version: 66.06
glider: 139
mission: 9
dive: 279
start: 5 7 111 2 48 33
data:
$ID,139
$MISSION,9
$DIVE,279
$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,-2181613.2
$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,72
$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
$GPS1,024125,2108.458,-15757.943,14,1.7,31,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-73.0
$GPS2,024738,2108.454,-15758.023,11,1.9,11,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.222,-0.002
$KALMAN_X,-160864.2,370.4,150.0,147588.4,-2216.5
$KALMAN_Y,-3080.3,637.4,-145.1,-1676.1,-24.6
$MHEAD_RNG_PITCHd_Wd,80.8,26554,-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,-69.95,0.000,2,0.000,0.000,424,2141,3089,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.1,-3.0,13,111,13.10,2.60,-0.43,0.000,4,0.134,0.048,2871,684,3113,0,0,0,0,0,0
$GC,153,-1.19,-116.8,22.1,-24.1,25,159,0.00,2.40,0.00,0.000,6,0.000,0.021,2871,2063,3114,0,0,0,0,0,0
$GC,354,-1.19,-116.8,56.1,-14.8,47,358,0.00,2.53,0.00,0.000,4,0.000,0.035,2871,3503,3115,0,0,0,0,0,0
$GC,380,-1.19,-116.8,59.9,-15.2,49,384,0.00,2.47,0.00,0.000,6,0.000,0.031,2871,2086,3115,0,0,0,0,0,0
$GC,643,-1.19,-116.8,96.1,-14.6,73,647,0.00,2.50,0.00,0.000,4,0.000,0.042,2871,692,3115,0,0,0,0,0,0
$GC,669,-1.19,-116.8,99.9,-15.0,75,674,0.00,2.40,0.00,0.000,6,0.000,0.021,2871,2111,3115,0,0,0,0,0,0
$GC,937,-1.19,-116.8,135.6,-12.9,100,941,0.00,2.47,0.00,0.000,4,0.000,0.036,2871,3505,3117,0,0,0,0,0,0
$GC,1008,-1.19,-116.8,144.2,-11.5,107,1013,0.00,2.47,0.00,0.000,6,0.000,0.032,2871,2098,3116,0,0,0,0,0,0
$GC,1273,-1.19,-116.8,172.2,-11.3,131,1277,0.00,2.53,0.00,0.000,4,0.000,0.044,2871,692,3117,0,0,0,0,0,0
$GC,1319,-1.19,-116.8,178.1,-12.0,135,1324,0.00,2.40,0.00,0.000,6,0.000,0.021,2871,2099,3118,0,0,0,0,0,0
$GC,1594,-1.19,-116.8,204.5,-10.3,159,1599,0.00,2.50,0.00,0.000,4,0.000,0.040,2871,3498,3117,0,0,0,0,0,0
$GC,1618,-1.19,-116.8,207.6,-10.4,160,1622,0.00,2.45,0.00,0.000,6,0.000,0.035,2871,2099,3118,0,0,0,0,0,0
$GC,1943,-1.19,-116.8,238.9,-9.3,176,1947,0.00,2.47,0.00,0.000,4,0.000,0.040,2871,3497,3118,0,0,0,0,0,0
$GC,1964,-1.19,-116.8,240.8,-9.4,177,1968,0.00,2.47,0.00,0.000,6,0.000,0.036,2871,2100,3118,0,0,0,0,0,0
$GC,2294,-1.19,-116.8,270.4,-8.2,193,2299,0.00,2.58,0.00,0.000,4,0.000,0.048,2871,691,3117,0,0,0,0,0,0
$GC,2315,-1.19,-116.8,272.1,-8.2,194,2319,0.00,2.40,0.00,0.000,6,0.000,0.024,2871,2097,3117,0,0,0,0,0,0
$GC,2645,-1.19,-116.8,298.0,-7.7,210,2649,0.00,2.53,0.00,0.000,4,0.000,0.048,2871,688,3116,0,0,0,0,0,0
$GC,2808,-1.19,-116.8,309.9,-7.4,214,2812,0.00,2.40,0.00,0.000,6,0.000,0.024,2871,2100,3116,0,0,0,0,0,0
$GC,3148,-1.19,-116.8,333.1,-7.4,223,3153,0.00,2.55,0.00,0.000,4,0.000,0.048,2871,692,3114,0,0,0,0,0,0
$GC,3238,-1.19,-116.8,341.3,-9.4,225,3242,0.00,2.42,0.00,0.000,6,0.000,0.025,2871,2107,3114,0,0,0,0,0,0
$GC,3565,-1.19,-116.8,371.1,-8.5,233,3570,0.00,2.55,0.00,0.000,4,0.000,0.049,2870,690,3112,0,0,0,0,0,0
$GC,3603,-1.19,-116.8,374.1,-8.2,233,3608,0.00,2.45,0.00,0.000,6,0.000,0.026,2871,2103,3112,0,0,0,0,0,0
$GC,3935,-1.19,-116.8,392.4,-5.4,242,3939,0.00,2.53,0.00,0.000,4,0.000,0.050,2871,3498,3110,0,0,0,0,0,0
$GC,3972,-1.19,-116.8,394.9,-6.5,242,3978,0.00,2.50,0.00,0.000,6,0.000,0.043,2871,2098,3110,0,0,0,0,0,0
$GC,4303,-1.19,-116.8,419.0,-8.3,251,4308,0.00,2.53,0.00,0.000,4,0.000,0.049,2871,3497,3108,0,0,0,0,0,0
$GC,4332,-1.19,-116.8,421.6,-9.0,251,4336,0.00,2.50,0.00,0.000,6,0.000,0.044,2871,2100,3107,0,0,0,0,0,0
$STATE,4665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4665,begin apogee
$GC,4672,-0.31,0.0,451.9,9.0,260,4771,0.95,0.00,95.05,0.822,6,0.081,0.000,3068,1796,2634,0,0,0,0,0,0
$STATE,4771,end apogee,CONTROL_FINISHED_OK
$STATE,4772,begin climb
$GC,4775,1.19,116.8,456.2,0.0,262,4886,1.48,2.70,100.40,0.805,4,0.054,0.064,3394,404,2157,0,0,0,0,0,0
$GC,4920,1.19,116.8,448.2,10.9,265,4924,0.00,2.47,0.00,0.000,6,0.000,0.025,3394,1797,2152,0,0,0,0,0,0
$GC,5270,1.19,116.8,415.6,10.3,274,5271,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1799,2145,0,0,0,0,0,0
$GC,5594,1.19,116.8,375.6,12.3,282,5599,0.00,2.65,0.00,0.000,4,0.000,0.061,3395,404,2143,0,0,0,0,0,0
$GC,5638,1.19,116.8,369.9,13.9,283,5642,0.00,2.47,0.00,0.000,6,0.000,0.027,3395,1800,2139,0,0,0,0,0,0
$GC,5965,1.19,116.8,332.2,11.6,291,5970,0.00,2.53,0.00,0.000,4,0.000,0.044,3395,3206,2138,0,0,0,0,0,0
$GC,5989,1.19,116.8,329.1,11.7,291,5994,0.00,2.60,0.00,0.000,6,0.000,0.048,3395,1804,2138,0,0,0,0,0,0
$GC,6310,1.19,116.8,294.9,10.4,300,6314,0.00,2.62,0.00,0.000,4,0.000,0.059,3395,391,2137,0,0,0,0,0,0
$GC,6331,1.19,116.8,292.7,11.6,301,6336,0.00,2.47,0.00,0.000,6,0.000,0.025,3395,1808,2135,0,0,0,0,0,0
$GC,6662,1.19,116.8,259.8,9.3,317,6667,0.00,2.65,0.00,0.000,4,0.000,0.058,3395,393,2135,0,0,0,0,0,0
$GC,6707,1.19,116.8,255.6,10.2,319,6711,0.00,2.45,0.00,0.000,6,0.000,0.025,3395,1805,2133,0,0,0,0,0,0
$GC,7038,1.23,142.8,230.0,6.8,335,7063,0.00,2.55,19.65,0.660,4,0.000,0.039,3395,3201,2052,0,0,0,0,0,0
$GC,7140,1.24,156.5,222.6,7.4,339,7161,0.00,2.60,13.77,0.626,6,0.000,0.045,3395,1801,1995,0,0,0,0,0,0
$GC,7485,1.24,156.5,185.5,10.9,361,7490,0.00,2.62,0.00,0.000,4,0.000,0.056,3395,393,1991,0,0,0,0,0,0
$GC,7511,1.24,156.5,182.4,12.6,363,7516,0.00,2.45,0.00,0.000,6,0.000,0.022,3395,1810,1989,0,0,0,0,0,0
$GC,7776,1.24,156.5,154.6,11.1,387,7781,0.00,2.65,0.00,0.000,4,0.000,0.053,3395,393,1989,0,0,0,0,0,0
$GC,7829,1.24,156.5,147.8,12.4,392,7834,0.00,2.42,0.00,0.000,6,0.000,0.021,3395,1806,1987,0,0,0,0,0,0
$GC,8093,1.24,156.5,122.1,8.1,416,8094,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1810,1987,0,0,0,0,0,0
$GC,8345,1.24,156.5,103.7,8.8,440,8350,0.00,2.60,0.00,0.000,4,0.000,0.050,3395,393,1987,0,0,0,0,0,0
$GC,8399,1.24,156.5,97.9,11.2,445,8403,0.00,2.40,0.00,0.000,6,0.000,0.021,3395,1802,1985,0,0,0,0,0,0
$GC,8661,1.24,156.5,75.6,8.9,469,8665,0.00,2.42,0.00,0.000,4,0.000,0.031,3395,3201,1986,0,0,0,0,0,0
$GC,8687,1.24,156.5,73.3,8.7,471,8691,0.00,2.50,0.00,0.000,6,0.000,0.035,3395,1799,1986,0,0,0,0,0,0
$GC,8951,1.24,156.5,53.3,8.6,495,8955,0.00,2.55,0.00,0.000,4,0.000,0.049,3395,387,1986,0,0,0,0,0,0
$GC,9014,1.24,156.5,46.8,9.9,501,9021,0.00,2.42,0.00,0.000,6,0.000,0.019,3395,1797,1985,0,0,0,0,0,0
$GC,9279,1.28,189.5,28.4,6.5,528,9314,0.00,2.47,28.05,0.486,4,0.000,0.028,3395,3198,1861,0,0,0,0,0,0
$GC,9371,1.44,314.1,24.3,2.3,546,9484,0.20,2.58,103.18,0.486,6,0.023,0.038,3474,1802,1353,0,0,0,0,0,0
$STATE,9543,end climb,SURFACE_DEPTH_REACHED
$STATE,9544,begin surface coast
$FINISH,1.2,1.022592
$STATE,9561,end surface coast,CONTROL_FINISHED_OK
$STATE,9561,begin surface
$SM_CCo,9586,10.80,0.420,0,0,1288,330.17
$SM_GC,1.87,0.00,0.00,10.80,0.000,0.000,0.420,424,2136,1288,-12.48,1.05,330.17
$IRIDIUM_FIX,2101.76,-15800.33,310700,000007
$TT8_MAMPS,0.029146
$HUMID,57.08
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.5,22.631
$10V_AH,10.6,21.587
$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,28.850,126.525,360.100,10.800,0.000,28.167,33.080,194.898,4.500,0.000,12.103,1068.130,6369.301,400.156,1640.769,497.066,33.356,1162.069,0.000,1623.692,0.000,29.253,0.000
$DEVICE_MAMPS,134.225,63.661,822.224,420.316,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,390.799,374.960,837.723,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,31744,580
$CAP_FILE_SIZE,102792,0
$CFSIZE,260165632,243003392
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070511,052936,2108.641,-15757.377,27,1.4,27,9.8