version: 66.06
glider: 139
mission: 9
dive: 252
start: 5 3 111 22 1 54
data:
$ID,139
$MISSION,9
$DIVE,252
$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,-2180827.2
$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,42
$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
$GPS1,214528,2102.722,-15744.294,12,3.9,31,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-70.1
$GPS2,220100,2102.626,-15744.240,38,1.4,38,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.110,-0.192
$KALMAN_X,-159488.9,-6.2,1025.1,169516.8,-443.2
$KALMAN_Y,-9518.3,-171.4,582.2,-5953.8,653.0
$MHEAD_RNG_PITCHd_Wd,199.9,13058,-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,15,-1.19,-116.8,0.0,0.0,0,115,0.00,0.00,-96.43,0.000,2,0.000,0.000,429,2108,3052,0,0,0,0,0,0
$GC,118,-1.19,-116.8,3.3,-4.5,18,143,13.05,2.60,-1.15,0.000,4,0.135,0.051,2868,683,3113,0,0,0,0,0,0
$GC,328,-1.19,-116.8,46.2,-15.4,54,332,0.00,2.40,0.00,0.000,6,0.000,0.020,2868,2098,3115,0,0,0,0,0,0
$GC,589,-1.19,-116.8,83.2,-12.1,78,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2099,3115,0,0,0,0,0,0
$GC,844,-1.19,-116.8,114.4,-12.1,102,848,0.00,2.47,0.00,0.000,4,0.000,0.035,2868,3498,3116,0,0,0,0,0,0
$GC,881,-1.19,-116.8,118.7,-11.2,105,886,0.00,2.45,0.00,0.000,6,0.000,0.031,2868,2086,3115,0,0,0,0,0,0
$GC,1144,-1.19,-116.8,148.6,-10.6,130,1148,0.00,2.50,0.00,0.000,4,0.000,0.035,2868,3498,3116,0,0,0,0,0,0
$GC,1245,-1.19,-116.8,160.2,-10.4,140,1252,0.00,2.47,0.00,0.000,6,0.000,0.033,2868,2105,3116,0,0,0,0,0,0
$GC,1509,-1.19,-116.8,185.4,-11.1,165,1515,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2105,3116,0,0,0,0,0,0
$GC,1767,-1.19,-116.8,213.9,-10.8,184,1771,0.00,2.47,0.00,0.000,4,0.000,0.038,2868,3495,3116,0,0,0,0,0,0
$GC,1823,-1.19,-116.8,219.7,-10.3,186,1827,0.00,2.45,0.00,0.000,6,0.000,0.035,2868,2086,3116,0,0,0,0,0,0
$GC,2143,-1.19,-116.8,250.7,-8.9,202,2147,0.00,2.50,0.00,0.000,4,0.000,0.046,2868,690,3115,0,0,0,0,0,0
$GC,2189,-1.19,-116.8,255.1,-10.2,204,2194,0.00,2.42,0.00,0.000,6,0.000,0.023,2868,2102,3114,0,0,0,0,0,0
$GC,2514,-1.19,-116.8,285.3,-9.8,220,2518,0.00,2.55,0.00,0.000,4,0.000,0.044,2868,684,3113,0,0,0,0,0,0
$GC,2535,-1.19,-116.8,287.3,-9.9,221,2540,0.00,2.45,0.00,0.000,6,0.000,0.024,2868,2109,3113,0,0,0,0,0,0
$GC,2884,-1.19,-116.8,318.7,-9.2,233,2888,0.00,2.53,0.00,0.000,4,0.000,0.047,2868,694,3111,0,0,0,0,0,0
$GC,2977,-1.19,-116.8,328.8,-9.9,235,2981,0.00,2.40,0.00,0.000,6,0.000,0.025,2868,2099,3111,0,0,0,0,0,0
$GC,3300,-1.19,-116.8,352.8,-6.1,243,3305,0.00,2.53,0.00,0.000,4,0.000,0.048,2868,692,3109,0,0,0,0,0,0
$GC,3363,-1.19,-116.8,357.4,-8.0,244,3367,0.00,2.45,0.00,0.000,6,0.000,0.026,2868,2108,3109,0,0,0,0,0,0
$GC,3714,-1.19,-116.8,381.1,-6.8,253,3718,0.00,2.55,0.00,0.000,4,0.000,0.049,2868,3503,3107,0,0,0,0,0,0
$GC,3742,-1.19,-116.8,383.2,-7.8,253,3747,0.00,2.53,0.00,0.000,6,0.000,0.042,2868,2101,3107,0,0,0,0,0,0
$GC,4079,-1.19,-116.8,404.7,-5.6,262,4083,0.00,2.60,0.00,0.000,4,0.000,0.054,2868,689,3104,0,0,0,0,0,0
$GC,4103,-1.19,-116.8,406.3,-6.8,262,4107,0.00,2.45,0.00,0.000,6,0.000,0.028,2868,2104,3104,0,0,0,0,0,0
$GC,4444,-1.19,-116.8,429.2,-6.9,271,4445,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2105,3102,0,0,0,0,0,0
$STATE,4766,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4766,begin apogee
$GC,4773,-0.31,0.0,452.1,6.8,279,4871,0.95,0.00,94.93,0.817,6,0.083,0.000,3065,1795,2635,0,0,0,0,0,0
$STATE,4872,end apogee,CONTROL_FINISHED_OK
$STATE,4872,begin climb
$GC,4875,1.19,116.8,453.9,0.0,281,4987,1.50,2.67,101.85,0.798,4,0.056,0.064,3395,399,2157,0,0,0,0,0,0
$GC,5034,1.19,116.8,437.4,14.0,284,5038,0.00,2.50,0.00,0.000,6,0.000,0.028,3395,1797,2150,0,0,0,0,0,0
$GC,5370,1.19,116.8,395.8,11.7,293,5375,0.00,2.67,0.00,0.000,4,0.000,0.061,3395,399,2144,0,0,0,0,0,0
$GC,5394,1.19,116.8,392.2,15.1,293,5398,0.00,2.50,0.00,0.000,6,0.000,0.028,3395,1803,2142,0,0,0,0,0,0
$GC,5734,1.19,116.8,352.6,11.4,302,5735,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1805,2141,0,0,0,0,0,0
$GC,6059,1.19,116.8,316.4,11.3,310,6061,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1805,2139,0,0,0,0,0,0
$GC,6367,1.19,116.8,281.5,10.8,321,6372,0.00,2.65,0.00,0.000,4,0.000,0.059,3395,402,2137,0,0,0,0,0,0
$GC,6395,1.19,116.8,277.4,14.2,322,6400,0.00,2.47,0.00,0.000,6,0.000,0.027,3395,1805,2134,0,0,0,0,0,0
$GC,6716,1.19,116.8,241.6,9.6,338,6720,0.00,2.50,0.00,0.000,4,0.000,0.041,3396,3209,2134,0,0,0,0,0,0
$GC,6759,1.19,116.8,237.4,9.7,340,6763,0.00,2.58,0.00,0.000,6,0.000,0.045,3395,1809,2134,0,0,0,0,0,0
$GC,7088,1.19,116.8,209.2,9.3,356,7093,0.00,2.62,0.00,0.000,4,0.000,0.055,3395,394,2133,0,0,0,0,0,0
$GC,7110,1.19,116.8,207.1,10.9,357,7115,0.00,2.42,0.00,0.000,6,0.000,0.024,3395,1804,2132,0,0,0,0,0,0
$GC,7436,1.19,116.8,177.3,8.3,384,7441,0.00,2.62,0.00,0.000,4,0.000,0.054,3395,393,2131,0,0,0,0,0,0
$GC,7497,1.19,116.8,171.6,10.4,390,7502,0.00,2.45,0.00,0.000,6,0.000,0.023,3395,1806,2130,0,0,0,0,0,0
$GC,7760,1.20,125.0,150.8,7.6,414,7765,0.00,2.47,0.00,0.000,4,0.000,0.034,3396,3208,2131,0,0,0,0,0,0
$GC,7789,1.23,143.9,148.4,7.2,416,7814,0.00,2.58,19.80,0.576,6,0.000,0.039,3395,1802,2048,0,0,0,0,0,0
$GC,8069,1.23,143.9,122.2,10.3,443,8073,0.00,2.60,0.00,0.000,4,0.000,0.051,3395,391,2044,0,0,0,0,0,0
$GC,8113,1.23,143.9,117.2,11.3,447,8117,0.00,2.45,0.00,0.000,6,0.000,0.021,3395,1804,2042,0,0,0,0,0,0
$GC,8377,1.23,143.9,93.2,10.1,471,8381,0.00,2.45,0.00,0.000,4,0.000,0.030,3395,3204,2042,0,0,0,0,0,0
$GC,8421,1.23,143.9,88.5,10.3,475,8425,0.00,2.55,0.00,0.000,6,0.000,0.038,3395,1798,2042,0,0,0,0,0,0
$GC,8686,1.25,164.4,68.3,7.1,499,8709,0.00,2.62,18.60,0.499,4,0.000,0.049,3395,392,1964,0,0,0,0,0,0
$GC,8741,1.25,164.4,63.5,9.2,504,8748,0.00,2.47,0.00,0.000,6,0.000,0.020,3395,1807,1960,0,0,0,0,0,0
$GC,9006,1.25,164.4,41.0,8.2,529,9010,0.00,2.60,0.00,0.000,4,0.000,0.048,3395,390,1960,0,0,0,0,0,0
$GC,9040,1.25,164.4,37.9,8.5,532,9044,0.00,2.40,0.00,0.000,6,0.000,0.019,3395,1802,1959,0,0,0,0,0,0
$GC,9305,1.33,226.8,22.6,5.2,568,9368,0.12,2.67,53.03,0.477,4,0.061,0.044,3442,395,1709,0,0,0,0,0,0
$GC,9411,1.33,226.8,14.4,10.4,588,9418,0.00,2.45,0.00,0.000,6,0.000,0.019,3443,1800,1704,0,0,0,0,0,0
$STATE,9525,end climb,SURFACE_DEPTH_REACHED
$STATE,9525,begin surface coast
$FINISH,1.0,1.003531
$STATE,9557,end surface coast,CONTROL_FINISHED_OK
$STATE,9557,begin surface
$SM_CCo,9581,156.95,0.454,0,0,450,535.98
$SM_GC,1.53,0.00,0.00,156.95,0.000,0.000,0.454,431,2154,450,-12.45,1.53,535.98
$IRIDIUM_FIX,2057.14,-15746.61,270700,222242
$TT8_MAMPS,0.029146
$HUMID,53.50
$INTERNAL_PRESSURE,9.55745
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.5,20.191
$10V_AH,10.5,19.425
$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,28.525,111.800,288.200,156.950,0.000,144.286,400.403,0.000,4.750,0.000,38.420,1105.994,6566.934,514.701,1699.893,785.690,33.368,1254.361,0.000,1657.531,0.000,32.118,0.000
$DEVICE_MAMPS,134.992,64.428,816.855,454.064,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,414.414,401.383,917.776,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,34923,614
$CAP_FILE_SIZE,98559,0
$CFSIZE,260165632,244248576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040511,004520,2102.102,-15744.594,29,1.5,29,9.8