version: 66.06
glider: 139
mission: 9
dive: 260
start: 5 4 111 21 54 25
data:
$ID,139
$MISSION,9
$DIVE,260
$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,-2181077.8
$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,86
$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
$GPS1,213813,2058.320,-15749.095,12,1.9,29,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-73.4
$GPS2,215331,2058.456,-15749.049,44,1.6,51,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.221,0.009
$KALMAN_X,-156067.5,-254.7,366.1,158711.0,520.3
$KALMAN_Y,-310.1,-211.8,180.4,-22433.5,1493.0
$MHEAD_RNG_PITCHd_Wd,262.6,28986,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.19,-116.8,0.0,0.0,0,84,0.00,0.00,-64.38,0.000,2,0.000,0.000,426,2169,2976,0,0,0,0,0,0
$GC,87,-1.19,-116.8,3.2,-4.7,12,112,13.05,2.35,-2.75,0.000,4,0.134,0.050,2868,3454,3114,0,0,0,0,0,0
$GC,288,-1.19,-116.8,45.1,-15.3,47,293,0.00,2.38,0.00,0.000,6,0.000,0.031,2868,2090,3115,0,0,0,0,0,0
$GC,551,-1.19,-116.8,86.4,-15.0,71,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2090,3116,0,0,0,0,0,0
$GC,806,-1.19,-116.8,124.0,-13.2,95,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2090,3116,0,0,0,0,0,0
$GC,1061,-1.19,-116.8,155.2,-10.3,119,1065,0.00,2.38,0.00,0.000,4,0.000,0.035,2868,3451,3118,0,0,0,0,0,0
$GC,1094,-1.19,-116.8,158.9,-11.3,122,1098,0.00,2.35,0.00,0.000,6,0.000,0.033,2868,2100,3118,0,0,0,0,0,0
$GC,1355,-1.19,-116.8,184.0,-9.7,146,1359,0.00,2.53,0.00,0.000,4,0.000,0.043,2867,690,3118,0,0,0,0,0,0
$GC,1374,-1.19,-116.8,186.0,-9.7,147,1380,0.00,2.33,0.00,0.000,6,0.000,0.021,2868,2054,3117,0,0,0,0,0,0
$GC,1632,-1.19,-116.8,214.9,-12.2,166,1636,0.00,2.55,0.00,0.000,4,0.000,0.038,2868,3500,3117,0,0,0,0,0,0
$GC,1683,-1.19,-116.8,221.0,-11.9,168,1687,0.00,2.47,0.00,0.000,6,0.000,0.035,2868,2095,3117,0,0,0,0,0,0
$GC,2003,-1.19,-116.8,252.0,-9.4,184,2004,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2094,3117,0,0,0,0,0,0
$GC,2314,-1.19,-116.8,281.1,-9.6,199,2318,0.00,2.50,0.00,0.000,4,0.000,0.041,2868,3500,3116,0,0,0,0,0,0
$GC,2328,-1.19,-116.8,282.7,-9.7,199,2334,0.00,2.45,0.00,0.000,6,0.000,0.038,2867,2102,3117,0,0,0,0,0,0
$GC,2665,-1.19,-116.8,309.5,-7.1,213,2669,0.00,2.50,0.00,0.000,4,0.000,0.043,2868,3495,3116,0,0,0,0,0,0
$GC,2693,-1.19,-116.8,312.0,-7.6,213,2697,0.00,2.47,0.00,0.000,6,0.000,0.038,2868,2099,3115,0,0,0,0,0,0
$GC,3029,-1.19,-116.8,336.3,-7.3,222,3034,0.00,2.55,0.00,0.000,4,0.000,0.049,2867,693,3114,0,0,0,0,0,0
$GC,3090,-1.19,-116.8,341.3,-8.4,223,3094,0.00,2.42,0.00,0.000,6,0.000,0.026,2868,2098,3113,0,0,0,0,0,0
$GC,3441,-1.19,-116.8,365.3,-6.7,232,3446,0.00,2.53,0.00,0.000,4,0.000,0.048,2867,3500,3111,0,0,0,0,0,0
$GC,3498,-1.19,-116.8,369.6,-7.0,233,3502,0.00,2.50,0.00,0.000,6,0.000,0.042,2867,2099,3111,0,0,0,0,0,0
$GC,3812,-1.19,-116.8,391.8,-7.4,241,3816,0.00,2.58,0.00,0.000,4,0.000,0.053,2868,694,3108,0,0,0,0,0,0
$GC,3849,-1.19,-116.8,395.2,-9.5,241,3855,0.00,2.42,0.00,0.000,6,0.000,0.028,2867,2099,3108,0,0,0,0,0,0
$GC,4181,-1.19,-116.8,419.8,-6.5,250,4185,0.00,2.58,0.00,0.000,4,0.000,0.053,2868,3498,3105,0,0,0,0,0,0
$GC,4256,-1.19,-116.8,424.6,-6.3,251,4260,0.00,2.53,0.00,0.000,6,0.000,0.043,2867,2098,3105,0,0,0,0,0,0
$GC,4597,-1.19,-116.8,445.3,-6.6,260,4601,0.00,2.60,0.00,0.000,4,0.000,0.055,2867,690,3102,0,0,0,0,0,0
$GC,4658,-1.19,-116.8,449.8,-7.5,261,4662,0.00,2.42,0.00,0.000,3,0.000,0.030,2867,2082,3102,0,0,0,0,0,0
$STATE,4663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4663,begin apogee
$GC,4670,-0.31,0.0,450.1,7.1,261,4772,0.93,0.00,94.60,0.821,6,0.082,0.000,3063,1794,2634,0,0,0,0,0,0
$STATE,4772,end apogee,CONTROL_FINISHED_OK
$STATE,4772,begin climb
$GC,4775,1.19,116.8,451.7,0.0,264,4882,1.52,0.00,102.03,0.800,6,0.054,0.000,3398,1794,2158,0,0,0,0,0,0
$GC,5177,1.19,116.8,408.0,12.6,274,5181,0.00,2.65,0.00,0.000,4,0.000,0.062,3398,401,2146,0,0,0,0,0,0
$GC,5196,1.19,116.8,405.1,14.1,274,5200,0.00,2.47,0.00,0.000,6,0.000,0.027,3398,1797,2144,0,0,0,0,0,0
$GC,5541,1.19,116.8,360.9,12.7,283,5546,0.00,2.65,0.00,0.000,4,0.000,0.060,3398,402,2141,0,0,0,0,0,0
$GC,5584,1.19,116.8,354.8,13.6,284,5589,0.00,2.47,0.00,0.000,6,0.000,0.028,3398,1798,2139,0,0,0,0,0,0
$GC,5912,1.19,116.8,318.5,10.4,292,5913,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1801,2138,0,0,0,0,0,0
$GC,6218,1.19,116.8,288.2,9.8,302,6223,0.00,2.53,0.00,0.000,4,0.000,0.043,3398,3204,2137,0,0,0,0,0,0
$GC,6241,1.19,116.8,285.8,9.7,303,6246,0.00,2.55,0.00,0.000,6,0.000,0.044,3398,1808,2137,0,0,0,0,0,0
$GC,6568,1.19,116.8,255.4,10.2,319,6572,0.00,2.53,0.00,0.000,4,0.000,0.039,3398,3205,2134,0,0,0,0,0,0
$GC,6596,1.19,116.8,252.3,10.7,320,6600,0.00,2.58,0.00,0.000,6,0.000,0.044,3398,1804,2134,0,0,0,0,0,0
$GC,6916,1.19,116.8,220.0,9.3,336,6917,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1804,2133,0,0,0,0,0,0
$GC,7228,1.19,116.8,192.8,9.1,354,7232,0.00,2.58,0.00,0.000,4,0.000,0.053,3398,393,2133,0,0,0,0,0,0
$GC,7246,1.19,116.8,190.6,11.3,355,7252,0.00,2.45,0.00,0.000,6,0.000,0.022,3398,1810,2131,0,0,0,0,0,0
$GC,7509,1.19,116.8,163.5,10.6,380,7510,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1815,2132,0,0,0,0,0,0
$GC,7762,1.19,116.8,140.4,8.0,404,7766,0.00,2.60,0.00,0.000,4,0.000,0.050,3398,392,2132,0,0,0,0,0,0
$GC,7789,1.19,116.8,137.9,8.4,406,7796,0.00,2.45,0.00,0.000,6,0.000,0.021,3398,1807,2131,0,0,0,0,0,0
$GC,8054,1.19,116.8,116.3,8.4,431,8058,0.00,2.60,0.00,0.000,4,0.000,0.049,3397,386,2132,0,0,0,0,0,0
$GC,8092,1.19,116.8,112.3,10.9,434,8099,0.00,2.45,0.00,0.000,6,0.000,0.020,3398,1802,2131,0,0,0,0,0,0
$GC,8357,1.22,140.2,92.0,7.0,459,8379,0.00,2.50,16.50,0.515,4,0.000,0.030,3398,3200,2062,0,0,0,0,0,0
$GC,8416,1.27,182.0,87.8,6.1,465,8460,0.00,2.55,37.03,0.534,6,0.000,0.036,3398,1795,1892,0,0,0,0,0,0
$GC,8723,1.27,182.0,64.3,9.5,495,8728,0.00,2.55,0.00,0.000,4,0.000,0.048,3398,390,1888,0,0,0,0,0,0
$GC,8775,1.27,182.0,58.7,11.1,500,8779,0.00,2.42,0.00,0.000,6,0.000,0.019,3398,1801,1884,0,0,0,0,0,0
$GC,9040,1.29,197.7,34.9,7.3,524,9061,0.00,2.62,13.85,0.453,4,0.000,0.047,3398,387,1826,0,0,0,0,0,0
$GC,9139,1.29,197.7,26.1,8.3,539,9146,0.00,2.45,0.00,0.000,6,0.000,0.018,3398,1803,1823,0,0,0,0,0,0
$GC,9343,1.34,233.9,13.2,6.4,576,9383,0.12,2.70,31.12,0.459,4,0.059,0.048,3445,389,1679,0,0,0,0,0,0
$GC,9423,1.34,233.9,4.0,13.0,591,9429,0.00,2.45,0.00,0.000,6,0.000,0.019,3446,1831,1676,0,0,0,0,0,0
$STATE,9435,end climb,SURFACE_DEPTH_REACHED
$STATE,9435,begin surface coast
$FINISH,0.9,1.014888
$STATE,9458,end surface coast,CONTROL_FINISHED_OK
$STATE,9458,begin surface
$SM_CCo,9482,154.85,0.455,0,0,449,535.98
$SM_GC,1.46,0.00,0.00,154.85,0.000,0.000,0.455,430,2106,449,-12.45,0.17,535.98
$IRIDIUM_FIX,2052.52,-15749.62,280700,212101
$TT8_MAMPS,0.029146
$HUMID,53.26
$INTERNAL_PRESSURE,9.56722
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,21.005
$10V_AH,10.5,20.098
$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,28.575,111.050,295.125,154.850,0.000,134.480,382.951,0.000,4.500,0.000,51.440,1084.718,6559.747,538.374,1621.446,751.698,33.371,1223.346,0.000,1567.792,0.000,29.260,0.000
$DEVICE_MAMPS,134.225,62.127,820.690,454.831,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,402.982,386.923,867.775,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355772
$DATA_FILE_SIZE,31850,597
$CAP_FILE_SIZE,97018,0
$CFSIZE,260165632,243908608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050511,003624,2058.758,-15749.972,43,1.0,43,9.8