version: 66.06
glider: 139
mission: 9
dive: 249
start: 5 3 111 13 6 37
data:
$ID,139
$MISSION,9
$DIVE,249
$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,535.98047
$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,-2180736.2
$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,18
$R_STBD_OVSHOOT,69
$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
$GPS1,125036,2104.508,-15744.068,42,1.0,42,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-74.7
$GPS2,130543,2104.428,-15743.953,14,1.3,19,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.054,-0.215
$KALMAN_X,-160600.5,301.2,256.4,171583.1,-2067.5
$KALMAN_Y,-11907.4,-95.2,-316.4,601.7,678.7
$MHEAD_RNG_PITCHd_Wd,156.2,15802,-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,-69.50,0.000,2,0.000,0.000,430,2132,3099,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.2,-4.0,13,110,13.05,2.60,-0.17,0.000,4,0.135,0.049,2868,681,3111,0,0,0,0,0,0
$GC,268,-1.19,-116.8,46.3,-18.0,43,275,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2067,3113,0,0,0,0,0,0
$GC,529,-1.19,-116.8,85.9,-15.6,68,534,0.00,2.55,0.00,0.000,4,0.000,0.035,2868,3507,3114,0,0,0,0,0,0
$GC,702,-1.19,-116.8,110.1,-10.1,86,708,0.00,2.50,0.00,0.000,6,0.000,0.031,2868,2092,3114,0,0,0,0,0,0
$GC,966,-1.19,-116.8,142.3,-12.2,111,970,0.00,2.47,0.00,0.000,4,0.000,0.035,2868,3499,3114,0,0,0,0,0,0
$GC,999,-1.19,-116.8,147.2,-14.2,114,1004,0.00,2.47,0.00,0.000,6,0.000,0.033,2868,2093,3114,0,0,0,0,0,0
$GC,1262,-1.19,-116.8,179.0,-11.1,138,1267,0.00,2.50,0.00,0.000,4,0.000,0.035,2868,3509,3114,0,0,0,0,0,0
$GC,1416,-1.19,-116.8,195.6,-10.6,154,1423,0.00,2.50,0.00,0.000,6,0.000,0.033,2868,2101,3114,0,0,0,0,0,0
$GC,1682,-1.19,-116.8,219.5,-9.3,170,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2101,3115,0,0,0,0,0,0
$GC,1993,-1.19,-116.8,251.3,-10.1,185,1997,0.00,2.55,0.00,0.000,4,0.000,0.046,2868,694,3115,0,0,0,0,0,0
$GC,2007,-1.19,-116.8,253.2,-11.0,185,2012,0.00,2.38,0.00,0.000,6,0.000,0.021,2868,2104,3115,0,0,0,0,0,0
$GC,2325,-1.19,-116.8,280.3,-9.1,201,2329,0.00,2.50,0.00,0.000,4,0.000,0.043,2868,3503,3114,0,0,0,0,0,0
$GC,2463,-1.19,-116.8,291.9,-8.3,207,2467,0.00,2.50,0.00,0.000,6,0.000,0.038,2868,2099,3114,0,0,0,0,0,0
$GC,2810,-1.19,-116.8,322.2,-9.3,218,2815,0.00,2.50,0.00,0.000,4,0.000,0.044,2868,3492,3112,0,0,0,0,0,0
$GC,3080,-1.19,-116.8,346.7,-7.3,223,3085,0.00,2.47,0.00,0.000,6,0.000,0.040,2868,2097,3111,0,0,0,0,0,0
$GC,3413,-1.19,-116.8,369.0,-6.8,232,3417,0.00,2.58,0.00,0.000,4,0.000,0.051,2868,692,3109,0,0,0,0,0,0
$GC,3510,-1.19,-116.8,377.4,-8.4,234,3515,0.00,2.40,0.00,0.000,6,0.000,0.027,2868,2092,3108,0,0,0,0,0,0
$GC,3830,-1.19,-116.8,401.1,-6.8,242,3834,0.00,2.55,0.00,0.000,4,0.000,0.051,2868,686,3105,0,0,0,0,0,0
$GC,3968,-1.19,-116.8,410.4,-6.1,245,3972,0.00,2.45,0.00,0.000,6,0.000,0.028,2868,2100,3105,0,0,0,0,0,0
$GC,4296,-1.19,-116.8,428.7,-5.9,253,4300,0.00,2.58,0.00,0.000,4,0.000,0.054,2868,686,3102,0,0,0,0,0,0
$GC,4498,-1.19,-116.8,442.0,-6.6,257,4502,0.00,2.45,0.00,0.000,6,0.000,0.030,2868,2098,3101,0,0,0,0,0,0
$STATE,4642,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4642,begin apogee
$GC,4649,-0.31,0.0,450.5,5.7,261,4746,0.95,0.00,94.28,0.818,6,0.083,0.000,3065,1789,2635,0,0,0,0,0,0
$STATE,4747,end apogee,CONTROL_FINISHED_OK
$STATE,4747,begin climb
$GC,4750,1.19,116.8,451.6,0.0,263,4862,1.50,2.67,100.97,0.799,4,0.055,0.062,3396,401,2157,0,0,0,0,0,0
$GC,4882,1.19,116.8,437.9,15.8,266,4886,0.00,2.47,0.00,0.000,6,0.000,0.027,3396,1802,2152,0,0,0,0,0,0
$GC,5205,1.19,116.8,395.3,13.2,274,5209,0.00,2.67,0.00,0.000,4,0.000,0.062,3396,399,2145,0,0,0,0,0,0
$GC,5248,1.19,116.8,388.8,14.6,275,5252,0.00,2.50,0.00,0.000,6,0.000,0.028,3396,1803,2143,0,0,0,0,0,0
$GC,5576,1.19,116.8,347.5,12.5,283,5580,0.00,2.65,0.00,0.000,4,0.000,0.061,3396,404,2141,0,0,0,0,0,0
$GC,5703,1.19,116.8,329.1,14.2,285,5707,0.00,2.47,0.00,0.000,6,0.000,0.027,3396,1804,2138,0,0,0,0,0,0
$GC,6015,1.19,116.8,295.5,10.5,293,6016,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1807,2137,0,0,0,0,0,0
$GC,6324,1.19,116.8,265.4,9.3,308,6328,0.00,2.62,0.00,0.000,4,0.000,0.058,3396,404,2136,0,0,0,0,0,0
$GC,6345,1.19,116.8,263.2,11.4,309,6349,0.00,2.45,0.00,0.000,6,0.000,0.026,3396,1802,2135,0,0,0,0,0,0
$GC,6675,1.19,116.8,230.1,9.9,325,6680,0.00,2.50,0.00,0.000,4,0.000,0.040,3396,3208,2134,0,0,0,0,0,0
$GC,6742,1.19,116.8,223.2,10.0,328,6746,0.00,2.55,0.00,0.000,6,0.000,0.044,3397,1808,2134,0,0,0,0,0,0
$GC,7065,1.19,116.8,191.7,8.5,347,7066,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1809,2133,0,0,0,0,0,0
$GC,7320,1.19,116.8,168.6,9.7,371,7324,0.00,2.60,0.00,0.000,4,0.000,0.053,3396,390,2133,0,0,0,0,0,0
$GC,7363,1.19,116.8,163.8,10.9,375,7368,0.00,2.45,0.00,0.000,6,0.000,0.023,3397,1804,2131,0,0,0,0,0,0
$GC,7628,1.19,116.8,140.0,8.4,399,7632,0.00,2.47,0.00,0.000,4,0.000,0.034,3396,3204,2132,0,0,0,0,0,0
$GC,7710,1.19,116.8,132.8,8.9,407,7715,0.00,2.55,0.00,0.000,6,0.000,0.039,3396,1797,2131,0,0,0,0,0,0
$GC,7973,1.19,116.8,112.7,8.4,432,7977,0.00,2.50,0.00,0.000,4,0.000,0.031,3397,3204,2131,0,0,0,0,0,0
$GC,8017,1.19,116.8,109.0,8.5,436,8021,0.00,2.53,0.00,0.000,6,0.000,0.038,3397,1792,2131,0,0,0,0,0,0
$GC,8280,1.21,132.7,89.0,7.3,460,8299,0.00,2.53,10.43,0.486,4,0.000,0.029,3397,3212,2092,0,0,0,0,0,0
$GC,8319,1.25,161.6,86.1,6.7,464,8351,0.00,2.55,26.12,0.525,6,0.000,0.036,3397,1791,1975,0,0,0,0,0,0
$GC,8609,1.25,164.5,65.0,7.9,491,8613,0.00,2.55,0.00,0.000,4,0.000,0.049,3396,391,1972,0,0,0,0,0,0
$GC,8637,1.25,164.5,62.3,9.0,493,8643,0.00,2.45,0.00,0.000,6,0.000,0.020,3397,1810,1969,0,0,0,0,0,0
$GC,8901,1.25,164.9,42.7,8.0,518,8906,0.00,2.62,0.00,0.000,4,0.000,0.047,3396,388,1969,0,0,0,0,0,0
$GC,8937,1.25,164.9,39.1,8.0,521,8944,0.00,2.42,0.00,0.000,6,0.000,0.018,3397,1799,1968,0,0,0,0,0,0
$GC,9204,1.30,205.8,21.5,6.1,557,9250,0.10,2.50,37.75,0.469,4,0.071,0.026,3438,3192,1796,0,0,0,0,0,0
$GC,9266,1.30,205.8,16.4,8.9,568,9273,0.00,2.55,0.00,0.000,6,0.000,0.035,3437,1802,1795,0,0,0,0,0,0
$STATE,9413,end climb,SURFACE_DEPTH_REACHED
$STATE,9415,begin surface coast
$FINISH,0.9,1.014236
$STATE,9449,end surface coast,CONTROL_FINISHED_OK
$STATE,9449,begin surface
$SM_CCo,9473,169.40,0.453,0,0,449,535.98
$SM_GC,1.53,0.00,0.00,169.40,0.000,0.000,0.453,431,2158,449,-12.45,1.64,535.98
$IRIDIUM_FIX,2057.14,-15736.31,270700,131351
$TT8_MAMPS,0.028379
$HUMID,53.03
$INTERNAL_PRESSURE,9.56722
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,19.890
$10V_AH,10.5,19.177
$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,28.450,111.800,269.550,169.400,0.000,134.663,404.613,0.000,4.500,0.000,19.531,1145.975,6236.580,505.278,1880.813,783.444,33.372,1315.359,0.000,1852.162,0.000,29.253,0.000
$DEVICE_MAMPS,134.992,62.127,818.389,452.530,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,406.038,396.631,892.271,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355780
$DATA_FILE_SIZE,31817,601
$CAP_FILE_SIZE,103506,0
$CFSIZE,260165632,244445184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030511,154836,2103.170,-15744.350,33,0.9,37,9.8