version: 66.06
glider: 139
mission: 9
dive: 306
start: 5 10 111 6 34 14
data:
$ID,139
$MISSION,9
$DIVE,306
$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,-2182283.8
$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,81
$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
$GPS1,062737,2106.486,-15745.084,28,1.9,28,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-74.0
$GPS2,063322,2106.538,-15745.101,15,2.1,34,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.201,0.093
$KALMAN_X,-201566.2,751.4,-398.9,210774.2,-2480.5
$KALMAN_Y,-12620.7,530.0,-38.8,4312.8,-966.1
$MHEAD_RNG_PITCHd_Wd,55.3,4003,-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,15,-1.19,-116.8,0.0,0.0,0,88,0.00,0.00,-70.12,0.000,2,0.000,0.000,429,2160,3104,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.2,-3.7,13,110,13.07,2.30,0.00,0.000,4,0.134,0.030,2870,3463,3106,0,0,0,0,0,0
$GC,126,-1.19,-116.8,14.3,-30.8,19,133,0.00,2.45,0.00,0.000,6,0.000,0.032,2870,2097,3107,0,0,0,0,0,0
$GC,332,-1.19,-116.8,53.7,-15.2,45,336,0.00,2.40,0.00,0.000,4,0.000,0.031,2870,3458,3108,0,0,0,0,0,0
$GC,385,-1.19,-116.8,60.9,-12.8,50,389,0.00,2.40,0.00,0.000,6,0.000,0.034,2870,2091,3109,0,0,0,0,0,0
$GC,646,-1.19,-116.8,98.7,-12.6,74,650,0.00,2.40,0.00,0.000,4,0.000,0.034,2870,3457,3109,0,0,0,0,0,0
$GC,818,-1.19,-116.8,117.8,-11.0,92,825,0.00,2.40,0.00,0.000,6,0.000,0.034,2870,2105,3110,0,0,0,0,0,0
$GC,1083,-1.19,-116.8,146.2,-11.3,117,1087,0.00,2.53,0.00,0.000,4,0.000,0.043,2870,685,3110,0,0,0,0,0,0
$GC,1109,-1.19,-116.8,149.8,-13.5,119,1113,0.00,2.35,0.00,0.000,6,0.000,0.020,2870,2065,3110,0,0,0,0,0,0
$GC,1373,-1.19,-116.8,178.9,-10.4,143,1377,0.00,2.45,0.00,0.000,4,0.000,0.042,2870,684,3111,0,0,0,0,0,0
$GC,1428,-1.19,-116.8,186.2,-13.5,148,1435,0.00,2.45,0.00,0.000,6,0.000,0.021,2870,2103,3111,0,0,0,0,0,0
$GC,1687,-1.19,-116.8,212.2,-9.7,167,1691,0.00,2.47,0.00,0.000,4,0.000,0.039,2870,3504,3111,0,0,0,0,0,0
$GC,1761,-1.19,-116.8,219.5,-9.3,170,1765,0.00,2.50,0.00,0.000,6,0.000,0.036,2870,2092,3111,0,0,0,0,0,0
$GC,2081,-1.19,-116.8,253.4,-11.1,186,2082,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2091,3111,0,0,0,0,0,0
$GC,2391,-1.19,-116.8,283.7,-9.5,201,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2090,3111,0,0,0,0,0,0
$GC,2699,-1.19,-116.8,307.0,-6.9,214,2700,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2090,3110,0,0,0,0,0,0
$GC,3023,-1.19,-116.8,325.3,-5.6,222,3028,0.00,2.53,0.00,0.000,4,0.000,0.044,2870,3500,3109,0,0,0,0,0,0
$GC,3089,-1.19,-116.8,329.6,-6.2,223,3093,0.00,2.50,0.00,0.000,6,0.000,0.040,2870,2102,3109,0,0,0,0,0,0
$GC,3435,-1.19,-116.8,354.0,-7.5,232,3439,0.00,2.58,0.00,0.000,4,0.000,0.050,2870,689,3107,0,0,0,0,0,0
$GC,3573,-1.19,-116.8,366.2,-9.1,235,3577,0.00,2.45,0.00,0.000,6,0.000,0.025,2870,2103,3106,0,0,0,0,0,0
$GC,3901,-1.19,-116.8,389.2,-6.6,243,3906,0.00,2.53,0.00,0.000,4,0.000,0.049,2870,3498,3104,0,0,0,0,0,0
$GC,3985,-1.19,-116.8,394.9,-7.1,244,3991,0.00,2.53,0.00,0.000,6,0.000,0.044,2870,2102,3103,0,0,0,0,0,0
$GC,4317,-1.19,-116.8,413.5,-5.5,253,4321,0.00,2.60,0.00,0.000,4,0.000,0.054,2870,690,3101,0,0,0,0,0,0
$GC,4415,-1.19,-116.8,420.9,-7.9,255,4420,0.00,2.47,0.00,0.000,6,0.000,0.028,2870,2106,3100,0,0,0,0,0,0
$GC,4734,-1.19,-116.8,443.5,-7.2,263,4738,0.00,2.60,0.00,0.000,4,0.000,0.054,2870,690,3098,0,0,0,0,0,0
$GC,4772,-1.19,-116.8,446.5,-8.1,263,4777,0.00,2.47,0.00,0.000,6,0.000,0.028,2870,2103,3098,0,0,0,0,0,0
$STATE,4857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4857,begin apogee
$GC,4864,-0.31,0.0,452.7,7.2,266,4960,0.95,0.00,93.20,0.831,6,0.082,0.000,3067,1793,2635,0,0,0,0,0,0
$STATE,4961,end apogee,CONTROL_FINISHED_OK
$STATE,4961,begin climb
$GC,4964,1.19,116.8,454.3,0.0,268,5070,1.50,0.00,100.55,0.810,6,0.054,0.000,3395,1794,2158,0,0,0,0,0,0
$GC,5388,1.19,116.8,405.1,12.5,279,5392,0.00,2.62,0.00,0.000,4,0.000,0.062,3395,402,2146,0,0,0,0,0,0
$GC,5426,1.19,116.8,399.6,14.6,279,5431,0.00,2.47,0.00,0.000,6,0.000,0.026,3395,1800,2143,0,0,0,0,0,0
$GC,5757,1.19,116.8,359.1,11.9,288,5761,0.00,2.58,0.00,0.000,4,0.000,0.044,3395,3207,2141,0,0,0,0,0,0
$GC,5771,1.19,116.8,357.1,12.4,288,5776,0.00,2.62,0.00,0.000,6,0.000,0.049,3395,1802,2141,0,0,0,0,0,0
$GC,6121,1.19,116.8,317.6,11.1,297,6126,0.00,2.65,0.00,0.000,4,0.000,0.060,3395,394,2139,0,0,0,0,0,0
$GC,6173,1.19,116.8,311.6,12.2,298,6177,0.00,2.50,0.00,0.000,6,0.000,0.027,3395,1805,2137,0,0,0,0,0,0
$GC,6496,1.19,116.8,278.0,10.1,311,6500,0.00,2.53,0.00,0.000,4,0.000,0.042,3394,3204,2136,0,0,0,0,0,0
$GC,6567,1.19,116.8,271.1,9.1,314,6571,0.00,2.60,0.00,0.000,6,0.000,0.049,3395,1794,2136,0,0,0,0,0,0
$GC,6892,1.19,116.8,237.0,11.0,330,6893,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1794,2135,0,0,0,0,0,0
$GC,7203,1.19,116.8,202.8,11.0,345,7207,0.00,2.60,0.00,0.000,4,0.000,0.056,3395,392,2134,0,0,0,0,0,0
$GC,7236,1.19,116.8,198.6,11.3,346,7241,0.00,2.47,0.00,0.000,6,0.000,0.024,3395,1809,2132,0,0,0,0,0,0
$GC,7562,1.22,135.3,171.4,7.2,376,7581,0.00,2.53,12.55,0.591,4,0.000,0.036,3395,3205,2083,0,0,0,0,0,0
$GC,7620,1.24,157.0,167.4,7.0,382,7649,0.00,2.58,20.55,0.608,6,0.000,0.041,3395,1801,1994,0,0,0,0,0,0
$GC,7904,1.24,157.0,139.7,10.2,409,7909,0.00,2.60,0.00,0.000,4,0.000,0.053,3394,386,1990,0,0,0,0,0,0
$GC,7933,1.24,157.0,136.0,12.0,411,7939,0.00,2.45,0.00,0.000,6,0.000,0.021,3395,1807,1988,0,0,0,0,0,0
$GC,8196,1.24,157.0,108.3,10.1,436,8200,0.00,2.62,0.00,0.000,4,0.000,0.051,3395,389,1988,0,0,0,0,0,0
$GC,8242,1.24,157.0,102.8,11.5,440,8249,0.00,2.45,0.00,0.000,6,0.000,0.021,3395,1793,1986,0,0,0,0,0,0
$GC,8504,1.24,157.0,79.1,8.5,465,8509,0.00,2.47,0.00,0.000,4,0.000,0.032,3395,3201,1986,0,0,0,0,0,0
$GC,8530,1.24,157.0,76.8,9.3,467,8534,0.00,2.53,0.00,0.000,6,0.000,0.035,3395,1796,1986,0,0,0,0,0,0
$GC,8795,1.28,185.0,55.7,6.7,491,8822,0.00,0.00,24.48,0.507,6,0.000,0.000,3395,1795,1879,0,0,0,0,0,0
$GC,9079,1.31,206.9,34.6,7.0,518,9110,0.12,2.60,19.73,0.476,4,0.061,0.047,3439,385,1790,0,0,0,0,0,0
$GC,9125,1.31,206.9,30.2,10.4,522,9132,0.00,2.47,0.00,0.000,6,0.000,0.018,3439,1807,1787,0,0,0,0,0,0
$GC,9393,1.31,206.9,4.4,10.3,571,9399,0.00,2.62,0.00,0.000,4,0.000,0.044,3439,392,1786,0,0,0,0,0,0
$STATE,9404,end climb,SURFACE_DEPTH_REACHED
$STATE,9404,begin surface coast
$FINISH,1.3,1.022992
$STATE,9419,end surface coast,CONTROL_FINISHED_OK
$STATE,9419,begin surface
$SM_CCo,9446,63.40,0.462,0,0,1288,330.17
$SM_GC,1.58,0.00,0.00,63.40,0.000,0.000,0.462,424,2097,1288,-12.48,-0.08,330.17
$IRIDIUM_FIX,2059.45,-15743.60,030800,030318
$TT8_MAMPS,0.029146
$HUMID,56.85
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.5,24.881
$10V_AH,10.4,23.680
$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,28.575,111.450,271.050,63.400,0.000,28.930,36.061,137.917,4.500,0.000,35.695,1072.369,6259.230,426.816,1646.954,449.457,33.362,1136.136,0.000,1617.743,0.000,29.251,0.000
$DEVICE_MAMPS,134.225,62.127,830.661,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,389.436,377.374,824.721,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31695,576
$CAP_FILE_SIZE,97152,0
$CFSIZE,260165632,241684480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100511,091401,2106.248,-15745.088,38,1.9,38,9.8