version: 66.06
glider: 139
mission: 9
dive: 305
start: 5 10 111 3 44 31
data:
$ID,139
$MISSION,9
$DIVE,305
$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,-2182247.2
$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,72
$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
$GPS1,032606,2106.974,-15745.094,42,1.1,42,9.8
$_CALLS,4
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-72.1
$GPS2,034338,2106.999,-15745.130,14,1.8,14,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.220,-0.029
$KALMAN_X,-199870.7,425.4,618.1,208333.0,-3231.9
$KALMAN_Y,-12185.2,394.1,163.3,4661.9,-1248.0
$MHEAD_RNG_PITCHd_Wd,87.8,4408,-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,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,88,0.00,0.00,-69.68,0.000,3,0.000,0.000,425,2133,3112,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.4,-4.6,13,110,13.05,2.38,0.00,0.000,4,0.133,0.031,2867,3474,3114,0,0,0,0,0,0
$GC,221,-1.19,-116.8,32.3,-17.6,40,225,0.00,2.47,0.00,0.000,6,0.000,0.035,2867,2083,3116,0,0,0,0,0,0
$GC,483,-1.19,-116.8,70.7,-14.5,64,487,0.00,2.50,0.00,0.000,4,0.000,0.040,2867,684,3116,0,0,0,0,0,0
$GC,500,-1.19,-116.8,73.2,-14.5,65,505,0.00,2.38,0.00,0.000,6,0.000,0.020,2867,2072,3116,0,0,0,0,0,0
$GC,766,-1.19,-116.8,105.6,-12.8,89,770,0.00,2.50,0.00,0.000,4,0.000,0.035,2867,3498,3116,0,0,0,0,0,0
$GC,781,-1.19,-116.8,108.2,-13.4,90,786,0.00,2.45,0.00,0.000,6,0.000,0.031,2867,2090,3116,0,0,0,0,0,0
$GC,1046,-1.19,-116.8,142.5,-12.9,114,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2089,3116,0,0,0,0,0,0
$GC,1309,-1.19,-116.8,170.9,-9.7,139,1313,0.00,2.50,0.00,0.000,4,0.000,0.035,2867,3501,3117,0,0,0,0,0,0
$GC,1460,-1.19,-116.8,186.5,-10.1,155,1465,0.00,2.47,0.00,0.000,6,0.000,0.035,2867,2099,3117,0,0,0,0,0,0
$GC,1719,-1.19,-116.8,212.4,-9.5,173,1724,0.00,2.45,0.00,0.000,4,0.000,0.036,2867,3496,3117,0,0,0,0,0,0
$GC,1799,-1.19,-116.8,220.3,-10.9,176,1803,0.00,2.45,0.00,0.000,6,0.000,0.036,2867,2099,3117,0,0,0,0,0,0
$GC,2116,-1.19,-116.8,251.7,-9.6,191,2117,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2100,3116,0,0,0,0,0,0
$GC,2423,-1.19,-116.8,278.4,-8.6,206,2428,0.00,2.55,0.00,0.000,4,0.000,0.047,2867,688,3116,0,0,0,0,0,0
$GC,2545,-1.19,-116.8,290.1,-10.1,211,2550,0.00,2.40,0.00,0.000,6,0.000,0.023,2867,2096,3116,0,0,0,0,0,0
$GC,2884,-1.19,-116.8,315.6,-7.0,223,2888,0.00,2.55,0.00,0.000,4,0.000,0.045,2867,3505,3114,0,0,0,0,0,0
$GC,2898,-1.19,-116.8,316.7,-6.6,223,2903,0.00,2.50,0.00,0.000,6,0.000,0.039,2867,2093,3114,0,0,0,0,0,0
$GC,3249,-1.19,-116.8,343.1,-7.1,232,3253,0.00,2.55,0.00,0.000,4,0.000,0.049,2867,692,3113,0,0,0,0,0,0
$GC,3316,-1.19,-116.8,348.9,-8.8,233,3320,0.00,2.42,0.00,0.000,6,0.000,0.025,2867,2104,3112,0,0,0,0,0,0
$GC,3661,-1.19,-116.8,369.0,-5.7,242,3665,0.00,2.55,0.00,0.000,4,0.000,0.049,2867,689,3110,0,0,0,0,0,0
$GC,3699,-1.19,-116.8,371.7,-7.2,242,3705,0.00,2.45,0.00,0.000,6,0.000,0.026,2867,2098,3109,0,0,0,0,0,0
$GC,4030,-1.19,-116.8,395.7,-7.7,251,4032,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2099,3107,0,0,0,0,0,0
$GC,4356,-1.19,-116.8,421.5,-7.4,259,4361,0.00,2.60,0.00,0.000,4,0.000,0.054,2867,695,3105,0,0,0,0,0,0
$GC,4417,-1.19,-116.8,426.6,-8.7,260,4421,0.00,2.42,0.00,0.000,6,0.000,0.028,2867,2100,3104,0,0,0,0,0,0
$STATE,4766,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4766,begin apogee
$GC,4773,-0.31,0.0,451.4,7.1,269,4870,0.95,0.00,94.25,0.824,6,0.083,0.000,3065,1791,2635,0,0,0,0,0,0
$STATE,4871,end apogee,CONTROL_FINISHED_OK
$STATE,4871,begin climb
$GC,4874,1.19,116.8,453.8,0.0,271,4986,1.50,2.70,100.18,0.803,4,0.055,0.045,3395,3198,2158,0,0,0,0,0,0
$GC,5019,1.19,116.8,441.7,10.5,274,5024,0.00,2.62,0.00,0.000,6,0.000,0.054,3395,1808,2156,0,0,0,0,0,0
$GC,5369,1.19,116.8,400.5,11.4,283,5374,0.00,2.70,0.00,0.000,4,0.000,0.061,3394,387,2146,0,0,0,0,0,0
$GC,5398,1.19,116.8,396.8,13.3,283,5402,0.00,2.50,0.00,0.000,6,0.000,0.027,3395,1805,2143,0,0,0,0,0,0
$GC,5734,1.19,116.8,359.5,11.0,292,5738,0.00,2.55,0.00,0.000,4,0.000,0.044,3395,3203,2141,0,0,0,0,0,0
$GC,5780,1.19,116.8,354.1,10.7,293,5785,0.00,2.62,0.00,0.000,6,0.000,0.053,3395,1797,2141,0,0,0,0,0,0
$GC,6104,1.19,116.8,318.7,11.4,301,6108,0.00,2.65,0.00,0.000,4,0.000,0.061,3395,386,2139,0,0,0,0,0,0
$GC,6136,1.19,116.8,314.0,14.9,301,6141,0.00,2.47,0.00,0.000,6,0.000,0.027,3395,1801,2137,0,0,0,0,0,0
$GC,6452,1.19,116.8,275.6,11.6,313,6453,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1804,2137,0,0,0,0,0,0
$GC,6759,1.19,116.8,243.6,9.6,328,6764,0.00,2.50,0.00,0.000,4,0.000,0.041,3395,3205,2136,0,0,0,0,0,0
$GC,6773,1.19,116.8,242.2,9.1,328,6780,0.00,2.60,0.00,0.000,6,0.000,0.044,3395,1801,2135,0,0,0,0,0,0
$GC,7089,1.19,116.8,211.8,10.0,344,7094,0.00,2.55,0.00,0.000,4,0.000,0.038,3396,3206,2134,0,0,0,0,0,0
$GC,7111,1.19,116.8,209.9,9.2,345,7115,0.00,2.58,0.00,0.000,6,0.000,0.043,3395,1798,2134,0,0,0,0,0,0
$GC,7438,1.19,116.8,179.9,8.6,371,7442,0.00,2.55,0.00,0.000,4,0.000,0.035,3395,3213,2133,0,0,0,0,0,0
$GC,7464,1.19,116.8,177.7,8.7,373,7469,0.00,2.58,0.00,0.000,6,0.000,0.042,3395,1794,2133,0,0,0,0,0,0
$GC,7728,1.19,116.8,154.6,8.6,397,7733,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1794,2133,0,0,0,0,0,0
$GC,7990,1.20,122.4,133.4,7.8,422,7995,0.00,2.53,0.00,0.000,4,0.000,0.032,3396,3211,2133,0,0,0,0,0,0
$GC,8043,1.23,141.5,129.7,7.1,427,8070,0.00,2.55,17.88,0.561,6,0.000,0.039,3395,1793,2058,0,0,0,0,0,0
$GC,8325,1.23,141.5,108.6,8.7,454,8329,0.00,2.58,0.00,0.000,4,0.000,0.050,3395,388,2054,0,0,0,0,0,0
$GC,8386,1.23,141.5,101.9,11.8,460,8390,0.00,2.42,0.00,0.000,6,0.000,0.020,3395,1810,2051,0,0,0,0,0,0
$GC,8649,1.24,152.5,80.3,7.5,484,8669,0.00,2.45,10.38,0.484,4,0.000,0.028,3395,3205,2012,0,0,0,0,0,0
$GC,8699,1.25,164.2,76.4,7.5,489,8720,0.00,2.53,12.12,0.488,6,0.000,0.036,3395,1799,1964,0,0,0,0,0,0
$GC,8976,1.27,178.9,55.3,7.3,515,8997,0.00,2.65,13.62,0.476,4,0.000,0.049,3396,388,1904,0,0,0,0,0,0
$GC,9116,1.29,193.1,43.6,7.4,530,9138,0.10,2.40,13.25,0.463,6,0.073,0.018,3433,1810,1846,0,0,0,0,0,0
$GC,9395,1.29,193.1,21.5,8.8,565,9401,0.00,2.42,0.00,0.000,4,0.000,0.027,3433,3190,1844,0,0,0,0,0,0
$GC,9431,1.29,193.1,18.5,8.4,572,9437,0.00,2.53,0.00,0.000,6,0.000,0.034,3433,1800,1844,0,0,0,0,0,0
$STATE,9592,end climb,SURFACE_DEPTH_REACHED
$STATE,9593,begin surface coast
$FINISH,1.1,1.023014
$STATE,9625,end surface coast,CONTROL_FINISHED_OK
$STATE,9626,begin surface
$SM_CCo,9649,69.07,0.456,0,0,1289,330.17
$SM_GC,1.72,0.00,0.00,69.07,0.000,0.000,0.456,429,2160,1289,-12.46,1.67,330.17
$IRIDIUM_FIX,2059.45,-15743.60,030800,030333
$TT8_MAMPS,0.028379
$HUMID,55.55
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,24.804
$10V_AH,10.5,23.605
$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,28.425,111.825,261.675,69.075,0.000,108.697,142.253,467.228,4.500,0.000,15.115,1115.910,6581.292,408.297,1683.099,983.644,33.361,1137.858,0.000,1661.671,0.000,29.251,0.000
$DEVICE_MAMPS,132.691,61.360,823.758,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,411.715,398.701,892.765,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,34864,608
$CAP_FILE_SIZE,111446,0
$CFSIZE,260165632,241713152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100511,062737,2106.486,-15745.084,28,1.9,28,9.8