version: 66.06
glider: 139
mission: 9
dive: 255
start: 5 4 111 6 45 44
data:
$ID,139
$MISSION,9
$DIVE,255
$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,-2180924
$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,79
$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
$GPS1,062907,2100.901,-15745.586,37,1.4,37,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-72.8
$GPS2,064450,2100.979,-15745.631,35,1.3,35,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.153,-0.161
$KALMAN_X,-157055.5,402.5,-452.3,165761.1,1586.1
$KALMAN_Y,-5995.1,426.9,-206.4,-12330.9,1703.0
$MHEAD_RNG_PITCHd_Wd,213.8,9255,-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,-116.8,0.0,0.0,0,83,0.00,0.00,-65.10,0.000,2,0.000,0.000,426,2150,2999,0,0,0,0,0,0
$GC,87,-1.19,-116.8,3.2,-4.1,12,111,13.10,2.67,-2.28,0.000,4,0.136,0.052,2868,686,3114,0,0,0,0,0,0
$GC,308,-1.19,-116.8,51.3,-18.4,48,315,0.00,2.38,0.00,0.000,6,0.000,0.021,2868,2062,3116,0,0,0,0,0,0
$GC,570,-1.19,-116.8,90.7,-13.6,73,574,0.00,2.55,0.00,0.000,4,0.000,0.035,2868,3506,3116,0,0,0,0,0,0
$GC,626,-1.19,-116.8,98.4,-13.7,78,633,0.00,2.53,0.00,0.000,6,0.000,0.035,2868,2095,3117,0,0,0,0,0,0
$GC,890,-1.19,-116.8,128.0,-10.6,103,894,0.00,2.47,0.00,0.000,4,0.000,0.034,2868,3500,3117,0,0,0,0,0,0
$GC,909,-1.19,-116.8,130.5,-11.0,104,916,0.00,2.50,0.00,0.000,6,0.000,0.035,2868,2094,3118,0,0,0,0,0,0
$GC,1173,-1.19,-116.8,161.1,-10.7,129,1178,0.00,2.50,0.00,0.000,4,0.000,0.042,2868,682,3118,0,0,0,0,0,0
$GC,1210,-1.19,-116.8,165.5,-10.8,132,1217,0.00,2.42,0.00,0.000,6,0.000,0.021,2868,2097,3117,0,0,0,0,0,0
$GC,1475,-1.19,-116.8,195.7,-11.5,157,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2098,3117,0,0,0,0,0,0
$GC,1740,-1.19,-116.8,226.0,-11.3,172,1744,0.00,2.50,0.00,0.000,4,0.000,0.044,2868,691,3117,0,0,0,0,0,0
$GC,1796,-1.19,-116.8,232.9,-11.9,174,1800,0.00,2.40,0.00,0.000,6,0.000,0.022,2868,2097,3117,0,0,0,0,0,0
$GC,2113,-1.19,-116.8,262.8,-7.8,189,2117,0.00,2.53,0.00,0.000,4,0.000,0.042,2868,3505,3117,0,0,0,0,0,0
$GC,2164,-1.19,-116.8,266.7,-7.5,191,2169,0.00,2.50,0.00,0.000,6,0.000,0.036,2868,2094,3117,0,0,0,0,0,0
$GC,2487,-1.19,-116.8,289.3,-6.7,207,2489,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2093,3116,0,0,0,0,0,0
$GC,2812,-1.19,-116.8,313.3,-7.5,219,2813,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2093,3114,0,0,0,0,0,0
$GC,3138,-1.19,-116.8,336.9,-7.5,227,3142,0.00,2.55,0.00,0.000,4,0.000,0.045,2868,3505,3112,0,0,0,0,0,0
$GC,3198,-1.19,-116.8,341.7,-7.7,228,3202,0.00,2.53,0.00,0.000,6,0.000,0.041,2869,2100,3112,0,0,0,0,0,0
$GC,3550,-1.19,-116.8,369.2,-8.0,237,3554,0.00,2.55,0.00,0.000,4,0.000,0.048,2868,3499,3110,0,0,0,0,0,0
$GC,3657,-1.19,-116.8,376.6,-6.0,239,3661,0.00,2.53,0.00,0.000,6,0.000,0.044,2868,2098,3108,0,0,0,0,0,0
$GC,4008,-1.19,-116.8,400.9,-8.3,248,4012,0.00,2.58,0.00,0.000,4,0.000,0.054,2868,691,3106,0,0,0,0,0,0
$GC,4045,-1.19,-116.8,404.8,-10.7,248,4051,0.00,2.45,0.00,0.000,6,0.000,0.029,2868,2102,3106,0,0,0,0,0,0
$GC,4376,-1.19,-116.8,429.7,-7.2,257,4381,0.00,2.58,0.00,0.000,4,0.000,0.054,2868,691,3103,0,0,0,0,0,0
$GC,4452,-1.19,-116.8,434.8,-6.3,258,4456,0.00,2.45,0.00,0.000,6,0.000,0.030,2868,2099,3103,0,0,0,0,0,0
$STATE,4664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4664,begin apogee
$GC,4671,-0.31,0.0,450.5,7.5,264,4769,0.95,0.00,94.75,0.822,6,0.083,0.000,3065,1791,2635,0,0,0,0,0,0
$STATE,4770,end apogee,CONTROL_FINISHED_OK
$STATE,4770,begin climb
$GC,4773,1.19,116.8,453.3,0.0,266,4885,1.50,2.67,101.00,0.801,4,0.055,0.046,3396,3203,2157,0,0,0,0,0,0
$GC,4895,1.19,116.8,444.2,10.9,268,4901,0.00,2.65,0.00,0.000,6,0.000,0.051,3396,1810,2156,0,0,0,0,0,0
$GC,5227,1.19,116.8,402.3,12.8,277,5231,0.00,2.70,0.00,0.000,4,0.000,0.063,3396,393,2147,0,0,0,0,0,0
$GC,5278,1.19,116.8,394.4,15.1,278,5283,0.00,2.50,0.00,0.000,6,0.000,0.028,3396,1798,2143,0,0,0,0,0,0
$GC,5597,1.19,116.8,355.8,11.6,286,5601,0.00,2.65,0.00,0.000,4,0.000,0.060,3396,393,2141,0,0,0,0,0,0
$GC,5620,1.19,116.8,352.8,12.8,286,5625,0.00,2.50,0.00,0.000,6,0.000,0.028,3396,1803,2140,0,0,0,0,0,0
$GC,5961,1.19,116.8,311.0,12.0,295,5965,0.00,2.53,0.00,0.000,4,0.000,0.044,3396,3203,2138,0,0,0,0,0,0
$GC,5998,1.19,116.8,306.6,10.9,295,6004,0.00,2.60,0.00,0.000,6,0.000,0.049,3396,1801,2138,0,0,0,0,0,0
$GC,6314,1.19,116.8,271.5,10.8,309,6319,0.00,2.55,0.00,0.000,4,0.000,0.042,3396,3204,2137,0,0,0,0,0,0
$GC,6338,1.19,116.8,268.9,10.8,310,6342,0.00,2.60,0.00,0.000,6,0.000,0.048,3396,1792,2137,0,0,0,0,0,0
$GC,6663,1.19,116.8,233.9,10.3,326,6667,0.00,2.60,0.00,0.000,4,0.000,0.058,3396,389,2135,0,0,0,0,0,0
$GC,6677,1.19,116.8,232.3,10.0,326,6684,0.00,2.50,0.00,0.000,6,0.000,0.026,3396,1802,2133,0,0,0,0,0,0
$GC,6993,1.19,116.8,202.7,9.9,342,6994,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1805,2133,0,0,0,0,0,0
$GC,7310,1.19,116.8,170.3,9.7,370,7314,0.00,2.50,0.00,0.000,4,0.000,0.036,3396,3210,2132,0,0,0,0,0,0
$GC,7329,1.19,116.8,168.4,9.7,371,7334,0.00,2.58,0.00,0.000,6,0.000,0.040,3396,1796,2132,0,0,0,0,0,0
$GC,7590,1.19,116.8,145.0,8.6,396,7591,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1796,2132,0,0,0,0,0,0
$GC,7845,1.19,116.8,122.3,8.3,420,7849,0.00,2.55,0.00,0.000,4,0.000,0.051,3395,392,2132,0,0,0,0,0,0
$GC,7905,1.19,116.8,116.6,10.5,426,7910,0.00,2.45,0.00,0.000,6,0.000,0.021,3396,1810,2130,0,0,0,0,0,0
$GC,8169,1.20,125.1,95.5,7.6,450,8173,0.00,2.45,0.00,0.000,4,0.000,0.031,3396,3209,2131,0,0,0,0,0,0
$GC,8248,1.20,125.1,88.3,9.3,458,8252,0.00,2.55,0.00,0.000,6,0.000,0.038,3396,1798,2131,0,0,0,0,0,0
$GC,8512,1.23,149.0,69.5,6.9,482,8543,0.00,2.60,24.12,0.513,4,0.000,0.048,3396,391,2026,0,0,0,0,0,0
$GC,8591,1.24,154.5,63.6,7.8,490,8603,0.00,2.42,5.47,0.399,6,0.000,0.020,3396,1806,2005,0,0,0,0,0,0
$GC,8858,1.28,184.4,45.2,6.6,515,8891,0.00,2.50,27.05,0.491,4,0.000,0.029,3396,3192,1883,0,0,0,0,0,0
$GC,8947,1.28,184.4,38.5,9.3,524,8954,0.00,2.55,0.00,0.000,6,0.000,0.036,3396,1803,1882,0,0,0,0,0,0
$GC,9212,1.36,252.0,21.8,4.9,562,9280,0.15,2.67,57.20,0.476,4,0.053,0.048,3448,391,1605,0,0,0,0,0,0
$GC,9345,1.36,252.0,7.7,12.5,588,9351,0.00,2.45,0.00,0.000,6,0.000,0.018,3448,1805,1599,0,0,0,0,0,0
$STATE,9389,end climb,SURFACE_DEPTH_REACHED
$STATE,9389,begin surface coast
$FINISH,0.9,1.011977
$STATE,9423,end surface coast,CONTROL_FINISHED_OK
$STATE,9423,begin surface
$SM_CCo,9447,146.82,0.456,0,0,449,535.98
$SM_GC,1.62,0.00,0.00,146.82,0.000,0.000,0.456,431,2128,449,-12.45,0.79,535.98
$IRIDIUM_FIX,2054.83,-15746.61,280700,060636
$TT8_MAMPS,0.028379
$HUMID,54.33
$INTERNAL_PRESSURE,9.55745
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.5,20.481
$10V_AH,10.5,19.674
$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,28.725,112.475,309.600,146.825,0.000,127.589,433.769,0.000,4.500,0.000,36.097,1085.751,6464.511,509.672,1682.399,797.742,33.372,1250.144,0.000,1643.659,0.000,29.247,0.000
$DEVICE_MAMPS,135.759,62.894,822.224,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,406.036,396.127,900.262,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,34973,602
$CAP_FILE_SIZE,98132,0
$CFSIZE,260165632,244154368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040511,092706,2100.661,-15746.047,32,1.1,48,9.8