version: 66.06
glider: 139
mission: 9
dive: 316
start: 5 11 111 10 48 43
data:
$ID,139
$MISSION,9
$DIVE,316
$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,-2182504.2
$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,21
$R_STBD_OVSHOOT,44
$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
$GPS1,103707,2103.159,-15745.137,35,1.0,35,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-75.6
$GPS2,104750,2103.150,-15745.026,11,1.4,11,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.143,-0.169
$KALMAN_X,-217768.2,616.5,-17.1,226850.7,-1328.7
$KALMAN_Y,-22726.4,569.9,88.2,7973.9,-1504.0
$MHEAD_RNG_PITCHd_Wd,210.3,12797,-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,-116.8,0.0,0.0,0,91,0.00,0.00,-70.38,0.000,3,0.000,0.000,426,2105,3113,0,0,0,0,0,0
$GC,95,-1.19,-116.8,3.2,-3.8,13,113,13.12,2.47,0.00,0.000,4,0.134,0.031,2869,3507,3115,0,0,0,0,0,0
$GC,366,-1.19,-116.8,56.9,-15.7,56,370,0.00,2.47,0.00,0.000,6,0.000,0.029,2869,2089,3116,0,0,0,0,0,0
$GC,627,-1.19,-116.8,91.7,-12.1,80,629,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2089,3117,0,0,0,0,0,0
$GC,882,-1.19,-116.8,124.9,-12.6,104,886,0.00,2.50,0.00,0.000,4,0.000,0.041,2869,693,3118,0,0,0,0,0,0
$GC,917,-1.19,-116.8,129.2,-13.3,107,922,0.00,2.40,0.00,0.000,6,0.000,0.021,2869,2100,3118,0,0,0,0,0,0
$GC,1182,-1.19,-116.8,157.4,-10.0,131,1186,0.00,2.53,0.00,0.000,4,0.000,0.041,2869,687,3118,0,0,0,0,0,0
$GC,1198,-1.19,-116.8,159.4,-10.3,132,1202,0.00,2.42,0.00,0.000,6,0.000,0.021,2869,2109,3118,0,0,0,0,0,0
$GC,1459,-1.19,-116.8,183.3,-10.0,156,1460,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2110,3119,0,0,0,0,0,0
$GC,1712,-1.19,-116.8,209.0,-10.5,176,1716,0.00,2.53,0.00,0.000,4,0.000,0.043,2868,687,3119,0,0,0,0,0,0
$GC,1768,-1.19,-116.8,215.6,-11.3,178,1772,0.00,2.42,0.00,0.000,6,0.000,0.021,2869,2108,3119,0,0,0,0,0,0
$GC,2084,-1.19,-116.8,242.6,-9.0,193,2089,0.00,2.50,0.00,0.000,4,0.000,0.041,2869,3501,3119,0,0,0,0,0,0
$GC,2145,-1.19,-116.8,247.2,-7.2,195,2151,0.00,2.47,0.00,0.000,6,0.000,0.036,2869,2104,3118,0,0,0,0,0,0
$GC,2462,-1.19,-116.8,273.0,-8.3,211,2467,0.00,2.58,0.00,0.000,4,0.000,0.047,2869,683,3117,0,0,0,0,0,0
$GC,2554,-1.19,-116.8,280.3,-7.3,215,2558,0.00,2.42,0.00,0.000,6,0.000,0.025,2869,2093,3117,0,0,0,0,0,0
$GC,2890,-1.19,-116.8,300.2,-6.5,231,2895,0.00,2.55,0.00,0.000,4,0.000,0.045,2869,3508,3116,0,0,0,0,0,0
$GC,3046,-1.19,-116.8,311.9,-8.0,234,3050,0.00,2.53,0.00,0.000,6,0.000,0.041,2869,2100,3115,0,0,0,0,0,0
$GC,3396,-1.19,-116.8,341.6,-8.3,243,3397,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2099,3113,0,0,0,0,0,0
$GC,3721,-1.19,-116.8,364.0,-6.7,251,3725,0.00,2.58,0.00,0.000,4,0.000,0.052,2869,686,3111,0,0,0,0,0,0
$GC,3758,-1.19,-116.8,367.7,-9.7,251,3764,0.00,2.47,0.00,0.000,6,0.000,0.028,2868,2106,3110,0,0,0,0,0,0
$GC,4090,-1.19,-116.8,392.8,-7.5,260,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2106,3108,0,0,0,0,0,0
$GC,4415,-1.19,-116.8,416.4,-7.0,268,4420,0.00,2.60,0.00,0.000,4,0.000,0.053,2869,688,3105,0,0,0,0,0,0
$GC,4460,-1.19,-116.8,420.2,-8.7,269,4464,0.00,2.47,0.00,0.000,6,0.000,0.028,2869,2101,3105,0,0,0,0,0,0
$GC,4788,-1.19,-116.8,442.7,-5.6,277,4792,0.00,2.60,0.00,0.000,4,0.000,0.054,2869,687,3103,0,0,0,0,0,0
$GC,4836,-1.19,-116.8,446.3,-7.7,278,4840,0.00,2.47,0.00,0.000,6,0.000,0.029,2869,2099,3102,0,0,0,0,0,0
$STATE,4912,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4913,begin apogee
$GC,4919,-0.31,0.0,452.0,7.2,280,5017,0.95,0.00,94.57,0.828,6,0.081,0.000,3066,1791,2635,0,0,0,0,0,0
$STATE,5018,end apogee,CONTROL_FINISHED_OK
$STATE,5018,begin climb
$GC,5021,1.19,116.8,454.0,0.0,282,5127,1.48,0.00,101.47,0.806,6,0.055,0.000,3392,1791,2158,0,0,0,0,0,0
$GC,5431,1.19,116.8,411.2,11.8,292,5432,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1790,2147,0,0,0,0,0,0
$GC,5754,1.19,116.8,373.0,11.8,300,5755,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1791,2144,0,0,0,0,0,0
$GC,6079,1.19,116.8,337.5,10.7,308,6080,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1791,2141,0,0,0,0,0,0
$GC,6404,1.19,116.8,305.0,9.6,316,6408,0.00,2.60,0.00,0.000,4,0.000,0.059,3392,405,2139,0,0,0,0,0,0
$GC,6423,1.19,116.8,302.8,11.2,316,6427,0.00,2.45,0.00,0.000,6,0.000,0.027,3393,1807,2137,0,0,0,0,0,0
$GC,6753,1.19,116.8,270.3,10.7,331,6757,0.00,2.53,0.00,0.000,4,0.000,0.042,3392,3203,2136,0,0,0,0,0,0
$GC,6790,1.19,116.8,266.3,9.7,332,6797,0.00,2.60,0.00,0.000,6,0.000,0.048,3392,1811,2136,0,0,0,0,0,0
$GC,7105,1.19,116.8,238.0,8.9,348,7110,0.00,2.65,0.00,0.000,4,0.000,0.057,3392,392,2135,0,0,0,0,0,0
$GC,7138,1.19,116.8,234.3,11.3,349,7143,0.00,2.45,0.00,0.000,6,0.000,0.026,3392,1799,2133,0,0,0,0,0,0
$GC,7454,1.19,116.8,208.1,8.3,364,7455,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1800,2134,0,0,0,0,0,0
$GC,7771,1.19,116.8,178.8,8.9,389,7775,0.00,2.47,0.00,0.000,4,0.000,0.037,3393,3202,2133,0,0,0,0,0,0
$GC,7805,1.19,116.8,175.9,8.7,392,7810,0.00,2.58,0.00,0.000,6,0.000,0.042,3392,1794,2133,0,0,0,0,0,0
$GC,8068,1.20,118.6,154.1,7.9,416,8073,0.00,2.53,0.00,0.000,4,0.000,0.035,3392,3204,2133,0,0,0,0,0,0
$GC,8186,1.20,118.6,144.3,8.3,428,8190,0.00,2.58,0.00,0.000,6,0.000,0.041,3392,1792,2133,0,0,0,0,0,0
$GC,8449,1.27,177.4,128.0,5.3,452,8504,0.00,2.62,48.80,0.586,4,0.000,0.052,3392,391,1910,0,0,0,0,0,0
$GC,8563,1.27,177.4,119.2,9.1,464,8570,0.00,2.50,0.00,0.000,6,0.000,0.021,3392,1809,1904,0,0,0,0,0,0
$GC,8828,1.27,177.4,92.4,10.9,489,8832,0.00,2.65,0.00,0.000,4,0.000,0.051,3392,391,1904,0,0,0,0,0,0
$GC,8920,1.27,177.4,80.8,11.3,498,8927,0.00,2.45,0.00,0.000,6,0.000,0.021,3393,1796,1901,0,0,0,0,0,0
$GC,9184,1.27,177.4,58.1,8.2,523,9188,0.00,2.45,0.00,0.000,4,0.000,0.029,3393,3205,1901,0,0,0,0,0,0
$GC,9264,1.28,186.0,52.1,7.6,531,9279,0.10,2.55,7.62,0.435,6,0.071,0.035,3433,1793,1875,0,0,0,0,0,0
$GC,9542,1.30,205.0,30.5,7.2,557,9565,0.00,2.60,17.80,0.469,4,0.000,0.048,3432,391,1798,0,0,0,0,0,0
$GC,9624,1.30,205.0,22.8,10.0,573,9631,0.00,2.45,0.00,0.000,6,0.000,0.019,3432,1799,1794,0,0,0,0,0,0
$GC,9827,1.30,205.0,4.0,8.4,610,9834,0.00,2.62,0.00,0.000,4,0.000,0.048,3432,393,1794,0,0,0,0,0,0
$STATE,9839,end climb,SURFACE_DEPTH_REACHED
$STATE,9839,begin surface coast
$FINISH,0.9,1.001883
$STATE,9866,end surface coast,CONTROL_FINISHED_OK
$STATE,9866,begin surface
$SM_CCo,9893,63.38,0.459,0,0,1288,330.17
$SM_GC,1.62,0.00,0.00,63.38,0.000,0.000,0.459,426,2118,1288,-12.47,0.51,330.17
$IRIDIUM_FIX,2054.83,-15744.48,040800,101050
$TT8_MAMPS,0.029146
$HUMID,56.53
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.5,25.713
$10V_AH,10.4,24.467
$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,28.500,101.875,270.275,63.375,0.000,61.054,76.194,316.894,4.500,0.000,11.367,1131.131,6643.074,417.222,1687.509,722.698,33.364,1124.337,0.000,1690.505,0.000,29.248,0.000
$DEVICE_MAMPS,134.225,59.059,827.593,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,419.035,409.036,902.102,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355868
$DATA_FILE_SIZE,34882,618
$CAP_FILE_SIZE,101977,0
$CFSIZE,260165632,241188864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110511,133552,2102.179,-15746.053,13,4.8,32,9.8