version: 66.06
glider: 139
mission: 9
dive: 256
start: 5 4 111 9 42 57
data:
$ID,139
$MISSION,9
$DIVE,256
$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,-2180938.2
$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,74
$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
$GPS1,092706,2100.661,-15746.047,32,1.1,48,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-68.1
$GPS2,094202,2100.678,-15746.138,13,1.7,13,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.140,-0.172
$KALMAN_X,-156968.0,163.0,525.1,164061.6,-90.9
$KALMAN_Y,-5086.3,145.9,403.3,-14124.4,603.7
$MHEAD_RNG_PITCHd_Wd,209.4,8220,-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,-116.8,0.0,0.0,0,116,0.00,0.00,-96.82,0.000,2,0.000,0.000,430,2128,3053,0,0,0,0,0,0
$GC,119,-1.19,-116.8,3.4,-4.3,18,144,13.07,2.42,-1.15,0.000,4,0.135,0.044,2870,3468,3114,0,0,0,0,0,0
$GC,396,-1.19,-116.8,59.2,-15.0,60,402,0.00,2.45,0.00,0.000,6,0.000,0.032,2870,2089,3115,0,0,0,0,0,0
$GC,658,-1.19,-116.8,95.6,-14.7,85,663,0.00,2.42,0.00,0.000,4,0.000,0.031,2870,3470,3116,0,0,0,0,0,0
$GC,765,-1.19,-116.8,109.4,-12.6,96,769,0.00,2.42,0.00,0.000,6,0.000,0.032,2870,2090,3116,0,0,0,0,0,0
$GC,1026,-1.19,-116.8,142.8,-13.0,120,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2091,3116,0,0,0,0,0,0
$GC,1281,-1.19,-116.8,169.3,-9.6,144,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2090,3116,0,0,0,0,0,0
$GC,1536,-1.19,-116.8,194.7,-9.8,168,1540,0.00,2.45,0.00,0.000,4,0.000,0.037,2870,3464,3116,0,0,0,0,0,0
$GC,1582,-1.19,-116.8,199.8,-10.9,172,1590,0.00,2.42,0.00,0.000,6,0.000,0.035,2870,2104,3116,0,0,0,0,0,0
$GC,1837,-1.19,-116.8,227.9,-10.7,185,1838,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2103,3116,0,0,0,0,0,0
$GC,2145,-1.19,-116.8,255.9,-8.5,200,2149,0.00,2.40,0.00,0.000,4,0.000,0.040,2870,3461,3115,0,0,0,0,0,0
$GC,2241,-1.19,-116.8,265.0,-8.8,204,2246,0.00,2.42,0.00,0.000,6,0.000,0.038,2870,2098,3115,0,0,0,0,0,0
$GC,2562,-1.19,-116.8,292.9,-8.3,220,2566,0.00,2.45,0.00,0.000,4,0.000,0.042,2870,3460,3114,0,0,0,0,0,0
$GC,2688,-1.19,-116.8,304.7,-9.4,224,2692,0.00,2.42,0.00,0.000,6,0.000,0.039,2870,2100,3113,0,0,0,0,0,0
$GC,3020,-1.19,-116.8,331.6,-8.3,232,3024,0.00,2.58,0.00,0.000,4,0.000,0.050,2870,689,3111,0,0,0,0,0,0
$GC,3039,-1.19,-116.8,333.4,-9.2,232,3043,0.00,2.38,0.00,0.000,6,0.000,0.026,2870,2060,3111,0,0,0,0,0,0
$GC,3388,-1.19,-116.8,359.6,-6.9,241,3393,0.00,2.62,0.00,0.000,4,0.000,0.049,2870,3499,3108,0,0,0,0,0,0
$GC,3426,-1.19,-116.8,361.8,-6.1,241,3432,0.00,2.53,0.00,0.000,6,0.000,0.042,2870,2099,3108,0,0,0,0,0,0
$GC,3758,-1.19,-116.8,379.6,-5.0,250,3762,0.00,2.58,0.00,0.000,4,0.000,0.052,2870,685,3106,0,0,0,0,0,0
$GC,3805,-1.19,-116.8,382.7,-6.5,251,3809,0.00,2.47,0.00,0.000,6,0.000,0.028,2870,2104,3106,0,0,0,0,0,0
$GC,4128,-1.19,-116.8,403.2,-6.3,259,4133,0.00,2.58,0.00,0.000,4,0.000,0.051,2870,689,3103,0,0,0,0,0,0
$GC,4157,-1.19,-116.8,405.3,-7.5,259,4161,0.00,2.47,0.00,0.000,6,0.000,0.030,2870,2099,3103,0,0,0,0,0,0
$GC,4493,-1.19,-116.8,428.6,-6.7,268,4498,0.00,2.58,0.00,0.000,4,0.000,0.053,2870,694,3100,0,0,0,0,0,0
$GC,4601,-1.19,-116.8,436.8,-7.4,270,4605,0.00,2.47,0.00,0.000,6,0.000,0.029,2870,2106,3100,0,0,0,0,0,0
$STATE,4745,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4745,begin apogee
$GC,4752,-0.31,0.0,446.7,6.7,274,4849,0.95,0.00,93.78,0.819,6,0.084,0.000,3067,1796,2635,0,0,0,0,0,0
$STATE,4850,end apogee,CONTROL_FINISHED_OK
$STATE,4850,begin climb
$GC,4853,1.19,116.8,448.3,0.0,276,4963,1.50,2.72,101.18,0.800,4,0.055,0.063,3395,410,2157,0,0,0,0,0,0
$GC,4975,1.19,116.8,437.0,13.7,279,4979,0.00,2.47,0.00,0.000,6,0.000,0.028,3395,1801,2154,0,0,0,0,0,0
$GC,5315,1.19,116.8,390.9,13.2,288,5320,0.00,2.65,0.00,0.000,4,0.000,0.061,3394,404,2145,0,0,0,0,0,0
$GC,5339,1.19,116.8,387.5,14.1,288,5344,0.00,2.45,0.00,0.000,6,0.000,0.027,3395,1803,2143,0,0,0,0,0,0
$GC,5680,1.19,116.8,345.5,11.9,297,5684,0.00,2.67,0.00,0.000,4,0.000,0.061,3395,400,2141,0,0,0,0,0,0
$GC,5727,1.19,116.8,339.2,12.6,298,5731,0.00,2.47,0.00,0.000,6,0.000,0.028,3395,1797,2138,0,0,0,0,0,0
$GC,6050,1.19,116.8,304.4,10.6,306,6054,0.00,2.55,0.00,0.000,4,0.000,0.044,3395,3206,2138,0,0,0,0,0,0
$GC,6064,1.19,116.8,302.7,10.5,306,6069,0.00,2.60,0.00,0.000,6,0.000,0.046,3395,1806,2138,0,0,0,0,0,0
$GC,6399,1.19,116.8,269.8,9.5,322,6403,0.00,2.55,0.00,0.000,4,0.000,0.041,3395,3214,2136,0,0,0,0,0,0
$GC,6431,1.19,116.8,266.2,10.5,323,6436,0.00,2.62,0.00,0.000,6,0.000,0.047,3395,1798,2136,0,0,0,0,0,0
$GC,6747,1.19,116.8,233.9,10.1,338,6751,0.00,2.62,0.00,0.000,4,0.000,0.057,3395,389,2134,0,0,0,0,0,0
$GC,6791,1.19,116.8,229.4,10.7,340,6796,0.00,2.47,0.00,0.000,6,0.000,0.025,3395,1803,2132,0,0,0,0,0,0
$GC,7121,1.19,116.8,200.1,9.0,356,7122,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1806,2132,0,0,0,0,0,0
$GC,7442,1.19,116.8,173.3,8.2,385,7446,0.00,2.47,0.00,0.000,4,0.000,0.036,3395,3208,2132,0,0,0,0,0,0
$GC,7493,1.19,116.8,168.8,8.3,390,7498,0.00,2.58,0.00,0.000,6,0.000,0.041,3395,1796,2132,0,0,0,0,0,0
$GC,7757,1.20,122.9,149.4,7.7,414,7761,0.00,2.58,0.00,0.000,4,0.000,0.052,3395,391,2131,0,0,0,0,0,0
$GC,7803,1.20,122.9,145.0,9.1,418,7810,0.00,2.45,0.00,0.000,6,0.000,0.021,3395,1802,2131,0,0,0,0,0,0
$GC,8068,1.20,122.9,123.6,8.2,443,8072,0.00,2.60,0.00,0.000,4,0.000,0.049,3395,385,2130,0,0,0,0,0,0
$GC,8087,1.20,122.9,121.5,8.8,444,8094,0.00,2.45,0.00,0.000,6,0.000,0.021,3395,1800,2131,0,0,0,0,0,0
$GC,8351,1.20,122.9,99.2,8.5,469,8356,0.00,2.60,0.00,0.000,4,0.000,0.048,3395,389,2131,0,0,0,0,0,0
$GC,8389,1.20,122.9,95.1,10.9,472,8396,0.00,2.42,0.00,0.000,6,0.000,0.020,3396,1800,2131,0,0,0,0,0,0
$GC,8653,1.21,128.9,72.0,7.7,497,8670,0.00,2.42,6.93,0.436,4,0.000,0.028,3396,3197,2108,0,0,0,0,0,0
$GC,8694,1.22,141.4,68.8,7.4,501,8713,0.00,2.55,12.52,0.482,6,0.000,0.035,3395,1793,2057,0,0,0,0,0,0
$GC,8976,1.27,179.3,49.3,6.3,528,9016,0.00,2.53,33.53,0.498,4,0.000,0.028,3396,3200,1902,0,0,0,0,0,0
$GC,9038,1.29,195.9,45.1,7.3,534,9060,0.10,2.55,15.20,0.467,6,0.071,0.035,3436,1793,1835,0,0,0,0,0,0
$GC,9315,1.29,195.9,21.7,8.7,569,9322,0.00,2.58,0.00,0.000,4,0.000,0.050,3436,398,1830,0,0,0,0,0,0
$GC,9401,1.29,195.9,13.2,10.8,588,9407,0.00,2.40,0.00,0.000,6,0.000,0.018,3436,1796,1827,0,0,0,0,0,0
$STATE,9499,end climb,SURFACE_DEPTH_REACHED
$STATE,9500,begin surface coast
$FINISH,1.0,1.022459
$STATE,9535,end surface coast,CONTROL_FINISHED_OK
$STATE,9535,begin surface
$SM_CCo,9559,173.07,0.456,0,0,449,535.98
$SM_GC,1.45,0.00,0.00,173.07,0.000,0.000,0.456,424,2153,449,-12.48,1.50,535.98
$IRIDIUM_FIX,2054.83,-15744.48,280700,090916
$TT8_MAMPS,0.029146
$HUMID,53.07
$INTERNAL_PRESSURE,9.56722
$TCM_TEMP,22.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,441.2,33.7
$24V_AH,23.5,20.580
$10V_AH,10.5,19.759
$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,28.525,116.625,263.125,173.075,0.000,136.809,395.772,0.000,5.000,0.000,13.617,1120.077,6482.937,542.354,1715.966,771.130,33.364,1287.112,0.000,1695.515,0.000,35.091,0.000
$DEVICE_MAMPS,134.992,62.894,819.156,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,413.451,402.156,907.780,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355760
$DATA_FILE_SIZE,34959,612
$CAP_FILE_SIZE,100740,0
$CFSIZE,260165632,244084736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040511,122700,2100.104,-15747.094,72,1.8,72,9.8