version: 66.06
glider: 139
mission: 9
dive: 229
start: 5 1 111 5 8 43
data:
$ID,139
$MISSION,9
$DIVE,229
$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,-2180350.2
$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,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
$GPS1,045902,2106.816,-15755.148,10,1.9,10,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-73.1
$GPS2,050750,2106.845,-15755.157,14,2.0,14,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.221,-0.022
$KALMAN_X,-136452.7,681.7,-92.2,128057.9,-2295.7
$KALMAN_Y,-17560.6,94.5,-134.7,10359.2,232.8
$MHEAD_RNG_PITCHd_Wd,85.9,21233,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,88,0.00,0.00,-70.10,0.000,6,0.000,0.000,425,2142,3113,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.2,-3.9,13,110,13.12,2.60,0.00,0.000,4,0.135,0.036,2867,679,3115,0,0,0,0,0,0
$GC,122,-1.19,-116.8,13.2,-28.5,18,129,0.00,2.42,0.00,0.000,6,0.000,0.021,2867,2070,3115,0,0,0,0,0,0
$GC,324,-1.19,-116.8,52.6,-16.1,44,329,0.00,2.55,0.00,0.000,4,0.000,0.035,2868,3498,3117,0,0,0,0,0,0
$GC,466,-1.19,-116.8,73.4,-13.2,59,470,0.00,2.47,0.00,0.000,6,0.000,0.032,2867,2087,3117,0,0,0,0,0,0
$GC,732,-1.19,-116.8,107.1,-12.7,83,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2087,3117,0,0,0,0,0,0
$GC,993,-1.19,-116.8,141.6,-12.6,108,997,0.00,2.47,0.00,0.000,4,0.000,0.035,2867,3497,3119,0,0,0,0,0,0
$GC,1076,-1.19,-116.8,153.0,-13.6,116,1082,0.00,2.50,0.00,0.000,6,0.000,0.035,2867,2099,3118,0,0,0,0,0,0
$GC,1342,-1.19,-116.8,184.7,-9.3,141,1346,0.00,2.47,0.00,0.000,4,0.000,0.038,2867,3503,3119,0,0,0,0,0,0
$GC,1404,-1.19,-116.8,191.3,-9.9,147,1408,0.00,2.45,0.00,0.000,6,0.000,0.033,2867,2098,3119,0,0,0,0,0,0
$GC,1671,-1.19,-116.8,215.3,-9.1,164,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2098,3119,0,0,0,0,0,0
$GC,1982,-1.19,-116.8,244.1,-8.7,179,1986,0.00,2.55,0.00,0.000,4,0.000,0.046,2867,685,3119,0,0,0,0,0,0
$GC,2010,-1.19,-116.8,246.9,-9.7,180,2014,0.00,2.42,0.00,0.000,6,0.000,0.023,2867,2100,3119,0,0,0,0,0,0
$GC,2330,-1.19,-116.8,275.8,-9.0,196,2331,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2101,3118,0,0,0,0,0,0
$GC,2639,-1.19,-116.8,303.6,-8.0,210,2643,0.00,2.53,0.00,0.000,4,0.000,0.047,2867,689,3117,0,0,0,0,0,0
$GC,2658,-1.19,-116.8,305.2,-7.8,210,2663,0.00,2.42,0.00,0.000,6,0.000,0.025,2867,2106,3117,0,0,0,0,0,0
$GC,3004,-1.19,-116.8,327.1,-5.7,219,3008,0.00,2.55,0.00,0.000,4,0.000,0.048,2867,694,3115,0,0,0,0,0,0
$GC,3014,-1.19,-116.8,327.7,-5.7,219,3018,0.00,2.42,0.00,0.000,6,0.000,0.026,2867,2098,3116,0,0,0,0,0,0
$GC,3328,-1.19,-116.8,349.8,-8.1,227,3329,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2099,3114,0,0,0,0,0,0
$GC,3653,-1.19,-116.8,375.9,-7.8,235,3654,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2099,3112,0,0,0,0,0,0
$GC,3978,-1.19,-116.8,398.4,-6.7,243,3982,0.00,2.58,0.00,0.000,4,0.000,0.051,2867,688,3110,0,0,0,0,0,0
$GC,4011,-1.19,-116.8,400.7,-6.5,243,4015,0.00,2.47,0.00,0.000,6,0.000,0.028,2867,2107,3109,0,0,0,0,0,0
$GC,4343,-1.19,-116.8,421.1,-6.0,251,4344,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2108,3107,0,0,0,0,0,0
$GC,4667,-1.19,-116.8,437.9,-5.3,259,4668,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2108,3106,0,0,0,0,0,0
$STATE,4908,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4908,begin apogee
$GC,4915,-0.31,0.0,452.1,5.8,265,5012,0.95,0.00,94.12,0.824,6,0.083,0.000,3065,1796,2635,0,0,0,0,0,0
$STATE,5013,end apogee,CONTROL_FINISHED_OK
$STATE,5013,begin climb
$GC,5016,1.19,116.8,454.3,0.0,267,5128,1.50,2.75,99.93,0.805,4,0.056,0.063,3395,385,2156,0,0,0,0,0,0
$GC,5138,1.19,116.8,443.9,12.3,269,5144,0.00,2.53,0.00,0.000,6,0.000,0.028,3396,1801,2153,0,0,0,0,0,0
$GC,5470,1.19,116.8,401.1,12.6,278,5474,0.00,2.58,0.00,0.000,4,0.000,0.047,3395,3202,2145,0,0,0,0,0,0
$GC,5498,1.19,116.8,397.2,12.0,278,5503,0.00,2.62,0.00,0.000,6,0.000,0.054,3395,1810,2145,0,0,0,0,0,0
$GC,5834,1.19,116.8,355.2,12.5,287,5839,0.00,2.67,0.00,0.000,4,0.000,0.061,3395,389,2141,0,0,0,0,0,0
$GC,5867,1.19,116.8,350.3,15.0,287,5872,0.00,2.47,0.00,0.000,6,0.000,0.028,3396,1799,2139,0,0,0,0,0,0
$GC,6199,1.19,116.8,306.8,12.9,295,6203,0.00,2.58,0.00,0.000,4,0.000,0.044,3396,3210,2138,0,0,0,0,0,0
$GC,6236,1.19,116.8,302.1,11.3,295,6241,0.00,2.62,0.00,0.000,6,0.000,0.050,3395,1801,2138,0,0,0,0,0,0
$GC,6551,1.19,116.8,266.8,11.0,310,6555,0.00,2.65,0.00,0.000,4,0.000,0.058,3395,388,2136,0,0,0,0,0,0
$GC,6579,1.19,116.8,263.4,11.9,311,6584,0.00,2.50,0.00,0.000,6,0.000,0.027,3395,1803,2135,0,0,0,0,0,0
$GC,6901,1.19,116.8,228.6,11.1,327,6905,0.00,2.65,0.00,0.000,4,0.000,0.058,3395,389,2134,0,0,0,0,0,0
$GC,6938,1.19,116.8,223.8,12.3,328,6945,0.00,2.50,0.00,0.000,6,0.000,0.026,3395,1801,2133,0,0,0,0,0,0
$GC,7256,1.19,116.8,196.9,8.6,345,7260,0.00,2.62,0.00,0.000,4,0.000,0.055,3395,391,2133,0,0,0,0,0,0
$GC,7283,1.19,116.8,193.9,10.2,347,7289,0.00,2.45,0.00,0.000,6,0.000,0.025,3395,1804,2132,0,0,0,0,0,0
$GC,7547,1.19,116.8,168.6,10.3,372,7551,0.00,2.50,0.00,0.000,4,0.000,0.036,3395,3208,2132,0,0,0,0,0,0
$GC,7583,1.19,116.8,164.4,10.4,375,7589,0.00,2.58,0.00,0.000,6,0.000,0.042,3395,1802,2132,0,0,0,0,0,0
$GC,7847,1.19,116.8,138.5,11.4,400,7851,0.00,2.58,0.00,0.000,4,0.000,0.052,3395,390,2132,0,0,0,0,0,0
$GC,7891,1.19,116.8,133.4,12.2,404,7895,0.00,2.42,0.00,0.000,6,0.000,0.022,3396,1804,2131,0,0,0,0,0,0
$GC,8154,1.19,116.8,109.5,9.4,428,8158,0.00,2.60,0.00,0.000,4,0.000,0.051,3395,390,2131,0,0,0,0,0,0
$GC,8170,1.19,116.8,107.7,9.6,429,8175,0.00,2.42,0.00,0.000,6,0.000,0.021,3395,1804,2131,0,0,0,0,0,0
$GC,8435,1.19,116.8,82.6,8.3,453,8440,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1809,2132,0,0,0,0,0,0
$GC,8698,1.23,145.1,62.4,6.7,478,8728,0.00,2.70,20.55,0.504,4,0.000,0.048,3395,388,2041,0,0,0,0,0,0
$GC,8789,1.25,162.7,55.9,7.2,487,8815,0.00,2.45,16.35,0.490,6,0.000,0.020,3395,1801,1970,0,0,0,0,0,0
$GC,9071,1.26,167.9,35.3,7.8,514,9080,0.00,0.00,5.60,0.385,6,0.000,0.000,3395,1801,1949,0,0,0,0,0,0
$GC,9338,1.28,186.3,15.1,7.2,557,9361,0.00,2.62,17.05,0.454,4,0.000,0.045,3395,386,1873,0,0,0,0,0,0
$GC,9415,1.28,186.3,7.7,10.3,573,9422,0.00,2.45,0.00,0.000,6,0.000,0.018,3396,1803,1869,0,0,0,0,0,0
$STATE,9471,end climb,SURFACE_DEPTH_REACHED
$STATE,9472,begin surface coast
$FINISH,1.1,1.023036
$STATE,9509,end surface coast,CONTROL_FINISHED_OK
$STATE,9510,begin surface
$SM_CCo,9534,73.15,0.461,0,0,1289,330.17
$SM_GC,1.64,0.00,0.00,73.15,0.000,0.000,0.461,424,2155,1289,-12.48,1.55,330.17
$IRIDIUM_FIX,2057.14,-15756.04,250700,050539
$TT8_MAMPS,0.028379
$HUMID,54.88
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.5,18.246
$10V_AH,10.5,17.634
$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,28.250,102.425,253.600,73.150,0.000,54.476,68.045,217.691,4.500,0.000,14.949,1060.364,6559.547,405.574,1532.016,580.171,33.354,1073.476,0.000,1523.379,0.000,29.248,0.000
$DEVICE_MAMPS,134.992,62.894,823.758,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,398.968,385.994,874.735,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355672
$DATA_FILE_SIZE,31752,590
$CAP_FILE_SIZE,96880,0
$CFSIZE,260165632,245424128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010511,075007,2106.792,-15754.325,38,0.9,38,9.8