version: 66.06
glider: 139
mission: 9
dive: 313
start: 5 11 111 2 19 55
data:
$ID,139
$MISSION,9
$DIVE,313
$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,-2182458
$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,76
$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
$GPS1,021206,2106.479,-15743.943,41,0.9,41,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-73.9
$GPS2,021902,2106.483,-15743.910,15,1.3,15,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.222,-0.001
$KALMAN_X,-214261.7,239.7,654.3,224985.5,-2766.4
$KALMAN_Y,-21400.1,528.9,92.3,12859.3,-1208.7
$MHEAD_RNG_PITCHd_Wd,80.5,2116,-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,-116.8,0.0,0.0,0,90,0.00,0.00,-69.62,0.000,6,0.000,0.000,424,2137,3112,0,0,0,0,0,0
$GC,94,-1.19,-116.8,3.6,-5.6,13,113,13.15,2.35,0.00,0.000,4,0.135,0.030,2870,3466,3114,0,0,0,0,0,0
$GC,230,-1.19,-116.8,33.7,-17.6,41,235,0.00,2.42,0.00,0.000,6,0.000,0.036,2870,2093,3116,0,0,0,0,0,0
$GC,493,-1.19,-116.8,72.6,-15.1,65,497,0.00,2.50,0.00,0.000,4,0.000,0.041,2870,689,3117,0,0,0,0,0,0
$GC,556,-1.19,-116.8,84.0,-17.2,71,562,0.00,2.33,0.00,0.000,6,0.000,0.021,2870,2063,3117,0,0,0,0,0,0
$GC,822,-1.19,-116.8,120.1,-14.2,96,826,0.00,2.47,0.00,0.000,4,0.000,0.042,2870,688,3118,0,0,0,0,0,0
$GC,842,-1.19,-116.8,123.9,-15.9,97,847,0.00,2.40,0.00,0.000,6,0.000,0.021,2870,2101,3118,0,0,0,0,0,0
$GC,1105,-1.19,-116.8,157.9,-12.7,122,1109,0.00,2.47,0.00,0.000,4,0.000,0.038,2870,3506,3118,0,0,0,0,0,0
$GC,1161,-1.19,-116.8,165.7,-12.4,127,1166,0.00,2.45,0.00,0.000,6,0.000,0.033,2870,2098,3118,0,0,0,0,0,0
$GC,1424,-1.19,-116.8,192.7,-9.1,152,1428,0.00,2.47,0.00,0.000,4,0.000,0.036,2870,3503,3119,0,0,0,0,0,0
$GC,1597,-1.19,-116.8,211.4,-10.3,163,1603,0.00,2.47,0.00,0.000,6,0.000,0.034,2870,2098,3119,0,0,0,0,0,0
$GC,1914,-1.19,-116.8,243.6,-9.4,179,1918,0.00,2.50,0.00,0.000,4,0.000,0.039,2870,3505,3119,0,0,0,0,0,0
$GC,2037,-1.19,-116.8,254.4,-8.1,184,2041,0.00,2.50,0.00,0.000,6,0.000,0.037,2870,2096,3119,0,0,0,0,0,0
$GC,2357,-1.19,-116.8,282.7,-10.0,200,2361,0.00,2.55,0.00,0.000,4,0.000,0.047,2870,687,3118,0,0,0,0,0,0
$GC,2427,-1.19,-116.8,290.5,-10.2,203,2431,0.00,2.42,0.00,0.000,6,0.000,0.023,2870,2099,3118,0,0,0,0,0,0
$GC,2748,-1.19,-116.8,319.8,-9.1,214,2750,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2099,3117,0,0,0,0,0,0
$GC,3074,-1.19,-116.8,349.5,-8.7,222,3078,0.00,2.55,0.00,0.000,4,0.000,0.048,2870,693,3116,0,0,0,0,0,0
$GC,3130,-1.19,-116.8,354.3,-8.7,223,3134,0.00,2.42,0.00,0.000,6,0.000,0.025,2870,2099,3116,0,0,0,0,0,0
$GC,3444,-1.19,-116.8,373.8,-5.1,231,3448,0.00,2.53,0.00,0.000,4,0.000,0.049,2870,694,3114,0,0,0,0,0,0
$GC,3534,-1.19,-116.8,378.6,-5.8,233,3538,0.00,2.42,0.00,0.000,6,0.000,0.026,2870,2102,3113,0,0,0,0,0,0
$GC,3862,-1.19,-116.8,399.4,-7.1,241,3866,0.00,2.58,0.00,0.000,4,0.000,0.051,2870,694,3111,0,0,0,0,0,0
$GC,3887,-1.19,-116.8,401.4,-8.5,241,3892,0.00,2.42,0.00,0.000,6,0.000,0.027,2870,2098,3111,0,0,0,0,0,0
$GC,4228,-1.19,-116.8,427.2,-7.3,250,4233,0.00,2.55,0.00,0.000,4,0.000,0.052,2870,694,3109,0,0,0,0,0,0
$GC,4280,-1.19,-116.8,431.5,-8.2,251,4284,0.00,2.45,0.00,0.000,6,0.000,0.028,2870,2101,3108,0,0,0,0,0,0
$STATE,4554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4554,begin apogee
$GC,4562,-0.31,0.0,452.1,7.6,258,4660,0.95,0.00,95.10,0.818,6,0.081,0.000,3067,1792,2635,0,0,0,0,0,0
$STATE,4661,end apogee,CONTROL_FINISHED_OK
$STATE,4661,begin climb
$GC,4664,1.19,116.8,454.0,0.0,260,4776,1.48,2.72,100.35,0.798,4,0.054,0.061,3394,406,2157,0,0,0,0,0,0
$GC,4786,1.19,116.8,443.6,11.8,262,4792,0.00,2.50,0.00,0.000,6,0.000,0.026,3394,1807,2153,0,0,0,0,0,0
$GC,5118,1.19,116.8,401.7,12.5,271,5119,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1811,2147,0,0,0,0,0,0
$GC,5443,1.19,116.8,359.8,13.6,279,5447,0.00,2.67,0.00,0.000,4,0.000,0.061,3394,403,2143,0,0,0,0,0,0
$GC,5490,1.19,116.8,353.5,12.7,280,5494,0.00,2.45,0.00,0.000,6,0.000,0.028,3394,1798,2139,0,0,0,0,0,0
$GC,5813,1.19,116.8,316.0,12.0,288,5814,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1800,2138,0,0,0,0,0,0
$GC,6121,1.19,116.8,279.5,12.0,299,6122,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1800,2137,0,0,0,0,0,0
$GC,6429,1.19,116.8,248.3,9.2,314,6433,0.00,2.60,0.00,0.000,4,0.000,0.057,3394,402,2135,0,0,0,0,0,0
$GC,6462,1.19,116.8,244.8,11.0,315,6466,0.00,2.45,0.00,0.000,6,0.000,0.025,3394,1810,2133,0,0,0,0,0,0
$GC,6777,1.19,116.8,214.4,10.4,330,6781,0.00,2.50,0.00,0.000,4,0.000,0.040,3394,3206,2134,0,0,0,0,0,0
$GC,6820,1.19,116.8,209.7,10.5,332,6825,0.00,2.55,0.00,0.000,6,0.000,0.044,3394,1804,2134,0,0,0,0,0,0
$GC,7146,1.19,116.8,178.4,8.1,358,7150,0.00,2.60,0.00,0.000,4,0.000,0.054,3394,393,2133,0,0,0,0,0,0
$GC,7174,1.19,116.8,175.7,10.4,360,7181,0.00,2.47,0.00,0.000,6,0.000,0.024,3394,1800,2131,0,0,0,0,0,0
$GC,7437,1.19,116.8,155.5,8.2,385,7441,0.00,2.47,0.00,0.000,4,0.000,0.033,3395,3206,2132,0,0,0,0,0,0
$GC,7463,1.19,116.8,153.5,8.0,387,7467,0.00,2.53,0.00,0.000,6,0.000,0.039,3394,1801,2132,0,0,0,0,0,0
$GC,7727,1.19,116.8,130.8,10.4,411,7732,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1801,2132,0,0,0,0,0,0
$GC,7989,1.22,140.9,109.4,6.9,436,8011,0.00,2.62,17.27,0.538,4,0.000,0.051,3394,388,2059,0,0,0,0,0,0
$GC,8062,1.22,140.9,103.6,8.9,443,8068,0.00,2.45,0.00,0.000,6,0.000,0.021,3395,1814,2056,0,0,0,0,0,0
$GC,8325,1.29,191.2,87.5,5.7,468,8375,0.10,2.50,43.90,0.535,4,0.071,0.030,3434,3206,1855,0,0,0,0,0,0
$GC,8467,1.29,191.2,75.0,9.3,483,8472,0.00,2.58,0.00,0.000,6,0.000,0.037,3433,1793,1854,0,0,0,0,0,0
$GC,8732,1.29,191.2,50.5,9.7,507,8736,0.00,2.55,0.00,0.000,4,0.000,0.050,3433,391,1851,0,0,0,0,0,0
$GC,8865,1.29,191.2,36.2,10.7,521,8870,0.00,2.40,0.00,0.000,6,0.000,0.019,3433,1804,1846,0,0,0,0,0,0
$GC,9132,1.29,191.2,12.2,8.9,563,9139,0.00,2.45,0.00,0.000,4,0.000,0.028,3434,3200,1846,0,0,0,0,0,0
$GC,9188,1.29,191.2,7.8,8.0,575,9195,0.00,2.53,0.00,0.000,6,0.000,0.033,3434,1802,1846,0,0,0,0,0,0
$STATE,9243,end climb,SURFACE_DEPTH_REACHED
$STATE,9243,begin surface coast
$FINISH,1.0,1.012205
$STATE,9276,end surface coast,CONTROL_FINISHED_OK
$STATE,9276,begin surface
$SM_CCo,9301,68.68,0.455,0,0,1288,330.17
$SM_GC,1.89,0.00,0.00,68.68,0.000,0.000,0.455,428,2123,1288,-12.46,0.65,330.17
$IRIDIUM_FIX,2101.76,-15745.74,030800,232334
$TT8_MAMPS,0.029146
$HUMID,55.86
$INTERNAL_PRESSURE,9.62581
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,25.452
$10V_AH,10.5,24.231
$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,28.525,105.900,256.625,68.675,0.000,26.510,36.501,231.743,4.500,0.000,15.482,1089.780,6080.834,396.468,1681.011,539.675,33.365,1118.513,0.000,1666.516,0.000,29.259,0.000
$DEVICE_MAMPS,134.992,61.360,817.622,454.831,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,399.870,392.263,865.268,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355852
$DATA_FILE_SIZE,31785,591
$CAP_FILE_SIZE,97525,0
$CFSIZE,260165632,241340416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110511,045656,2106.263,-15743.497,12,1.6,12,9.8