version: 66.06
glider: 139
mission: 9
dive: 308
start: 5 10 111 12 8 31
data:
$ID,139
$MISSION,9
$DIVE,308
$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,-2182331.2
$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,19
$R_STBD_OVSHOOT,44
$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
$GPS1,120206,2106.318,-15744.674,42,0.9,53,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-72.6
$GPS2,120738,2106.301,-15744.602,11,2.0,11,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.104,0.196
$KALMAN_X,-205462.8,444.2,464.8,214975.9,-2766.1
$KALMAN_Y,-15179.7,88.1,-35.0,6875.9,-1700.3
$MHEAD_RNG_PITCHd_Wd,18.3,3046,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.19,-116.8,0.0,0.0,0,89,0.00,0.00,-69.20,0.000,2,0.000,0.000,427,2105,3076,0,0,0,0,0,0
$GC,93,-1.19,-116.8,3.1,-3.8,13,112,13.10,2.47,-0.70,0.000,4,0.135,0.045,2869,3494,3113,0,0,0,0,0,0
$GC,366,-1.19,-116.8,56.0,-13.8,56,370,0.00,2.45,0.00,0.000,6,0.000,0.033,2868,2093,3116,0,0,0,0,0,0
$GC,627,-1.19,-116.8,90.0,-12.5,80,632,0.00,2.50,0.00,0.000,4,0.000,0.043,2869,692,3116,0,0,0,0,0,0
$GC,805,-1.19,-116.8,115.7,-13.7,98,812,0.00,2.42,0.00,0.000,6,0.000,0.021,2869,2099,3116,0,0,0,0,0,0
$GC,1069,-1.19,-116.8,148.5,-11.9,123,1074,0.00,2.55,0.00,0.000,4,0.000,0.043,2869,691,3117,0,0,0,0,0,0
$GC,1131,-1.19,-116.8,156.7,-13.3,129,1136,0.00,2.42,0.00,0.000,6,0.000,0.021,2869,2105,3117,0,0,0,0,0,0
$GC,1394,-1.19,-116.8,185.0,-9.9,153,1398,0.00,2.53,0.00,0.000,4,0.000,0.042,2868,682,3118,0,0,0,0,0,0
$GC,1464,-1.19,-116.8,193.1,-11.8,160,1468,0.00,2.40,0.00,0.000,6,0.000,0.021,2869,2099,3118,0,0,0,0,0,0
$GC,1722,-1.19,-116.8,221.7,-11.1,175,1726,0.00,2.53,0.00,0.000,4,0.000,0.044,2868,691,3119,0,0,0,0,0,0
$GC,1805,-1.19,-116.8,231.7,-11.5,178,1812,0.00,2.42,0.00,0.000,6,0.000,0.022,2869,2091,3118,0,0,0,0,0,0
$GC,2122,-1.19,-116.8,261.1,-7.7,194,2127,0.00,2.55,0.00,0.000,4,0.000,0.044,2868,3501,3118,0,0,0,0,0,0
$GC,2274,-1.19,-116.8,272.1,-7.7,200,2281,0.00,2.53,0.00,0.000,6,0.000,0.038,2869,2097,3118,0,0,0,0,0,0
$GC,2590,-1.19,-116.8,298.4,-8.8,216,2595,0.00,2.53,0.00,0.000,4,0.000,0.048,2868,691,3117,0,0,0,0,0,0
$GC,2682,-1.19,-116.8,308.3,-10.0,219,2686,0.00,2.42,0.00,0.000,6,0.000,0.025,2869,2099,3117,0,0,0,0,0,0
$GC,3006,-1.19,-116.8,332.9,-6.7,227,3010,0.00,2.53,0.00,0.000,4,0.000,0.048,2869,691,3115,0,0,0,0,0,0
$GC,3075,-1.19,-116.8,338.4,-8.5,228,3080,0.00,2.42,0.00,0.000,6,0.000,0.025,2868,2103,3115,0,0,0,0,0,0
$GC,3418,-1.19,-116.8,365.4,-8.4,237,3422,0.00,2.55,0.00,0.000,4,0.000,0.050,2868,692,3113,0,0,0,0,0,0
$GC,3432,-1.19,-116.8,367.1,-8.9,237,3436,0.00,2.42,0.00,0.000,6,0.000,0.026,2868,2105,3113,0,0,0,0,0,0
$GC,3783,-1.19,-116.8,396.0,-8.0,246,3788,0.00,2.58,0.00,0.000,4,0.000,0.051,2868,685,3110,0,0,0,0,0,0
$GC,3831,-1.19,-116.8,400.2,-8.2,247,3836,0.00,2.47,0.00,0.000,6,0.000,0.028,2868,2105,3110,0,0,0,0,0,0
$GC,4155,-1.19,-116.8,422.7,-6.7,255,4160,0.00,2.58,0.00,0.000,4,0.000,0.054,2869,693,3108,0,0,0,0,0,0
$GC,4221,-1.19,-116.8,427.8,-7.7,256,4225,0.00,2.45,0.00,0.000,6,0.000,0.029,2869,2105,3107,0,0,0,0,0,0
$STATE,4563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4563,begin apogee
$GC,4571,-0.31,0.0,450.3,6.8,265,4669,0.95,0.00,95.28,0.823,6,0.082,0.000,3066,1795,2634,0,0,0,0,0,0
$STATE,4670,end apogee,CONTROL_FINISHED_OK
$STATE,4670,begin climb
$GC,4673,1.19,116.8,451.8,0.0,267,4778,1.50,0.00,100.85,0.802,6,0.054,0.000,3396,1795,2158,0,0,0,0,0,0
$GC,5091,1.19,116.8,401.7,13.0,278,5096,0.00,2.62,0.00,0.000,4,0.000,0.064,3395,405,2146,0,0,0,0,0,0
$GC,5110,1.19,116.8,398.7,14.7,278,5115,0.00,2.47,0.00,0.000,6,0.000,0.028,3395,1800,2145,0,0,0,0,0,0
$GC,5455,1.19,116.8,355.4,11.9,287,5460,0.00,2.65,0.00,0.000,4,0.000,0.061,3395,404,2142,0,0,0,0,0,0
$GC,5476,1.19,116.8,352.9,12.8,287,5481,0.00,2.45,0.00,0.000,6,0.000,0.028,3396,1802,2140,0,0,0,0,0,0
$GC,5821,1.19,116.8,315.0,10.8,296,5826,0.00,2.65,0.00,0.000,4,0.000,0.061,3396,399,2139,0,0,0,0,0,0
$GC,5877,1.19,116.8,308.3,11.5,297,5882,0.00,2.45,0.00,0.000,6,0.000,0.028,3396,1798,2137,0,0,0,0,0,0
$GC,6195,1.19,116.8,274.4,10.8,310,6199,0.00,2.65,0.00,0.000,4,0.000,0.059,3395,398,2136,0,0,0,0,0,0
$GC,6218,1.19,116.8,271.5,11.7,311,6222,0.00,2.45,0.00,0.000,6,0.000,0.027,3396,1801,2135,0,0,0,0,0,0
$GC,6545,1.20,119.5,244.4,7.9,327,6549,0.00,2.53,0.00,0.000,4,0.000,0.041,3396,3209,2135,0,0,0,0,0,0
$GC,6636,1.20,119.5,236.5,8.9,331,6640,0.00,2.60,0.00,0.000,6,0.000,0.047,3396,1801,2135,0,0,0,0,0,0
$GC,6967,1.20,119.5,204.8,9.4,347,6971,0.00,2.60,0.00,0.000,4,0.000,0.057,3395,391,2134,0,0,0,0,0,0
$GC,7027,1.20,119.5,198.5,9.7,349,7033,0.00,2.47,0.00,0.000,6,0.000,0.025,3395,1808,2132,0,0,0,0,0,0
$GC,7352,1.20,119.5,171.3,8.3,380,7356,0.00,2.65,0.00,0.000,4,0.000,0.054,3396,391,2132,0,0,0,0,0,0
$GC,7380,1.20,119.5,168.4,10.6,382,7387,0.00,2.47,0.00,0.000,6,0.000,0.023,3396,1803,2131,0,0,0,0,0,0
$GC,7645,1.20,119.5,145.1,9.1,407,7649,0.00,2.60,0.00,0.000,4,0.000,0.052,3395,392,2131,0,0,0,0,0,0
$GC,7682,1.20,119.5,140.8,10.9,410,7689,0.00,2.45,0.00,0.000,6,0.000,0.022,3396,1796,2130,0,0,0,0,0,0
$GC,7947,1.21,127.6,119.4,7.7,435,7958,0.00,2.55,5.60,0.446,4,0.000,0.033,3395,3202,2114,0,0,0,0,0,0
$GC,8008,1.21,127.6,114.0,8.1,441,8014,0.00,2.55,0.00,0.000,6,0.000,0.038,3396,1796,2114,0,0,0,0,0,0
$GC,8272,1.23,147.4,92.5,7.1,466,8301,0.00,2.65,19.00,0.529,4,0.000,0.050,3396,392,2031,0,0,0,0,0,0
$GC,8315,1.23,147.4,88.9,8.7,470,8322,0.00,2.47,0.00,0.000,6,0.000,0.021,3395,1801,2029,0,0,0,0,0,0
$GC,8578,1.26,172.6,68.8,6.9,495,8609,0.00,2.70,22.48,0.509,4,0.000,0.058,3395,392,1930,0,0,0,0,0,0
$GC,8734,1.26,172.6,56.1,9.1,512,8738,0.00,2.42,0.00,0.000,6,0.000,0.019,3396,1807,1925,0,0,0,0,0,0
$GC,8999,1.33,224.0,38.0,5.7,536,9050,0.12,2.47,44.28,0.491,4,0.060,0.028,3441,3201,1720,0,0,0,0,0,0
$GC,9129,1.33,224.0,27.0,8.4,553,9136,0.00,2.58,0.00,0.000,6,0.000,0.035,3440,1796,1720,0,0,0,0,0,0
$GC,9332,1.33,224.0,7.5,10.4,590,9338,0.00,2.60,0.00,0.000,4,0.000,0.050,3440,394,1717,0,0,0,0,0,0
$STATE,9369,end climb,SURFACE_DEPTH_REACHED
$STATE,9369,begin surface coast
$FINISH,1.1,1.022869
$STATE,9392,end surface coast,CONTROL_FINISHED_OK
$STATE,9392,begin surface
$SM_CCo,9419,52.92,0.456,0,0,1288,330.17
$SM_GC,1.62,0.00,0.00,52.92,0.000,0.000,0.456,428,2117,1288,-12.46,0.48,330.17
$IRIDIUM_FIX,2057.14,-15743.60,030800,090942
$TT8_MAMPS,0.029146
$HUMID,55.63
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.90
$XPDR_PINGS,1
$24V_AH,23.5,25.038
$10V_AH,10.4,23.839
$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,28.550,122.050,287.475,52.925,0.000,27.283,33.802,152.323,5.000,0.000,11.785,1126.082,6013.376,431.162,1777.136,458.412,33.362,1191.998,0.000,1760.307,0.000,32.108,0.000
$DEVICE_MAMPS,134.992,63.661,822.991,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.684,394.663,895.279,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34917,603
$CAP_FILE_SIZE,101214,0
$CFSIZE,260165632,241577984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100511,144734,2106.616,-15744.782,11,6.2,30,9.8