version: 66.06
glider: 139
mission: 9
dive: 242
start: 5 2 111 16 59 11
data:
$ID,139
$MISSION,9
$DIVE,242
$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,-2180584.5
$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,19
$R_STBD_OVSHOOT,77
$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
$GPS1,165236,2105.802,-15748.477,40,1.1,40,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-73.8
$GPS2,165819,2105.833,-15748.438,13,1.1,19,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.216,-0.051
$KALMAN_X,-155325.8,-139.8,-442.4,159707.1,-1375.5
$KALMAN_Y,-15858.9,-376.3,-70.6,7191.0,565.3
$MHEAD_RNG_PITCHd_Wd,93.4,9539,-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,15,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,-70.53,0.000,6,0.000,0.000,425,2148,3112,0,0,0,0,0,0
$GC,98,-1.19,-116.8,3.8,-5.1,14,116,13.07,2.62,0.00,0.000,4,0.133,0.037,2869,678,3114,0,0,0,0,0,0
$GC,128,-1.19,-116.8,15.3,-33.9,19,135,0.00,2.40,0.00,0.000,6,0.000,0.021,2869,2058,3115,0,0,0,0,0,0
$GC,329,-1.19,-116.8,54.1,-18.2,44,333,0.00,2.58,0.00,0.000,4,0.000,0.035,2869,3503,3117,0,0,0,0,0,0
$GC,398,-1.19,-116.8,64.7,-13.8,51,403,0.00,2.47,0.00,0.000,6,0.000,0.031,2869,2092,3117,0,0,0,0,0,0
$GC,662,-1.19,-116.8,102.8,-12.7,75,667,0.00,2.47,0.00,0.000,4,0.000,0.035,2870,3498,3117,0,0,0,0,0,0
$GC,781,-1.19,-116.8,117.5,-11.6,87,786,0.00,2.47,0.00,0.000,6,0.000,0.032,2869,2096,3117,0,0,0,0,0,0
$GC,1044,-1.19,-116.8,148.8,-13.0,112,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2095,3118,0,0,0,0,0,0
$GC,1297,-1.19,-116.8,177.6,-11.0,136,1301,0.00,2.50,0.00,0.000,4,0.000,0.042,2869,688,3118,0,0,0,0,0,0
$GC,1314,-1.19,-116.8,179.4,-11.5,137,1318,0.00,2.40,0.00,0.000,6,0.000,0.022,2869,2105,3118,0,0,0,0,0,0
$GC,1579,-1.19,-116.8,208.7,-10.3,158,1583,0.00,2.50,0.00,0.000,4,0.000,0.041,2869,3501,3119,0,0,0,0,0,0
$GC,1726,-1.19,-116.8,223.1,-9.3,164,1730,0.00,2.45,0.00,0.000,6,0.000,0.035,2869,2101,3119,0,0,0,0,0,0
$GC,2042,-1.19,-116.8,253.5,-8.9,179,2047,0.00,2.53,0.00,0.000,4,0.000,0.045,2869,688,3119,0,0,0,0,0,0
$GC,2057,-1.19,-116.8,255.2,-9.5,179,2062,0.00,2.42,0.00,0.000,6,0.000,0.024,2869,2099,3119,0,0,0,0,0,0
$GC,2374,-1.19,-116.8,279.9,-6.5,195,2375,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2099,3118,0,0,0,0,0,0
$GC,2683,-1.19,-116.8,300.5,-6.8,210,2687,0.00,2.53,0.00,0.000,4,0.000,0.048,2869,693,3118,0,0,0,0,0,0
$GC,2748,-1.19,-116.8,306.0,-8.5,211,2752,0.00,2.42,0.00,0.000,6,0.000,0.025,2869,2099,3117,0,0,0,0,0,0
$GC,3093,-1.19,-116.8,329.5,-6.6,220,3098,0.00,2.58,0.00,0.000,4,0.000,0.049,2869,693,3116,0,0,0,0,0,0
$GC,3128,-1.19,-116.8,332.0,-7.3,220,3132,0.00,2.42,0.00,0.000,6,0.000,0.027,2869,2105,3115,0,0,0,0,0,0
$GC,3461,-1.19,-116.8,357.5,-7.7,228,3466,0.00,2.55,0.00,0.000,4,0.000,0.050,2869,3498,3114,0,0,0,0,0,0
$GC,3507,-1.19,-116.8,361.7,-8.5,229,3512,0.00,2.50,0.00,0.000,6,0.000,0.043,2869,2103,3113,0,0,0,0,0,0
$GC,3831,-1.19,-116.8,386.4,-8.2,237,3835,0.00,2.53,0.00,0.000,4,0.000,0.050,2869,3495,3111,0,0,0,0,0,0
$GC,3896,-1.19,-116.8,392.2,-9.0,238,3900,0.00,2.50,0.00,0.000,6,0.000,0.044,2869,2100,3110,0,0,0,0,0,0
$GC,4241,-1.19,-116.8,417.6,-7.2,247,4246,0.00,2.62,0.00,0.000,4,0.000,0.057,2869,692,3108,0,0,0,0,0,0
$GC,4477,-1.19,-116.8,437.4,-8.7,252,4481,0.00,2.45,0.00,0.000,6,0.000,0.031,2869,2096,3106,0,0,0,0,0,0
$STATE,4671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4671,begin apogee
$GC,4678,-0.31,0.0,451.4,7.0,257,4777,0.95,0.00,95.65,0.838,6,0.084,0.000,3066,1790,2635,0,0,0,0,0,0
$STATE,4778,end apogee,CONTROL_FINISHED_OK
$STATE,4778,begin climb
$GC,4781,1.19,116.8,453.0,0.0,259,4887,1.52,0.00,101.72,0.819,6,0.054,0.000,3399,1790,2158,0,0,0,0,0,0
$GC,5199,1.19,116.8,404.5,12.0,270,5203,0.00,2.65,0.00,0.000,4,0.000,0.064,3398,404,2146,0,0,0,0,0,0
$GC,5242,1.19,116.8,398.6,14.2,271,5246,0.00,2.50,0.00,0.000,6,0.000,0.028,3398,1800,2143,0,0,0,0,0,0
$GC,5570,1.19,116.8,358.8,11.7,279,5574,0.00,2.58,0.00,0.000,4,0.000,0.047,3399,3205,2141,0,0,0,0,0,0
$GC,5644,1.19,116.8,350.5,10.9,280,5649,0.00,2.62,0.00,0.000,6,0.000,0.053,3399,1803,2141,0,0,0,0,0,0
$GC,5980,1.19,116.8,316.4,9.7,289,5984,0.00,2.65,0.00,0.000,4,0.000,0.062,3398,391,2138,0,0,0,0,0,0
$GC,5995,1.19,116.8,314.6,10.3,289,5999,0.00,2.50,0.00,0.000,6,0.000,0.028,3398,1803,2138,0,0,0,0,0,0
$GC,6327,1.19,116.8,281.1,9.7,302,6332,0.00,2.67,0.00,0.000,4,0.000,0.061,3398,389,2136,0,0,0,0,0,0
$GC,6378,1.19,116.8,275.1,11.8,304,6382,0.00,2.47,0.00,0.000,6,0.000,0.027,3398,1801,2134,0,0,0,0,0,0
$GC,6699,1.19,116.8,241.6,11.5,320,6703,0.00,2.53,0.00,0.000,4,0.000,0.041,3398,3209,2133,0,0,0,0,0,0
$GC,6749,1.19,116.8,235.2,12.6,322,6754,0.00,2.60,0.00,0.000,6,0.000,0.046,3398,1794,2134,0,0,0,0,0,0
$GC,7070,1.19,116.8,202.2,9.7,338,7074,0.00,2.60,0.00,0.000,4,0.000,0.055,3398,392,2133,0,0,0,0,0,0
$GC,7091,1.19,116.8,200.1,10.5,339,7096,0.00,2.47,0.00,0.000,6,0.000,0.025,3399,1806,2132,0,0,0,0,0,0
$GC,7421,1.19,116.8,167.0,9.4,369,7425,0.00,2.50,0.00,0.000,4,0.000,0.037,3399,3211,2132,0,0,0,0,0,0
$GC,7477,1.19,116.8,161.1,10.3,374,7483,0.00,2.60,0.00,0.000,6,0.000,0.041,3398,1795,2132,0,0,0,0,0,0
$GC,7739,1.19,116.8,135.9,10.0,399,7740,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1795,2132,0,0,0,0,0,0
$GC,7995,1.20,120.2,113.5,7.9,423,7999,0.00,2.55,0.00,0.000,4,0.000,0.051,3399,391,2131,0,0,0,0,0,0
$GC,8075,1.20,120.2,105.8,10.2,431,8079,0.00,2.42,0.00,0.000,6,0.000,0.021,3399,1807,2130,0,0,0,0,0,0
$GC,8340,1.20,120.2,83.8,9.1,455,8344,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1813,2131,0,0,0,0,0,0
$GC,8602,1.20,120.2,60.2,8.7,480,8603,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1813,2131,0,0,0,0,0,0
$GC,8858,1.21,126.7,39.5,7.7,504,8867,0.00,0.00,5.22,0.384,6,0.000,0.000,3399,1813,2117,0,0,0,0,0,0
$GC,9124,1.27,176.8,21.7,5.7,541,9176,0.00,2.67,44.15,0.490,4,0.000,0.045,3398,385,1912,0,0,0,0,0,0
$GC,9236,1.27,176.8,13.9,8.9,563,9243,0.00,2.47,0.00,0.000,6,0.000,0.019,3399,1802,1907,0,0,0,0,0,0
$STATE,9383,end climb,SURFACE_DEPTH_REACHED
$STATE,9383,begin surface coast
$FINISH,1.0,1.023005
$STATE,9426,end surface coast,CONTROL_FINISHED_OK
$STATE,9426,begin surface
$SM_CCo,9450,77.40,0.467,0,0,1288,330.17
$SM_GC,1.67,0.00,0.00,77.40,0.000,0.000,0.467,429,2139,1288,-12.46,1.10,330.17
$IRIDIUM_FIX,2057.14,-15746.61,260700,141451
$TT8_MAMPS,0.028379
$HUMID,54.56
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,19.249
$10V_AH,10.5,18.613
$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,28.275,102.025,246.750,77.400,0.000,31.093,36.848,150.073,4.500,0.000,19.262,1102.608,6207.252,413.573,1704.937,444.026,33.353,1125.461,0.000,1682.151,0.000,29.254,0.000
$DEVICE_MAMPS,133.458,63.661,838.331,467.103,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,404.764,390.895,892.122,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,31802,598
$CAP_FILE_SIZE,96120,0
$CFSIZE,260165632,244813824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020511,193910,2105.961,-15747.155,12,2.4,31,9.8