version: 66.06
glider: 139
mission: 9
dive: 311
start: 5 10 111 20 43 21
data:
$ID,139
$MISSION,9
$DIVE,311
$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,-2182404.2
$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,20
$R_STBD_OVSHOOT,79
$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
$GPS1,203431,2105.972,-15745.016,39,1.8,39,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-74.3
$GPS2,204226,2105.996,-15745.021,13,1.2,13,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.195,0.106
$KALMAN_X,-209965.0,-243.1,-621.7,220531.7,-1342.3
$KALMAN_Y,-19136.9,-420.2,39.8,10700.5,-1266.6
$MHEAD_RNG_PITCHd_Wd,51.6,3649,-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,-70.10,0.000,2,0.000,0.000,425,2153,3101,0,0,0,0,0,0
$GC,93,-1.19,-116.8,3.3,-3.5,13,111,13.07,2.62,0.00,0.000,4,0.133,0.036,2870,684,3103,0,0,0,0,0,0
$GC,128,-1.19,-116.8,14.8,-31.3,19,134,0.00,2.40,0.00,0.000,6,0.000,0.020,2870,2065,3104,0,0,0,0,0,0
$GC,334,-1.19,-116.8,54.3,-20.0,45,339,0.00,2.55,0.00,0.000,4,0.000,0.036,2870,3501,3105,0,0,0,0,0,0
$GC,398,-1.19,-116.8,63.7,-12.9,51,404,0.00,2.50,0.00,0.000,6,0.000,0.032,2870,2097,3105,0,0,0,0,0,0
$GC,659,-1.19,-116.8,97.9,-14.2,76,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2097,3106,0,0,0,0,0,0
$GC,914,-1.19,-116.8,128.7,-13.6,100,918,0.00,2.47,0.00,0.000,4,0.000,0.035,2870,3506,3107,0,0,0,0,0,0
$GC,1076,-1.19,-116.8,150.7,-12.6,117,1080,0.00,2.45,0.00,0.000,6,0.000,0.032,2870,2097,3107,0,0,0,0,0,0
$GC,1341,-1.19,-116.8,180.6,-9.4,141,1346,0.00,2.47,0.00,0.000,4,0.000,0.036,2870,3506,3108,0,0,0,0,0,0
$GC,1433,-1.19,-116.8,190.2,-10.8,150,1440,0.00,2.50,0.00,0.000,6,0.000,0.035,2870,2106,3108,0,0,0,0,0,0
$GC,1690,-1.19,-116.8,212.8,-8.0,168,1694,0.00,2.53,0.00,0.000,4,0.000,0.044,2870,690,3109,0,0,0,0,0,0
$GC,1759,-1.19,-116.8,219.1,-9.0,171,1763,0.00,2.42,0.00,0.000,6,0.000,0.021,2870,2109,3108,0,0,0,0,0,0
$GC,2086,-1.19,-116.8,245.0,-9.4,187,2090,0.00,2.47,0.00,0.000,4,0.000,0.042,2870,3495,3108,0,0,0,0,0,0
$GC,2132,-1.19,-116.8,249.9,-9.5,189,2136,0.00,2.47,0.00,0.000,6,0.000,0.037,2870,2089,3108,0,0,0,0,0,0
$GC,2459,-1.19,-116.8,279.4,-7.7,205,2464,0.00,2.50,0.00,0.000,4,0.000,0.048,2870,690,3107,0,0,0,0,0,0
$GC,2595,-1.19,-116.8,291.3,-8.4,210,2601,0.00,2.45,0.00,0.000,6,0.000,0.025,2870,2099,3106,0,0,0,0,0,0
$GC,2907,-1.19,-116.8,318.3,-8.5,221,2912,0.00,2.55,0.00,0.000,4,0.000,0.049,2870,693,3105,0,0,0,0,0,0
$GC,3005,-1.19,-116.8,326.9,-8.6,223,3009,0.00,2.45,0.00,0.000,6,0.000,0.025,2870,2107,3104,0,0,0,0,0,0
$GC,3324,-1.19,-116.8,350.7,-7.3,231,3328,0.00,2.53,0.00,0.000,4,0.000,0.049,2870,3502,3103,0,0,0,0,0,0
$GC,3399,-1.19,-116.8,356.3,-7.5,232,3403,0.00,2.53,0.00,0.000,6,0.000,0.043,2869,2101,3102,0,0,0,0,0,0
$GC,3735,-1.19,-116.8,376.6,-5.6,241,3739,0.00,2.58,0.00,0.000,4,0.000,0.054,2870,691,3100,0,0,0,0,0,0
$GC,3810,-1.19,-116.8,382.1,-7.6,242,3815,0.00,2.42,0.00,0.000,6,0.000,0.028,2870,2099,3099,0,0,0,0,0,0
$GC,4147,-1.19,-116.8,406.3,-7.5,251,4151,0.00,2.60,0.00,0.000,4,0.000,0.054,2870,3498,3098,0,0,0,0,0,0
$GC,4226,-1.19,-116.8,412.3,-6.9,252,4231,0.00,2.53,0.00,0.000,6,0.000,0.045,2870,2097,3096,0,0,0,0,0,0
$GC,4558,-1.19,-116.8,435.5,-6.5,260,4559,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2096,3094,0,0,0,0,0,0
$STATE,4798,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4798,begin apogee
$GC,4805,-0.31,0.0,451.9,6.7,266,4901,0.95,0.00,92.30,0.828,6,0.082,0.000,3067,1795,2635,0,0,0,0,0,0
$STATE,4902,end apogee,CONTROL_FINISHED_OK
$STATE,4902,begin climb
$GC,4905,1.19,116.8,453.7,0.0,268,5017,1.48,2.67,99.97,0.808,4,0.055,0.047,3393,3204,2157,0,0,0,0,0,0
$GC,5051,1.19,116.8,440.5,10.6,271,5056,0.00,2.67,0.00,0.000,6,0.000,0.056,3393,1807,2155,0,0,0,0,0,0
$GC,5401,1.19,116.8,400.9,11.0,280,5402,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1807,2146,0,0,0,0,0,0
$GC,5726,1.19,116.8,366.0,11.1,288,5730,0.00,2.67,0.00,0.000,4,0.000,0.062,3393,386,2143,0,0,0,0,0,0
$GC,5759,1.19,116.8,361.6,13.3,288,5763,0.00,2.53,0.00,0.000,6,0.000,0.028,3393,1806,2140,0,0,0,0,0,0
$GC,6090,1.19,116.8,320.9,13.1,296,6095,0.00,2.55,0.00,0.000,4,0.000,0.045,3394,3204,2139,0,0,0,0,0,0
$GC,6137,1.19,116.8,314.7,12.9,297,6141,0.00,2.62,0.00,0.000,6,0.000,0.050,3393,1799,2139,0,0,0,0,0,0
$GC,6464,1.19,116.8,276.6,11.3,309,6468,0.00,2.65,0.00,0.000,4,0.000,0.060,3393,388,2138,0,0,0,0,0,0
$GC,6524,1.19,116.8,268.8,12.1,311,6530,0.00,2.50,0.00,0.000,6,0.000,0.027,3393,1801,2135,0,0,0,0,0,0
$GC,6841,1.19,116.8,239.1,8.6,327,6845,0.00,2.67,0.00,0.000,4,0.000,0.058,3393,388,2135,0,0,0,0,0,0
$GC,6869,1.19,116.8,235.7,11.0,328,6874,0.00,2.50,0.00,0.000,6,0.000,0.026,3394,1805,2133,0,0,0,0,0,0
$GC,7189,1.19,116.8,204.8,9.6,344,7194,0.00,2.50,0.00,0.000,4,0.000,0.039,3394,3214,2133,0,0,0,0,0,0
$GC,7204,1.19,116.8,203.2,10.0,344,7211,0.00,2.62,0.00,0.000,6,0.000,0.043,3393,1797,2133,0,0,0,0,0,0
$GC,7531,1.20,119.4,175.2,7.9,373,7536,0.00,2.58,0.00,0.000,4,0.000,0.054,3393,390,2133,0,0,0,0,0,0
$GC,7541,1.20,119.4,173.8,8.2,373,7547,0.00,2.45,0.00,0.000,6,0.000,0.024,3394,1823,2132,0,0,0,0,0,0
$GC,7805,1.23,144.3,153.6,6.9,398,7834,0.00,2.50,20.25,0.595,4,0.000,0.034,3394,3192,2046,0,0,0,0,0,0
$GC,7863,1.25,158.1,149.3,7.4,404,7883,0.00,2.58,13.73,0.569,6,0.000,0.043,3393,1794,1990,0,0,0,0,0,0
$GC,8138,1.25,158.1,121.8,10.6,430,8142,0.00,2.58,0.00,0.000,4,0.000,0.051,3393,391,1985,0,0,0,0,0,0
$GC,8180,1.25,158.1,117.1,10.8,434,8184,0.00,2.42,0.00,0.000,6,0.000,0.021,3394,1794,1982,0,0,0,0,0,0
$GC,8443,1.26,172.0,94.2,7.4,458,8460,0.00,0.00,12.73,0.514,6,0.000,0.000,3393,1797,1932,0,0,0,0,0,0
$GC,8720,1.26,172.0,70.4,8.7,484,8724,0.00,2.60,0.00,0.000,4,0.000,0.050,3393,390,1930,0,0,0,0,0,0
$GC,8810,1.26,172.0,61.9,8.6,493,8817,0.00,2.45,0.00,0.000,6,0.000,0.021,3394,1795,1927,0,0,0,0,0,0
$GC,9075,1.35,246.8,45.7,4.6,518,9146,0.17,2.65,64.20,0.506,4,0.048,0.055,3449,391,1626,0,0,0,0,0,0
$GC,9187,1.35,246.8,35.6,12.2,529,9191,0.00,2.45,0.00,0.000,6,0.000,0.019,3450,1807,1621,0,0,0,0,0,0
$GC,9452,1.35,246.8,3.3,12.2,573,9459,0.00,2.65,0.00,0.000,4,0.000,0.048,3450,395,1620,0,0,0,0,0,0
$STATE,9465,end climb,SURFACE_DEPTH_REACHED
$STATE,9465,begin surface coast
$FINISH,1.3,1.022848
$STATE,9488,end surface coast,CONTROL_FINISHED_OK
$STATE,9488,begin surface
$SM_CCo,9515,43.45,0.459,0,0,1288,330.17
$SM_GC,1.50,0.00,0.00,43.45,0.000,0.000,0.459,424,2094,1288,-12.48,-0.17,330.17
$IRIDIUM_FIX,2057.14,-15743.60,030800,171752
$TT8_MAMPS,0.029146
$HUMID,57.04
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.60
$XPDR_PINGS,1
$24V_AH,23.5,25.289
$10V_AH,10.5,24.074
$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,28.600,117.600,303.175,43.450,0.000,25.641,60.634,266.508,4.750,0.000,13.775,1078.418,6274.447,412.453,1674.533,598.452,33.361,1162.679,0.000,1658.573,0.000,29.261,0.000
$DEVICE_MAMPS,133.458,62.127,827.593,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,392.079,379.971,829.849,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355788
$DATA_FILE_SIZE,31839,580
$CAP_FILE_SIZE,100787,0
$CFSIZE,260165632,241434624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100511,232352,2106.120,-15744.708,13,3.9,32,9.8