version: 66.06
glider: 139
mission: 9
dive: 259
start: 5 4 111 18 51 17
data:
$ID,139
$MISSION,9
$DIVE,259
$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,330
$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,-2181025.5
$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,21
$R_STBD_OVSHOOT,52
$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
$GPS1,182636,2058.484,-15748.701,42,1.4,42,9.8
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-69.6
$GPS2,185025,2058.686,-15748.761,13,1.2,24,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.129,-0.180
$KALMAN_X,-155918.8,-568.0,-411.2,160147.5,1619.4
$KALMAN_Y,-1146.1,-445.5,-341.9,-20415.4,2156.0
$MHEAD_RNG_PITCHd_Wd,205.7,2375,-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,16,-1.19,-116.8,0.0,0.0,0,119,0.00,0.00,-100.00,0.000,6,0.000,0.000,425,2117,3113,0,0,0,0,0,0
$GC,123,-1.19,-116.8,3.3,-3.7,19,142,13.07,2.55,0.00,0.000,4,0.133,0.035,2869,681,3114,0,0,0,0,0,0
$GC,272,-1.19,-116.8,39.1,-17.8,47,279,0.00,2.42,0.00,0.000,6,0.000,0.021,2869,2091,3116,0,0,0,0,0,0
$GC,535,-1.19,-116.8,78.5,-14.8,72,536,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2095,3115,0,0,0,0,0,0
$GC,788,-1.19,-116.8,111.1,-12.8,96,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2095,3116,0,0,0,0,0,0
$GC,1043,-1.19,-116.8,139.6,-10.6,120,1050,0.00,2.47,0.00,0.000,4,0.000,0.035,2869,3500,3116,0,0,0,0,0,0
$GC,1101,-1.19,-116.8,145.9,-10.2,126,1106,0.00,2.45,0.00,0.000,6,0.000,0.032,2869,2090,3116,0,0,0,0,0,0
$GC,1364,-1.19,-116.8,171.7,-9.5,150,1369,0.00,2.50,0.00,0.000,4,0.000,0.035,2869,3507,3116,0,0,0,0,0,0
$GC,1562,-1.19,-116.8,189.4,-8.3,171,1567,0.00,2.45,0.00,0.000,6,0.000,0.033,2869,2099,3116,0,0,0,0,0,0
$GC,1821,-1.19,-116.8,211.6,-9.2,189,1826,0.00,2.50,0.00,0.000,4,0.000,0.038,2869,3506,3116,0,0,0,0,0,0
$GC,1835,-1.19,-116.8,213.2,-9.2,189,1841,0.00,2.47,0.00,0.000,6,0.000,0.035,2868,2098,3115,0,0,0,0,0,0
$GC,2152,-1.19,-116.8,244.8,-9.6,205,2156,0.00,2.50,0.00,0.000,4,0.000,0.041,2869,3496,3115,0,0,0,0,0,0
$GC,2226,-1.19,-116.8,251.9,-9.2,208,2231,0.00,2.47,0.00,0.000,6,0.000,0.038,2869,2093,3114,0,0,0,0,0,0
$GC,2547,-1.19,-116.8,277.0,-7.6,224,2551,0.00,2.55,0.00,0.000,4,0.000,0.048,2869,684,3113,0,0,0,0,0,0
$GC,2568,-1.19,-116.8,278.7,-8.1,225,2572,0.00,2.42,0.00,0.000,6,0.000,0.024,2869,2098,3112,0,0,0,0,0,0
$GC,2917,-1.19,-116.8,307.8,-8.6,240,2922,0.00,2.55,0.00,0.000,4,0.000,0.045,2869,3504,3111,0,0,0,0,0,0
$GC,3019,-1.19,-116.8,316.6,-8.8,242,3024,0.00,2.50,0.00,0.000,6,0.000,0.041,2869,2093,3110,0,0,0,0,0,0
$GC,3334,-1.19,-116.8,338.8,-6.9,250,3338,0.00,2.55,0.00,0.000,4,0.000,0.051,2869,694,3107,0,0,0,0,0,0
$GC,3474,-1.19,-116.8,349.6,-6.7,253,3478,0.00,2.45,0.00,0.000,6,0.000,0.027,2868,2102,3107,0,0,0,0,0,0
$GC,3798,-1.19,-116.8,368.3,-5.7,261,3802,0.00,2.55,0.00,0.000,4,0.000,0.051,2869,689,3105,0,0,0,0,0,0
$GC,3835,-1.19,-116.8,371.0,-7.3,261,3841,0.00,2.45,0.00,0.000,6,0.000,0.027,2869,2099,3104,0,0,0,0,0,0
$GC,4167,-1.19,-116.8,391.5,-6.3,270,4172,0.00,2.58,0.00,0.000,4,0.000,0.052,2869,692,3101,0,0,0,0,0,0
$GC,4257,-1.19,-116.8,397.7,-7.3,272,4261,0.00,2.47,0.00,0.000,6,0.000,0.028,2869,2108,3101,0,0,0,0,0,0
$GC,4585,-1.19,-116.8,416.4,-5.2,280,4586,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2109,3098,0,0,0,0,0,0
$GC,4910,-1.19,-116.8,432.9,-5.4,288,4915,0.00,2.58,0.00,0.000,4,0.000,0.054,2869,692,3096,0,0,0,0,0,0
$GC,4962,-1.19,-116.8,436.1,-5.8,289,4966,0.00,2.47,0.00,0.000,6,0.000,0.030,2869,2101,3096,0,0,0,0,0,0
$STATE,5238,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5238,begin apogee
$GC,5246,-0.31,0.0,450.9,5.3,296,5342,0.95,0.00,93.20,0.829,6,0.082,0.000,3066,1791,2635,0,0,0,0,0,0
$STATE,5343,end apogee,CONTROL_FINISHED_OK
$STATE,5343,begin climb
$GC,5346,1.19,116.8,451.8,0.0,298,5458,1.50,2.65,101.25,0.806,4,0.056,0.047,3396,3198,2157,0,0,0,0,0,0
$GC,5474,1.19,116.8,438.4,13.8,301,5479,0.00,2.65,0.00,0.000,6,0.000,0.054,3396,1810,2156,0,0,0,0,0,0
$GC,5802,1.19,116.8,393.3,13.2,309,5806,0.00,2.70,0.00,0.000,4,0.000,0.064,3395,393,2147,0,0,0,0,0,0
$GC,5826,1.19,116.8,389.7,15.5,309,5830,0.00,2.50,0.00,0.000,6,0.000,0.028,3396,1801,2144,0,0,0,0,0,0
$GC,6166,1.19,116.8,344.7,13.0,318,6171,0.00,2.70,0.00,0.000,4,0.000,0.063,3395,392,2142,0,0,0,0,0,0
$GC,6210,1.19,116.8,338.4,14.4,319,6214,0.00,2.47,0.00,0.000,6,0.000,0.028,3396,1801,2139,0,0,0,0,0,0
$GC,6538,1.19,116.8,301.7,11.0,327,6542,0.00,2.65,0.00,0.000,4,0.000,0.061,3395,393,2139,0,0,0,0,0,0
$GC,6585,1.19,116.8,296.1,11.4,328,6589,0.00,2.47,0.00,0.000,6,0.000,0.028,3396,1802,2137,0,0,0,0,0,0
$GC,6909,1.19,116.8,261.2,10.9,344,6911,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1805,2136,0,0,0,0,0,0
$GC,7220,1.19,116.8,229.7,10.3,359,7225,0.00,2.50,0.00,0.000,4,0.000,0.040,3396,3210,2135,0,0,0,0,0,0
$GC,7271,1.19,116.8,224.2,10.4,361,7275,0.00,2.60,0.00,0.000,6,0.000,0.045,3396,1798,2135,0,0,0,0,0,0
$GC,7593,1.19,116.8,193.0,8.7,380,7595,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1798,2134,0,0,0,0,0,0
$GC,7848,1.19,116.8,168.7,9.8,404,7852,0.00,2.60,0.00,0.000,4,0.000,0.054,3395,388,2133,0,0,0,0,0,0
$GC,7867,1.19,116.8,166.5,11.7,405,7872,0.00,2.45,0.00,0.000,6,0.000,0.023,3396,1813,2131,0,0,0,0,0,0
$GC,8130,1.19,116.8,141.7,8.9,430,8134,0.00,2.42,0.00,0.000,4,0.000,0.035,3396,3202,2131,0,0,0,0,0,0
$GC,8202,1.19,116.8,135.4,9.4,437,8206,0.00,2.55,0.00,0.000,6,0.000,0.040,3396,1797,2132,0,0,0,0,0,0
$GC,8467,1.28,184.3,118.7,4.9,461,8529,0.00,2.67,54.30,0.577,4,0.000,0.052,3396,398,1882,0,0,0,0,0,0
$GC,8595,1.28,184.3,108.7,10.2,475,8600,0.00,2.45,0.00,0.000,6,0.000,0.021,3395,1806,1875,0,0,0,0,0,0
$GC,8860,1.28,184.3,85.3,8.2,499,8865,0.00,2.62,0.00,0.000,4,0.000,0.050,3395,386,1875,0,0,0,0,0,0
$GC,8924,1.28,184.3,78.8,10.5,505,8931,0.00,2.45,0.00,0.000,6,0.000,0.020,3396,1797,1872,0,0,0,0,0,0
$GC,9189,1.28,184.3,54.7,10.5,530,9193,0.00,2.45,0.00,0.000,4,0.000,0.029,3396,3207,1872,0,0,0,0,0,0
$GC,9205,1.28,184.3,52.8,10.3,531,9210,0.00,2.55,0.00,0.000,6,0.000,0.034,3396,1790,1872,0,0,0,0,0,0
$GC,9470,1.28,189.9,30.5,7.8,555,9482,0.00,2.53,4.50,0.344,4,0.000,0.028,3396,3199,1860,0,0,0,0,0,0
$GC,9506,1.28,189.9,27.4,8.2,561,9513,0.00,2.55,0.00,0.000,6,0.000,0.035,3395,1800,1859,0,0,0,0,0,0
$GC,9710,1.34,232.8,15.0,6.1,598,9757,0.15,2.65,37.72,0.467,4,0.053,0.051,3447,396,1685,0,0,0,0,0,0
$GC,9796,1.34,232.8,8.1,11.8,614,9803,0.08,2.45,0.00,0.000,6,0.077,0.018,3429,1804,1680,0,0,0,0,0,0
$STATE,9841,end climb,SURFACE_DEPTH_REACHED
$STATE,9841,begin surface coast
$FINISH,0.9,1.000970
$STATE,9873,end surface coast,CONTROL_FINISHED_OK
$STATE,9874,begin surface
$SM_CCo,9898,49.25,0.452,0,0,1288,330.17
$SM_GC,1.57,0.00,0.00,49.25,0.000,0.000,0.452,428,2172,1288,-12.47,2.04,330.17
$IRIDIUM_FIX,2052.52,-15749.62,280700,181812
$TT8_MAMPS,0.028379
$HUMID,56.57
$INTERNAL_PRESSURE,9.63558
$TCM_TEMP,22.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,440.1,44.6
$24V_AH,23.5,20.904
$10V_AH,10.5,20.017
$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,28.525,117.250,290.975,49.250,0.000,113.503,175.352,802.418,4.750,0.000,24.569,1151.293,6630.772,419.907,1809.733,1366.282,33.373,1216.374,0.000,1781.264,0.000,32.235,0.000
$DEVICE_MAMPS,133.458,63.661,829.127,451.763,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,424.159,411.813,917.551,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,35014,628
$CAP_FILE_SIZE,125101,0
$CFSIZE,260165632,243945472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040511,213813,2058.320,-15749.095,12,1.9,29,9.8