version: 66.06
glider: 139
mission: 9
dive: 234
start: 5 1 111 18 57 9
data:
$ID,139
$MISSION,9
$DIVE,234
$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,-2180450.2
$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,19
$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
$GPS1,185010,2106.554,-15752.915,9,2.8,28,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-74.8
$GPS2,185614,2106.556,-15752.943,12,1.8,12,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.216,-0.050
$KALMAN_X,-144268.5,-171.6,191.6,140267.4,-2066.4
$KALMAN_Y,-17129.6,-14.5,-3.3,9367.5,529.4
$MHEAD_RNG_PITCHd_Wd,93.2,17376,-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,-116.8,0.0,0.0,0,92,0.00,0.00,-70.90,0.000,6,0.000,0.000,426,2143,3111,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.7,-5.2,14,114,13.07,2.62,0.00,0.000,4,0.133,0.036,2867,673,3113,0,0,0,0,0,0
$GC,139,-1.19,-116.8,17.3,-30.2,22,146,0.00,2.42,0.00,0.000,6,0.000,0.021,2867,2067,3114,0,0,0,0,0,0
$GC,341,-1.19,-116.8,50.9,-17.5,47,345,0.00,2.50,0.00,0.000,4,0.000,0.041,2867,681,3115,0,0,0,0,0,0
$GC,402,-1.19,-116.8,62.2,-19.2,53,406,0.00,2.42,0.00,0.000,6,0.000,0.021,2867,2110,3115,0,0,0,0,0,0
$GC,664,-1.19,-116.8,95.6,-10.8,77,669,0.00,2.55,0.00,0.000,4,0.000,0.041,2867,680,3116,0,0,0,0,0,0
$GC,680,-1.19,-116.8,97.6,-11.7,78,684,0.00,2.45,0.00,0.000,6,0.000,0.021,2867,2109,3116,0,0,0,0,0,0
$GC,943,-1.19,-116.8,129.5,-11.8,102,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2110,3117,0,0,0,0,0,0
$GC,1196,-1.19,-116.8,157.2,-10.5,126,1200,0.00,2.55,0.00,0.000,4,0.000,0.043,2867,685,3117,0,0,0,0,0,0
$GC,1238,-1.19,-116.8,162.0,-11.9,130,1243,0.00,2.42,0.00,0.000,6,0.000,0.021,2867,2104,3117,0,0,0,0,0,0
$GC,1501,-1.19,-116.8,189.1,-9.7,154,1505,0.00,2.53,0.00,0.000,4,0.000,0.043,2867,680,3118,0,0,0,0,0,0
$GC,1566,-1.19,-116.8,196.3,-10.8,160,1572,0.00,2.45,0.00,0.000,6,0.000,0.022,2867,2098,3118,0,0,0,0,0,0
$GC,1823,-1.19,-116.8,221.8,-10.2,175,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2099,3117,0,0,0,0,0,0
$GC,2130,-1.19,-116.8,249.6,-8.8,190,2135,0.00,2.53,0.00,0.000,4,0.000,0.043,2867,3505,3117,0,0,0,0,0,0
$GC,2181,-1.19,-116.8,253.9,-8.4,192,2186,0.00,2.50,0.00,0.000,6,0.000,0.037,2867,2093,3117,0,0,0,0,0,0
$GC,2502,-1.19,-116.8,279.9,-8.3,208,2507,0.00,2.53,0.00,0.000,4,0.000,0.048,2867,691,3116,0,0,0,0,0,0
$GC,2517,-1.19,-116.8,281.2,-8.6,208,2521,0.00,2.40,0.00,0.000,6,0.000,0.025,2867,2101,3117,0,0,0,0,0,0
$GC,2831,-1.19,-116.8,307.7,-8.2,221,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2102,3116,0,0,0,0,0,0
$GC,3156,-1.19,-116.8,337.5,-9.7,229,3157,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2102,3114,0,0,0,0,0,0
$GC,3481,-1.19,-116.8,368.4,-8.8,237,3486,0.00,2.55,0.00,0.000,4,0.000,0.049,2867,694,3112,0,0,0,0,0,0
$GC,3505,-1.19,-116.8,370.3,-8.0,237,3509,0.00,2.42,0.00,0.000,6,0.000,0.028,2867,2103,3113,0,0,0,0,0,0
$GC,3846,-1.19,-116.8,389.8,-4.8,246,3850,0.00,2.53,0.00,0.000,4,0.000,0.051,2866,3497,3110,0,0,0,0,0,0
$GC,3861,-1.19,-116.8,390.5,-4.2,246,3865,0.00,2.50,0.00,0.000,6,0.000,0.043,2867,2098,3110,0,0,0,0,0,0
$GC,4211,-1.19,-116.8,405.6,-5.0,255,4212,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2099,3107,0,0,0,0,0,0
$GC,4536,-1.19,-116.8,426.9,-7.1,263,4540,0.00,2.55,0.00,0.000,4,0.000,0.051,2867,3499,3105,0,0,0,0,0,0
$GC,4580,-1.19,-116.8,430.1,-7.1,264,4584,0.00,2.55,0.00,0.000,6,0.000,0.046,2867,2093,3105,0,0,0,0,0,0
$GC,4908,-1.19,-116.8,449.1,-5.4,272,4909,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2092,3103,0,0,0,0,0,0
$STATE,4945,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4945,begin apogee
$GC,4952,-0.31,0.0,451.4,5.5,273,5050,0.95,0.00,93.82,0.828,6,0.083,0.000,3065,1792,2635,0,0,0,0,0,0
$STATE,5050,end apogee,CONTROL_FINISHED_OK
$STATE,5051,begin climb
$GC,5053,1.19,116.8,452.7,0.0,275,5159,1.52,0.00,101.22,0.808,6,0.057,0.000,3397,1793,2158,0,0,0,0,0,0
$GC,5473,1.19,116.8,406.3,12.6,286,5474,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1792,2146,0,0,0,0,0,0
$GC,5798,1.19,116.8,365.4,12.8,294,5802,0.00,2.58,0.00,0.000,4,0.000,0.044,3397,3201,2143,0,0,0,0,0,0
$GC,5833,1.19,116.8,361.0,13.4,294,5837,0.00,2.60,0.00,0.000,6,0.000,0.052,3397,1804,2143,0,0,0,0,0,0
$GC,6164,1.19,116.8,316.3,13.6,302,6168,0.00,2.65,0.00,0.000,4,0.000,0.061,3396,391,2140,0,0,0,0,0,0
$GC,6201,1.19,116.8,310.7,14.4,302,6207,0.00,2.50,0.00,0.000,6,0.000,0.028,3396,1802,2138,0,0,0,0,0,0
$GC,6516,1.19,116.8,277.6,9.7,315,6517,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1804,2137,0,0,0,0,0,0
$GC,6824,1.19,116.8,246.8,10.0,330,6829,0.00,2.65,0.00,0.000,4,0.000,0.058,3396,393,2135,0,0,0,0,0,0
$GC,6899,1.19,116.8,238.6,11.7,333,6903,0.00,2.45,0.00,0.000,6,0.000,0.026,3396,1802,2133,0,0,0,0,0,0
$GC,7220,1.19,116.8,209.8,8.5,349,7221,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1804,2133,0,0,0,0,0,0
$GC,7535,1.19,116.8,180.7,9.5,373,7540,0.00,2.50,0.00,0.000,4,0.000,0.037,3396,3207,2133,0,0,0,0,0,0
$GC,7569,1.19,116.8,176.8,10.4,376,7574,0.00,2.58,0.00,0.000,6,0.000,0.042,3396,1800,2133,0,0,0,0,0,0
$GC,7832,1.19,116.8,146.0,13.0,400,7837,0.00,2.58,0.00,0.000,4,0.000,0.053,3396,392,2133,0,0,0,0,0,0
$GC,7861,1.19,116.8,142.1,12.9,402,7867,0.00,2.47,0.00,0.000,6,0.000,0.022,3397,1808,2131,0,0,0,0,0,0
$GC,8125,1.21,129.1,119.2,7.5,427,8137,0.00,2.62,7.18,0.489,4,0.000,0.051,3396,392,2108,0,0,0,0,0,0
$GC,8164,1.21,129.1,115.7,9.3,431,8168,0.00,2.42,0.00,0.000,6,0.000,0.021,3396,1804,2106,0,0,0,0,0,0
$GC,8428,1.22,134.6,96.3,7.8,455,8441,0.00,2.50,6.40,0.453,4,0.000,0.031,3396,3199,2086,0,0,0,0,0,0
$GC,8487,1.22,134.6,91.0,8.2,461,8492,0.00,2.55,0.00,0.000,6,0.000,0.038,3397,1796,2086,0,0,0,0,0,0
$GC,8751,1.24,155.6,71.8,7.1,486,8781,0.00,2.60,19.77,0.518,4,0.000,0.049,3396,390,1997,0,0,0,0,0,0
$GC,8837,1.24,155.6,64.1,8.3,495,8841,0.00,2.45,0.00,0.000,6,0.000,0.020,3397,1809,1995,0,0,0,0,0,0
$GC,9102,1.25,165.2,45.2,7.6,519,9116,0.00,2.65,9.10,0.446,4,0.000,0.048,3396,386,1960,0,0,0,0,0,0
$GC,9164,1.25,165.2,39.7,9.8,525,9168,0.00,2.45,0.00,0.000,6,0.000,0.019,3397,1810,1958,0,0,0,0,0,0
$GC,9429,1.29,191.0,18.7,6.8,562,9457,0.00,2.65,23.08,0.469,4,0.000,0.045,3396,391,1855,0,0,0,0,0,0
$GC,9580,1.29,191.0,6.2,9.4,595,9586,0.00,2.45,0.00,0.000,6,0.000,0.018,3397,1805,1849,0,0,0,0,0,0
$STATE,9625,end climb,SURFACE_DEPTH_REACHED
$STATE,9625,begin surface coast
$FINISH,0.8,1.000024
$STATE,9675,end surface coast,CONTROL_FINISHED_OK
$STATE,9675,begin surface
$SM_CCo,9699,70.60,0.462,0,0,1288,330.17
$SM_GC,1.54,0.00,0.00,70.60,0.000,0.000,0.462,425,2142,1288,-12.48,1.19,330.17
$IRIDIUM_FIX,2059.45,-15751.76,250700,161644
$TT8_MAMPS,0.029146
$HUMID,55.31
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.5,18.635
$10V_AH,10.5,18.011
$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,28.175,101.875,260.575,70.600,0.000,29.762,33.065,183.744,4.500,0.000,12.748,1091.841,6585.599,430.745,1552.781,477.885,33.355,1079.392,0.000,1545.677,0.000,29.257,0.000
$DEVICE_MAMPS,133.458,61.360,827.593,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,414.387,399.676,906.174,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355672
$DATA_FILE_SIZE,34955,612
$CAP_FILE_SIZE,94758,0
$CFSIZE,260165632,245182464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010511,214106,2106.590,-15752.000,28,1.2,28,9.8