_Y,-1182.3,-327.7,-93.3,-2269.3,886.8
$MHEAD_RNG_PITCHd_Wd,106.0,21429,-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,14,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,-69.15,0.000,2,0.000,0.000,426,2153,3099,0,0,0,0,0,0
$GC,93,-1.19,-116.8,3.4,-4.5,13,112,13.12,2.65,-0.22,0.000,4,0.136,0.048,2868,672,3113,0,0,0,0,0,0
$GC,120,-1.19,-116.8,12.4,-24.4,17,126,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2054,3114,0,0,0,0,0,0
$GC,328,-1.19,-116.8,51.1,-19.1,44,334,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2058,3115,0,0,0,0,0,0
$GC,591,-1.19,-116.8,87.5,-11.5,69,595,0.00,2.55,0.00,0.000,4,0.000,0.035,2868,3497,3115,0,0,0,0,0,0
$GC,661,-1.19,-116.8,96.7,-13.0,76,665,0.00,2.45,0.00,0.000,6,0.000,0.032,2868,2089,3115,0,0,0,0,0,0
$GC,923,-1.19,-116.8,126.5,-11.9,100,928,0.00,2.47,0.00,0.000,4,0.000,0.041,2868,693,3116,0,0,0,0,0,0
$GC,942,-1.19,-116.8,129.0,-11.1,101,947,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2102,3116,0,0,0,0,0,0
$GC,1205,-1.19,-116.8,155.5,-11.0,126,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2102,3117,0,0,0,0,0,0
$GC,1457,-1.19,-116.8,187.2,-12.0,150,1458,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2103,3117,0,0,0,0,0,0
$GC,1721,-1.19,-116.8,211.1,-8.6,169,1725,0.00,2.50,0.00,0.000,4,0.000,0.044,2868,692,3117,0,0,0,0,0,0
$GC,1744,-1.19,-116.8,213.8,-9.9,170,1749,0.00,2.40,0.00,0.000,6,0.000,0.022,2868,2104,3117,0,0,0,0,0,0
$GC,2075,-1.19,-116.8,242.3,-10.4,186,2080,0.00,2.47,0.00,0.000,4,0.000,0.041,2868,3497,3117,0,0,0,0,0,0
$GC,2144,-1.19,-116.8,249.8,-10.1,189,2149,0.00,2.45,0.00,0.000,6,0.000,0.037,2868,2103,3117,0,0,0,0,0,0
$GC,2471,-1.19,-116.8,278.3,-7.4,205,2476,0.00,2.55,0.00,0.000,4,0.000,0.048,2867,684,3116,0,0,0,0,0,0
$GC,2498,-1.19,-116.8,280.2,-7.8,206,2502,0.00,2.42,0.00,0.000,6,0.000,0.024,2868,2102,3116,0,0,0,0,0,0
$GC,2824,-1.19,-116.8,301.5,-7.4,222,2828,0.00,2.53,0.00,0.000,4,0.000,0.045,2868,3495,3115,0,0,0,0,0,0
$GC,2946,-1.19,-116.8,311.7,-8.3,224,2951,0.00,2.47,0.00,0.000,6,0.000,0.040,2868,2099,3115,0,0,0,0,0,0
$GC,3284,-1.19,-116.8,337.6,-7.6,233,3288,0.00,2.55,0.00,0.000,4,0.000,0.050,2868,689,3113,0,0,0,0,0,0
$GC,3373,-1.19,-116.8,345.3,-8.7,235,3378,0.00,2.42,0.00,0.000,6,0.000,0.026,2868,2098,3112,0,0,0,0,0,0
$GC,3701,-1.19,-116.8,377.7,-10.4,243,3705,0.00,2.58,0.00,0.000,4,0.000,0.051,2868,686,3110,0,0,0,0,0,0
$GC,3785,-1.19,-116.8,385.8,-9.2,244,3790,0.00,2.47,0.00,0.000,6,0.000,0.028,2868,2106,3110,0,0,0,0,0,0
$GC,4116,-1.19,-116.8,411.2,-7.4,253,4121,0.00,2.58,0.00,0.000,4,0.000,0.052,2867,3505,3108,0,0,0,0,0,0
$GC,4136,-1.19,-116.8,412.8,-7.7,253,4140,0.00,2.53,0.00,0.000,6,0.000,0.044,2868,2093,3108,0,0,0,0,0,0
$GC,4481,-1.19,-116.8,435.0,-6.0,262,4485,0.00,2.58,0.00,0.000,4,0.000,0.050,2868,3499,3105,0,0,0,0,0,0
$GC,4496,-1.19,-116.8,435.9,-5.2,262,4501,0.00,2.50,0.00,0.000,6,0.000,0.046,2868,2104,3105,0,0,0,0,0,0
$STATE,4803,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4803,begin apogee
$GC,4810,-0.31,0.0,451.6,4.8,270,4908,0.95,0.00,94.75,0.821,6,0.083,0.000,3065,1787,2635,0,0,0,0,0,0
$STATE,4909,end apogee,CONTROL_FINISHED_OK
$STATE,4909,begin climb
$GC,4912,1.19,116.8,451.1,0.0,272,5018,1.50,0.00,101.53,0.798,6,0.056,0.000,3396,1787,2158,0,0,0,0,0,0
$GC,5321,1.19,116.8,397.2,14.1,282,5325,0.00,2.62,0.00,0.000,4,0.000,0.044,3396,3203,2147,0,0,0,0,0,0
$GC,5373,1.19,116.8,389.1,14.2,283,5377,0.00,2.62,0.00,0.000,6,0.000,0.053,3395,1805,2146,0,0,0,0,0,0
$GC,5691,1.19,116.8,344.6,14.0,291,5696,0.00,2.65,0.00,0.000,4,0.000,0.062,3395,393,2143,0,0,0,0,0,0
$GC,5743,1.19,116.8,336.5,15.2,292,5747,0.00,2.50,0.00,0.000,6,0.000,0.027,3395,1803,2140,0,0,0,0,0,0
$GC,6061,1.19,116.8,298.6,11.0,300,6063,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1807,2139,0,0,0,0,0,0
$GC,6372,1.19,116.8,269.3,9.2,315,6376,0.00,2.53,0.00,0.000,4,0.000,0.041,3396,3206,2138,0,0,0,0,0,0
$GC,6418,1.19,116.8,264.9,9.2,317,6422,0.00,2.60,0.00,0.000,6,0.000,0.048,3396,1793,2138,0,0,0,0,0,0
$GC,6746,1.19,116.8,236.1,9.7,333,6750,0.00,2.60,0.00,0.000,4,0.000,0.058,3395,387,2136,0,0,0,0,0,0
$GC,6783,1.19,116.8,231.8,11.2,334,6790,0.00,2.50,0.00,0.000,6,0.000,0.025,3396,1800,2134,0,0,0,0,0,0
$GC,7099,1.19,116.8,202.4,8.9,350,7104,0.00,2.65,0.00,0.000,4,0.000,0.056,3395,387,2134,0,0,0,0,0,0
$GC,7114,1.19,116.8,200.9,9.4,350,7120,0.00,2.47,0.00,0.000,6,0.000,0.024,3395,1799,2133,0,0,0,0,0,0
$GC,7438,1.19,116.8,171.8,9.0,380,7439,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1802,2134,0,0,0,0,0,0
$GC,7693,1.19,116.8,150.1,8.2,404,7697,0.00,2.47,0.00,0.000,4,0.000,0.035,3395,3200,2134,0,0,0,0,0,0
$GC,7717,1.19,116.8,148.0,8.9,406,7721,0.00,2.53,0.00,0.000,6,0.000,0.039,3395,1797,2134,0,0,0,0,0,0
$GC,7980,1.19,116.8,124.2,9.5,430,7985,0.00,2.58,0.00,0.000,4,0.000,0.052,3395,392,2134,0,0,0,0,0,0
$GC,8033,1.19,116.8,119.0,9.4,435,8037,0.00,2.42,0.00,0.000,6,0.000,0.021,3396,1800,2132,0,0,0,0,0,0
$GC,8298,1.22,138.9,101.4,7.0,459,8320,0.00,2.53,15.70,0.529,4,0.000,0.031,3396,3194,2068,0,0,0,0,0,0
$GC,8414,1.27,181.5,92.9,6.1,471,8458,0.00,2.53,38.15,0.545,6,0.000,0.038,3396,1799,1893,0,0,0,0,0,0
$GC,8721,1.27,181.5,68.7,8.5,501,8725,0.00,2.47,0.00,0.000,4,0.000,0.030,3396,3201,1888,0,0,0,0,0,0
$GC,8755,1.30,204.1,66.4,7.0,504,8786,0.10,2.55,19.77,0.500,6,0.070,0.038,3437,1800,1801,0,0,0,0,0,0
$GC,9040,1.30,204.1,37.4,9.8,531,9044,0.00,2.58,0.00,0.000,4,0.000,0.049,3436,391,1799,0,0,0,0,0,0
$GC,9147,1.30,204.1,25.9,10.3,547,9154,0.00,2.45,0.00,0.000,6,0.000,0.019,3437,1809,1794,0,0,0,0,0,0
$GC,9350,1.30,204.1,4.7,8.9,584,9357,0.00,2.62,0.00,0.000,4,0.000,0.045,3436,392,1794,0,0,0,0,0,0
$STATE,9367,end climb,SURFACE_DEPTH_REACHED
$STATE,9367,begin surface coast
$FINISH,1.4,1.023031
$STATE,9377,end surface coast,CONTROL_FINISHED_OK
$STATE,9377,begin surface
$SM_CCo,9403,62.08,0.456,0,0,1287,330.17
$SM_GC,1.66,0.00,0.00,62.08,0.000,0.000,0.456,425,2109,1287,-12.48,0.25,330.17
$IRIDIUM_FIX,2104.07,-15812.77,310700,171713
$TT8_MAMPS,0.029146
$HUMID,55.82
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.5,23.072
$10V_AH,10.5,21.977
$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,28.500,111.950,269.900,62.075,0.000,49.396,90.712,232.514,4.500,0.000,32.016,1089.479,6277.972,426.039,1636.964,630.740,33.356,1121.942,0.000,1603.747,0.000,29.249,0.000
$DEVICE_MAMPS,135.759,62.127,820.690,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,398.808,390.320,842.768,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31771,589
$CAP_FILE_SIZE,99458,0
$CFSIZE,260165632,242761728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070511,194506,2108.289,-15754.534,13,1.6,29,9.8