version: 66.06
glider: 139
mission: 9
dive: 240
start: 5 2 111 11 24 7
data:
$ID,139
$MISSION,9
$DIVE,240
$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,-2180548
$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,20
$R_STBD_OVSHOOT,74
$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
$GPS1,111743,2106.184,-15748.641,14,1.3,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-75.4
$GPS2,112314,2106.152,-15748.623,15,1.3,15,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.222,-0.000
$KALMAN_X,-152253.7,424.9,504.9,154799.8,-2992.0
$KALMAN_Y,-15672.1,-389.5,-67.9,7607.4,35.8
$MHEAD_RNG_PITCHd_Wd,80.3,9877,-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,16,-1.19,-116.8,0.0,0.0,0,88,0.00,0.00,-69.88,0.000,2,0.000,0.000,427,2151,3106,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.2,-4.4,13,110,13.18,2.65,0.00,0.000,4,0.137,0.039,2868,681,3108,0,0,0,0,0,0
$GC,253,-1.19,-116.8,40.7,-19.7,43,258,0.00,2.38,0.00,0.000,6,0.000,0.022,2868,2066,3110,0,0,0,0,0,0
$GC,516,-1.19,-116.8,79.6,-14.7,67,517,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2065,3110,0,0,0,0,0,0
$GC,771,-1.19,-116.8,112.6,-12.8,91,775,0.00,2.53,0.00,0.000,4,0.000,0.035,2868,3503,3112,0,0,0,0,0,0
$GC,814,-1.19,-116.8,118.2,-13.2,95,819,0.00,2.47,0.00,0.000,6,0.000,0.033,2868,2087,3112,0,0,0,0,0,0
$GC,1077,-1.19,-116.8,149.3,-11.5,119,1081,0.00,2.47,0.00,0.000,4,0.000,0.035,2868,3502,3113,0,0,0,0,0,0
$GC,1102,-1.19,-116.8,152.3,-12.3,121,1107,0.00,2.45,0.00,0.000,6,0.000,0.032,2868,2097,3113,0,0,0,0,0,0
$GC,1368,-1.19,-116.8,180.3,-10.7,145,1372,0.00,2.50,0.00,0.000,4,0.000,0.043,2868,691,3113,0,0,0,0,0,0
$GC,1401,-1.19,-116.8,184.7,-12.1,148,1405,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2111,3112,0,0,0,0,0,0
$GC,1672,-1.19,-116.8,213.8,-11.0,167,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2112,3113,0,0,0,0,0,0
$GC,1978,-1.19,-116.8,245.5,-8.9,182,1982,0.00,2.47,0.00,0.000,4,0.000,0.041,2868,3495,3113,0,0,0,0,0,0
$GC,2079,-1.19,-116.8,254.4,-8.5,186,2084,0.00,2.45,0.00,0.000,6,0.000,0.038,2868,2103,3113,0,0,0,0,0,0
$GC,2396,-1.19,-116.8,281.9,-9.1,201,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2102,3112,0,0,0,0,0,0
$GC,2723,-1.19,-116.8,311.1,-8.4,214,2727,0.00,2.55,0.00,0.000,4,0.000,0.048,2868,685,3111,0,0,0,0,0,0
$GC,2793,-1.19,-116.8,316.7,-7.6,215,2798,0.00,2.42,0.00,0.000,6,0.000,0.026,2868,2099,3111,0,0,0,0,0,0
$GC,3135,-1.19,-116.8,341.0,-7.4,224,3139,0.00,2.55,0.00,0.000,4,0.000,0.048,2868,3500,3109,0,0,0,0,0,0
$GC,3149,-1.19,-116.8,342.1,-7.5,224,3154,0.00,2.50,0.00,0.000,6,0.000,0.041,2868,2096,3109,0,0,0,0,0,0
$GC,3500,-1.19,-116.8,367.4,-7.3,233,3504,0.00,2.55,0.00,0.000,4,0.000,0.051,2868,692,3107,0,0,0,0,0,0
$GC,3556,-1.19,-116.8,372.3,-9.0,234,3560,0.00,2.42,0.00,0.000,6,0.000,0.028,2868,2100,3107,0,0,0,0,0,0
$GC,3871,-1.19,-116.8,391.9,-5.8,242,3875,0.00,2.58,0.00,0.000,4,0.000,0.052,2868,692,3104,0,0,0,0,0,0
$GC,3955,-1.19,-116.8,397.1,-5.6,243,3961,0.00,2.45,0.00,0.000,6,0.000,0.028,2868,2099,3104,0,0,0,0,0,0
$GC,4287,-1.19,-116.8,416.0,-6.2,252,4288,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2099,3102,0,0,0,0,0,0
$GC,4612,-1.19,-116.8,438.4,-7.0,260,4613,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2100,3100,0,0,0,0,0,0
$STATE,4812,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4812,begin apogee
$GC,4819,-0.31,0.0,451.4,6.4,265,4917,0.95,0.00,94.22,0.825,6,0.084,0.000,3064,1791,2635,0,0,0,0,0,0
$STATE,4917,end apogee,CONTROL_FINISHED_OK
$STATE,4917,begin climb
$GC,4920,1.19,116.8,452.9,0.0,267,5028,1.50,0.00,100.57,0.806,6,0.056,0.000,3394,1792,2157,0,0,0,0,0,0
$GC,5369,1.19,116.8,400.4,12.0,278,5374,0.00,2.60,0.00,0.000,4,0.000,0.047,3394,3203,2146,0,0,0,0,0,0
$GC,5384,1.19,116.8,398.5,11.9,278,5388,0.00,2.62,0.00,0.000,6,0.000,0.051,3394,1809,2146,0,0,0,0,0,0
$GC,5734,1.19,116.8,355.8,12.0,287,5738,0.00,2.67,0.00,0.000,4,0.000,0.063,3393,393,2142,0,0,0,0,0,0
$GC,5762,1.19,116.8,351.5,13.9,287,5766,0.00,2.50,0.00,0.000,6,0.000,0.028,3394,1798,2139,0,0,0,0,0,0
$GC,6098,1.19,116.8,307.7,13.2,296,6102,0.00,2.55,0.00,0.000,4,0.000,0.044,3394,3210,2139,0,0,0,0,0,0
$GC,6145,1.19,116.8,302.0,12.2,297,6149,0.00,2.65,0.00,0.000,6,0.000,0.051,3393,1797,2139,0,0,0,0,0,0
$GC,6472,1.19,116.8,265.1,11.1,312,6477,0.00,2.62,0.00,0.000,4,0.000,0.059,3394,387,2137,0,0,0,0,0,0
$GC,6528,1.19,116.8,258.3,11.2,314,6533,0.00,2.47,0.00,0.000,6,0.000,0.027,3394,1801,2134,0,0,0,0,0,0
$GC,6845,1.19,116.8,225.5,9.9,329,6846,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1803,2134,0,0,0,0,0,0
$GC,7155,1.19,116.8,196.2,9.4,345,7159,0.00,2.62,0.00,0.000,4,0.000,0.055,3394,390,2133,0,0,0,0,0,0
$GC,7183,1.19,116.8,193.3,11.3,347,7189,0.00,2.45,0.00,0.000,6,0.000,0.025,3394,1805,2132,0,0,0,0,0,0
$GC,7446,1.19,116.8,169.5,8.8,372,7450,0.00,2.47,0.00,0.000,4,0.000,0.037,3394,3204,2133,0,0,0,0,0,0
$GC,7470,1.19,116.8,167.1,8.8,374,7475,0.00,2.58,0.00,0.000,6,0.000,0.041,3394,1793,2132,0,0,0,0,0,0
$GC,7734,1.19,116.8,146.2,8.1,398,7735,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1792,2132,0,0,0,0,0,0
$GC,7986,1.19,116.8,123.6,8.2,422,7988,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1793,2132,0,0,0,0,0,0
$GC,8242,1.19,116.8,102.5,8.1,446,8246,0.00,2.55,0.00,0.000,4,0.000,0.051,3394,386,2132,0,0,0,0,0,0
$GC,8320,1.19,116.8,94.7,10.8,454,8324,0.00,2.42,0.00,0.000,6,0.000,0.021,3394,1808,2131,0,0,0,0,0,0
$GC,8584,1.19,116.8,74.0,8.1,478,8589,0.00,2.45,0.00,0.000,4,0.000,0.031,3394,3211,2132,0,0,0,0,0,0
$GC,8612,1.20,121.7,71.5,7.8,480,8619,0.00,2.58,0.00,0.000,6,0.000,0.036,3394,1791,2132,0,0,0,0,0,0
$GC,8877,1.25,164.8,53.6,6.0,505,8920,0.00,2.58,37.40,0.509,4,0.000,0.031,3394,3204,1962,0,0,0,0,0,0
$GC,8969,1.28,187.1,47.6,7.0,514,8999,0.00,2.55,20.25,0.488,6,0.000,0.035,3394,1798,1871,0,0,0,0,0,0
$GC,9256,1.32,219.5,28.9,6.5,542,9292,0.12,2.65,27.95,0.477,4,0.061,0.048,3439,394,1739,0,0,0,0,0,0
$GC,9377,1.32,219.5,16.1,11.7,567,9384,0.00,2.45,0.00,0.000,6,0.000,0.019,3439,1803,1734,0,0,0,0,0,0
$STATE,9507,end climb,SURFACE_DEPTH_REACHED
$STATE,9507,begin surface coast
$FINISH,0.9,1.023068
$STATE,9542,end surface coast,CONTROL_FINISHED_OK
$STATE,9542,begin surface
$SM_CCo,9566,56.35,0.457,0,0,1288,330.17
$SM_GC,1.57,0.00,0.00,56.35,0.000,0.000,0.457,431,2150,1288,-12.45,1.39,330.17
$IRIDIUM_FIX,2054.83,-15749.62,260700,080815
$TT8_MAMPS,0.029146
$HUMID,54.96
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.5,19.096
$10V_AH,10.6,18.459
$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,28.675,96.875,280.400,56.350,0.000,25.205,34.260,150.584,4.500,0.000,15.640,1083.320,6434.920,387.377,1613.386,437.658,33.359,1084.392,0.000,1596.414,0.000,29.250,0.000
$DEVICE_MAMPS,137.293,62.894,824.525,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,404.276,389.729,882.759,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355672
$DATA_FILE_SIZE,31781,597
$CAP_FILE_SIZE,94271,0
$CFSIZE,260165632,244908032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020511,140607,2105.976,-15748.729,58,1.0,58,9.8