version: 66.06
glider: 139
mission: 9
dive: 241
start: 5 2 111 14 12 36
data:
$ID,139
$MISSION,9
$DIVE,241
$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,-2180564.5
$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,78
$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
$GPS1,140607,2105.976,-15748.729,58,1.0,58,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-73.8
$GPS2,141143,2105.983,-15748.740,10,1.1,15,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.218,-0.039
$KALMAN_X,-153795.0,142.8,-342.6,157274.6,-2353.1
$KALMAN_Y,-15744.1,-483.0,-227.8,7617.6,433.8
$MHEAD_RNG_PITCHd_Wd,90.3,10064,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.19,-116.8,0.0,0.0,0,94,0.00,0.00,-70.97,0.000,6,0.000,0.000,430,2148,3111,0,0,0,0,0,0
$GC,97,-1.19,-116.8,3.5,-4.3,14,116,13.12,2.62,0.00,0.000,4,0.136,0.035,2870,674,3113,0,0,0,0,0,0
$GC,149,-1.19,-116.8,19.8,-25.3,24,156,0.00,2.40,0.00,0.000,6,0.000,0.020,2870,2059,3115,0,0,0,0,0,0
$GC,350,-1.19,-116.8,57.4,-20.6,47,354,0.00,2.45,0.00,0.000,4,0.000,0.042,2870,685,3116,0,0,0,0,0,0
$GC,421,-1.19,-116.8,70.6,-17.6,54,426,0.00,2.40,0.00,0.000,6,0.000,0.021,2870,2104,3115,0,0,0,0,0,0
$GC,684,-1.19,-116.8,107.4,-11.4,78,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2105,3116,0,0,0,0,0,0
$GC,937,-1.19,-116.8,134.5,-10.5,102,942,0.00,2.55,0.00,0.000,4,0.000,0.041,2870,679,3117,0,0,0,0,0,0
$GC,972,-1.19,-116.8,138.3,-10.7,105,977,0.00,2.40,0.00,0.000,6,0.000,0.021,2870,2100,3117,0,0,0,0,0,0
$GC,1237,-1.19,-116.8,167.9,-11.7,129,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2101,3118,0,0,0,0,0,0
$GC,1499,-1.19,-116.8,200.8,-14.2,154,1503,0.00,2.50,0.00,0.000,4,0.000,0.040,2870,3501,3118,0,0,0,0,0,0
$GC,1612,-1.19,-116.8,215.0,-10.6,159,1616,0.00,2.47,0.00,0.000,6,0.000,0.035,2870,2085,3118,0,0,0,0,0,0
$GC,1943,-1.19,-116.8,248.0,-9.9,175,1947,0.00,2.50,0.00,0.000,4,0.000,0.039,2871,3497,3118,0,0,0,0,0,0
$GC,2180,-1.19,-116.8,270.9,-9.7,185,2185,0.00,2.47,0.00,0.000,6,0.000,0.037,2870,2100,3118,0,0,0,0,0,0
$GC,2502,-1.19,-116.8,295.7,-7.4,201,2506,0.00,2.53,0.00,0.000,4,0.000,0.048,2870,692,3117,0,0,0,0,0,0
$GC,2513,-1.19,-116.8,296.5,-7.6,201,2517,0.00,2.40,0.00,0.000,6,0.000,0.025,2870,2097,3117,0,0,0,0,0,0
$GC,2846,-1.19,-116.8,320.2,-7.2,210,2850,0.00,2.55,0.00,0.000,4,0.000,0.047,2870,3497,3115,0,0,0,0,0,0
$GC,2920,-1.19,-116.8,326.4,-8.0,211,2925,0.00,2.50,0.00,0.000,6,0.000,0.041,2870,2102,3115,0,0,0,0,0,0
$GC,3257,-1.19,-116.8,351.2,-7.5,220,3261,0.00,2.58,0.00,0.000,4,0.000,0.051,2870,685,3114,0,0,0,0,0,0
$GC,3285,-1.19,-116.8,353.5,-8.0,220,3290,0.00,2.45,0.00,0.000,6,0.000,0.027,2870,2106,3114,0,0,0,0,0,0
$GC,3621,-1.19,-116.8,376.6,-6.9,229,3626,0.00,2.60,0.00,0.000,4,0.000,0.051,2870,685,3112,0,0,0,0,0,0
$GC,3686,-1.19,-116.8,382.1,-8.5,230,3691,0.00,2.47,0.00,0.000,6,0.000,0.028,2870,2104,3111,0,0,0,0,0,0
$GC,4032,-1.19,-116.8,408.7,-7.4,239,4036,0.00,2.58,0.00,0.000,4,0.000,0.053,2870,688,3108,0,0,0,0,0,0
$GC,4051,-1.19,-116.8,410.3,-8.0,239,4055,0.00,2.47,0.00,0.000,6,0.000,0.029,2870,2105,3109,0,0,0,0,0,0
$GC,4396,-1.19,-116.8,437.1,-7.8,248,4401,0.00,2.60,0.00,0.000,4,0.000,0.054,2870,692,3106,0,0,0,0,0,0
$GC,4415,-1.19,-116.8,438.7,-8.3,248,4420,0.00,2.45,0.00,0.000,6,0.000,0.029,2870,2103,3106,0,0,0,0,0,0
$STATE,4595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4595,begin apogee
$GC,4603,-0.31,0.0,452.7,7.6,253,4701,0.95,0.00,94.93,0.822,6,0.082,0.000,3067,1795,2635,0,0,0,0,0,0
$STATE,4702,end apogee,CONTROL_FINISHED_OK
$STATE,4702,begin climb
$GC,4705,1.19,116.8,454.6,0.0,255,4817,1.48,2.72,100.55,0.803,4,0.055,0.048,3394,3205,2157,0,0,0,0,0,0
$GC,4841,1.19,116.8,442.3,12.1,258,4845,0.00,2.67,0.00,0.000,6,0.000,0.054,3393,1804,2156,0,0,0,0,0,0
$GC,5159,1.19,116.8,400.0,13.3,266,5164,0.00,2.70,0.00,0.000,4,0.000,0.064,3393,393,2147,0,0,0,0,0,0
$GC,5222,1.19,116.8,391.7,13.3,267,5226,0.00,2.50,0.00,0.000,6,0.000,0.029,3393,1798,2142,0,0,0,0,0,0
$GC,5572,1.19,116.8,353.9,10.5,276,5576,0.00,2.67,0.00,0.000,4,0.000,0.061,3393,392,2140,0,0,0,0,0,0
$GC,5592,1.19,116.8,351.5,11.7,276,5597,0.00,2.50,0.00,0.000,6,0.000,0.028,3393,1801,2139,0,0,0,0,0,0
$GC,5937,1.19,116.8,312.3,11.9,285,5939,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1803,2138,0,0,0,0,0,0
$GC,6246,1.19,116.8,278.0,10.0,297,6250,0.00,2.65,0.00,0.000,4,0.000,0.060,3393,393,2137,0,0,0,0,0,0
$GC,6306,1.19,116.8,270.2,12.0,299,6312,0.00,2.50,0.00,0.000,6,0.000,0.028,3393,1804,2135,0,0,0,0,0,0
$GC,6623,1.19,116.8,237.7,10.6,315,6627,0.00,2.50,0.00,0.000,4,0.000,0.041,3394,3206,2135,0,0,0,0,0,0
$GC,6647,1.19,116.8,234.9,11.1,316,6651,0.00,2.60,0.00,0.000,6,0.000,0.045,3394,1797,2134,0,0,0,0,0,0
$GC,6972,1.19,116.8,204.0,9.3,332,6976,0.00,2.60,0.00,0.000,4,0.000,0.056,3393,386,2133,0,0,0,0,0,0
$GC,6993,1.19,116.8,201.8,10.9,333,6998,0.00,2.45,0.00,0.000,6,0.000,0.025,3394,1804,2132,0,0,0,0,0,0
$GC,7323,1.19,116.8,171.7,8.9,363,7327,0.00,2.47,0.00,0.000,4,0.000,0.037,3394,3210,2132,0,0,0,0,0,0
$GC,7339,1.19,116.8,170.3,8.5,364,7343,0.00,2.58,0.00,0.000,6,0.000,0.040,3394,1796,2132,0,0,0,0,0,0
$GC,7601,1.19,116.8,148.3,8.5,388,7606,0.00,2.58,0.00,0.000,4,0.000,0.051,3393,385,2132,0,0,0,0,0,0
$GC,7630,1.19,116.8,145.4,9.9,390,7636,0.00,2.47,0.00,0.000,6,0.000,0.022,3394,1801,2131,0,0,0,0,0,0
$GC,7894,1.19,116.8,124.1,8.6,415,7899,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1804,2131,0,0,0,0,0,0
$GC,8156,1.19,116.8,102.4,9.0,440,8160,0.00,2.60,0.00,0.000,4,0.000,0.048,3393,390,2132,0,0,0,0,0,0
$GC,8184,1.19,116.8,99.6,10.3,442,8191,0.00,2.45,0.00,0.000,6,0.000,0.021,3393,1803,2131,0,0,0,0,0,0
$GC,8448,1.20,117.1,77.8,8.0,467,8452,0.00,2.60,0.00,0.000,4,0.000,0.048,3393,385,2132,0,0,0,0,0,0
$GC,8492,1.20,117.1,73.8,9.3,471,8496,0.00,2.42,0.00,0.000,6,0.000,0.020,3394,1812,2132,0,0,0,0,0,0
$GC,8758,1.24,151.7,57.3,6.4,495,8791,0.00,2.50,26.33,0.503,4,0.000,0.030,3393,3197,2015,0,0,0,0,0,0
$GC,8836,1.28,186.9,52.0,6.4,503,8874,0.00,2.55,31.38,0.509,6,0.000,0.035,3394,1800,1871,0,0,0,0,0,0
$GC,9137,1.30,202.7,31.8,7.3,532,9158,0.12,2.60,14.40,0.462,4,0.061,0.056,3439,393,1805,0,0,0,0,0,0
$GC,9236,1.30,202.7,20.7,12.4,551,9242,0.00,2.45,0.00,0.000,6,0.000,0.019,3439,1801,1802,0,0,0,0,0,0
$STATE,9405,end climb,SURFACE_DEPTH_REACHED
$STATE,9406,begin surface coast
$FINISH,0.9,1.011032
$STATE,9433,end surface coast,CONTROL_FINISHED_OK
$STATE,9433,begin surface
$SM_CCo,9457,63.72,0.465,0,0,1288,330.17
$SM_GC,1.67,0.00,0.00,63.72,0.000,0.000,0.465,425,2147,1288,-12.48,1.33,330.17
$IRIDIUM_FIX,2059.45,-15750.89,260700,111118
$TT8_MAMPS,0.029146
$HUMID,54.92
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,22.00
$XPDR_PINGS,1
$24V_AH,23.5,19.173
$10V_AH,10.5,18.535
$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,28.550,117.325,267.575,63.725,0.000,31.170,38.763,145.304,4.750,0.000,15.724,1093.227,6252.262,403.261,1656.768,454.727,33.358,1136.133,0.000,1641.396,0.000,29.248,0.000
$DEVICE_MAMPS,135.759,64.428,822.224,464.802,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,397.282,381.631,855.286,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,31776,587
$CAP_FILE_SIZE,99953,0
$CFSIZE,260165632,244858880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020511,165236,2105.802,-15748.477,40,1.1,40,9.8