version: 66.06
glider: 139
mission: 9
dive: 265
start: 5 5 111 12 27 56
data:
$ID,139
$MISSION,9
$DIVE,265
$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,-2181232.8
$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,18
$R_STBD_OVSHOOT,73
$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
$GPS1,121631,2100.813,-15753.935,43,1.9,43,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-71.1
$GPS2,122704,2100.832,-15754.025,29,2.4,48,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.133,0.178
$KALMAN_X,-153137.2,-135.9,278.4,147148.9,-143.2
$KALMAN_Y,561.8,-368.5,95.7,-18662.2,-358.4
$MHEAD_RNG_PITCHd_Wd,313.4,19644,-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,15,begin dive
$GC,18,-1.19,-116.8,0.0,0.0,0,89,0.00,0.00,-69.15,0.000,2,0.000,0.000,429,2147,3109,0,0,0,0,0,0
$GC,93,-1.19,-116.8,3.5,-5.1,13,112,13.12,2.35,0.00,0.000,4,0.137,0.033,2866,3466,3112,0,0,0,0,0,0
$GC,120,-1.19,-116.8,13.8,-28.2,17,126,0.00,2.45,0.00,0.000,6,0.000,0.030,2866,2089,3112,0,0,0,0,0,0
$GC,321,-1.19,-116.8,56.4,-17.1,42,325,0.00,2.42,0.00,0.000,4,0.000,0.031,2866,3467,3114,0,0,0,0,0,0
$GC,500,-1.19,-116.8,83.3,-13.6,61,505,0.00,2.40,0.00,0.000,6,0.000,0.031,2866,2098,3114,0,0,0,0,0,0
$GC,761,-1.19,-116.8,119.2,-13.9,86,766,0.00,2.40,0.00,0.000,4,0.000,0.032,2866,3466,3114,0,0,0,0,0,0
$GC,781,-1.19,-116.8,121.9,-13.2,88,785,0.00,2.40,0.00,0.000,6,0.000,0.033,2866,2100,3114,0,0,0,0,0,0
$GC,1044,-1.19,-116.8,153.2,-12.2,112,1049,0.00,2.55,0.00,0.000,4,0.000,0.042,2866,686,3115,0,0,0,0,0,0
$GC,1088,-1.19,-116.8,158.8,-13.4,116,1093,0.00,2.35,0.00,0.000,6,0.000,0.020,2866,2069,3115,0,0,0,0,0,0
$GC,1349,-1.19,-116.8,189.0,-10.5,140,1354,0.00,2.45,0.00,0.000,4,0.000,0.041,2867,693,3115,0,0,0,0,0,0
$GC,1391,-1.19,-116.8,193.4,-10.8,144,1396,0.00,2.40,0.00,0.000,6,0.000,0.021,2866,2106,3115,0,0,0,0,0,0
$GC,1649,-1.19,-116.8,220.0,-10.3,159,1650,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2107,3115,0,0,0,0,0,0
$GC,1956,-1.19,-116.8,248.5,-9.2,174,1961,0.00,2.53,0.00,0.000,4,0.000,0.043,2866,692,3115,0,0,0,0,0,0
$GC,1977,-1.19,-116.8,250.3,-8.9,175,1982,0.00,2.40,0.00,0.000,6,0.000,0.022,2866,2098,3115,0,0,0,0,0,0
$GC,2309,-1.19,-116.8,278.4,-8.5,191,2313,0.00,2.50,0.00,0.000,4,0.000,0.045,2866,693,3115,0,0,0,0,0,0
$GC,2378,-1.19,-116.8,285.4,-10.5,194,2382,0.00,2.40,0.00,0.000,6,0.000,0.023,2866,2099,3115,0,0,0,0,0,0
$GC,2721,-1.19,-116.8,315.2,-8.2,207,2725,0.00,2.55,0.00,0.000,4,0.000,0.048,2866,688,3114,0,0,0,0,0,0
$GC,2767,-1.19,-116.8,319.3,-8.8,208,2772,0.00,2.42,0.00,0.000,6,0.000,0.025,2866,2098,3113,0,0,0,0,0,0
$GC,3092,-1.19,-116.8,342.8,-7.3,216,3096,0.00,2.55,0.00,0.000,4,0.000,0.048,2866,688,3112,0,0,0,0,0,0
$GC,3207,-1.19,-116.8,352.8,-9.6,218,3212,0.00,2.45,0.00,0.000,6,0.000,0.025,2866,2105,3111,0,0,0,0,0,0
$GC,3548,-1.19,-116.8,377.6,-6.8,227,3553,0.00,2.55,0.00,0.000,4,0.000,0.050,2866,3498,3109,0,0,0,0,0,0
$GC,3568,-1.19,-116.8,379.0,-6.9,227,3572,0.00,2.47,0.00,0.000,6,0.000,0.043,2866,2105,3108,0,0,0,0,0,0
$GC,3916,-1.19,-116.8,400.7,-5.9,236,3920,0.00,2.60,0.00,0.000,4,0.000,0.053,2866,688,3106,0,0,0,0,0,0
$GC,3940,-1.19,-116.8,402.5,-7.3,236,3944,0.00,2.47,0.00,0.000,6,0.000,0.028,2866,2105,3106,0,0,0,0,0,0
$GC,4282,-1.19,-116.8,429.8,-8.4,245,4286,0.00,2.58,0.00,0.000,4,0.000,0.053,2866,3506,3104,0,0,0,0,0,0
$GC,4292,-1.19,-116.8,430.9,-8.4,245,4296,0.00,2.55,0.00,0.000,6,0.000,0.044,2866,2094,3104,0,0,0,0,0,0
$STATE,4562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4562,begin apogee
$GC,4570,-0.31,0.0,453.1,8.3,252,4667,0.98,0.00,94.30,0.819,6,0.084,0.000,3068,1792,2635,0,0,0,0,0,0
$STATE,4668,end apogee,CONTROL_FINISHED_OK
$STATE,4668,begin climb
$GC,4671,1.19,116.8,455.2,0.0,254,4780,1.50,2.70,101.50,0.802,4,0.055,0.046,3396,3209,2157,0,0,0,0,0,0
$GC,4799,1.19,116.8,442.5,13.2,257,4804,0.00,2.67,0.00,0.000,6,0.000,0.054,3395,1807,2156,0,0,0,0,0,0
$GC,5131,1.19,116.8,397.9,13.5,265,5135,0.00,2.67,0.00,0.000,4,0.000,0.064,3395,390,2146,0,0,0,0,0,0
$GC,5164,1.19,116.8,392.6,16.3,265,5168,0.00,2.50,0.00,0.000,6,0.000,0.025,3395,1802,2143,0,0,0,0,0,0
$GC,5495,1.19,116.8,354.0,11.5,273,5496,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1804,2141,0,0,0,0,0,0
$GC,5820,1.19,116.8,315.8,11.5,281,5824,0.00,2.65,0.00,0.000,4,0.000,0.060,3395,392,2139,0,0,0,0,0,0
$GC,5895,1.19,116.8,306.3,13.9,282,5899,0.00,2.50,0.00,0.000,6,0.000,0.027,3395,1804,2136,0,0,0,0,0,0
$GC,6214,1.19,116.8,272.7,10.5,296,6218,0.00,2.53,0.00,0.000,4,0.000,0.041,3395,3212,2136,0,0,0,0,0,0
$GC,6235,1.19,116.8,270.8,9.2,297,6240,0.00,2.62,0.00,0.000,6,0.000,0.048,3395,1799,2136,0,0,0,0,0,0
$GC,6566,1.19,116.8,239.3,10.5,313,6571,0.00,2.62,0.00,0.000,4,0.000,0.058,3395,392,2134,0,0,0,0,0,0
$GC,6613,1.19,116.8,233.3,12.4,315,6617,0.00,2.47,0.00,0.000,6,0.000,0.025,3395,1804,2133,0,0,0,0,0,0
$GC,6939,1.19,116.8,200.6,9.6,331,6943,0.00,2.62,0.00,0.000,4,0.000,0.055,3395,391,2133,0,0,0,0,0,0
$GC,6959,1.19,116.8,198.5,9.8,332,6966,0.00,2.47,0.00,0.000,6,0.000,0.024,3395,1802,2132,0,0,0,0,0,0
$GC,7224,1.19,116.8,173.8,9.2,357,7228,0.00,2.45,0.00,0.000,4,0.000,0.035,3395,3203,2132,0,0,0,0,0,0
$GC,7252,1.19,116.8,170.6,9.3,359,7258,0.00,2.58,0.00,0.000,6,0.000,0.042,3395,1793,2132,0,0,0,0,0,0
$GC,7516,1.21,129.3,148.6,7.5,384,7529,0.00,2.62,7.20,0.507,4,0.000,0.052,3395,395,2107,0,0,0,0,0,0
$GC,7549,1.21,129.3,145.4,9.9,387,7554,0.00,2.45,0.00,0.000,6,0.000,0.021,3395,1808,2105,0,0,0,0,0,0
$GC,7812,1.21,129.3,123.2,8.6,412,7813,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1813,2105,0,0,0,0,0,0
$GC,8065,1.21,129.3,102.3,8.4,436,8066,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1813,2105,0,0,0,0,0,0
$GC,8320,1.21,131.3,80.9,7.9,460,8321,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1813,2106,0,0,0,0,0,0
$GC,8576,1.23,147.1,62.1,7.3,484,8600,0.00,2.62,16.73,0.494,4,0.000,0.048,3394,392,2034,0,0,0,0,0,0
$GC,8655,1.23,147.1,55.8,9.0,492,8662,0.00,2.45,0.00,0.000,6,0.000,0.019,3395,1804,2031,0,0,0,0,0,0
$GC,8920,1.23,147.3,35.5,8.0,517,8926,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1809,2031,0,0,0,0,0,0
$GC,9186,1.35,243.5,20.2,3.6,558,9275,0.15,2.65,81.07,0.478,4,0.054,0.046,3445,392,1640,0,0,0,0,0,0
$GC,9302,1.35,243.5,9.1,15.7,579,9309,0.00,2.45,0.00,0.000,6,0.000,0.018,3445,1807,1636,0,0,0,0,0,0
$STATE,9347,end climb,SURFACE_DEPTH_REACHED
$STATE,9347,begin surface coast
$FINISH,0.9,1.022119
$STATE,9369,end surface coast,CONTROL_FINISHED_OK
$STATE,9370,begin surface
$SM_CCo,9394,44.08,0.452,0,0,1288,330.17
$SM_GC,1.59,0.00,0.00,44.08,0.000,0.000,0.452,430,2118,1288,-12.45,0.51,330.17
$IRIDIUM_FIX,2052.52,-15754.77,290700,121211
$TT8_MAMPS,0.029146
$HUMID,55.27
$INTERNAL_PRESSURE,9.62581
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,21.472
$10V_AH,10.5,20.508
$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,28.675,111.525,300.800,44.075,0.000,57.072,67.262,279.988,4.500,0.000,49.677,1070.874,6305.514,423.260,1608.270,663.321,33.371,1112.017,0.000,1568.290,0.000,29.263,0.000
$DEVICE_MAMPS,136.526,63.661,819.156,451.763,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,398.663,394.164,870.301,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,31801,591
$CAP_FILE_SIZE,100455,0
$CFSIZE,260165632,243675136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050511,150628,2101.388,-15755.273,15,2.3,34,9.8