version: 66.06
glider: 139
mission: 9
dive: 310
start: 5 10 111 17 50 37
data:
$ID,139
$MISSION,9
$DIVE,310
$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,-2182389.8
$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,17
$R_STBD_OVSHOOT,78
$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
$GPS1,174051,2105.913,-15744.688,10,2.6,29,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-75.7
$GPS2,174946,2105.888,-15744.748,13,2.7,32,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.178,0.133
$KALMAN_X,-208156.9,-274.3,50.5,218547.7,-2771.6
$KALMAN_Y,-17765.9,-578.2,107.0,9218.3,-1454.3
$MHEAD_RNG_PITCHd_Wd,43.5,3165,-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,-69.80,0.000,6,0.000,0.000,426,2166,3113,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.5,-4.9,13,110,13.07,2.65,0.00,0.000,4,0.133,0.037,2870,681,3115,0,0,0,0,0,0
$GC,131,-1.19,-116.8,16.1,-32.5,20,137,0.00,2.40,0.00,0.000,6,0.000,0.020,2870,2060,3116,0,0,0,0,0,0
$GC,337,-1.19,-116.8,54.6,-13.4,45,341,0.00,2.53,0.00,0.000,4,0.000,0.035,2870,3496,3117,0,0,0,0,0,0
$GC,406,-1.19,-116.8,64.8,-14.2,52,411,0.00,2.50,0.00,0.000,6,0.000,0.032,2870,2082,3118,0,0,0,0,0,0
$GC,668,-1.19,-116.8,98.7,-11.5,76,672,0.00,2.50,0.00,0.000,4,0.000,0.035,2870,3503,3118,0,0,0,0,0,0
$GC,687,-1.19,-116.8,101.1,-11.0,77,693,0.00,2.45,0.00,0.000,6,0.000,0.031,2870,2090,3118,0,0,0,0,0,0
$GC,948,-1.19,-116.8,131.4,-12.7,102,953,0.00,2.47,0.00,0.000,4,0.000,0.035,2870,3500,3118,0,0,0,0,0,0
$GC,977,-1.19,-116.8,134.8,-11.7,104,983,0.00,2.47,0.00,0.000,6,0.000,0.034,2870,2105,3118,0,0,0,0,0,0
$GC,1243,-1.19,-116.8,164.7,-10.2,129,1247,0.00,2.53,0.00,0.000,4,0.000,0.043,2870,686,3119,0,0,0,0,0,0
$GC,1261,-1.19,-116.8,167.5,-10.8,130,1268,0.00,2.42,0.00,0.000,6,0.000,0.021,2870,2095,3119,0,0,0,0,0,0
$GC,1526,-1.19,-116.8,195.5,-10.4,155,1531,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2096,3118,0,0,0,0,0,0
$GC,1782,-1.19,-116.8,220.3,-9.4,170,1786,0.00,2.53,0.00,0.000,4,0.000,0.044,2870,687,3119,0,0,0,0,0,0
$GC,1897,-1.19,-116.8,232.4,-10.7,175,1901,0.00,2.40,0.00,0.000,6,0.000,0.022,2870,2102,3119,0,0,0,0,0,0
$GC,2224,-1.19,-116.8,259.6,-7.4,191,2228,0.00,2.50,0.00,0.000,4,0.000,0.044,2870,690,3118,0,0,0,0,0,0
$GC,2320,-1.19,-116.8,267.1,-7.9,195,2324,0.00,2.40,0.00,0.000,6,0.000,0.023,2870,2097,3118,0,0,0,0,0,0
$GC,2651,-1.19,-116.8,293.1,-7.7,211,2655,0.00,2.53,0.00,0.000,4,0.000,0.045,2870,3504,3117,0,0,0,0,0,0
$GC,2698,-1.19,-116.8,297.6,-9.8,213,2702,0.00,2.50,0.00,0.000,6,0.000,0.040,2870,2092,3117,0,0,0,0,0,0
$GC,3019,-1.19,-116.8,323.2,-7.5,222,3023,0.00,2.53,0.00,0.000,4,0.000,0.048,2870,691,3116,0,0,0,0,0,0
$GC,3080,-1.19,-116.8,327.7,-7.7,223,3084,0.00,2.42,0.00,0.000,6,0.000,0.026,2870,2102,3116,0,0,0,0,0,0
$GC,3431,-1.19,-116.8,355.8,-8.7,232,3436,0.00,2.55,0.00,0.000,4,0.000,0.049,2869,3497,3114,0,0,0,0,0,0
$GC,3501,-1.19,-116.8,362.4,-9.0,233,3505,0.00,2.53,0.00,0.000,6,0.000,0.044,2870,2100,3114,0,0,0,0,0,0
$GC,3844,-1.19,-116.8,389.3,-8.0,242,3845,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2099,3111,0,0,0,0,0,0
$GC,4167,-1.19,-116.8,415.3,-7.7,250,4171,0.00,2.55,0.00,0.000,4,0.000,0.051,2870,3496,3109,0,0,0,0,0,0
$GC,4251,-1.19,-116.8,421.1,-6.9,251,4257,0.00,2.53,0.00,0.000,6,0.000,0.046,2870,2103,3108,0,0,0,0,0,0
$GC,4585,-1.19,-116.8,442.1,-6.4,260,4590,0.00,2.62,0.00,0.000,4,0.000,0.056,2870,684,3106,0,0,0,0,0,0
$GC,4664,-1.19,-116.8,448.4,-9.0,261,4669,0.00,2.47,0.00,0.000,6,0.000,0.030,2870,2099,3106,0,0,0,0,0,0
$STATE,4708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4708,begin apogee
$GC,4716,-0.31,0.0,451.8,7.6,262,4814,0.95,0.00,94.88,0.825,6,0.082,0.000,3067,1791,2635,0,0,0,0,0,0
$STATE,4815,end apogee,CONTROL_FINISHED_OK
$STATE,4815,begin climb
$GC,4818,1.19,116.8,453.8,0.0,264,4923,1.50,0.00,101.40,0.805,6,0.054,0.000,3396,1791,2158,0,0,0,0,0,0
$GC,5237,1.19,116.8,405.0,13.3,275,5241,0.00,2.62,0.00,0.000,4,0.000,0.062,3395,401,2146,0,0,0,0,0,0
$GC,5252,1.19,116.8,402.8,13.3,275,5256,0.00,2.50,0.00,0.000,6,0.000,0.027,3395,1810,2145,0,0,0,0,0,0
$GC,5602,1.19,116.8,357.5,13.0,284,5603,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1814,2143,0,0,0,0,0,0
$GC,5926,1.19,116.8,321.9,10.6,292,5931,0.00,2.67,0.00,0.000,4,0.000,0.060,3395,399,2140,0,0,0,0,0,0
$GC,5941,1.19,116.8,320.3,10.0,292,5945,0.00,2.47,0.00,0.000,6,0.000,0.028,3396,1800,2139,0,0,0,0,0,0
$GC,6273,1.19,116.8,288.5,10.1,303,6274,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1803,2138,0,0,0,0,0,0
$GC,6581,1.19,116.8,254.5,11.1,318,6585,0.00,2.62,0.00,0.000,4,0.000,0.058,3395,400,2136,0,0,0,0,0,0
$GC,6628,1.19,116.8,248.7,13.0,320,6632,0.00,2.47,0.00,0.000,6,0.000,0.027,3396,1804,2134,0,0,0,0,0,0
$GC,6953,1.19,116.8,215.8,10.0,336,6957,0.00,2.53,0.00,0.000,4,0.000,0.041,3396,3213,2134,0,0,0,0,0,0
$GC,7008,1.19,116.8,210.0,10.4,338,7013,0.00,2.58,0.00,0.000,6,0.000,0.044,3396,1805,2134,0,0,0,0,0,0
$GC,7334,1.19,116.8,181.2,8.4,363,7338,0.00,2.60,0.00,0.000,4,0.000,0.054,3396,390,2134,0,0,0,0,0,0
$GC,7379,1.19,116.8,176.6,9.3,367,7385,0.00,2.45,0.00,0.000,6,0.000,0.024,3396,1808,2132,0,0,0,0,0,0
$GC,7643,1.19,116.8,156.3,8.0,392,7644,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1813,2132,0,0,0,0,0,0
$GC,7896,1.20,121.3,135.4,7.8,416,7900,0.00,2.62,0.00,0.000,4,0.000,0.051,3396,392,2132,0,0,0,0,0,0
$GC,7913,1.20,121.3,134.0,8.7,417,7918,0.00,2.45,0.00,0.000,6,0.000,0.022,3396,1810,2131,0,0,0,0,0,0
$GC,8178,1.20,125.0,112.8,7.9,441,8183,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1814,2132,0,0,0,0,0,0
$GC,8439,1.22,138.5,94.7,7.4,466,8458,0.00,0.00,15.27,0.522,6,0.000,0.000,3396,1814,2069,0,0,0,0,0,0
$GC,8718,1.22,138.5,71.4,9.4,492,8724,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1814,2067,0,0,0,0,0,0
$GC,8980,1.26,166.2,49.9,6.8,517,9011,0.00,0.00,25.08,0.497,6,0.000,0.000,3396,1814,1956,0,0,0,0,0,0
$GC,9269,1.29,193.8,31.8,6.8,544,9300,0.00,2.65,24.23,0.476,4,0.000,0.046,3396,392,1844,0,0,0,0,0,0
$GC,9349,1.29,193.8,25.5,8.6,558,9356,0.00,2.45,0.00,0.000,6,0.000,0.019,3396,1800,1839,0,0,0,0,0,0
$GC,9553,1.30,200.3,10.5,7.7,595,9566,0.10,0.00,6.55,0.384,6,0.070,0.000,3437,1806,1817,0,0,0,0,0,0
$STATE,9635,end climb,SURFACE_DEPTH_REACHED
$STATE,9635,begin surface coast
$FINISH,0.9,1.009613
$STATE,9666,end surface coast,CONTROL_FINISHED_OK
$STATE,9666,begin surface
$SM_CCo,9690,66.40,0.456,0,0,1288,330.17
$SM_GC,1.56,0.00,0.00,66.40,0.000,0.000,0.456,425,2155,1288,-12.48,1.55,330.17
$IRIDIUM_FIX,2059.45,-15743.60,030800,171729
$TT8_MAMPS,0.029146
$HUMID,55.78
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.5,25.201
$10V_AH,10.5,23.997
$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,28.500,96.700,267.400,66.400,0.000,61.964,71.474,195.745,4.500,0.000,33.478,1110.298,6524.929,442.017,1644.698,569.666,33.364,1117.853,0.000,1616.740,0.000,29.259,0.000
$DEVICE_MAMPS,133.458,62.127,824.525,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,416.141,408.423,907.199,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,34935,615
$CAP_FILE_SIZE,96816,0
$CFSIZE,260165632,241483776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100511,203431,2105.972,-15745.016,39,1.8,39,9.8