version: 66.06
glider: 139
mission: 9
dive: 288
start: 5 8 111 4 27 49
data:
$ID,139
$MISSION,9
$DIVE,288
$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,-2181853
$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,48
$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
$GPS1,041725,2107.601,-15751.864,78,0.9,78,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-73.6
$GPS2,042656,2107.610,-15752.044,16,1.9,16,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.221,-0.012
$KALMAN_X,-172083.0,446.2,-73.7,169286.9,-2291.6
$KALMAN_Y,-1166.4,196.8,-68.5,-4786.2,93.6
$MHEAD_RNG_PITCHd_Wd,83.3,16115,-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,-69.57,0.000,2,0.000,0.000,428,2104,3109,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.5,-4.4,13,110,13.43,2.58,0.00,0.000,4,0.145,0.038,2867,671,3111,0,0,0,0,0,0
$GC,131,-1.19,-116.8,17.3,-34.6,20,137,0.00,2.47,0.00,0.000,6,0.000,0.021,2867,2091,3112,0,0,0,0,0,0
$GC,337,-1.19,-116.8,59.3,-15.6,44,338,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2095,3113,0,0,0,0,0,0
$GC,591,-1.19,-116.8,96.8,-14.7,68,595,0.00,2.50,0.00,0.000,4,0.000,0.041,2868,682,3114,0,0,0,0,0,0
$GC,616,-1.19,-116.8,100.4,-14.7,70,620,0.00,2.40,0.00,0.000,6,0.000,0.021,2867,2101,3114,0,0,0,0,0,0
$GC,879,-1.19,-116.8,133.0,-11.8,94,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2104,3114,0,0,0,0,0,0
$GC,1133,-1.19,-116.8,160.7,-11.0,118,1137,0.00,2.53,0.00,0.000,4,0.000,0.043,2867,681,3115,0,0,0,0,0,0
$GC,1149,-1.19,-116.8,162.8,-11.8,119,1154,0.00,2.42,0.00,0.000,6,0.000,0.022,2868,2110,3115,0,0,0,0,0,0
$GC,1414,-1.19,-116.8,192.4,-10.5,143,1418,0.00,2.47,0.00,0.000,4,0.000,0.040,2867,3504,3115,0,0,0,0,0,0
$GC,1538,-1.19,-116.8,203.9,-8.8,153,1543,0.00,2.47,0.00,0.000,6,0.000,0.035,2868,2085,3115,0,0,0,0,0,0
$GC,1854,-1.19,-116.8,228.5,-7.9,168,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2084,3115,0,0,0,0,0,0
$GC,2164,-1.19,-116.8,256.1,-9.0,183,2169,0.00,2.53,0.00,0.000,4,0.000,0.045,2868,683,3115,0,0,0,0,0,0
$GC,2179,-1.19,-116.8,257.5,-8.8,183,2184,0.00,2.40,0.00,0.000,6,0.000,0.023,2867,2099,3115,0,0,0,0,0,0
$GC,2497,-1.19,-116.8,281.5,-7.5,199,2501,0.00,2.55,0.00,0.000,4,0.000,0.045,2867,692,3114,0,0,0,0,0,0
$GC,2548,-1.19,-116.8,286.1,-8.6,201,2552,0.00,2.40,0.00,0.000,6,0.000,0.024,2867,2102,3114,0,0,0,0,0,0
$GC,2867,-1.19,-116.8,310.6,-7.8,214,2871,0.00,2.53,0.00,0.000,4,0.000,0.046,2867,3497,3113,0,0,0,0,0,0
$GC,2915,-1.19,-116.8,314.4,-7.7,215,2920,0.00,2.47,0.00,0.000,6,0.000,0.040,2867,2097,3113,0,0,0,0,0,0
$GC,3239,-1.19,-116.8,339.1,-7.8,223,3243,0.00,2.58,0.00,0.000,4,0.000,0.049,2867,682,3111,0,0,0,0,0,0
$GC,3258,-1.19,-116.8,340.8,-8.2,223,3262,0.00,2.45,0.00,0.000,6,0.000,0.026,2867,2109,3111,0,0,0,0,0,0
$GC,3603,-1.19,-116.8,369.7,-8.6,232,3607,0.00,2.58,0.00,0.000,4,0.000,0.049,2867,692,3108,0,0,0,0,0,0
$GC,3659,-1.19,-116.8,374.2,-7.7,233,3663,0.00,2.42,0.00,0.000,6,0.000,0.027,2867,2100,3108,0,0,0,0,0,0
$GC,3974,-1.19,-116.8,400.0,-8.6,241,3978,0.00,2.58,0.00,0.000,4,0.000,0.052,2867,691,3106,0,0,0,0,0,0
$GC,4011,-1.19,-116.8,403.5,-9.3,241,4017,0.00,2.45,0.00,0.000,6,0.000,0.028,2867,2099,3105,0,0,0,0,0,0
$GC,4343,-1.19,-116.8,426.8,-6.6,250,4348,0.00,2.60,0.00,0.000,4,0.000,0.054,2867,693,3104,0,0,0,0,0,0
$GC,4409,-1.19,-116.8,431.4,-6.9,251,4413,0.00,2.42,0.00,0.000,6,0.000,0.028,2867,2099,3104,0,0,0,0,0,0
$STATE,4710,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4710,begin apogee
$GC,4717,-0.31,0.0,451.6,6.9,259,4815,1.00,0.00,94.30,0.821,6,0.099,0.000,3067,1790,2635,0,0,0,0,0,0
$STATE,4816,end apogee,CONTROL_FINISHED_OK
$STATE,4816,begin climb
$GC,4819,1.19,116.8,453.2,0.0,261,4925,1.55,0.00,101.47,0.803,6,0.067,0.000,3397,1790,2158,0,0,0,0,0,0
$GC,5238,1.19,116.8,403.8,12.6,272,5239,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1790,2147,0,0,0,0,0,0
$GC,5563,1.19,116.8,364.1,11.8,280,5568,0.00,2.60,0.00,0.000,4,0.000,0.046,3397,3204,2143,0,0,0,0,0,0
$GC,5592,1.19,116.8,360.5,11.6,280,5596,0.00,2.62,0.00,0.000,6,0.000,0.051,3397,1805,2143,0,0,0,0,0,0
$GC,5928,1.19,116.8,320.7,11.6,289,5932,0.00,2.65,0.00,0.000,4,0.000,0.061,3396,393,2140,0,0,0,0,0,0
$GC,5975,1.19,116.8,314.7,12.9,290,5979,0.00,2.50,0.00,0.000,6,0.000,0.027,3397,1806,2138,0,0,0,0,0,0
$GC,6300,1.19,116.8,279.2,10.8,302,6305,0.00,2.50,0.00,0.000,4,0.000,0.041,3396,3204,2137,0,0,0,0,0,0
$GC,6322,1.19,116.8,276.5,13.6,303,6326,0.00,2.60,0.00,0.000,6,0.000,0.048,3397,1801,2137,0,0,0,0,0,0
$GC,6653,1.19,116.8,238.8,10.7,319,6657,0.00,2.62,0.00,0.000,4,0.000,0.058,3397,393,2136,0,0,0,0,0,0
$GC,6722,1.19,116.8,230.6,11.8,322,6727,0.00,2.47,0.00,0.000,6,0.000,0.025,3397,1807,2134,0,0,0,0,0,0
$GC,7047,1.19,116.8,198.9,8.8,338,7048,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1812,2134,0,0,0,0,0,0
$GC,7302,1.19,116.8,177.7,8.5,362,7307,0.00,2.62,0.00,0.000,4,0.000,0.055,3396,393,2134,0,0,0,0,0,0
$GC,7319,1.19,116.8,176.2,9.3,363,7323,0.00,2.45,0.00,0.000,6,0.000,0.024,3397,1809,2133,0,0,0,0,0,0
$GC,7584,1.19,116.8,152.1,9.1,387,7588,0.00,2.42,0.00,0.000,4,0.000,0.035,3397,3198,2132,0,0,0,0,0,0
$GC,7610,1.19,116.8,149.6,9.1,389,7614,0.00,2.55,0.00,0.000,6,0.000,0.039,3397,1793,2133,0,0,0,0,0,0
$GC,7874,1.19,116.8,126.8,8.2,413,7878,0.00,2.53,0.00,0.000,4,0.000,0.034,3397,3205,2133,0,0,0,0,0,0
$GC,7913,1.21,128.1,123.6,7.5,416,7929,0.00,2.58,6.50,0.477,6,0.000,0.040,3397,1802,2112,0,0,0,0,0,0
$GC,8184,1.26,166.0,104.2,6.3,442,8224,0.00,2.67,33.90,0.561,4,0.000,0.051,3397,385,1957,0,0,0,0,0,0
$GC,8279,1.26,166.0,97.4,8.4,452,8283,0.00,2.45,0.00,0.000,6,0.000,0.021,3397,1807,1952,0,0,0,0,0,0
$GC,8543,1.26,166.0,76.0,8.9,476,8549,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1812,1951,0,0,0,0,0,0
$GC,8806,1.26,166.0,51.7,8.9,501,8810,0.00,2.42,0.00,0.000,4,0.000,0.030,3397,3202,1952,0,0,0,0,0,0
$GC,8894,1.26,166.0,43.6,8.1,510,8901,0.00,2.55,0.00,0.000,6,0.000,0.035,3397,1801,1951,0,0,0,0,0,0
$GC,9160,1.28,188.2,25.0,7.0,541,9183,0.00,0.00,19.42,0.466,6,0.000,0.000,3397,1801,1866,0,0,0,0,0,0
$GC,9381,1.34,236.5,12.7,5.8,581,9427,0.15,0.00,41.55,0.469,6,0.052,0.000,3456,1801,1670,0,0,0,0,0,0
$STATE,9469,end climb,SURFACE_DEPTH_REACHED
$STATE,9469,begin surface coast
$FINISH,1.0,1.005412
$STATE,9493,end surface coast,CONTROL_FINISHED_OK
$STATE,9493,begin surface
$SM_CCo,9517,48.47,0.456,0,0,1288,330.17
$SM_GC,1.73,0.00,0.00,48.47,0.000,0.000,0.456,427,2135,1288,-12.47,0.99,330.17
$IRIDIUM_FIX,2057.14,-15751.76,010800,040403
$TT8_MAMPS,0.029146
$HUMID,55.43
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,23.421
$10V_AH,10.4,22.291
$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,29.175,101.675,297.150,48.475,0.000,55.271,72.930,251.319,4.500,0.000,16.303,1084.545,6420.806,425.966,1588.638,619.149,33.363,1103.284,0.000,1574.703,0.000,29.249,0.000
$DEVICE_MAMPS,144.963,61.360,821.457,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,406.151,396.117,880.303,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,31800,601
$CAP_FILE_SIZE,98719,0
$CFSIZE,260165632,242565120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080511,070808,2107.548,-15751.541,14,1.8,14,9.8