version: 66.06
glider: 139
mission: 9
dive: 258
start: 5 4 111 15 44 30
data:
$ID,139
$MISSION,9
$DIVE,258
$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,-2181000.2
$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
$GPS1,152834,2059.119,-15748.086,13,2.5,32,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-68.7
$GPS2,154336,2059.248,-15748.144,34,1.1,44,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.120,-0.186
$KALMAN_X,-156076.1,-590.3,-514.7,161491.3,730.2
$KALMAN_Y,-2162.1,-441.8,-372.2,-18336.3,1571.5
$MHEAD_RNG_PITCHd_Wd,203.1,3857,-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,-116.8,0.0,0.0,0,120,0.00,0.00,-99.65,0.000,6,0.000,0.000,426,2132,3113,0,0,0,0,0,0
$GC,124,-1.19,-116.8,3.8,-5.5,19,142,13.05,2.58,0.00,0.000,4,0.134,0.035,2868,681,3114,0,0,0,0,0,0
$GC,291,-1.19,-116.8,43.4,-19.3,48,298,0.00,2.38,0.00,0.000,6,0.000,0.019,2869,2065,3115,0,0,0,0,0,0
$GC,554,-1.19,-116.8,85.2,-14.6,73,558,0.00,2.53,0.00,0.000,4,0.000,0.034,2868,3497,3115,0,0,0,0,0,0
$GC,707,-1.19,-116.8,106.0,-12.1,89,711,0.00,2.45,0.00,0.000,6,0.000,0.031,2868,2086,3115,0,0,0,0,0,0
$GC,972,-1.19,-116.8,138.0,-11.2,113,976,0.00,2.47,0.00,0.000,4,0.000,0.034,2868,3496,3115,0,0,0,0,0,0
$GC,1059,-1.19,-116.8,147.5,-10.1,122,1063,0.00,2.42,0.00,0.000,6,0.000,0.033,2868,2102,3115,0,0,0,0,0,0
$GC,1322,-1.19,-116.8,173.3,-9.8,146,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2101,3116,0,0,0,0,0,0
$GC,1575,-1.19,-116.8,200.9,-10.2,170,1579,0.00,2.47,0.00,0.000,4,0.000,0.037,2869,3497,3116,0,0,0,0,0,0
$GC,1642,-1.19,-116.8,207.9,-10.8,173,1646,0.00,2.47,0.00,0.000,6,0.000,0.035,2869,2095,3116,0,0,0,0,0,0
$GC,1974,-1.19,-116.8,240.5,-9.6,189,1978,0.00,2.50,0.00,0.000,4,0.000,0.044,2868,691,3115,0,0,0,0,0,0
$GC,2048,-1.19,-116.8,247.5,-8.9,192,2052,0.00,2.40,0.00,0.000,6,0.000,0.022,2869,2099,3115,0,0,0,0,0,0
$GC,2368,-1.19,-116.8,274.2,-7.6,208,2373,0.00,2.53,0.00,0.000,4,0.000,0.045,2868,692,3114,0,0,0,0,0,0
$GC,2521,-1.19,-116.8,287.9,-9.0,214,2528,0.00,2.42,0.00,0.000,6,0.000,0.023,2868,2097,3114,0,0,0,0,0,0
$GC,2835,-1.19,-116.8,311.0,-6.5,226,2836,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2098,3112,0,0,0,0,0,0
$GC,3159,-1.19,-116.8,332.2,-6.9,234,3164,0.00,2.53,0.00,0.000,4,0.000,0.048,2869,689,3110,0,0,0,0,0,0
$GC,3197,-1.19,-116.8,335.6,-8.9,234,3203,0.00,2.45,0.00,0.000,6,0.000,0.025,2869,2110,3110,0,0,0,0,0,0
$GC,3528,-1.19,-116.8,363.5,-8.5,243,3533,0.00,2.53,0.00,0.000,4,0.000,0.050,2868,3503,3108,0,0,0,0,0,0
$GC,3789,-1.19,-116.8,381.1,-5.2,248,3793,0.00,2.53,0.00,0.000,6,0.000,0.042,2868,2093,3106,0,0,0,0,0,0
$GC,4125,-1.19,-116.8,397.7,-4.9,257,4129,0.00,2.55,0.00,0.000,4,0.000,0.048,2868,3495,3103,0,0,0,0,0,0
$GC,4149,-1.19,-116.8,399.0,-5.6,257,4153,0.00,2.50,0.00,0.000,6,0.000,0.042,2868,2093,3103,0,0,0,0,0,0
$GC,4490,-1.19,-116.8,417.9,-5.5,266,4491,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2092,3101,0,0,0,0,0,0
$GC,4815,-1.19,-116.8,439.0,-6.8,274,4819,0.00,2.58,0.00,0.000,4,0.000,0.054,2868,684,3099,0,0,0,0,0,0
$GC,4835,-1.19,-116.8,440.7,-7.7,274,4840,0.00,2.47,0.00,0.000,6,0.000,0.030,2868,2094,3098,0,0,0,0,0,0
$STATE,4975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4975,begin apogee
$GC,4982,-0.31,0.0,450.4,6.8,278,5079,0.95,0.00,93.43,0.823,6,0.082,0.000,3065,1795,2634,0,0,0,0,0,0
$STATE,5080,end apogee,CONTROL_FINISHED_OK
$STATE,5080,begin climb
$GC,5082,1.19,116.8,452.5,0.0,280,5191,1.50,0.00,100.65,0.803,6,0.055,0.000,3396,1795,2158,0,0,0,0,0,0
$GC,5531,1.19,116.8,403.2,12.1,291,5536,0.00,2.65,0.00,0.000,4,0.000,0.062,3396,402,2146,0,0,0,0,0,0
$GC,5564,1.19,116.8,398.5,14.3,291,5569,0.00,2.50,0.00,0.000,6,0.000,0.028,3396,1805,2143,0,0,0,0,0,0
$GC,5896,1.19,116.8,359.6,11.1,299,5900,0.00,2.67,0.00,0.000,4,0.000,0.061,3396,404,2141,0,0,0,0,0,0
$GC,5920,1.19,116.8,356.6,12.8,299,5924,0.00,2.47,0.00,0.000,6,0.000,0.027,3396,1803,2139,0,0,0,0,0,0
$GC,6260,1.19,116.8,314.0,12.5,308,6264,0.00,2.67,0.00,0.000,4,0.000,0.061,3396,397,2138,0,0,0,0,0,0
$GC,6307,1.19,116.8,306.9,15.8,309,6311,0.00,2.47,0.00,0.000,6,0.000,0.028,3396,1802,2137,0,0,0,0,0,0
$GC,6635,1.19,116.8,270.6,10.4,323,6636,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1804,2136,0,0,0,0,0,0
$GC,6943,1.19,116.8,237.2,11.7,338,6947,0.00,2.62,0.00,0.000,4,0.000,0.058,3396,403,2134,0,0,0,0,0,0
$GC,6981,1.19,116.8,232.1,13.4,339,6986,0.00,2.42,0.00,0.000,6,0.000,0.025,3397,1802,2133,0,0,0,0,0,0
$GC,7299,1.19,116.8,193.0,11.8,357,7303,0.00,2.60,0.00,0.000,4,0.000,0.055,3396,400,2133,0,0,0,0,0,0
$GC,7318,1.19,116.8,190.5,11.9,358,7325,0.00,2.45,0.00,0.000,6,0.000,0.025,3397,1798,2132,0,0,0,0,0,0
$GC,7583,1.19,116.8,166.6,8.1,383,7587,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1800,2132,0,0,0,0,0,0
$GC,7844,1.19,116.8,143.7,8.8,408,7848,0.00,2.45,0.00,0.000,4,0.000,0.034,3397,3203,2132,0,0,0,0,0,0
$GC,7879,1.19,116.8,140.5,9.8,411,7884,0.00,2.53,0.00,0.000,6,0.000,0.040,3397,1807,2132,0,0,0,0,0,0
$GC,8144,1.19,116.8,117.5,8.5,435,8148,0.00,2.60,0.00,0.000,4,0.000,0.050,3396,388,2131,0,0,0,0,0,0
$GC,8178,1.19,116.8,114.1,9.5,438,8183,0.00,2.42,0.00,0.000,6,0.000,0.021,3396,1807,2130,0,0,0,0,0,0
$GC,8441,1.19,116.8,90.1,8.1,462,8445,0.00,2.45,0.00,0.000,4,0.000,0.031,3397,3209,2130,0,0,0,0,0,0
$GC,8458,1.21,126.7,88.8,7.6,463,8468,0.00,2.53,4.80,0.400,6,0.000,0.035,3396,1801,2118,0,0,0,0,0,0
$GC,8725,1.29,198.2,72.3,4.7,488,8795,0.10,0.00,62.15,0.532,6,0.073,0.000,3434,1801,1826,0,0,0,0,0,0
$GC,9050,1.29,198.2,40.7,11.2,519,9054,0.00,2.58,0.00,0.000,4,0.000,0.048,3433,395,1821,0,0,0,0,0,0
$GC,9093,1.29,198.2,35.4,13.5,523,9097,0.00,2.42,0.00,0.000,6,0.000,0.019,3434,1807,1817,0,0,0,0,0,0
$GC,9357,1.29,198.2,10.4,11.1,566,9364,0.00,2.65,0.00,0.000,4,0.000,0.048,3433,391,1818,0,0,0,0,0,0
$STATE,9424,end climb,SURFACE_DEPTH_REACHED
$STATE,9424,begin surface coast
$FINISH,1.0,1.023141
$STATE,9448,end surface coast,CONTROL_FINISHED_OK
$STATE,9448,begin surface
$SM_CCo,9475,169.90,0.459,0,0,448,535.98
$SM_GC,1.52,0.00,0.00,169.90,0.000,0.000,0.459,427,2117,448,-12.47,0.48,535.98
$IRIDIUM_FIX,2052.52,-15749.62,280700,151542
$TT8_MAMPS,0.028379
$HUMID,55.07
$INTERNAL_PRESSURE,9.54769
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.5,20.777
$10V_AH,10.5,19.925
$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,28.425,101.450,261.025,169.900,0.000,136.574,373.032,0.000,5.000,0.000,44.336,1077.401,6516.260,519.172,1692.616,745.234,33.372,1246.407,0.000,1644.066,0.000,34.954,0.000
$DEVICE_MAMPS,134.225,62.127,822.991,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,396.166,382.264,844.676,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,31823,586
$CAP_FILE_SIZE,95660,0
$CFSIZE,260165632,243961856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040511,182636,2058.484,-15748.701,42,1.4,42,9.8