version: 66.06
glider: 139
mission: 9
dive: 263
start: 5 5 111 6 41 46
data:
$ID,139
$MISSION,9
$DIVE,263
$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,-2181165.8
$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,17
$R_STBD_OVSHOOT,71
$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
$GPS1,061929,2059.996,-15751.886,31,5.0,50,9.8
$_CALLS,5
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-71.0
$GPS2,064052,2100.043,-15751.968,13,5.8,32,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.219,0.031
$KALMAN_X,-154264.8,632.6,-287.1,151628.5,744.0
$KALMAN_Y,957.2,58.6,-357.1,-20494.4,1159.0
$MHEAD_RNG_PITCHd_Wd,268.4,23236,-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,-116.8,0.0,0.0,0,82,0.00,0.00,-64.12,0.000,2,0.000,0.000,426,2142,2976,0,0,0,0,0,0
$GC,86,-1.19,-116.8,3.4,-4.9,12,110,13.10,2.40,-2.70,0.000,4,0.134,0.048,2871,3463,3114,0,0,0,0,0,0
$GC,359,-1.19,-116.8,59.4,-14.2,54,366,0.00,2.42,0.00,0.000,6,0.000,0.031,2871,2094,3116,0,0,0,0,0,0
$GC,622,-1.19,-116.8,93.8,-12.6,79,626,0.00,2.42,0.00,0.000,4,0.000,0.034,2871,3465,3116,0,0,0,0,0,0
$GC,746,-1.19,-116.8,110.3,-12.2,91,751,0.00,2.40,0.00,0.000,6,0.000,0.032,2871,2095,3116,0,0,0,0,0,0
$GC,1009,-1.19,-116.8,138.5,-10.8,116,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2095,3116,0,0,0,0,0,0
$GC,1261,-1.19,-116.8,167.2,-11.1,140,1265,0.00,2.42,0.00,0.000,4,0.000,0.035,2871,3469,3117,0,0,0,0,0,0
$GC,1314,-1.19,-116.8,173.1,-11.2,145,1318,0.00,2.40,0.00,0.000,6,0.000,0.034,2871,2100,3117,0,0,0,0,0,0
$GC,1578,-1.19,-116.8,198.1,-9.0,169,1583,0.00,2.55,0.00,0.000,4,0.000,0.044,2871,691,3117,0,0,0,0,0,0
$GC,1667,-1.19,-116.8,208.2,-12.1,174,1671,0.00,2.33,0.00,0.000,6,0.000,0.021,2871,2067,3117,0,0,0,0,0,0
$GC,1996,-1.19,-116.8,238.7,-9.0,190,2001,0.00,2.47,0.00,0.000,4,0.000,0.044,2870,687,3116,0,0,0,0,0,0
$GC,2047,-1.19,-116.8,243.2,-9.3,192,2051,0.00,2.40,0.00,0.000,6,0.000,0.022,2871,2111,3116,0,0,0,0,0,0
$GC,2367,-1.19,-116.8,272.2,-9.2,208,2372,0.00,2.53,0.00,0.000,4,0.000,0.045,2871,693,3115,0,0,0,0,0,0
$GC,2405,-1.19,-116.8,275.8,-9.5,209,2410,0.00,2.42,0.00,0.000,6,0.000,0.024,2871,2107,3115,0,0,0,0,0,0
$GC,2722,-1.19,-116.8,298.7,-7.0,225,2723,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2107,3113,0,0,0,0,0,0
$GC,3027,-1.19,-116.8,325.4,-8.6,233,3031,0.00,2.53,0.00,0.000,4,0.000,0.048,2871,695,3112,0,0,0,0,0,0
$GC,3190,-1.19,-116.8,338.4,-7.1,236,3194,0.00,2.40,0.00,0.000,6,0.000,0.025,2871,2103,3111,0,0,0,0,0,0
$GC,3531,-1.19,-116.8,362.0,-6.6,245,3536,0.00,2.55,0.00,0.000,4,0.000,0.049,2871,3500,3108,0,0,0,0,0,0
$GC,3546,-1.19,-116.8,363.0,-6.6,245,3551,0.00,2.50,0.00,0.000,6,0.000,0.042,2871,2096,3108,0,0,0,0,0,0
$GC,3897,-1.19,-116.8,388.9,-7.6,254,3901,0.00,2.55,0.00,0.000,4,0.000,0.048,2871,3504,3105,0,0,0,0,0,0
$GC,3953,-1.19,-116.8,392.6,-7.0,255,3957,0.00,2.53,0.00,0.000,6,0.000,0.044,2871,2101,3105,0,0,0,0,0,0
$GC,4267,-1.19,-116.8,412.8,-6.7,263,4272,0.00,2.62,0.00,0.000,4,0.000,0.054,2871,688,3102,0,0,0,0,0,0
$GC,4338,-1.19,-116.8,418.4,-8.0,264,4342,0.00,2.47,0.00,0.000,6,0.000,0.028,2870,2105,3102,0,0,0,0,0,0
$GC,4681,-1.19,-116.8,442.1,-7.1,273,4685,0.00,2.58,0.00,0.000,4,0.000,0.054,2871,3503,3099,0,0,0,0,0,0
$GC,4738,-1.19,-116.8,446.4,-7.2,274,4742,0.00,2.55,0.00,0.000,6,0.000,0.046,2871,2098,3099,0,0,0,0,0,0
$STATE,4805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4805,begin apogee
$GC,4812,-0.31,0.0,451.2,6.9,276,4909,0.95,0.00,93.78,0.823,6,0.082,0.000,3068,1793,2635,0,0,0,0,0,0
$STATE,4910,end apogee,CONTROL_FINISHED_OK
$STATE,4910,begin climb
$GC,4913,1.19,116.8,452.9,0.0,278,5022,1.48,0.00,101.00,0.802,6,0.055,0.000,3394,1793,2157,0,0,0,0,0,0
$GC,5362,1.19,116.8,403.4,11.5,289,5364,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1793,2146,0,0,0,0,0,0
$GC,5688,1.19,116.8,366.3,11.3,297,5689,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1793,2142,0,0,0,0,0,0
$GC,6012,1.19,116.8,326.6,11.8,305,6017,0.00,2.58,0.00,0.000,4,0.000,0.044,3394,3204,2139,0,0,0,0,0,0
$GC,6078,1.19,116.8,319.4,11.0,306,6082,0.00,2.62,0.00,0.000,6,0.000,0.051,3394,1803,2140,0,0,0,0,0,0
$GC,6406,1.19,116.8,287.4,10.2,317,6410,0.00,2.62,0.00,0.000,4,0.000,0.061,3394,393,2137,0,0,0,0,0,0
$GC,6521,1.19,116.8,273.9,11.1,322,6525,0.00,2.47,0.00,0.000,6,0.000,0.026,3394,1800,2134,0,0,0,0,0,0
$GC,6846,1.19,116.8,238.6,10.4,338,6851,0.00,2.62,0.00,0.000,4,0.000,0.057,3394,392,2133,0,0,0,0,0,0
$GC,6868,1.19,116.8,236.4,10.4,339,6872,0.00,2.47,0.00,0.000,6,0.000,0.025,3394,1804,2133,0,0,0,0,0,0
$GC,7198,1.19,116.8,205.9,9.3,355,7203,0.00,2.50,0.00,0.000,4,0.000,0.038,3394,3208,2133,0,0,0,0,0,0
$GC,7219,1.19,116.8,204.0,8.9,356,7223,0.00,2.58,0.00,0.000,6,0.000,0.044,3394,1791,2133,0,0,0,0,0,0
$GC,7545,1.19,116.8,174.3,10.5,384,7550,0.00,2.58,0.00,0.000,4,0.000,0.054,3394,392,2132,0,0,0,0,0,0
$GC,7606,1.19,116.8,167.4,12.4,390,7611,0.00,2.45,0.00,0.000,6,0.000,0.022,3394,1808,2130,0,0,0,0,0,0
$GC,7869,1.19,116.8,142.9,9.2,414,7874,0.00,2.62,0.00,0.000,4,0.000,0.051,3394,392,2131,0,0,0,0,0,0
$GC,7886,1.19,116.8,141.0,10.2,415,7890,0.00,2.42,0.00,0.000,6,0.000,0.021,3394,1807,2130,0,0,0,0,0,0
$GC,8151,1.19,116.8,117.3,9.2,439,8156,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1812,2130,0,0,0,0,0,0
$GC,8412,1.19,116.8,95.0,8.9,464,8416,0.00,2.60,0.00,0.000,4,0.000,0.050,3394,387,2131,0,0,0,0,0,0
$GC,8448,1.19,116.8,91.4,10.0,467,8452,0.00,2.42,0.00,0.000,6,0.000,0.020,3394,1805,2130,0,0,0,0,0,0
$GC,8713,1.26,169.4,73.0,5.6,491,8762,0.00,2.50,41.30,0.531,4,0.000,0.031,3395,3185,1943,0,0,0,0,0,0
$GC,8823,1.26,169.4,65.1,8.2,502,8829,0.00,2.55,0.00,0.000,6,0.000,0.038,3394,1800,1943,0,0,0,0,0,0
$GC,9087,1.31,210.4,46.9,6.1,527,9131,0.12,2.67,35.22,0.498,4,0.062,0.049,3437,390,1776,0,0,0,0,0,0
$GC,9208,1.31,210.4,34.7,8.9,540,9212,0.00,2.42,0.00,0.000,6,0.000,0.018,3437,1799,1771,0,0,0,0,0,0
$GC,9473,1.31,210.4,9.1,9.8,583,9480,0.00,2.60,0.00,0.000,4,0.000,0.042,3437,389,1769,0,0,0,0,0,0
$GC,9508,1.31,210.4,4.0,14.6,590,9515,0.00,2.45,0.00,0.000,6,0.000,0.019,3437,1800,1767,0,0,0,0,0,0
$STATE,9522,end climb,SURFACE_DEPTH_REACHED
$STATE,9522,begin surface coast
$FINISH,0.9,1.002616
$STATE,9545,end surface coast,CONTROL_FINISHED_OK
$STATE,9545,begin surface
$SM_CCo,9568,165.95,0.461,0,0,449,535.98
$SM_GC,1.60,0.00,0.00,165.95,0.000,0.000,0.461,424,2112,449,-12.48,0.34,535.98
$IRIDIUM_FIX,2054.83,-15751.76,290700,060658
$TT8_MAMPS,0.028379
$HUMID,54.48
$INTERNAL_PRESSURE,9.54769
$TCM_TEMP,21.80
$XPDR_PINGS,1
$24V_AH,23.5,21.296
$10V_AH,10.5,20.348
$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,28.575,106.275,271.300,165.950,0.000,141.266,197.021,508.771,5.000,0.000,32.963,1113.629,6506.973,498.654,1748.081,1152.230,33.368,1247.902,0.000,1711.909,0.000,32.081,0.000
$DEVICE_MAMPS,134.225,61.360,822.991,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,403.831,389.013,870.255,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355672
$DATA_FILE_SIZE,31856,596
$CAP_FILE_SIZE,116130,0
$CFSIZE,260165632,243752960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050511,092530,2100.326,-15752.984,50,1.6,50,9.8