version: 66.06
glider: 139
mission: 9
dive: 304
start: 5 10 111 0 45 19
data:
$ID,139
$MISSION,9
$DIVE,304
$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,-2182231.5
$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,20
$R_STBD_OVSHOOT,80
$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
$GPS1,003837,2107.533,-15745.714,36,1.8,36,9.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-75.3
$GPS2,004426,2107.506,-15745.672,15,1.7,15,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.217,-0.046
$KALMAN_X,-198298.9,114.3,801.9,205952.7,-2834.9
$KALMAN_Y,-11764.3,186.9,331.7,5220.2,-1517.0
$MHEAD_RNG_PITCHd_Wd,92.2,5697,-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,-116.8,0.0,0.0,0,90,0.00,0.00,-70.03,0.000,2,0.000,0.000,429,2155,3104,0,0,0,0,0,0
$GC,93,-1.19,-116.8,3.3,-3.6,13,112,13.10,2.30,0.00,0.000,4,0.134,0.029,2871,3461,3106,0,0,0,0,0,0
$GC,366,-1.19,-116.8,56.4,-15.2,56,370,0.00,2.40,0.00,0.000,6,0.000,0.032,2871,2092,3109,0,0,0,0,0,0
$GC,627,-1.19,-116.8,91.7,-11.9,80,631,0.00,2.42,0.00,0.000,4,0.000,0.031,2871,3467,3109,0,0,0,0,0,0
$GC,681,-1.19,-116.8,98.8,-13.7,85,685,0.00,2.40,0.00,0.000,6,0.000,0.034,2871,2097,3109,0,0,0,0,0,0
$GC,945,-1.19,-116.8,132.6,-12.5,109,949,0.00,2.40,0.00,0.000,4,0.000,0.034,2870,3465,3110,0,0,0,0,0,0
$GC,1153,-1.19,-116.8,153.9,-8.8,131,1158,0.00,2.40,0.00,0.000,6,0.000,0.034,2871,2094,3110,0,0,0,0,0,0
$GC,1416,-1.19,-116.8,181.4,-10.7,155,1420,0.00,2.40,0.00,0.000,4,0.000,0.035,2871,3461,3111,0,0,0,0,0,0
$GC,1498,-1.19,-116.8,190.9,-10.9,163,1503,0.00,2.40,0.00,0.000,6,0.000,0.035,2870,2100,3111,0,0,0,0,0,0
$GC,1754,-1.19,-116.8,218.3,-10.4,180,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2100,3111,0,0,0,0,0,0
$GC,2065,-1.19,-116.8,247.1,-8.3,195,2069,0.00,2.53,0.00,0.000,4,0.000,0.045,2871,686,3111,0,0,0,0,0,0
$GC,2148,-1.19,-116.8,255.0,-11.0,198,2155,0.00,2.38,0.00,0.000,6,0.000,0.022,2871,2055,3111,0,0,0,0,0,0
$GC,2464,-1.19,-116.8,286.2,-8.2,214,2468,0.00,2.58,0.00,0.000,4,0.000,0.043,2870,3498,3111,0,0,0,0,0,0
$GC,2478,-1.19,-116.8,287.5,-8.0,214,2485,0.00,2.50,0.00,0.000,6,0.000,0.038,2871,2108,3110,0,0,0,0,0,0
$GC,2814,-1.19,-116.8,312.7,-7.7,227,2816,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2108,3110,0,0,0,0,0,0
$GC,3137,-1.19,-116.8,339.6,-7.9,235,3142,0.00,2.58,0.00,0.000,4,0.000,0.049,2870,690,3108,0,0,0,0,0,0
$GC,3152,-1.19,-116.8,341.1,-8.7,235,3157,0.00,2.42,0.00,0.000,6,0.000,0.025,2870,2106,3108,0,0,0,0,0,0
$GC,3466,-1.19,-116.8,370.7,-9.4,243,3471,0.00,2.58,0.00,0.000,4,0.000,0.049,2870,684,3106,0,0,0,0,0,0
$GC,3695,-1.19,-116.8,388.8,-6.8,248,3699,0.00,2.45,0.00,0.000,6,0.000,0.027,2870,2106,3104,0,0,0,0,0,0
$GC,4024,-1.19,-116.8,408.6,-5.8,256,4025,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2107,3102,0,0,0,0,0,0
$GC,4347,-1.19,-116.8,428.1,-5.8,264,4352,0.00,2.58,0.00,0.000,4,0.000,0.052,2870,688,3100,0,0,0,0,0,0
$GC,4423,-1.19,-116.8,433.6,-7.1,265,4427,0.00,2.45,0.00,0.000,6,0.000,0.028,2871,2100,3099,0,0,0,0,0,0
$STATE,4715,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4715,begin apogee
$GC,4722,-0.31,0.0,452.6,6.7,273,4819,0.95,0.00,93.53,0.821,6,0.082,0.000,3068,1791,2635,0,0,0,0,0,0
$STATE,4820,end apogee,CONTROL_FINISHED_OK
$STATE,4820,begin climb
$GC,4823,1.19,116.8,454.3,0.0,275,4935,1.48,2.70,100.28,0.801,4,0.055,0.044,3394,3198,2157,0,0,0,0,0,0
$GC,4959,1.19,116.8,442.3,11.2,278,4964,0.00,2.65,0.00,0.000,6,0.000,0.053,3394,1806,2156,0,0,0,0,0,0
$GC,5278,1.19,116.8,404.2,11.9,286,5283,0.00,2.70,0.00,0.000,4,0.000,0.062,3394,389,2147,0,0,0,0,0,0
$GC,5321,1.19,116.8,398.1,14.7,287,5326,0.00,2.50,0.00,0.000,6,0.000,0.027,3394,1802,2143,0,0,0,0,0,0
$GC,5651,1.19,116.8,357.4,12.0,295,5655,0.00,2.67,0.00,0.000,4,0.000,0.061,3394,389,2142,0,0,0,0,0,0
$GC,5675,1.19,116.8,354.0,12.1,295,5679,0.00,2.50,0.00,0.000,6,0.000,0.027,3394,1801,2139,0,0,0,0,0,0
$GC,6015,1.19,116.8,311.8,12.5,304,6019,0.00,2.67,0.00,0.000,4,0.000,0.060,3394,388,2139,0,0,0,0,0,0
$GC,6034,1.19,116.8,309.2,12.8,304,6038,0.00,2.50,0.00,0.000,6,0.000,0.026,3394,1804,2137,0,0,0,0,0,0
$GC,6363,1.19,116.8,272.7,10.2,318,6367,0.00,2.47,0.00,0.000,4,0.000,0.038,3394,3204,2137,0,0,0,0,0,0
$GC,6418,1.19,116.8,267.2,9.3,320,6423,0.00,2.60,0.00,0.000,6,0.000,0.048,3394,1801,2137,0,0,0,0,0,0
$GC,6735,1.19,116.8,235.9,10.9,335,6740,0.00,2.62,0.00,0.000,4,0.000,0.058,3394,385,2135,0,0,0,0,0,0
$GC,6782,1.19,116.8,230.3,11.0,337,6786,0.00,2.47,0.00,0.000,6,0.000,0.025,3393,1800,2133,0,0,0,0,0,0
$GC,7108,1.19,116.8,200.4,9.6,353,7109,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1804,2133,0,0,0,0,0,0
$GC,7427,1.21,126.7,172.7,7.6,382,7438,0.00,0.00,5.22,0.469,6,0.000,0.000,3394,1804,2118,0,0,0,0,0,0
$GC,7696,1.21,126.7,150.3,8.1,407,7700,0.00,2.50,0.00,0.000,4,0.000,0.034,3394,3213,2117,0,0,0,0,0,0
$GC,7760,1.22,138.5,145.0,7.5,413,7778,0.00,2.58,12.07,0.553,6,0.000,0.038,3394,1794,2070,0,0,0,0,0,0
$GC,8040,1.22,138.5,122.2,8.4,440,8044,0.00,2.55,0.00,0.000,4,0.000,0.051,3394,390,2067,0,0,0,0,0,0
$GC,8058,1.22,138.5,120.2,10.1,441,8064,0.00,2.45,0.00,0.000,6,0.000,0.021,3394,1810,2065,0,0,0,0,0,0
$GC,8322,1.24,155.3,98.6,7.3,466,8344,0.00,2.70,15.62,0.521,4,0.000,0.048,3394,393,2000,0,0,0,0,0,0
$GC,8378,1.24,155.3,93.9,8.7,472,8383,0.00,2.45,0.00,0.000,6,0.000,0.020,3394,1804,1998,0,0,0,0,0,0
$GC,8644,1.26,173.7,73.8,7.2,496,8667,0.00,2.50,16.95,0.500,4,0.000,0.029,3394,3194,1926,0,0,0,0,0,0
$GC,8742,1.29,196.6,67.0,7.0,506,8769,0.08,2.55,21.20,0.499,6,0.035,0.036,3433,1799,1832,0,0,0,0,0,0
$GC,9024,1.29,198.1,42.2,8.0,533,9028,0.00,2.60,0.00,0.000,4,0.000,0.048,3433,384,1828,0,0,0,0,0,0
$GC,9158,1.29,198.1,29.5,10.5,547,9165,0.00,2.45,0.00,0.000,6,0.000,0.018,3433,1799,1824,0,0,0,0,0,0
$GC,9362,1.29,198.1,11.3,9.9,584,9367,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1800,1824,0,0,0,0,0,0
$STATE,9447,end climb,SURFACE_DEPTH_REACHED
$STATE,9447,begin surface coast
$FINISH,0.9,1.023009
$STATE,9475,end surface coast,CONTROL_FINISHED_OK
$STATE,9475,begin surface
$SM_CCo,9499,66.75,0.456,0,0,1288,330.17
$SM_GC,1.70,0.00,0.00,66.75,0.000,0.000,0.456,425,2132,1288,-12.48,0.90,330.17
$IRIDIUM_FIX,2059.45,-15748.75,020800,222205
$TT8_MAMPS,0.029146
$HUMID,55.51
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.5,24.701
$10V_AH,10.6,23.521
$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,28.500,101.575,264.875,66.750,0.000,22.907,46.324,155.733,4.500,0.000,15.799,1126.893,6157.810,393.960,1753.670,484.541,33.355,1146.985,0.000,1744.577,0.000,31.148,0.000
$DEVICE_MAMPS,134.225,62.127,821.457,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.745,403.827,887.770,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,34921,605
$CAP_FILE_SIZE,98694,0
$CFSIZE,260165632,241774592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100511,032606,2106.974,-15745.094,42,1.1,42,9.8