version: 66.06
glider: 139
mission: 9
dive: 307
start: 5 10 111 9 20 44
data:
$ID,139
$MISSION,9
$DIVE,307
$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,-2182318.8
$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,18
$R_STBD_OVSHOOT,43
$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
$GPS1,091401,2106.248,-15745.088,38,1.9,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-75.4
$GPS2,091952,2106.298,-15745.033,14,2.6,33,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.177,0.134
$KALMAN_X,-203632.1,766.1,-472.8,213019.9,-2071.0
$KALMAN_Y,-13954.4,411.1,-83.2,5374.5,-1479.1
$MHEAD_RNG_PITCHd_Wd,43.1,3763,-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,-116.8,0.0,0.0,0,89,0.00,0.00,-70.38,0.000,6,0.000,0.000,424,2097,3112,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.4,-4.4,13,110,13.10,2.47,0.00,0.000,4,0.135,0.030,2867,3504,3114,0,0,0,0,0,0
$GC,364,-1.19,-116.8,52.7,-13.4,56,368,0.00,2.50,0.00,0.000,6,0.000,0.034,2867,2093,3117,0,0,0,0,0,0
$GC,625,-1.19,-116.8,96.3,-15.0,80,630,0.00,2.45,0.00,0.000,4,0.000,0.032,2867,3495,3118,0,0,0,0,0,0
$GC,679,-1.19,-116.8,103.0,-12.2,85,683,0.00,2.42,0.00,0.000,6,0.000,0.032,2867,2099,3118,0,0,0,0,0,0
$GC,943,-1.19,-116.8,132.1,-10.7,109,947,0.00,2.50,0.00,0.000,4,0.000,0.042,2867,690,3119,0,0,0,0,0,0
$GC,958,-1.19,-116.8,134.0,-10.5,110,963,0.00,2.38,0.00,0.000,6,0.000,0.020,2867,2097,3119,0,0,0,0,0,0
$GC,1219,-1.19,-116.8,162.6,-9.4,134,1224,0.00,2.50,0.00,0.000,4,0.000,0.042,2867,690,3119,0,0,0,0,0,0
$GC,1298,-1.19,-116.8,171.8,-11.0,142,1302,0.00,2.40,0.00,0.000,6,0.000,0.021,2867,2098,3120,0,0,0,0,0,0
$GC,1561,-1.19,-116.8,199.8,-11.4,166,1566,0.00,2.50,0.00,0.000,4,0.000,0.041,2867,3505,3119,0,0,0,0,0,0
$GC,1658,-1.19,-116.8,211.1,-10.3,171,1662,0.00,2.47,0.00,0.000,6,0.000,0.037,2867,2097,3120,0,0,0,0,0,0
$GC,1985,-1.19,-116.8,241.2,-7.2,187,1990,0.00,2.53,0.00,0.000,4,0.000,0.044,2867,683,3120,0,0,0,0,0,0
$GC,2043,-1.19,-116.8,246.0,-8.4,189,2047,0.00,2.42,0.00,0.000,6,0.000,0.022,2867,2100,3120,0,0,0,0,0,0
$GC,2358,-1.19,-116.8,270.5,-8.3,204,2362,0.00,2.50,0.00,0.000,4,0.000,0.044,2867,3498,3120,0,0,0,0,0,0
$GC,2475,-1.19,-116.8,281.3,-8.6,209,2479,0.00,2.47,0.00,0.000,6,0.000,0.038,2867,2099,3120,0,0,0,0,0,0
$GC,2819,-1.19,-116.8,309.8,-8.0,223,2823,0.00,2.53,0.00,0.000,4,0.000,0.042,2867,3503,3118,0,0,0,0,0,0
$GC,2829,-1.19,-116.8,310.8,-7.8,223,2833,0.00,2.53,0.00,0.000,6,0.000,0.041,2867,2093,3118,0,0,0,0,0,0
$GC,3143,-1.19,-116.8,334.8,-7.4,231,3147,0.00,2.55,0.00,0.000,4,0.000,0.049,2867,685,3117,0,0,0,0,0,0
$GC,3204,-1.19,-116.8,339.5,-8.5,232,3208,0.00,2.45,0.00,0.000,6,0.000,0.025,2867,2100,3116,0,0,0,0,0,0
$GC,3554,-1.19,-116.8,363.8,-6.7,241,3558,0.00,2.58,0.00,0.000,4,0.000,0.051,2867,692,3115,0,0,0,0,0,0
$GC,3712,-1.19,-116.8,377.4,-8.4,244,3716,0.00,2.42,0.00,0.000,6,0.000,0.027,2867,2099,3114,0,0,0,0,0,0
$GC,4058,-1.19,-116.8,402.9,-6.8,253,4062,0.00,2.55,0.00,0.000,4,0.000,0.051,2867,693,3111,0,0,0,0,0,0
$GC,4132,-1.19,-116.8,408.4,-6.9,254,4137,0.00,2.45,0.00,0.000,6,0.000,0.028,2868,2099,3111,0,0,0,0,0,0
$GC,4469,-1.19,-116.8,433.4,-7.7,263,4470,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2100,3108,0,0,0,0,0,0
$STATE,4668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4669,begin apogee
$GC,4676,-0.31,0.0,450.3,8.3,268,4774,0.95,0.00,95.45,0.831,6,0.082,0.000,3065,1791,2634,0,0,0,0,0,0
$STATE,4775,end apogee,CONTROL_FINISHED_OK
$STATE,4775,begin climb
$GC,4778,1.19,116.8,452.7,0.0,270,4887,1.52,2.70,100.90,0.809,4,0.054,0.063,3398,402,2157,0,0,0,0,0,0
$GC,4913,1.19,116.8,440.9,14.1,273,4919,0.00,2.47,0.00,0.000,6,0.000,0.026,3399,1799,2152,0,0,0,0,0,0
$GC,5244,1.19,116.8,395.7,14.0,282,5245,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1802,2145,0,0,0,0,0,0
$GC,5569,1.19,116.8,353.4,12.6,290,5574,0.00,2.65,0.00,0.000,4,0.000,0.061,3398,401,2142,0,0,0,0,0,0
$GC,5598,1.19,116.8,349.3,14.1,290,5602,0.00,2.47,0.00,0.000,6,0.000,0.028,3399,1800,2139,0,0,0,0,0,0
$GC,5933,1.19,116.8,310.2,11.4,299,5938,0.00,2.67,0.00,0.000,4,0.000,0.061,3400,397,2139,0,0,0,0,0,0
$GC,5999,1.19,116.8,301.4,13.9,300,6003,0.00,2.47,0.00,0.000,6,0.000,0.029,3399,1797,2137,0,0,0,0,0,0
$GC,6329,1.19,116.8,266.6,9.7,316,6333,0.00,2.53,0.00,0.000,4,0.000,0.042,3399,3205,2136,0,0,0,0,0,0
$GC,6398,1.19,116.8,260.3,9.4,319,6402,0.00,2.60,0.00,0.000,6,0.000,0.048,3399,1805,2136,0,0,0,0,0,0
$GC,6726,1.19,116.8,229.5,9.8,335,6730,0.00,2.62,0.00,0.000,4,0.000,0.059,3399,393,2134,0,0,0,0,0,0
$GC,6750,1.19,116.8,226.4,12.2,336,6754,0.00,2.47,0.00,0.000,6,0.000,0.026,3399,1808,2133,0,0,0,0,0,0
$GC,7078,1.19,116.8,193.9,9.2,355,7079,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1812,2133,0,0,0,0,0,0
$GC,7333,1.19,116.8,171.3,9.1,379,7337,0.00,2.47,0.00,0.000,4,0.000,0.036,3399,3203,2133,0,0,0,0,0,0
$GC,7352,1.19,116.8,169.2,9.8,380,7359,0.00,2.58,0.00,0.000,6,0.000,0.041,3399,1804,2133,0,0,0,0,0,0
$GC,7617,1.19,116.8,146.1,8.5,405,7621,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1804,2132,0,0,0,0,0,0
$GC,7878,1.19,116.8,124.5,8.4,430,7879,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1805,2132,0,0,0,0,0,0
$GC,8133,1.20,118.2,104.6,8.0,454,8138,0.00,2.58,0.00,0.000,4,0.000,0.051,3399,387,2132,0,0,0,0,0,0
$GC,8194,1.20,118.2,98.8,9.7,460,8198,0.00,2.42,0.00,0.000,6,0.000,0.021,3399,1813,2131,0,0,0,0,0,0
$GC,8457,1.23,149.1,80.4,6.6,484,8488,0.00,2.65,24.02,0.529,4,0.000,0.046,3399,392,2026,0,0,0,0,0,0
$GC,8537,1.23,149.1,74.4,8.1,492,8544,0.00,2.45,0.00,0.000,6,0.000,0.020,3399,1799,2022,0,0,0,0,0,0
$GC,8800,1.25,159.8,53.8,7.5,517,8821,0.00,2.62,10.48,0.463,4,0.000,0.048,3399,386,1981,0,0,0,0,0,0
$GC,8916,1.25,159.8,43.6,8.4,529,8923,0.00,2.45,0.00,0.000,6,0.000,0.019,3399,1797,1978,0,0,0,0,0,0
$GC,9181,1.30,206.4,27.9,5.9,557,9226,0.00,0.00,40.62,0.483,6,0.000,0.000,3399,1799,1792,0,0,0,0,0,0
$GC,9424,1.35,241.7,10.5,6.4,601,9465,0.15,2.70,30.23,0.460,4,0.052,0.048,3452,392,1647,0,0,0,0,0,0
$STATE,9491,end climb,SURFACE_DEPTH_REACHED
$STATE,9491,begin surface coast
$FINISH,1.0,1.010127
$STATE,9516,end surface coast,CONTROL_FINISHED_OK
$STATE,9517,begin surface
$SM_CCo,9543,46.25,0.453,0,0,1288,330.17
$SM_GC,1.75,0.00,0.00,46.25,0.000,0.000,0.453,427,2103,1288,-12.47,0.08,330.17
$IRIDIUM_FIX,2057.14,-15743.60,030800,060621
$TT8_MAMPS,0.029146
$HUMID,55.98
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,24.960
$10V_AH,10.4,23.760
$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,28.675,106.725,301.700,46.250,0.000,26.178,38.645,144.355,4.500,0.000,34.219,1123.517,6187.890,412.797,1772.443,444.879,33.360,1164.270,0.000,1733.935,0.000,29.251,0.000
$DEVICE_MAMPS,134.992,62.894,830.661,453.297,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,418.399,410.709,927.220,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,34966,619
$CAP_FILE_SIZE,97983,0
$CFSIZE,260165632,241631232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100511,120206,2106.318,-15744.674,42,0.9,53,9.8