version: 66.06
glider: 139
mission: 9
dive: 261
start: 5 5 111 0 44 48
data:
$ID,139
$MISSION,9
$DIVE,261
$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,-2181096.8
$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,19
$R_STBD_OVSHOOT,80
$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
$GPS1,003624,2058.758,-15749.972,43,1.0,43,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-67.3
$GPS2,004355,2058.796,-15749.961,12,1.0,18,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.194,0.108
$KALMAN_X,-155597.2,200.2,344.8,156222.2,-17.8
$KALMAN_Y,69.6,-23.9,131.0,-22318.2,637.2
$MHEAD_RNG_PITCHd_Wd,289.4,27370,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.19,-116.8,0.0,0.0,0,118,0.00,0.00,-96.47,0.000,2,0.000,0.000,429,2110,3035,0,0,0,0,0,0
$GC,121,-1.19,-116.8,3.1,-2.8,18,146,13.15,2.45,-1.58,0.000,4,0.137,0.048,2867,3460,3114,0,0,0,0,0,0
$GC,370,-1.19,-116.8,53.2,-16.8,58,377,0.00,2.45,0.00,0.000,6,0.000,0.035,2867,2091,3115,0,0,0,0,0,0
$GC,633,-1.19,-116.8,90.0,-13.1,83,637,0.00,2.50,0.00,0.000,4,0.000,0.043,2867,687,3116,0,0,0,0,0,0
$GC,652,-1.19,-116.8,93.5,-16.0,84,659,0.00,2.35,0.00,0.000,6,0.000,0.019,2867,2054,3116,0,0,0,0,0,0
$GC,918,-1.19,-116.8,127.3,-13.0,109,922,0.00,2.53,0.00,0.000,4,0.000,0.035,2867,3498,3116,0,0,0,0,0,0
$GC,1046,-1.19,-116.8,143.2,-10.6,122,1050,0.00,2.47,0.00,0.000,6,0.000,0.033,2867,2089,3117,0,0,0,0,0,0
$GC,1309,-1.19,-116.8,171.9,-10.7,146,1313,0.00,2.47,0.00,0.000,4,0.000,0.035,2867,3495,3116,0,0,0,0,0,0
$GC,1333,-1.19,-116.8,174.9,-11.7,148,1338,0.00,2.42,0.00,0.000,6,0.000,0.033,2867,2100,3116,0,0,0,0,0,0
$GC,1607,-1.19,-116.8,206.0,-13.1,171,1611,0.00,2.50,0.00,0.000,4,0.000,0.036,2868,3499,3116,0,0,0,0,0,0
$GC,1623,-1.19,-116.8,208.2,-12.3,171,1628,0.00,2.47,0.00,0.000,6,0.000,0.035,2867,2096,3116,0,0,0,0,0,0
$GC,1940,-1.19,-116.8,243.0,-10.0,187,1944,0.00,2.50,0.00,0.000,4,0.000,0.044,2867,691,3116,0,0,0,0,0,0
$GC,1954,-1.19,-116.8,244.6,-9.3,187,1960,0.00,2.40,0.00,0.000,6,0.000,0.022,2867,2097,3116,0,0,0,0,0,0
$GC,2271,-1.19,-116.8,270.0,-7.8,203,2272,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2096,3116,0,0,0,0,0,0
$GC,2579,-1.19,-116.8,297.6,-8.7,218,2583,0.00,2.53,0.00,0.000,4,0.000,0.043,2867,3503,3115,0,0,0,0,0,0
$GC,2668,-1.19,-116.8,305.4,-8.3,221,2672,0.00,2.50,0.00,0.000,6,0.000,0.038,2867,2098,3114,0,0,0,0,0,0
$GC,2996,-1.19,-116.8,326.6,-6.1,229,3000,0.00,2.53,0.00,0.000,4,0.000,0.043,2867,3503,3113,0,0,0,0,0,0
$GC,3094,-1.19,-116.8,333.0,-6.7,231,3098,0.00,2.47,0.00,0.000,6,0.000,0.039,2867,2094,3113,0,0,0,0,0,0
$GC,3413,-1.19,-116.8,355.6,-7.7,239,3417,0.00,2.55,0.00,0.000,4,0.000,0.050,2867,693,3111,0,0,0,0,0,0
$GC,3471,-1.19,-116.8,360.0,-7.8,240,3476,0.00,2.42,0.00,0.000,6,0.000,0.026,2867,2095,3111,0,0,0,0,0,0
$GC,3786,-1.19,-116.8,378.2,-5.6,248,3790,0.00,2.55,0.00,0.000,4,0.000,0.050,2867,692,3108,0,0,0,0,0,0
$GC,3819,-1.19,-116.8,380.6,-6.7,248,3823,0.00,2.42,0.00,0.000,6,0.000,0.027,2867,2109,3108,0,0,0,0,0,0
$GC,4150,-1.19,-116.8,402.9,-7.1,256,4151,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2110,3106,0,0,0,0,0,0
$GC,4476,-1.19,-116.8,424.4,-6.2,264,4480,0.00,2.55,0.00,0.000,4,0.000,0.053,2867,3498,3103,0,0,0,0,0,0
$GC,4594,-1.19,-116.8,432.5,-7.2,266,4598,0.00,2.50,0.00,0.000,6,0.000,0.044,2867,2104,3103,0,0,0,0,0,0
$STATE,4891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4891,begin apogee
$GC,4899,-0.31,0.0,452.5,6.7,274,4997,0.95,0.00,94.82,0.821,6,0.082,0.000,3064,1786,2635,0,0,0,0,0,0
$STATE,4997,end apogee,CONTROL_FINISHED_OK
$STATE,4998,begin climb
$GC,5000,1.19,116.8,454.0,0.0,276,5112,1.52,2.70,101.68,0.802,4,0.056,0.046,3397,3203,2158,0,0,0,0,0,0
$GC,5122,1.19,116.8,442.6,12.1,279,5127,0.00,2.67,0.00,0.000,6,0.000,0.053,3396,1802,2157,0,0,0,0,0,0
$GC,5458,1.19,116.8,400.4,12.1,288,5459,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1802,2147,0,0,0,0,0,0
$GC,5783,1.19,116.8,360.1,12.4,296,5784,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1802,2143,0,0,0,0,0,0
$GC,6108,1.19,116.8,325.5,10.1,304,6113,0.00,2.62,0.00,0.000,4,0.000,0.061,3397,393,2140,0,0,0,0,0,0
$GC,6123,1.19,116.8,323.7,10.1,304,6127,0.00,2.45,0.00,0.000,6,0.000,0.027,3397,1800,2139,0,0,0,0,0,0
$GC,6453,1.19,116.8,291.6,10.4,314,6458,0.00,2.55,0.00,0.000,4,0.000,0.042,3397,3212,2137,0,0,0,0,0,0
$GC,6509,1.19,116.8,285.1,11.1,316,6513,0.00,2.62,0.00,0.000,6,0.000,0.051,3397,1801,2138,0,0,0,0,0,0
$GC,6826,1.19,116.8,250.0,10.6,331,6827,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1800,2136,0,0,0,0,0,0
$GC,7134,1.19,116.8,222.0,8.7,346,7138,0.00,2.60,0.00,0.000,4,0.000,0.055,3397,387,2134,0,0,0,0,0,0
$GC,7157,1.19,116.8,219.6,10.9,347,7161,0.00,2.42,0.00,0.000,6,0.000,0.024,3397,1803,2132,0,0,0,0,0,0
$GC,7485,1.19,116.8,189.0,9.9,368,7486,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1806,2133,0,0,0,0,0,0
$GC,7740,1.19,116.8,163.4,10.3,392,7741,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1806,2133,0,0,0,0,0,0
$GC,7995,1.19,116.8,137.3,9.5,416,7999,0.00,2.60,0.00,0.000,4,0.000,0.051,3396,389,2133,0,0,0,0,0,0
$GC,8068,1.19,116.8,129.5,10.9,423,8073,0.00,2.42,0.00,0.000,6,0.000,0.021,3397,1808,2131,0,0,0,0,0,0
$GC,8331,1.23,145.0,109.4,6.7,448,8360,0.00,2.70,20.50,0.542,4,0.000,0.050,3397,392,2043,0,0,0,0,0,0
$GC,8400,1.23,145.0,103.4,10.2,455,8404,0.00,2.40,0.00,0.000,6,0.000,0.020,3397,1798,2040,0,0,0,0,0,0
$GC,8664,1.23,145.0,79.6,8.6,479,8668,0.00,2.45,0.00,0.000,4,0.000,0.029,3397,3200,2040,0,0,0,0,0,0
$GC,8716,1.27,174.6,75.4,6.7,484,8748,0.00,2.55,26.62,0.516,6,0.000,0.038,3397,1795,1922,0,0,0,0,0,0
$GC,9011,1.27,180.2,52.9,7.8,512,9023,0.00,2.58,5.82,0.397,4,0.000,0.048,3397,390,1899,0,0,0,0,0,0
$GC,9116,1.27,180.2,44.2,8.6,523,9120,0.00,2.40,0.00,0.000,6,0.000,0.019,3397,1802,1896,0,0,0,0,0,0
$GC,9379,1.28,187.9,26.7,7.7,551,9392,0.00,2.60,7.82,0.411,4,0.000,0.045,3397,391,1867,0,0,0,0,0,0
$GC,9425,1.32,215.7,23.4,6.7,560,9460,0.08,2.42,24.83,0.466,6,0.035,0.018,3438,1799,1754,0,0,0,0,0,0
$STATE,9650,end climb,SURFACE_DEPTH_REACHED
$STATE,9650,begin surface coast
$FINISH,0.9,1.022936
$STATE,9678,end surface coast,CONTROL_FINISHED_OK
$STATE,9678,begin surface
$SM_CCo,9702,56.50,0.452,0,0,1288,330.17
$SM_GC,1.75,0.00,0.00,56.50,0.000,0.000,0.452,426,2111,1288,-12.47,0.31,330.17
$IRIDIUM_FIX,2050.21,-15747.49,280700,222249
$TT8_MAMPS,0.029146
$HUMID,56.18
$INTERNAL_PRESSURE,9.63558
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,21.089
$10V_AH,10.6,20.177
$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,28.550,101.375,282.100,56.500,0.000,28.599,32.350,266.224,4.500,0.000,18.242,1098.230,6464.239,425.055,1666.726,558.292,33.374,1143.639,0.000,1645.248,0.000,29.252,0.000
$DEVICE_MAMPS,136.526,60.593,821.457,451.763,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,408.729,393.417,897.882,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,35024,606
$CAP_FILE_SIZE,99452,0
$CFSIZE,260165632,243867648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050511,032913,2059.415,-15750.826,53,1.2,66,9.8