version: 66.06
glider: 139
mission: 9
dive: 312
start: 5 10 111 23 32 26
data:
$ID,139
$MISSION,9
$DIVE,312
$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,-2182441.8
$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,40
$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
$GPS1,232352,2106.120,-15744.708,13,3.9,32,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-74.8
$GPS2,233134,2106.144,-15744.661,16,3.5,35,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.203,0.089
$KALMAN_X,-212282.4,-21.0,-91.0,222721.8,-1529.5
$KALMAN_Y,-20428.4,4.1,0.4,11880.1,-1150.4
$MHEAD_RNG_PITCHd_Wd,56.5,3073,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.19,-116.8,0.0,0.0,0,90,0.00,0.00,-69.95,0.000,2,0.000,0.000,424,2094,3098,0,0,0,0,0,0
$GC,94,-1.19,-116.8,3.4,-4.7,13,113,13.15,2.50,-0.22,0.000,4,0.135,0.042,2871,3508,3112,0,0,0,0,0,0
$GC,250,-1.19,-116.8,36.5,-18.2,43,255,0.00,2.55,0.00,0.000,6,0.000,0.038,2871,2087,3114,0,0,0,0,0,0
$GC,513,-1.19,-116.8,76.6,-12.3,67,517,0.00,2.50,0.00,0.000,4,0.000,0.034,2870,3498,3115,0,0,0,0,0,0
$GC,575,-1.19,-116.8,84.4,-12.0,73,579,0.00,2.47,0.00,0.000,6,0.000,0.033,2870,2097,3115,0,0,0,0,0,0
$GC,839,-1.19,-116.8,119.7,-12.0,97,846,0.00,2.50,0.00,0.000,4,0.000,0.042,2870,693,3116,0,0,0,0,0,0
$GC,863,-1.19,-116.8,122.7,-11.2,99,867,0.00,2.40,0.00,0.000,6,0.000,0.021,2871,2109,3115,0,0,0,0,0,0
$GC,1127,-1.19,-116.8,151.1,-10.1,123,1132,0.00,2.53,0.00,0.000,4,0.000,0.043,2870,690,3116,0,0,0,0,0,0
$GC,1219,-1.19,-116.8,162.1,-13.0,132,1226,0.00,2.42,0.00,0.000,6,0.000,0.022,2871,2095,3116,0,0,0,0,0,0
$GC,1484,-1.19,-116.8,188.7,-9.8,157,1488,0.00,2.53,0.00,0.000,4,0.000,0.039,2870,3506,3117,0,0,0,0,0,0
$GC,1625,-1.19,-116.8,204.1,-11.1,170,1629,0.00,2.47,0.00,0.000,6,0.000,0.037,2870,2100,3117,0,0,0,0,0,0
$GC,1946,-1.19,-116.8,234.9,-7.3,186,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2099,3117,0,0,0,0,0,0
$GC,2255,-1.19,-116.8,259.4,-9.5,201,2260,0.00,2.50,0.00,0.000,4,0.000,0.041,2870,3503,3117,0,0,0,0,0,0
$GC,2321,-1.19,-116.8,265.6,-9.0,204,2326,0.00,2.50,0.00,0.000,6,0.000,0.039,2871,2091,3116,0,0,0,0,0,0
$GC,2652,-1.19,-116.8,294.6,-9.0,220,2656,0.00,2.53,0.00,0.000,4,0.000,0.048,2870,686,3115,0,0,0,0,0,0
$GC,2786,-1.19,-116.8,307.6,-8.4,225,2790,0.00,2.45,0.00,0.000,6,0.000,0.025,2871,2103,3115,0,0,0,0,0,0
$GC,3113,-1.19,-116.8,333.8,-8.0,233,3118,0.00,2.58,0.00,0.000,4,0.000,0.048,2870,684,3114,0,0,0,0,0,0
$GC,3179,-1.19,-116.8,339.0,-8.2,234,3183,0.00,2.45,0.00,0.000,6,0.000,0.025,2870,2099,3114,0,0,0,0,0,0
$GC,3524,-1.19,-116.8,369.7,-9.2,243,3529,0.00,2.55,0.00,0.000,4,0.000,0.050,2870,684,3112,0,0,0,0,0,0
$GC,3591,-1.19,-116.8,376.5,-11.2,244,3595,0.00,2.45,0.00,0.000,6,0.000,0.027,2870,2099,3111,0,0,0,0,0,0
$GC,3936,-1.19,-116.8,403.6,-7.1,253,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2100,3109,0,0,0,0,0,0
$GC,4262,-1.19,-116.8,427.6,-7.1,261,4266,0.00,2.60,0.00,0.000,4,0.000,0.053,2870,694,3107,0,0,0,0,0,0
$GC,4299,-1.19,-116.8,430.8,-8.4,261,4305,0.00,2.45,0.00,0.000,6,0.000,0.028,2870,2097,3106,0,0,0,0,0,0
$STATE,4546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4546,begin apogee
$GC,4554,-0.31,0.0,450.2,7.8,268,4651,0.95,0.00,94.45,0.818,6,0.081,0.000,3068,1788,2635,0,0,0,0,0,0
$STATE,4652,end apogee,CONTROL_FINISHED_OK
$STATE,4652,begin climb
$GC,4655,1.19,116.8,452.5,0.0,270,4767,1.48,2.72,100.22,0.798,4,0.054,0.061,3394,399,2157,0,0,0,0,0,0
$GC,4783,1.19,116.8,441.8,12.7,273,4788,0.00,2.50,0.00,0.000,6,0.000,0.026,3394,1808,2153,0,0,0,0,0,0
$GC,5111,1.19,116.8,403.1,11.4,281,5115,0.00,2.70,0.00,0.000,4,0.000,0.061,3394,400,2146,0,0,0,0,0,0
$GC,5125,1.19,116.8,401.2,11.3,281,5130,0.00,2.47,0.00,0.000,6,0.000,0.027,3394,1810,2144,0,0,0,0,0,0
$GC,5476,1.19,116.8,362.2,11.1,290,5477,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1814,2142,0,0,0,0,0,0
$GC,5800,1.19,116.8,324.4,11.7,298,5805,0.00,2.65,0.00,0.000,4,0.000,0.060,3394,400,2140,0,0,0,0,0,0
$GC,5870,1.19,116.8,315.2,13.1,299,5874,0.00,2.45,0.00,0.000,6,0.000,0.027,3394,1799,2138,0,0,0,0,0,0
$GC,6193,1.19,116.8,278.6,11.1,312,6194,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1800,2137,0,0,0,0,0,0
$GC,6504,1.19,116.8,246.6,9.8,327,6508,0.00,2.53,0.00,0.000,4,0.000,0.041,3395,3201,2135,0,0,0,0,0,0
$GC,6541,1.19,116.8,242.8,9.7,328,6548,0.00,2.60,0.00,0.000,6,0.000,0.048,3394,1805,2135,0,0,0,0,0,0
$GC,6857,1.19,116.8,214.4,9.1,344,6862,0.00,2.60,0.00,0.000,4,0.000,0.057,3394,393,2134,0,0,0,0,0,0
$GC,6913,1.19,116.8,208.6,10.5,346,6917,0.00,2.47,0.00,0.000,6,0.000,0.025,3394,1808,2132,0,0,0,0,0,0
$GC,7238,1.20,124.6,179.5,7.7,371,7243,0.00,2.62,0.00,0.000,4,0.000,0.053,3394,391,2132,0,0,0,0,0,0
$GC,7257,1.20,124.6,177.3,9.3,372,7264,0.00,2.47,0.00,0.000,6,0.000,0.024,3395,1797,2131,0,0,0,0,0,0
$GC,7522,1.22,133.8,158.5,7.6,397,7541,0.00,2.55,11.23,0.563,4,0.000,0.035,3395,3201,2089,0,0,0,0,0,0
$GC,7589,1.22,133.8,152.8,8.2,404,7593,0.00,2.58,0.00,0.000,6,0.000,0.041,3394,1797,2089,0,0,0,0,0,0
$GC,7852,1.22,133.8,131.5,8.5,428,7856,0.00,2.58,0.00,0.000,4,0.000,0.052,3394,388,2087,0,0,0,0,0,0
$GC,7905,1.22,133.8,126.6,9.0,433,7909,0.00,2.45,0.00,0.000,6,0.000,0.021,3394,1804,2085,0,0,0,0,0,0
$GC,8170,1.27,178.4,108.4,6.0,457,8216,0.00,2.67,39.67,0.556,4,0.000,0.049,3394,389,1906,0,0,0,0,0,0
$GC,8247,1.27,178.4,102.3,9.6,465,8251,0.00,2.47,0.00,0.000,6,0.000,0.021,3395,1807,1902,0,0,0,0,0,0
$GC,8511,1.29,195.4,80.2,7.2,489,8534,0.10,2.70,15.05,0.499,4,0.071,0.048,3433,392,1837,0,0,0,0,0,0
$GC,8551,1.29,195.4,76.7,9.0,493,8555,0.00,2.42,0.00,0.000,6,0.000,0.020,3433,1801,1835,0,0,0,0,0,0
$GC,8813,1.29,195.4,53.7,9.2,517,8817,0.00,2.45,0.00,0.000,4,0.000,0.028,3433,3204,1835,0,0,0,0,0,0
$GC,8848,1.29,195.4,50.5,8.9,520,8852,0.00,2.53,0.00,0.000,6,0.000,0.036,3433,1798,1834,0,0,0,0,0,0
$GC,9112,1.29,195.4,27.9,8.1,546,9119,0.00,2.60,0.00,0.000,4,0.000,0.049,3433,391,1835,0,0,0,0,0,0
$GC,9211,1.29,195.4,17.4,10.9,568,9217,0.00,2.42,0.00,0.000,6,0.000,0.018,3433,1798,1831,0,0,0,0,0,0
$STATE,9369,end climb,SURFACE_DEPTH_REACHED
$STATE,9369,begin surface coast
$FINISH,1.0,1.015983
$STATE,9407,end surface coast,CONTROL_FINISHED_OK
$STATE,9407,begin surface
$SM_CCo,9431,68.43,0.457,0,0,1288,330.17
$SM_GC,1.74,0.00,0.00,68.43,0.000,0.000,0.457,424,2137,1288,-12.48,1.05,330.17
$IRIDIUM_FIX,2059.45,-15342.63,030800,202027
$TT8_MAMPS,0.029146
$HUMID,56.10
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,21.90
$XPDR_PINGS,1
$24V_AH,23.5,25.371
$10V_AH,10.4,24.153
$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,28.425,112.175,260.625,68.425,0.000,28.558,38.133,249.841,4.750,0.000,36.750,1106.782,6179.850,402.926,1714.886,558.193,33.365,1130.684,0.000,1674.770,0.000,29.261,0.000
$DEVICE_MAMPS,134.992,61.360,817.622,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.176,400.684,885.274,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355868
$DATA_FILE_SIZE,34989,604
$CAP_FILE_SIZE,99037,0
$CFSIZE,260165632,241381376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110511,021206,2106.479,-15743.943,41,0.9,41,9.8