version: 66.06
glider: 139
mission: 9
dive: 266
start: 5 5 111 15 13 26
data:
$ID,139
$MISSION,9
$DIVE,266
$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,-2181271
$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,64
$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
$GPS1,150628,2101.388,-15755.273,15,2.3,34,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-73.1
$GPS2,151234,2101.448,-15755.363,17,2.4,36,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.160,0.154
$KALMAN_X,-153030.0,-623.4,-168.4,145672.3,111.4
$KALMAN_Y,289.2,-517.5,-344.6,-16661.1,121.2
$MHEAD_RNG_PITCHd_Wd,304.2,17223,-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,-116.8,0.0,0.0,0,90,0.00,0.00,-70.28,0.000,3,0.000,0.000,430,2118,3112,0,0,0,0,0,0
$GC,93,-1.19,-116.8,3.2,-3.5,13,111,13.05,2.40,0.00,0.000,4,0.133,0.032,2867,3478,3114,0,0,0,0,0,0
$GC,362,-1.19,-116.8,57.3,-13.8,55,367,0.00,2.42,0.00,0.000,6,0.000,0.032,2867,2090,3116,0,0,0,0,0,0
$GC,625,-1.19,-116.8,91.4,-13.6,79,629,0.00,2.45,0.00,0.000,4,0.000,0.034,2867,3480,3116,0,0,0,0,0,0
$GC,664,-1.19,-116.8,97.1,-14.4,82,670,0.00,2.45,0.00,0.000,6,0.000,0.034,2868,2103,3116,0,0,0,0,0,0
$GC,928,-1.19,-116.8,128.9,-12.5,107,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2103,3118,0,0,0,0,0,0
$GC,1190,-1.19,-116.8,160.2,-11.2,132,1195,0.00,2.53,0.00,0.000,4,0.000,0.043,2866,685,3118,0,0,0,0,0,0
$GC,1270,-1.19,-116.8,169.5,-12.2,140,1275,0.00,2.38,0.00,0.000,6,0.000,0.021,2868,2077,3119,0,0,0,0,0,0
$GC,1534,-1.19,-116.8,197.3,-10.0,164,1538,0.00,2.53,0.00,0.000,4,0.000,0.039,2867,3506,3119,0,0,0,0,0,0
$GC,1675,-1.19,-116.8,211.5,-9.2,171,1680,0.00,2.50,0.00,0.000,6,0.000,0.035,2868,2089,3119,0,0,0,0,0,0
$GC,1998,-1.19,-116.8,241.1,-8.5,187,2002,0.00,2.50,0.00,0.000,4,0.000,0.045,2867,689,3119,0,0,0,0,0,0
$GC,2068,-1.19,-116.8,247.7,-9.5,190,2072,0.00,2.40,0.00,0.000,6,0.000,0.023,2868,2098,3118,0,0,0,0,0,0
$GC,2393,-1.19,-116.8,276.0,-7.8,206,2397,0.00,2.50,0.00,0.000,4,0.000,0.045,2867,694,3117,0,0,0,0,0,0
$GC,2420,-1.19,-116.8,278.4,-8.8,207,2425,0.00,2.42,0.00,0.000,6,0.000,0.025,2867,2101,3117,0,0,0,0,0,0
$GC,2763,-1.19,-116.8,304.3,-7.8,223,2767,0.00,2.53,0.00,0.000,4,0.000,0.048,2868,693,3116,0,0,0,0,0,0
$GC,2815,-1.19,-116.8,309.1,-9.6,224,2819,0.00,2.42,0.00,0.000,6,0.000,0.025,2867,2104,3116,0,0,0,0,0,0
$GC,3133,-1.19,-116.8,335.9,-8.3,232,3137,0.00,2.55,0.00,0.000,4,0.000,0.048,2867,694,3115,0,0,0,0,0,0
$GC,3217,-1.19,-116.8,342.9,-7.6,233,3222,0.00,2.42,0.00,0.000,6,0.000,0.026,2867,2099,3114,0,0,0,0,0,0
$GC,3549,-1.19,-116.8,363.8,-5.3,242,3553,0.00,2.55,0.00,0.000,4,0.000,0.051,2868,695,3112,0,0,0,0,0,0
$GC,3568,-1.19,-116.8,364.9,-5.0,242,3572,0.00,2.42,0.00,0.000,6,0.000,0.027,2867,2097,3112,0,0,0,0,0,0
$GC,3913,-1.19,-116.8,387.9,-6.9,251,3918,0.00,2.58,0.00,0.000,4,0.000,0.051,2867,687,3110,0,0,0,0,0,0
$GC,3960,-1.19,-116.8,391.8,-8.5,252,3965,0.00,2.47,0.00,0.000,6,0.000,0.028,2867,2106,3109,0,0,0,0,0,0
$GC,4284,-1.19,-116.8,414.6,-7.1,260,4288,0.00,2.58,0.00,0.000,4,0.000,0.052,2867,687,3107,0,0,0,0,0,0
$GC,4303,-1.19,-116.8,416.1,-7.2,260,4307,0.00,2.47,0.00,0.000,6,0.000,0.029,2867,2106,3107,0,0,0,0,0,0
$GC,4651,-1.19,-116.8,441.8,-7.0,269,4655,0.00,2.55,0.00,0.000,4,0.000,0.053,2867,3503,3104,0,0,0,0,0,0
$STATE,4771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4771,begin apogee
$GC,4781,-0.31,0.0,450.1,6.6,271,4879,0.93,0.00,94.72,0.823,6,0.086,0.000,3061,1806,2634,0,0,0,0,0,0
$STATE,4880,end apogee,CONTROL_FINISHED_OK
$STATE,4880,begin climb
$GC,4883,1.19,116.8,451.7,0.0,274,4995,1.50,2.78,100.85,0.803,4,0.056,0.062,3391,396,2156,0,0,0,0,0,0
$GC,5024,1.19,116.8,437.9,12.8,277,5028,0.00,2.53,0.00,0.000,6,0.000,0.027,3392,1804,2151,0,0,0,0,0,0
$GC,5338,1.19,116.8,399.4,12.2,285,5342,0.00,2.55,0.00,0.000,4,0.000,0.044,3392,3210,2145,0,0,0,0,0,0
$GC,5366,1.19,116.8,395.4,13.9,285,5371,0.00,2.65,0.00,0.000,6,0.000,0.051,3391,1797,2145,0,0,0,0,0,0
$GC,5702,1.19,116.8,353.0,11.9,294,5707,0.00,2.65,0.00,0.000,4,0.000,0.060,3391,392,2141,0,0,0,0,0,0
$GC,5723,1.19,116.8,350.2,13.7,294,5727,0.00,2.50,0.00,0.000,6,0.000,0.027,3392,1802,2140,0,0,0,0,0,0
$GC,6068,1.19,116.8,309.9,11.2,303,6072,0.00,2.67,0.00,0.000,4,0.000,0.061,3391,386,2138,0,0,0,0,0,0
$GC,6092,1.19,116.8,306.8,12.4,303,6096,0.00,2.50,0.00,0.000,6,0.000,0.027,3392,1802,2137,0,0,0,0,0,0
$GC,6417,1.19,116.8,273.7,10.2,317,6421,0.00,2.65,0.00,0.000,4,0.000,0.058,3392,392,2136,0,0,0,0,0,0
$GC,6437,1.19,116.8,271.3,11.4,318,6442,0.00,2.47,0.00,0.000,6,0.000,0.026,3392,1802,2135,0,0,0,0,0,0
$GC,6767,1.19,116.8,237.6,10.4,334,6771,0.00,2.65,0.00,0.000,4,0.000,0.058,3392,388,2134,0,0,0,0,0,0
$GC,6827,1.19,116.8,230.4,11.7,336,6834,0.00,2.50,0.00,0.000,6,0.000,0.025,3392,1801,2132,0,0,0,0,0,0
$GC,7143,1.19,116.8,198.2,10.6,352,7147,0.00,2.62,0.00,0.000,4,0.000,0.055,3391,392,2133,0,0,0,0,0,0
$GC,7178,1.19,116.8,194.4,11.6,355,7182,0.00,2.47,0.00,0.000,6,0.000,0.024,3392,1810,2132,0,0,0,0,0,0
$GC,7442,1.19,116.8,172.3,8.2,379,7447,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1814,2131,0,0,0,0,0,0
$GC,7704,1.19,116.8,148.0,10.7,404,7708,0.00,2.62,0.00,0.000,4,0.000,0.053,3392,388,2132,0,0,0,0,0,0
$GC,7757,1.19,116.8,142.4,11.3,409,7761,0.00,2.45,0.00,0.000,6,0.000,0.022,3391,1805,2131,0,0,0,0,0,0
$GC,8022,1.19,116.8,119.0,9.6,433,8026,0.00,2.62,0.00,0.000,4,0.000,0.051,3391,391,2131,0,0,0,0,0,0
$GC,8048,1.19,116.8,116.3,9.7,435,8052,0.00,2.42,0.00,0.000,6,0.000,0.021,3392,1802,2130,0,0,0,0,0,0
$GC,8312,1.25,157.9,98.3,6.1,459,8349,0.00,0.00,31.80,0.551,6,0.000,0.000,3392,1807,1990,0,0,0,0,0,0
$GC,8608,1.25,157.9,74.1,8.9,487,8612,0.00,2.60,0.00,0.000,4,0.000,0.050,3391,392,1987,0,0,0,0,0,0
$GC,8697,1.25,157.9,65.5,8.4,496,8703,0.00,2.45,0.00,0.000,6,0.000,0.020,3392,1803,1983,0,0,0,0,0,0
$GC,8962,1.25,158.4,45.0,8.0,521,8968,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1807,1983,0,0,0,0,0,0
$GC,9228,1.32,217.7,26.8,5.3,551,9285,0.15,2.65,50.90,0.485,4,0.054,0.047,3443,392,1746,0,0,0,0,0,0
$GC,9316,1.32,217.7,20.8,8.6,567,9323,0.00,2.45,0.00,0.000,6,0.000,0.018,3443,1801,1741,0,0,0,0,0,0
$STATE,9502,end climb,SURFACE_DEPTH_REACHED
$STATE,9502,begin surface coast
$FINISH,1.3,1.022926
$STATE,9530,end surface coast,CONTROL_FINISHED_OK
$STATE,9530,begin surface
$SM_CCo,9554,56.72,0.456,0,0,1288,330.17
$SM_GC,1.59,0.00,0.00,56.72,0.000,0.000,0.456,423,2135,1288,-12.48,0.99,330.17
$IRIDIUM_FIX,2054.83,-15754.77,290700,121246
$TT8_MAMPS,0.029913
$HUMID,56.10
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.5,21.550
$10V_AH,10.5,20.587
$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,28.525,117.125,278.275,56.725,0.000,23.371,35.239,163.292,4.500,0.000,37.458,1117.914,6230.300,406.311,1758.947,464.976,33.360,1162.071,0.000,1715.340,0.000,29.252,0.000
$DEVICE_MAMPS,133.458,62.127,822.991,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.678,399.228,899.666,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,34891,606
$CAP_FILE_SIZE,101100,0
$CFSIZE,260165632,243621888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050511,175520,2102.187,-15756.802,43,3.2,62,9.8