version: 66.06
glider: 139
mission: 9
dive: 286
start: 5 7 111 22 49 36
data:
$ID,139
$MISSION,9
$DIVE,286
$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,-2181797.5
$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,17
$R_STBD_OVSHOOT,76
$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
$GPS1,224307,2107.992,-15753.438,79,0.9,79,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-73.4
$GPS2,224843,2107.959,-15753.431,10,0.9,15,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.220,-0.030
$KALMAN_X,-169381.0,-125.2,302.5,164381.3,-1080.0
$KALMAN_Y,-1248.6,147.0,-8.4,-4067.3,38.7
$MHEAD_RNG_PITCHd_Wd,88.1,18594,-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,-116.8,0.0,0.0,0,83,0.00,0.00,-65.07,0.000,2,0.000,0.000,426,2132,2980,0,0,0,0,0,0
$GC,87,-1.19,-116.8,3.2,-4.1,12,111,13.12,2.65,-2.75,0.000,4,0.136,0.052,2869,682,3114,0,0,0,0,0,0
$GC,149,-1.19,-116.8,17.9,-20.9,24,156,0.00,2.40,0.00,0.000,6,0.000,0.021,2869,2061,3115,0,0,0,0,0,0
$GC,350,-1.19,-116.8,55.8,-18.8,48,355,0.00,2.55,0.00,0.000,4,0.000,0.035,2869,3501,3116,0,0,0,0,0,0
$GC,367,-1.19,-116.8,59.0,-19.1,49,372,0.00,2.50,0.00,0.000,6,0.000,0.032,2869,2084,3116,0,0,0,0,0,0
$GC,630,-1.19,-116.8,98.2,-14.7,73,634,0.00,2.47,0.00,0.000,4,0.000,0.042,2869,692,3117,0,0,0,0,0,0
$GC,667,-1.19,-116.8,104.3,-14.5,76,673,0.00,2.42,0.00,0.000,6,0.000,0.021,2869,2101,3117,0,0,0,0,0,0
$GC,929,-1.19,-116.8,137.3,-11.2,101,934,0.00,2.50,0.00,0.000,4,0.000,0.036,2869,3508,3117,0,0,0,0,0,0
$GC,948,-1.19,-116.8,139.8,-11.1,102,956,0.00,2.50,0.00,0.000,6,0.000,0.033,2869,2098,3118,0,0,0,0,0,0
$GC,1213,-1.19,-116.8,167.8,-9.9,127,1217,0.00,2.50,0.00,0.000,4,0.000,0.042,2869,689,3118,0,0,0,0,0,0
$GC,1232,-1.19,-116.8,170.1,-10.0,128,1238,0.00,2.42,0.00,0.000,6,0.000,0.021,2869,2097,3118,0,0,0,0,0,0
$GC,1496,-1.19,-116.8,195.5,-10.1,153,1501,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2099,3118,0,0,0,0,0,0
$GC,1752,-1.19,-116.8,221.0,-10.3,168,1757,0.00,2.50,0.00,0.000,4,0.000,0.043,2869,687,3118,0,0,0,0,0,0
$GC,1797,-1.19,-116.8,225.6,-11.0,170,1801,0.00,2.40,0.00,0.000,6,0.000,0.022,2869,2102,3119,0,0,0,0,0,0
$GC,2126,-1.19,-116.8,258.9,-10.1,186,2130,0.00,2.53,0.00,0.000,4,0.000,0.044,2869,682,3118,0,0,0,0,0,0
$GC,2158,-1.19,-116.8,262.2,-10.2,187,2162,0.00,2.42,0.00,0.000,6,0.000,0.024,2869,2098,3118,0,0,0,0,0,0
$GC,2473,-1.19,-116.8,289.1,-8.9,202,2478,0.00,2.53,0.00,0.000,4,0.000,0.046,2869,683,3117,0,0,0,0,0,0
$GC,2488,-1.19,-116.8,290.5,-9.0,202,2495,0.00,2.47,0.00,0.000,6,0.000,0.025,2869,2102,3117,0,0,0,0,0,0
$GC,2801,-1.19,-116.8,313.8,-6.3,213,2802,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2103,3116,0,0,0,0,0,0
$GC,3126,-1.19,-116.8,330.9,-5.5,221,3130,0.00,2.55,0.00,0.000,4,0.000,0.048,2869,684,3115,0,0,0,0,0,0
$GC,3273,-1.19,-116.8,342.1,-6.8,224,3278,0.00,2.45,0.00,0.000,6,0.000,0.026,2869,2108,3114,0,0,0,0,0,0
$GC,3587,-1.19,-116.8,364.7,-7.4,232,3592,0.00,2.55,0.00,0.000,4,0.000,0.051,2868,3505,3112,0,0,0,0,0,0
$GC,3662,-1.19,-116.8,371.2,-8.4,233,3666,0.00,2.53,0.00,0.000,6,0.000,0.043,2869,2094,3111,0,0,0,0,0,0
$GC,3998,-1.19,-116.8,391.6,-5.3,242,4003,0.00,2.55,0.00,0.000,4,0.000,0.052,2869,692,3109,0,0,0,0,0,0
$GC,4083,-1.19,-116.8,397.5,-7.7,243,4088,0.00,2.45,0.00,0.000,6,0.000,0.028,2869,2096,3108,0,0,0,0,0,0
$GC,4415,-1.19,-116.8,421.0,-7.4,252,4419,0.00,2.60,0.00,0.000,4,0.000,0.054,2869,3507,3106,0,0,0,0,0,0
$GC,4430,-1.19,-116.8,422.2,-7.5,252,4434,0.00,2.53,0.00,0.000,6,0.000,0.045,2869,2102,3106,0,0,0,0,0,0
$GC,4780,-1.19,-116.8,447.6,-7.3,261,4785,0.00,2.60,0.00,0.000,4,0.000,0.056,2868,692,3104,0,0,0,0,0,0
$STATE,4811,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4811,begin apogee
$GC,4819,-0.31,0.0,450.3,8.2,261,4918,0.93,0.00,94.93,0.825,6,0.085,0.000,3062,1811,2635,0,0,0,0,0,0
$STATE,4919,end apogee,CONTROL_FINISHED_OK
$STATE,4919,begin climb
$GC,4921,1.19,116.8,452.7,0.0,264,5034,1.50,2.65,100.72,0.805,4,0.055,0.047,3393,3200,2158,0,0,0,0,0,0
$GC,5044,1.19,116.8,443.2,10.6,266,5049,0.00,2.65,0.00,0.000,6,0.000,0.054,3393,1800,2156,0,0,0,0,0,0
$GC,5375,1.19,116.8,408.8,10.4,275,5379,0.00,2.67,0.00,0.000,4,0.000,0.064,3393,393,2147,0,0,0,0,0,0
$GC,5422,1.19,116.8,402.7,13.7,276,5426,0.00,2.50,0.00,0.000,6,0.000,0.028,3393,1798,2143,0,0,0,0,0,0
$GC,5745,1.19,116.8,365.8,11.7,284,5749,0.00,2.67,0.00,0.000,4,0.000,0.061,3393,393,2141,0,0,0,0,0,0
$GC,5773,1.19,116.8,362.1,12.9,284,5778,0.00,2.50,0.00,0.000,6,0.000,0.028,3393,1799,2139,0,0,0,0,0,0
$GC,6109,1.19,116.8,322.6,11.3,293,6114,0.00,2.65,0.00,0.000,4,0.000,0.061,3393,392,2139,0,0,0,0,0,0
$GC,6165,1.19,116.8,315.4,13.2,294,6169,0.00,2.47,0.00,0.000,6,0.000,0.028,3393,1799,2137,0,0,0,0,0,0
$GC,6482,1.19,116.8,277.0,12.2,306,6486,0.00,2.55,0.00,0.000,4,0.000,0.043,3393,3207,2136,0,0,0,0,0,0
$GC,6514,1.19,116.8,273.0,11.8,307,6519,0.00,2.62,0.00,0.000,6,0.000,0.048,3393,1795,2136,0,0,0,0,0,0
$GC,6830,1.19,116.8,242.5,9.5,322,6834,0.00,2.62,0.00,0.000,4,0.000,0.059,3392,389,2135,0,0,0,0,0,0
$GC,6885,1.19,116.8,236.0,11.7,324,6890,0.00,2.50,0.00,0.000,6,0.000,0.026,3393,1806,2133,0,0,0,0,0,0
$GC,7202,1.19,116.8,203.9,9.7,339,7207,0.00,2.50,0.00,0.000,4,0.000,0.038,3393,3217,2133,0,0,0,0,0,0
$GC,7217,1.19,116.8,202.2,9.3,339,7222,0.00,2.58,0.00,0.000,6,0.000,0.042,3393,1797,2133,0,0,0,0,0,0
$GC,7544,1.19,116.8,173.1,8.8,369,7549,0.00,2.53,0.00,0.000,4,0.000,0.035,3393,3215,2133,0,0,0,0,0,0
$GC,7563,1.19,116.8,171.1,8.6,370,7570,0.00,2.60,0.00,0.000,6,0.000,0.042,3393,1799,2133,0,0,0,0,0,0
$GC,7826,1.19,116.8,149.0,9.0,395,7830,0.00,2.60,0.00,0.000,4,0.000,0.054,3393,389,2133,0,0,0,0,0,0
$GC,7870,1.19,116.8,144.2,11.2,399,7875,0.00,2.45,0.00,0.000,6,0.000,0.022,3393,1819,2131,0,0,0,0,0,0
$GC,8135,1.19,116.8,120.9,8.7,423,8140,0.00,2.65,0.00,0.000,4,0.000,0.051,3393,390,2132,0,0,0,0,0,0
$GC,8191,1.19,116.8,114.4,10.8,428,8198,0.00,2.45,0.00,0.000,6,0.000,0.021,3393,1802,2131,0,0,0,0,0,0
$GC,8456,1.24,152.7,95.1,6.4,453,8493,0.00,2.70,27.17,0.545,4,0.000,0.049,3393,390,2011,0,0,0,0,0,0
$GC,8522,1.24,152.7,89.9,8.4,460,8526,0.00,2.42,0.00,0.000,6,0.000,0.021,3393,1802,2008,0,0,0,0,0,0
$GC,8787,1.26,166.9,70.9,7.4,484,8807,0.00,0.00,13.43,0.492,6,0.000,0.000,3393,1806,1953,0,0,0,0,0,0
$GC,9065,1.27,176.0,47.6,7.6,510,9079,0.00,2.62,9.10,0.446,4,0.000,0.049,3393,392,1916,0,0,0,0,0,0
$GC,9177,1.27,176.0,39.0,8.5,522,9181,0.00,2.40,0.00,0.000,6,0.000,0.019,3393,1802,1911,0,0,0,0,0,0
$GC,9442,1.33,225.8,22.2,5.7,558,9488,0.15,0.00,42.88,0.478,6,0.053,0.000,3446,1806,1714,0,0,0,0,0,0
$STATE,9624,end climb,SURFACE_DEPTH_REACHED
$STATE,9624,begin surface coast
$FINISH,1.0,1.008992
$STATE,9652,end surface coast,CONTROL_FINISHED_OK
$STATE,9652,begin surface
$SM_CCo,9676,53.05,0.459,0,0,1288,330.17
$SM_GC,1.73,0.00,0.00,53.05,0.000,0.000,0.459,429,2143,1288,-12.46,1.22,330.17
$IRIDIUM_FIX,2101.76,-15753.03,310700,202039
$TT8_MAMPS,0.029146
$HUMID,56.34
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.5,23.255
$10V_AH,10.4,22.137
$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,28.575,126.575,288.225,53.050,0.000,23.703,36.658,147.941,4.500,0.000,15.358,1099.209,6429.885,414.991,1665.672,456.959,33.358,1165.253,0.000,1650.667,0.000,29.252,0.000
$DEVICE_MAMPS,135.759,63.661,825.292,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,402.451,388.222,865.300,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,31706,596
$CAP_FILE_SIZE,102345,0
$CFSIZE,260165632,242663424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080511,013258,2107.867,-15752.241,13,6.0,32,9.8