version: 66.06
glider: 139
mission: 9
dive: 264
start: 5 5 111 9 36 13
data:
$ID,139
$MISSION,9
$DIVE,264
$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,-2181182.2
$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,42
$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
$GPS1,092530,2100.326,-15752.984,50,1.6,50,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-65.5
$GPS2,093520,2100.346,-15753.003,15,1.6,15,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.180,0.130
$KALMAN_X,-153772.5,378.2,148.2,149167.6,162.0
$KALMAN_Y,859.0,-149.2,149.3,-20130.0,298.4
$MHEAD_RNG_PITCHd_Wd,296.0,21537,-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,14,begin dive
$GC,18,-1.19,-116.8,0.0,0.0,0,116,0.00,0.00,-95.75,0.000,2,0.000,0.000,424,2110,3039,0,0,0,0,0,0
$GC,120,-1.19,-116.8,3.2,-4.2,18,145,13.15,2.50,-1.48,0.000,4,0.136,0.045,2869,3498,3114,0,0,0,0,0,0
$GC,396,-1.19,-116.8,57.6,-13.0,61,403,0.00,2.50,0.00,0.000,6,0.000,0.031,2869,2085,3115,0,0,0,0,0,0
$GC,657,-1.19,-116.8,92.4,-13.6,86,661,0.00,2.47,0.00,0.000,4,0.000,0.034,2869,3500,3116,0,0,0,0,0,0
$GC,736,-1.19,-116.8,102.1,-11.9,94,740,0.00,2.47,0.00,0.000,6,0.000,0.032,2869,2093,3116,0,0,0,0,0,0
$GC,999,-1.19,-116.8,130.6,-10.5,118,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2094,3117,0,0,0,0,0,0
$GC,1252,-1.19,-116.8,161.1,-12.4,142,1256,0.00,2.50,0.00,0.000,4,0.000,0.043,2869,690,3117,0,0,0,0,0,0
$GC,1276,-1.19,-116.8,164.3,-13.5,144,1281,0.00,2.40,0.00,0.000,6,0.000,0.021,2869,2099,3117,0,0,0,0,0,0
$GC,1539,-1.19,-116.8,195.1,-10.7,168,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2099,3117,0,0,0,0,0,0
$GC,1799,-1.19,-116.8,217.9,-7.6,183,1803,0.00,2.55,0.00,0.000,4,0.000,0.044,2869,689,3116,0,0,0,0,0,0
$GC,1843,-1.19,-116.8,222.2,-10.1,185,1847,0.00,2.42,0.00,0.000,6,0.000,0.022,2869,2104,3116,0,0,0,0,0,0
$GC,2174,-1.19,-116.8,250.2,-8.1,201,2175,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2105,3116,0,0,0,0,0,0
$GC,2482,-1.19,-116.8,274.5,-7.7,216,2486,0.00,2.55,0.00,0.000,4,0.000,0.045,2869,686,3115,0,0,0,0,0,0
$GC,2565,-1.19,-116.8,282.1,-8.7,219,2571,0.00,2.42,0.00,0.000,6,0.000,0.024,2869,2098,3115,0,0,0,0,0,0
$GC,2880,-1.19,-116.8,307.5,-8.5,233,2884,0.00,2.53,0.00,0.000,4,0.000,0.048,2869,688,3113,0,0,0,0,0,0
$GC,3023,-1.19,-116.8,322.1,-10.1,236,3027,0.00,2.45,0.00,0.000,6,0.000,0.025,2869,2106,3112,0,0,0,0,0,0
$GC,3343,-1.19,-116.8,348.2,-8.1,244,3348,0.00,2.55,0.00,0.000,4,0.000,0.048,2869,3504,3110,0,0,0,0,0,0
$GC,3387,-1.19,-116.8,351.6,-7.5,245,3391,0.00,2.53,0.00,0.000,6,0.000,0.041,2869,2098,3110,0,0,0,0,0,0
$GC,3715,-1.19,-116.8,375.9,-7.6,253,3719,0.00,2.53,0.00,0.000,4,0.000,0.048,2869,3496,3108,0,0,0,0,0,0
$GC,3804,-1.19,-116.8,383.0,-8.4,255,3808,0.00,2.53,0.00,0.000,6,0.000,0.044,2868,2098,3107,0,0,0,0,0,0
$GC,4131,-1.19,-116.8,409.7,-8.4,263,4136,0.00,2.58,0.00,0.000,4,0.000,0.054,2869,689,3104,0,0,0,0,0,0
$GC,4155,-1.19,-116.8,411.9,-9.2,263,4160,0.00,2.45,0.00,0.000,6,0.000,0.028,2869,2098,3104,0,0,0,0,0,0
$GC,4501,-1.19,-116.8,435.4,-6.0,272,4505,0.00,2.58,0.00,0.000,4,0.000,0.054,2869,691,3102,0,0,0,0,0,0
$GC,4636,-1.19,-116.8,445.7,-7.8,275,4641,0.00,2.47,0.00,0.000,6,0.000,0.029,2869,2103,3101,0,0,0,0,0,0
$STATE,4718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4718,begin apogee
$GC,4725,-0.31,0.0,451.9,7.4,277,4822,0.95,0.00,94.22,0.822,6,0.083,0.000,3065,1794,2635,0,0,0,0,0,0
$STATE,4823,end apogee,CONTROL_FINISHED_OK
$STATE,4823,begin climb
$GC,4826,1.19,116.8,454.4,0.0,279,4934,1.50,0.00,101.47,0.803,6,0.055,0.000,3396,1794,2158,0,0,0,0,0,0
$GC,5234,1.19,116.8,414.6,10.8,289,5238,0.00,2.62,0.00,0.000,4,0.000,0.062,3396,402,2146,0,0,0,0,0,0
$GC,5267,1.19,116.8,410.2,13.8,289,5272,0.00,2.47,0.00,0.000,6,0.000,0.027,3396,1800,2144,0,0,0,0,0,0
$GC,5598,1.19,116.8,372.0,11.9,297,5603,0.00,2.67,0.00,0.000,4,0.000,0.060,3396,396,2140,0,0,0,0,0,0
$GC,5619,1.19,116.8,369.3,13.5,297,5623,0.00,2.50,0.00,0.000,6,0.000,0.027,3396,1809,2139,0,0,0,0,0,0
$GC,5964,1.19,116.8,326.4,11.7,306,5968,0.00,2.53,0.00,0.000,4,0.000,0.044,3397,3202,2138,0,0,0,0,0,0
$GC,5993,1.19,116.8,322.9,12.0,306,5997,0.00,2.60,0.00,0.000,6,0.000,0.050,3396,1808,2138,0,0,0,0,0,0
$GC,6312,1.19,116.8,287.1,11.3,317,6316,0.00,2.62,0.00,0.000,4,0.000,0.059,3396,394,2137,0,0,0,0,0,0
$GC,6386,1.19,116.8,277.1,13.6,320,6390,0.00,2.47,0.00,0.000,6,0.000,0.026,3396,1799,2134,0,0,0,0,0,0
$GC,6706,1.19,116.8,242.5,10.3,336,6710,0.00,2.65,0.00,0.000,4,0.000,0.058,3396,392,2134,0,0,0,0,0,0
$GC,6774,1.19,116.8,235.6,10.8,339,6778,0.00,2.47,0.00,0.000,6,0.000,0.025,3396,1805,2132,0,0,0,0,0,0
$GC,7105,1.19,116.8,204.4,9.7,355,7106,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1808,2132,0,0,0,0,0,0
$GC,7420,1.19,116.8,175.6,9.1,382,7425,0.00,2.47,0.00,0.000,4,0.000,0.036,3397,3213,2131,0,0,0,0,0,0
$GC,7466,1.19,116.8,171.5,8.3,386,7473,0.00,2.60,0.00,0.000,6,0.000,0.042,3396,1802,2132,0,0,0,0,0,0
$GC,7730,1.19,116.8,149.8,8.2,411,7735,0.00,2.60,0.00,0.000,4,0.000,0.053,3396,386,2131,0,0,0,0,0,0
$GC,7764,1.19,116.8,146.1,10.0,414,7768,0.00,2.42,0.00,0.000,6,0.000,0.021,3396,1809,2130,0,0,0,0,0,0
$GC,8033,1.19,116.8,122.2,8.5,439,8038,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1813,2130,0,0,0,0,0,0
$GC,8295,1.23,143.3,103.0,6.8,464,8323,0.00,2.50,19.05,0.538,4,0.000,0.031,3396,3195,2050,0,0,0,0,0,0
$GC,8346,1.26,169.6,99.5,6.8,469,8376,0.00,2.55,24.17,0.542,6,0.000,0.037,3397,1794,1942,0,0,0,0,0,0
$GC,8639,1.26,169.6,73.2,9.1,497,8643,0.00,2.55,0.00,0.000,4,0.000,0.049,3396,390,1937,0,0,0,0,0,0
$GC,8782,1.26,169.6,59.2,9.2,512,8789,0.00,2.45,0.00,0.000,6,0.000,0.018,3396,1804,1934,0,0,0,0,0,0
$GC,9047,1.34,235.5,45.1,5.0,537,9108,0.15,0.00,55.50,0.499,6,0.054,0.000,3447,1809,1673,0,0,0,0,0,0
$GC,9365,1.34,235.5,10.2,9.1,581,9372,0.00,2.60,0.00,0.000,4,0.000,0.041,3447,395,1667,0,0,0,0,0,0
$GC,9418,1.34,235.5,3.2,11.4,592,9424,0.00,2.42,0.00,0.000,6,0.000,0.018,3447,1795,1663,0,0,0,0,0,0
$STATE,9429,end climb,SURFACE_DEPTH_REACHED
$STATE,9429,begin surface coast
$FINISH,1.1,1.010410
$STATE,9463,end surface coast,CONTROL_FINISHED_OK
$STATE,9463,begin surface
$SM_CCo,9488,47.08,0.451,0,0,1288,330.17
$SM_GC,1.52,0.00,0.00,47.08,0.000,0.000,0.451,430,2145,1288,-12.45,1.27,330.17
$IRIDIUM_FIX,2052.52,-15749.62,290700,090918
$TT8_MAMPS,0.029146
$HUMID,56.49
$INTERNAL_PRESSURE,9.62581
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,21.384
$10V_AH,10.5,20.429
$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,28.750,101.825,294.425,47.075,0.000,61.175,74.051,262.833,4.500,0.000,15.676,1107.858,6206.485,424.244,1738.293,649.063,33.369,1182.451,0.000,1725.436,0.000,31.134,0.000
$DEVICE_MAMPS,135.759,62.127,822.224,450.996,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,405.320,396.068,885.266,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,31832,600
$CAP_FILE_SIZE,102904,0
$CFSIZE,260165632,243720192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050511,121631,2100.813,-15753.935,43,1.9,43,9.8