version: 66.06
glider: 139
mission: 9
dive: 315
start: 5 11 111 7 53 42
data:
$ID,139
$MISSION,9
$DIVE,315
$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,-2182492.2
$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,18
$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
$GPS1,074536,2104.785,-15744.220,34,1.0,34,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-76.3
$GPS2,075249,2104.803,-15744.194,13,1.0,18,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.080,-0.207
$KALMAN_X,-217035.4,563.8,-208.1,227799.4,-2202.1
$KALMAN_Y,-22483.0,871.0,251.5,10327.5,-1715.3
$MHEAD_RNG_PITCHd_Wd,191.3,16082,-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,15,begin dive
$GC,18,-1.19,-116.8,0.0,0.0,0,90,0.00,0.00,-69.65,0.000,2,0.000,0.000,427,2156,3102,0,0,0,0,0,0
$GC,94,-1.19,-116.8,3.5,-4.2,13,112,13.15,2.65,0.00,0.000,4,0.135,0.036,2870,673,3104,0,0,0,0,0,0
$GC,243,-1.19,-116.8,40.7,-18.8,40,250,0.00,2.40,0.00,0.000,6,0.000,0.021,2870,2059,3105,0,0,0,0,0,0
$GC,506,-1.19,-116.8,79.1,-11.8,65,510,0.00,2.58,0.00,0.000,4,0.000,0.036,2870,3507,3106,0,0,0,0,0,0
$GC,525,-1.19,-116.8,81.8,-12.7,66,532,0.00,2.53,0.00,0.000,6,0.000,0.033,2870,2087,3106,0,0,0,0,0,0
$GC,790,-1.19,-116.8,115.0,-13.6,91,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2087,3107,0,0,0,0,0,0
$GC,1051,-1.19,-116.8,143.8,-9.7,116,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2086,3108,0,0,0,0,0,0
$GC,1306,-1.19,-116.8,171.7,-9.6,140,1311,0.00,2.50,0.00,0.000,4,0.000,0.037,2870,3506,3109,0,0,0,0,0,0
$GC,1352,-1.19,-116.8,176.4,-10.0,144,1359,0.00,2.50,0.00,0.000,6,0.000,0.034,2870,2100,3109,0,0,0,0,0,0
$GC,1616,-1.19,-116.8,199.7,-9.6,169,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2099,3109,0,0,0,0,0,0
$GC,1870,-1.19,-116.8,222.3,-8.3,182,1875,0.00,2.53,0.00,0.000,4,0.000,0.044,2870,683,3109,0,0,0,0,0,0
$GC,1926,-1.19,-116.8,227.1,-9.5,184,1930,0.00,2.40,0.00,0.000,6,0.000,0.021,2870,2100,3109,0,0,0,0,0,0
$GC,2243,-1.19,-116.8,252.4,-8.8,199,2244,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2101,3109,0,0,0,0,0,0
$GC,2551,-1.19,-116.8,277.8,-7.7,214,2555,0.00,2.53,0.00,0.000,4,0.000,0.045,2870,687,3109,0,0,0,0,0,0
$GC,2584,-1.19,-116.8,280.9,-9.8,215,2588,0.00,2.42,0.00,0.000,6,0.000,0.024,2870,2099,3109,0,0,0,0,0,0
$GC,2899,-1.19,-116.8,304.1,-8.1,229,2903,0.00,2.53,0.00,0.000,4,0.000,0.047,2870,688,3108,0,0,0,0,0,0
$GC,2955,-1.19,-116.8,309.7,-10.2,230,2959,0.00,2.42,0.00,0.000,6,0.000,0.025,2870,2101,3107,0,0,0,0,0,0
$GC,3270,-1.19,-116.8,331.9,-6.1,238,3275,0.00,2.53,0.00,0.000,4,0.000,0.048,2870,693,3106,0,0,0,0,0,0
$GC,3286,-1.19,-116.8,333.1,-6.5,238,3290,0.00,2.42,0.00,0.000,6,0.000,0.026,2870,2104,3105,0,0,0,0,0,0
$GC,3635,-1.19,-116.8,358.6,-7.5,247,3640,0.00,2.58,0.00,0.000,4,0.000,0.050,2870,688,3104,0,0,0,0,0,0
$GC,3726,-1.19,-116.8,365.5,-7.6,249,3730,0.00,2.42,0.00,0.000,6,0.000,0.027,2870,2100,3103,0,0,0,0,0,0
$GC,4053,-1.19,-116.8,390.5,-7.5,257,4058,0.00,2.55,0.00,0.000,4,0.000,0.051,2870,693,3100,0,0,0,0,0,0
$GC,4157,-1.19,-116.8,400.1,-9.9,259,4161,0.00,2.45,0.00,0.000,6,0.000,0.028,2870,2097,3100,0,0,0,0,0,0
$GC,4472,-1.19,-116.8,426.4,-8.2,267,4476,0.00,2.58,0.00,0.000,4,0.000,0.053,2870,694,3097,0,0,0,0,0,0
$GC,4516,-1.19,-116.8,429.9,-7.3,268,4520,0.00,2.47,0.00,0.000,6,0.000,0.028,2870,2109,3097,0,0,0,0,0,0
$STATE,4800,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4800,begin apogee
$GC,4807,-0.31,0.0,450.2,6.8,275,4903,0.95,0.00,92.72,0.821,6,0.082,0.000,3068,1796,2634,0,0,0,0,0,0
$STATE,4904,end apogee,CONTROL_FINISHED_OK
$STATE,4904,begin climb
$GC,4907,1.19,116.8,451.3,0.0,277,5019,1.48,2.70,100.25,0.800,4,0.055,0.046,3394,3201,2157,0,0,0,0,0,0
$GC,5043,1.19,116.8,437.6,12.3,280,5048,0.00,2.62,0.00,0.000,6,0.000,0.053,3394,1809,2156,0,0,0,0,0,0
$GC,5362,1.19,116.8,398.2,12.2,288,5366,0.00,2.70,0.00,0.000,4,0.000,0.063,3393,395,2146,0,0,0,0,0,0
$GC,5381,1.19,116.8,395.5,13.2,288,5386,0.00,2.50,0.00,0.000,6,0.000,0.027,3394,1802,2144,0,0,0,0,0,0
$GC,5727,1.19,116.8,354.2,11.5,297,5731,0.00,2.70,0.00,0.000,4,0.000,0.062,3393,394,2142,0,0,0,0,0,0
$GC,5773,1.19,116.8,347.9,12.8,298,5778,0.00,2.47,0.00,0.000,6,0.000,0.028,3394,1798,2140,0,0,0,0,0,0
$GC,6097,1.19,116.8,312.1,11.1,306,6098,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1801,2139,0,0,0,0,0,0
$GC,6404,1.19,116.8,277.2,11.7,318,6405,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1801,2138,0,0,0,0,0,0
$GC,6714,1.19,116.8,241.6,10.8,333,6715,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1801,2136,0,0,0,0,0,0
$GC,7023,1.19,116.8,213.6,8.8,348,7024,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1801,2135,0,0,0,0,0,0
$GC,7336,1.19,116.8,184.5,8.8,370,7340,0.00,2.62,0.00,0.000,4,0.000,0.055,3393,393,2134,0,0,0,0,0,0
$GC,7361,1.19,116.8,182.2,9.1,372,7365,0.00,2.45,0.00,0.000,6,0.000,0.025,3393,1807,2132,0,0,0,0,0,0
$GC,7624,1.20,117.2,160.0,8.0,396,7629,0.00,2.47,0.00,0.000,4,0.000,0.036,3394,3205,2132,0,0,0,0,0,0
$GC,7741,1.20,117.2,150.4,8.4,408,7746,0.00,2.55,0.00,0.000,6,0.000,0.042,3394,1799,2132,0,0,0,0,0,0
$GC,8005,1.21,128.7,129.9,7.5,432,8017,0.00,2.62,6.78,0.477,4,0.000,0.053,3394,389,2109,0,0,0,0,0,0
$GC,8051,1.21,128.7,125.8,9.4,436,8058,0.00,2.47,0.00,0.000,6,0.000,0.021,3394,1803,2107,0,0,0,0,0,0
$GC,8316,1.22,134.6,104.3,7.8,461,8328,0.00,2.67,6.68,0.462,4,0.000,0.050,3394,394,2085,0,0,0,0,0,0
$GC,8336,1.22,134.6,102.4,8.1,463,8341,0.00,2.42,0.00,0.000,6,0.000,0.021,3394,1810,2084,0,0,0,0,0,0
$GC,8601,1.22,140.9,82.8,7.7,487,8613,0.00,2.67,7.18,0.451,4,0.000,0.050,3394,383,2059,0,0,0,0,0,0
$GC,8632,1.23,143.9,79.9,7.9,490,8643,0.00,2.45,4.03,0.353,6,0.000,0.020,3394,1791,2047,0,0,0,0,0,0
$GC,8906,1.23,148.0,57.7,7.8,516,8917,0.00,2.47,5.50,0.398,4,0.000,0.028,3394,3198,2030,0,0,0,0,0,0
$GC,9010,1.24,156.9,50.1,7.6,527,9025,0.00,2.53,9.43,0.450,6,0.000,0.035,3394,1789,1995,0,0,0,0,0,0
$GC,9282,1.29,195.2,32.8,6.3,552,9322,0.10,0.00,33.97,0.485,6,0.071,0.000,3434,1789,1837,0,0,0,0,0,0
$GC,9584,1.29,195.2,5.4,9.9,604,9590,0.00,2.58,0.00,0.000,4,0.000,0.049,3435,396,1834,0,0,0,0,0,0
$STATE,9604,end climb,SURFACE_DEPTH_REACHED
$STATE,9604,begin surface coast
$FINISH,0.9,1.015181
$STATE,9635,end surface coast,CONTROL_FINISHED_OK
$STATE,9635,begin surface
$SM_CCo,9661,68.25,0.457,0,0,1288,330.17
$SM_GC,1.59,0.00,0.00,68.25,0.000,0.000,0.457,425,2104,1288,-12.47,0.11,330.17
$IRIDIUM_FIX,2057.14,-15741.46,040800,050524
$TT8_MAMPS,0.029146
$HUMID,56.26
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,25.622
$10V_AH,10.4,24.385
$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,28.525,102.200,266.525,68.250,0.000,25.019,34.070,250.369,4.500,0.000,18.547,1124.964,6389.133,408.591,1692.877,550.309,33.361,1130.699,0.000,1671.960,0.000,29.256,0.000
$DEVICE_MAMPS,134.992,62.894,820.690,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,416.507,407.539,902.179,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355852
$DATA_FILE_SIZE,34913,615
$CAP_FILE_SIZE,99532,0
$CFSIZE,260165632,241238016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110511,103707,2103.159,-15745.137,35,1.0,35,9.8