version: 66.06
glider: 139
mission: 9
dive: 289
start: 5 8 111 7 18 1
data:
$ID,139
$MISSION,9
$DIVE,289
$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,-2181868.8
$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,19
$R_STBD_OVSHOOT,69
$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
$GPS1,070808,2107.548,-15751.541,14,1.8,14,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-74.6
$GPS2,071708,2107.612,-15751.641,14,1.5,14,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.222,-0.006
$KALMAN_X,-173425.8,548.7,-611.7,171758.2,-1322.4
$KALMAN_Y,-1068.9,24.7,142.4,-4921.3,-187.6
$MHEAD_RNG_PITCHd_Wd,81.8,15434,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,82,0.00,0.00,-64.43,0.000,2,0.000,0.000,426,2133,2948,0,0,0,0,0,0
$GC,86,-1.19,-116.8,3.0,-3.9,12,110,13.07,2.62,-3.50,0.000,4,0.133,0.049,2867,672,3113,0,0,0,0,0,0
$GC,160,-1.19,-116.8,21.0,-23.1,27,167,0.00,2.40,0.00,0.000,6,0.000,0.020,2868,2068,3114,0,0,0,0,0,0
$GC,366,-1.19,-116.8,57.5,-14.3,50,371,0.00,2.53,0.00,0.000,4,0.000,0.035,2868,3498,3115,0,0,0,0,0,0
$GC,412,-1.19,-116.8,64.8,-14.9,54,419,0.00,2.50,0.00,0.000,6,0.000,0.032,2867,2093,3115,0,0,0,0,0,0
$GC,678,-1.19,-116.8,106.1,-13.5,79,682,0.00,2.47,0.00,0.000,4,0.000,0.035,2867,3506,3116,0,0,0,0,0,0
$GC,712,-1.19,-116.8,110.8,-12.9,82,716,0.00,2.45,0.00,0.000,6,0.000,0.031,2868,2098,3116,0,0,0,0,0,0
$GC,975,-1.19,-116.8,142.9,-12.6,106,979,0.00,2.47,0.00,0.000,4,0.000,0.035,2868,3496,3117,0,0,0,0,0,0
$GC,1002,-1.19,-116.8,146.7,-12.3,108,1009,0.00,2.50,0.00,0.000,6,0.000,0.035,2868,2095,3117,0,0,0,0,0,0
$GC,1267,-1.19,-116.8,175.6,-9.5,133,1272,0.00,2.50,0.00,0.000,4,0.000,0.043,2867,689,3117,0,0,0,0,0,0
$GC,1283,-1.19,-116.8,177.3,-9.1,134,1287,0.00,2.40,0.00,0.000,6,0.000,0.021,2867,2109,3117,0,0,0,0,0,0
$GC,1546,-1.19,-116.8,202.5,-10.4,157,1551,0.00,2.53,0.00,0.000,4,0.000,0.044,2867,687,3117,0,0,0,0,0,0
$GC,1616,-1.19,-116.8,210.8,-11.8,160,1620,0.00,2.40,0.00,0.000,6,0.000,0.022,2867,2103,3117,0,0,0,0,0,0
$GC,1941,-1.19,-116.8,242.5,-9.3,176,1945,0.00,2.47,0.00,0.000,4,0.000,0.041,2867,3496,3117,0,0,0,0,0,0
$GC,1955,-1.19,-116.8,243.9,-9.1,176,1962,0.00,2.50,0.00,0.000,6,0.000,0.038,2868,2106,3117,0,0,0,0,0,0
$GC,2271,-1.19,-116.8,267.7,-7.7,192,2275,0.00,2.50,0.00,0.000,4,0.000,0.041,2867,3496,3117,0,0,0,0,0,0
$GC,2326,-1.19,-116.8,272.8,-8.8,194,2331,0.00,2.47,0.00,0.000,6,0.000,0.038,2868,2095,3117,0,0,0,0,0,0
$GC,2662,-1.19,-116.8,305.6,-10.3,209,2666,0.00,2.55,0.00,0.000,4,0.000,0.048,2867,688,3116,0,0,0,0,0,0
$GC,2695,-1.19,-116.8,309.0,-10.3,209,2699,0.00,2.42,0.00,0.000,6,0.000,0.025,2867,2105,3116,0,0,0,0,0,0
$GC,3027,-1.19,-116.8,330.2,-6.1,217,3031,0.00,2.58,0.00,0.000,4,0.000,0.048,2868,685,3114,0,0,0,0,0,0
$GC,3082,-1.19,-116.8,334.1,-6.4,218,3086,0.00,2.45,0.00,0.000,6,0.000,0.025,2868,2100,3113,0,0,0,0,0,0
$GC,3396,-1.19,-116.8,354.9,-7.1,226,3400,0.00,2.58,0.00,0.000,4,0.000,0.050,2867,693,3111,0,0,0,0,0,0
$GC,3416,-1.19,-116.8,356.5,-8.0,226,3420,0.00,2.45,0.00,0.000,6,0.000,0.026,2867,2107,3111,0,0,0,0,0,0
$GC,3762,-1.19,-116.8,383.2,-7.8,235,3766,0.00,2.55,0.00,0.000,4,0.000,0.051,2868,694,3110,0,0,0,0,0,0
$GC,3805,-1.19,-116.8,387.0,-8.8,236,3809,0.00,2.42,0.00,0.000,6,0.000,0.027,2867,2101,3109,0,0,0,0,0,0
$GC,4133,-1.19,-116.8,414.7,-8.3,244,4137,0.00,2.55,0.00,0.000,4,0.000,0.052,2867,694,3107,0,0,0,0,0,0
$GC,4176,-1.19,-116.8,418.2,-7.8,245,4181,0.00,2.45,0.00,0.000,6,0.000,0.028,2868,2099,3107,0,0,0,0,0,0
$GC,4504,-1.19,-116.8,443.3,-7.7,253,4508,0.00,2.58,0.00,0.000,4,0.000,0.054,2867,694,3104,0,0,0,0,0,0
$GC,4553,-1.19,-116.8,447.0,-7.9,254,4557,0.00,2.45,0.00,0.000,6,0.000,0.029,2867,2098,3104,0,0,0,0,0,0
$STATE,4629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4629,begin apogee
$GC,4636,-0.31,0.0,452.9,7.4,256,4735,0.95,0.00,94.75,0.821,6,0.082,0.000,3064,1789,2635,0,0,0,0,0,0
$STATE,4735,end apogee,CONTROL_FINISHED_OK
$STATE,4735,begin climb
$GC,4738,1.19,116.8,455.0,0.0,258,4846,1.50,0.00,100.43,0.800,6,0.055,0.000,3396,1789,2158,0,0,0,0,0,0
$GC,5187,1.19,116.8,401.4,13.1,269,5191,0.00,2.62,0.00,0.000,4,0.000,0.061,3395,403,2146,0,0,0,0,0,0
$GC,5206,1.19,116.8,398.7,13.1,269,5210,0.00,2.47,0.00,0.000,6,0.000,0.027,3395,1810,2144,0,0,0,0,0,0
$GC,5551,1.19,116.8,360.3,10.7,278,5556,0.00,2.65,0.00,0.000,4,0.000,0.060,3395,404,2142,0,0,0,0,0,0
$GC,5603,1.19,116.8,353.9,12.6,279,5607,0.00,2.45,0.00,0.000,6,0.000,0.028,3395,1802,2139,0,0,0,0,0,0
$GC,5921,1.19,116.8,319.6,10.8,287,5926,0.00,2.62,0.00,0.000,4,0.000,0.059,3395,404,2139,0,0,0,0,0,0
$GC,5940,1.19,116.8,317.2,12.1,287,5945,0.00,2.47,0.00,0.000,6,0.000,0.027,3396,1807,2138,0,0,0,0,0,0
$GC,6269,1.19,116.8,282.2,10.2,299,6273,0.00,2.53,0.00,0.000,4,0.000,0.043,3395,3206,2137,0,0,0,0,0,0
$GC,6315,1.19,116.8,277.6,10.9,301,6319,0.00,2.60,0.00,0.000,6,0.000,0.048,3394,1804,2137,0,0,0,0,0,0
$GC,6645,1.19,116.8,242.2,10.4,317,6650,0.00,2.62,0.00,0.000,4,0.000,0.058,3395,394,2135,0,0,0,0,0,0
$GC,6692,1.19,116.8,237.7,10.0,319,6696,0.00,2.47,0.00,0.000,6,0.000,0.026,3395,1802,2133,0,0,0,0,0,0
$GC,7022,1.19,116.8,207.6,9.7,335,7027,0.00,2.50,0.00,0.000,4,0.000,0.039,3396,3205,2133,0,0,0,0,0,0
$GC,7051,1.19,116.8,204.6,9.5,336,7055,0.00,2.58,0.00,0.000,6,0.000,0.046,3395,1802,2133,0,0,0,0,0,0
$GC,7381,1.19,116.8,171.0,9.4,365,7382,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1802,2133,0,0,0,0,0,0
$GC,7636,1.19,116.8,145.7,11.2,389,7641,0.00,2.58,0.00,0.000,4,0.000,0.054,3395,392,2133,0,0,0,0,0,0
$GC,7670,1.19,116.8,141.1,13.1,392,7675,0.00,2.42,0.00,0.000,6,0.000,0.022,3396,1807,2131,0,0,0,0,0,0
$GC,7933,1.19,116.8,116.0,8.2,416,7937,0.00,2.45,0.00,0.000,4,0.000,0.034,3396,3206,2131,0,0,0,0,0,0
$GC,7986,1.19,116.8,111.5,8.8,421,7991,0.00,2.53,0.00,0.000,6,0.000,0.039,3396,1801,2132,0,0,0,0,0,0
$GC,8251,1.19,116.8,89.6,8.6,445,8255,0.00,2.55,0.00,0.000,4,0.000,0.051,3395,392,2131,0,0,0,0,0,0
$GC,8324,1.19,116.8,82.2,9.6,452,8331,0.00,2.42,0.00,0.000,6,0.000,0.021,3396,1799,2131,0,0,0,0,0,0
$GC,8589,1.19,116.8,61.3,9.1,477,8593,0.00,2.58,0.00,0.000,4,0.000,0.048,3396,389,2132,0,0,0,0,0,0
$GC,8667,1.25,159.2,54.8,6.1,485,8707,0.00,2.40,32.70,0.512,6,0.000,0.019,3396,1811,1985,0,0,0,0,0,0
$GC,8963,1.33,223.4,39.0,5.1,513,9025,0.12,2.50,54.90,0.497,4,0.061,0.028,3438,3189,1723,0,0,0,0,0,0
$GC,9076,1.33,229.7,30.1,7.7,525,9093,0.00,2.53,7.03,0.404,6,0.000,0.037,3439,1801,1697,0,0,0,0,0,0
$GC,9289,1.33,229.7,9.0,8.1,563,9295,0.00,2.60,0.00,0.000,4,0.000,0.047,3438,393,1692,0,0,0,0,0,0
$STATE,9338,end climb,SURFACE_DEPTH_REACHED
$STATE,9338,begin surface coast
$FINISH,2.2,1.023009
$STATE,9344,end surface coast,CONTROL_FINISHED_OK
$STATE,9344,begin surface
$SM_CCo,9371,50.92,0.458,0,0,1288,330.17
$SM_GC,1.73,0.00,0.00,50.92,0.000,0.000,0.458,430,2091,1288,-12.46,-0.25,330.17
$IRIDIUM_FIX,2101.76,-15750.89,010800,070741
$TT8_MAMPS,0.029146
$HUMID,55.90
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.5,23.506
$10V_AH,10.4,22.368
$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,28.625,131.425,289.800,50.925,0.000,52.982,71.831,227.714,4.500,0.000,14.876,1087.004,6224.055,408.202,1645.046,600.077,33.364,1151.464,0.000,1624.397,0.000,29.253,0.000
$DEVICE_MAMPS,133.458,60.593,821.457,457.899,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,389.122,375.493,842.771,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,31855,575
$CAP_FILE_SIZE,106696,0
$CFSIZE,260165632,242507776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080511,095625,2107.561,-15750.638,42,1.3,42,9.8