version: 66.06
glider: 139
mission: 9
dive: 314
start: 5 11 111 5 8 33
data:
$ID,139
$MISSION,9
$DIVE,314
$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,-2182473
$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,22
$R_STBD_OVSHOOT,61
$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
$GPS1,045656,2106.263,-15743.497,12,1.6,12,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-74.7
$GPS2,050737,2106.358,-15743.475,14,1.6,14,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.036,-0.219
$KALMAN_X,-215930.7,438.1,417.5,227441.5,-3225.7
$KALMAN_Y,-22096.9,853.4,274.5,12816.0,-1542.4
$MHEAD_RNG_PITCHd_Wd,160.8,19139,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.19,-116.8,0.0,0.0,0,88,0.00,0.00,-69.88,0.000,6,0.000,0.000,428,2123,3113,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.4,-4.4,13,109,13.07,0.00,0.00,0.000,6,0.134,0.000,2867,2123,3115,0,0,0,0,0,0
$GC,313,-1.19,-116.8,47.5,-17.0,44,317,0.00,2.58,0.00,0.000,4,0.000,0.044,2867,689,3117,0,0,0,0,0,0
$GC,340,-1.19,-116.8,54.1,-20.5,46,347,0.00,2.40,0.00,0.000,6,0.000,0.019,2867,2082,3117,0,0,0,0,0,0
$GC,603,-1.19,-116.8,91.9,-10.6,71,607,0.00,2.50,0.00,0.000,4,0.000,0.041,2867,687,3118,0,0,0,0,0,0
$GC,629,-1.19,-116.8,94.9,-11.8,73,633,0.00,2.38,0.00,0.000,6,0.000,0.020,2867,2099,3118,0,0,0,0,0,0
$GC,893,-1.19,-116.8,128.5,-10.4,97,898,0.00,2.47,0.00,0.000,4,0.000,0.036,2867,3495,3118,0,0,0,0,0,0
$GC,992,-1.19,-116.8,139.9,-10.9,107,999,0.00,2.45,0.00,0.000,6,0.000,0.033,2867,2082,3118,0,0,0,0,0,0
$GC,1260,-1.19,-116.8,169.5,-9.2,132,1265,0.00,2.47,0.00,0.000,4,0.000,0.035,2867,3494,3119,0,0,0,0,0,0
$GC,1289,-1.19,-116.8,172.3,-10.0,134,1295,0.00,2.47,0.00,0.000,6,0.000,0.032,2867,2099,3118,0,0,0,0,0,0
$GC,1553,-1.19,-116.8,199.0,-9.8,159,1557,0.00,2.45,0.00,0.000,4,0.000,0.037,2867,3494,3119,0,0,0,0,0,0
$GC,1636,-1.19,-116.8,208.5,-10.6,163,1641,0.00,2.45,0.00,0.000,6,0.000,0.034,2867,2090,3119,0,0,0,0,0,0
$GC,1953,-1.19,-116.8,239.7,-8.8,179,1954,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2090,3119,0,0,0,0,0,0
$GC,2261,-1.19,-116.8,267.6,-9.3,194,2262,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2090,3118,0,0,0,0,0,0
$GC,2572,-1.19,-116.8,293.2,-7.8,209,2576,0.00,2.53,0.00,0.000,4,0.000,0.047,2867,693,3118,0,0,0,0,0,0
$GC,2662,-1.19,-116.8,301.2,-8.8,213,2667,0.00,2.40,0.00,0.000,6,0.000,0.024,2867,2103,3118,0,0,0,0,0,0
$GC,2990,-1.19,-116.8,328.8,-7.7,221,2995,0.00,2.55,0.00,0.000,4,0.000,0.048,2867,693,3116,0,0,0,0,0,0
$GC,3023,-1.19,-116.8,331.9,-9.3,221,3028,0.00,2.40,0.00,0.000,6,0.000,0.025,2867,2099,3116,0,0,0,0,0,0
$GC,3354,-1.19,-116.8,359.8,-8.8,229,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2099,3115,0,0,0,0,0,0
$GC,3680,-1.19,-116.8,385.4,-7.6,237,3684,0.00,2.58,0.00,0.000,4,0.000,0.051,2867,687,3112,0,0,0,0,0,0
$GC,3705,-1.19,-116.8,387.4,-8.8,237,3709,0.00,2.45,0.00,0.000,6,0.000,0.027,2867,2099,3112,0,0,0,0,0,0
$GC,4046,-1.19,-116.8,413.4,-7.9,246,4050,0.00,2.58,0.00,0.000,4,0.000,0.051,2867,3503,3109,0,0,0,0,0,0
$GC,4102,-1.19,-116.8,417.9,-8.4,247,4106,0.00,2.53,0.00,0.000,6,0.000,0.045,2867,2103,3109,0,0,0,0,0,0
$GC,4417,-1.19,-116.8,440.6,-7.6,255,4421,0.00,2.60,0.00,0.000,4,0.000,0.055,2867,688,3106,0,0,0,0,0,0
$GC,4445,-1.19,-116.8,443.2,-9.1,255,4450,0.00,2.45,0.00,0.000,6,0.000,0.028,2867,2101,3106,0,0,0,0,0,0
$STATE,4535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4535,begin apogee
$GC,4542,-0.31,0.0,450.3,7.9,258,4640,0.95,0.00,94.80,0.818,6,0.082,0.000,3064,1792,2634,0,0,0,0,0,0
$STATE,4641,end apogee,CONTROL_FINISHED_OK
$STATE,4641,begin climb
$GC,4644,1.19,116.8,452.8,0.0,260,4751,1.50,0.00,100.15,0.798,6,0.055,0.000,3394,1792,2158,0,0,0,0,0,0
$GC,5052,1.19,116.8,407.8,12.0,270,5056,0.00,2.65,0.00,0.000,4,0.000,0.062,3394,399,2147,0,0,0,0,0,0
$GC,5084,1.19,116.8,403.1,14.6,270,5089,0.00,2.47,0.00,0.000,6,0.000,0.028,3394,1802,2144,0,0,0,0,0,0
$GC,5416,1.19,116.8,364.6,11.2,278,5417,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1804,2142,0,0,0,0,0,0
$GC,5741,1.19,116.8,327.0,11.2,286,5745,0.00,2.53,0.00,0.000,4,0.000,0.044,3394,3207,2140,0,0,0,0,0,0
$GC,5759,1.19,116.8,324.9,10.2,286,5764,0.00,2.58,0.00,0.000,6,0.000,0.049,3394,1809,2140,0,0,0,0,0,0
$GC,6085,1.19,116.8,290.8,11.5,296,6086,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1808,2138,0,0,0,0,0,0
$GC,6396,1.19,116.8,258.2,8.9,311,6401,0.00,2.65,0.00,0.000,4,0.000,0.058,3394,392,2136,0,0,0,0,0,0
$GC,6430,1.19,116.8,255.1,9.7,312,6434,0.00,2.47,0.00,0.000,6,0.000,0.026,3394,1802,2134,0,0,0,0,0,0
$GC,6746,1.19,116.8,222.6,10.2,327,6747,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1806,2134,0,0,0,0,0,0
$GC,7058,1.19,116.8,193.0,9.2,345,7059,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1806,2134,0,0,0,0,0,0
$GC,7313,1.19,116.8,170.0,9.0,369,7314,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1806,2133,0,0,0,0,0,0
$GC,7568,1.19,116.8,148.8,8.3,393,7572,0.00,2.47,0.00,0.000,4,0.000,0.035,3395,3205,2133,0,0,0,0,0,0
$GC,7637,1.19,116.8,142.8,8.6,400,7642,0.00,2.55,0.00,0.000,6,0.000,0.040,3394,1801,2133,0,0,0,0,0,0
$GC,7901,1.24,156.8,123.7,6.2,424,7938,0.00,2.58,30.80,0.572,4,0.000,0.031,3395,3207,1995,0,0,0,0,0,0
$GC,7977,1.27,175.3,118.6,7.2,432,7999,0.00,2.58,17.38,0.545,6,0.000,0.038,3395,1802,1920,0,0,0,0,0,0
$GC,8262,1.27,175.3,93.6,8.8,459,8263,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1801,1915,0,0,0,0,0,0
$GC,8517,1.27,175.3,67.8,9.9,483,8521,0.00,2.58,0.00,0.000,4,0.000,0.051,3394,391,1914,0,0,0,0,0,0
$GC,8545,1.27,175.3,64.8,10.8,485,8551,0.00,2.47,0.00,0.000,6,0.000,0.020,3395,1817,1912,0,0,0,0,0,0
$GC,8809,1.31,207.6,46.4,6.5,510,8843,0.12,2.70,27.95,0.493,4,0.061,0.048,3440,390,1787,0,0,0,0,0,0
$GC,8877,1.31,207.6,40.5,10.3,516,8884,0.00,2.45,0.00,0.000,6,0.000,0.019,3440,1796,1783,0,0,0,0,0,0
$GC,9143,1.31,207.6,13.2,10.2,556,9149,0.00,2.47,0.00,0.000,4,0.000,0.027,3440,3201,1783,0,0,0,0,0,0
$GC,9170,1.31,207.6,10.2,10.9,561,9176,0.00,2.55,0.00,0.000,6,0.000,0.034,3440,1798,1783,0,0,0,0,0,0
$STATE,9235,end climb,SURFACE_DEPTH_REACHED
$STATE,9235,begin surface coast
$FINISH,1.0,1.004363
$STATE,9263,end surface coast,CONTROL_FINISHED_OK
$STATE,9264,begin surface
$SM_CCo,9287,61.42,0.458,0,0,1289,330.17
$SM_GC,1.81,0.00,0.00,61.42,0.000,0.000,0.458,428,2157,1289,-12.47,1.61,330.17
$IRIDIUM_FIX,2057.14,-15744.48,040800,050539
$TT8_MAMPS,0.029146
$HUMID,57.20
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.5,25.541
$10V_AH,10.5,24.306
$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,28.575,91.475,271.075,61.425,0.000,57.599,90.285,290.897,4.500,0.000,14.234,1045.421,6343.986,397.792,1519.967,687.863,33.365,1054.914,0.000,1507.168,0.000,29.260,0.000
$DEVICE_MAMPS,134.225,62.127,818.389,457.899,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,391.410,382.998,832.780,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355868
$DATA_FILE_SIZE,31807,578
$CAP_FILE_SIZE,94273,0
$CFSIZE,260165632,241291264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110511,074536,2104.785,-15744.220,34,1.0,34,9.8