version: 66.06
glider: 139
mission: 9
dive: 268
start: 5 5 111 20 33 45
data:
$ID,139
$MISSION,9
$DIVE,268
$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,-2181330.8
$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,31
$R_STBD_OVSHOOT,61
$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
$GPS1,202320,2103.000,-15757.753,14,2.0,14,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-71.0
$GPS2,203250,2103.070,-15757.714,13,2.0,13,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.195,0.105
$KALMAN_X,-153150.6,-650.4,-94.2,141680.7,1192.7
$KALMAN_Y,-433.3,-183.7,194.8,-13809.8,118.3
$MHEAD_RNG_PITCHd_Wd,288.4,12309,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-69.70,0.000,6,0.000,0.000,425,2125,3112,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.5,-4.8,13,110,13.18,2.40,0.00,0.000,4,0.137,0.035,2866,3479,3115,0,0,0,0,0,0
$GC,362,-1.19,-116.8,60.1,-13.8,54,366,0.00,2.40,0.00,0.000,6,0.000,0.032,2866,2104,3116,0,0,0,0,0,0
$GC,623,-1.19,-116.8,96.2,-12.4,78,627,0.00,2.42,0.00,0.000,4,0.000,0.032,2866,3483,3117,0,0,0,0,0,0
$GC,677,-1.19,-116.8,102.2,-11.5,83,681,0.00,2.42,0.00,0.000,6,0.000,0.034,2867,2099,3117,0,0,0,0,0,0
$GC,941,-1.19,-116.8,132.5,-11.9,107,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2099,3118,0,0,0,0,0,0
$GC,1203,-1.19,-116.8,160.2,-10.0,132,1208,0.00,2.53,0.00,0.000,4,0.000,0.042,2866,687,3118,0,0,0,0,0,0
$GC,1293,-1.19,-116.8,170.8,-11.9,141,1297,0.00,2.35,0.00,0.000,6,0.000,0.020,2866,2083,3118,0,0,0,0,0,0
$GC,1558,-1.19,-116.8,200.5,-11.1,165,1563,0.00,2.47,0.00,0.000,4,0.000,0.043,2866,690,3119,0,0,0,0,0,0
$GC,1582,-1.19,-116.8,203.6,-10.8,166,1586,0.00,2.40,0.00,0.000,6,0.000,0.021,2866,2098,3119,0,0,0,0,0,0
$GC,1907,-1.19,-116.8,234.9,-8.8,182,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2099,3118,0,0,0,0,0,0
$GC,2218,-1.19,-116.8,261.8,-9.2,197,2223,0.00,2.55,0.00,0.000,4,0.000,0.046,2866,682,3118,0,0,0,0,0,0
$GC,2275,-1.19,-116.8,267.0,-8.2,199,2280,0.00,2.45,0.00,0.000,6,0.000,0.024,2866,2105,3118,0,0,0,0,0,0
$GC,2591,-1.19,-116.8,291.9,-7.7,214,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2105,3116,0,0,0,0,0,0
$GC,2897,-1.19,-116.8,317.1,-8.3,224,2901,0.00,2.58,0.00,0.000,4,0.000,0.048,2866,684,3115,0,0,0,0,0,0
$GC,2925,-1.19,-116.8,319.9,-10.0,224,2930,0.00,2.45,0.00,0.000,6,0.000,0.025,2866,2100,3115,0,0,0,0,0,0
$GC,3266,-1.19,-116.8,345.3,-6.7,233,3267,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2100,3113,0,0,0,0,0,0
$GC,3591,-1.19,-116.8,368.5,-7.0,241,3596,0.00,2.58,0.00,0.000,4,0.000,0.050,2866,685,3111,0,0,0,0,0,0
$GC,3630,-1.19,-116.8,371.3,-7.7,241,3635,0.00,2.45,0.00,0.000,6,0.000,0.027,2866,2097,3111,0,0,0,0,0,0
$GC,3961,-1.19,-116.8,394.5,-7.6,250,3962,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2097,3108,0,0,0,0,0,0
$GC,4286,-1.19,-116.8,419.2,-7.4,258,4287,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2098,3106,0,0,0,0,0,0
$GC,4612,-1.19,-116.8,448.1,-9.5,266,4617,0.00,2.55,0.00,0.000,4,0.000,0.054,2866,694,3104,0,0,0,0,0,0
$STATE,4629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4629,begin apogee
$GC,4637,-0.31,0.0,450.1,9.1,266,4739,0.95,0.00,94.55,0.818,6,0.087,0.000,3064,1806,2634,0,0,0,0,0,0
$STATE,4740,end apogee,CONTROL_FINISHED_OK
$STATE,4740,begin climb
$GC,4743,1.19,116.8,453.4,0.0,269,4851,1.50,0.00,100.62,0.798,6,0.055,0.000,3395,1806,2157,0,0,0,0,0,0
$GC,5192,1.19,116.8,403.8,12.2,280,5196,0.00,2.67,0.00,0.000,4,0.000,0.061,3395,393,2146,0,0,0,0,0,0
$GC,5211,1.19,116.8,401.3,12.8,280,5215,0.00,2.50,0.00,0.000,6,0.000,0.027,3395,1805,2144,0,0,0,0,0,0
$GC,5556,1.19,116.8,361.6,11.8,289,5560,0.00,2.67,0.00,0.000,4,0.000,0.061,3395,399,2142,0,0,0,0,0,0
$GC,5599,1.19,116.8,354.9,15.6,290,5604,0.00,2.47,0.00,0.000,6,0.000,0.027,3395,1806,2140,0,0,0,0,0,0
$GC,5927,1.19,116.8,314.0,11.6,298,5928,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1810,2138,0,0,0,0,0,0
$GC,6235,1.19,116.8,279.3,11.1,309,6239,0.00,2.65,0.00,0.000,4,0.000,0.059,3395,396,2137,0,0,0,0,0,0
$GC,6301,1.19,116.8,270.9,12.5,312,6305,0.00,2.47,0.00,0.000,6,0.000,0.027,3395,1800,2135,0,0,0,0,0,0
$GC,6630,1.19,116.8,237.4,9.8,328,6635,0.00,2.65,0.00,0.000,4,0.000,0.058,3395,394,2134,0,0,0,0,0,0
$GC,6658,1.19,116.8,234.3,10.8,329,6663,0.00,2.47,0.00,0.000,6,0.000,0.025,3395,1803,2134,0,0,0,0,0,0
$GC,6980,1.19,116.8,202.8,9.5,345,6984,0.00,2.62,0.00,0.000,4,0.000,0.055,3395,393,2133,0,0,0,0,0,0
$GC,7025,1.19,116.8,198.4,10.7,347,7029,0.00,2.45,0.00,0.000,6,0.000,0.025,3395,1807,2132,0,0,0,0,0,0
$GC,7289,1.19,116.8,174.0,8.7,371,7294,0.00,2.60,0.00,0.000,4,0.000,0.054,3395,399,2132,0,0,0,0,0,0
$GC,7334,1.19,116.8,169.5,10.3,375,7338,0.00,2.45,0.00,0.000,6,0.000,0.023,3396,1809,2131,0,0,0,0,0,0
$GC,7598,1.19,116.8,145.5,8.5,399,7603,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1814,2132,0,0,0,0,0,0
$GC,7860,1.19,116.8,122.9,8.7,424,7864,0.00,2.60,0.00,0.000,4,0.000,0.051,3395,393,2131,0,0,0,0,0,0
$GC,7878,1.19,116.8,121.1,9.1,425,7884,0.00,2.42,0.00,0.000,6,0.000,0.021,3395,1807,2131,0,0,0,0,0,0
$GC,8142,1.23,142.4,104.6,6.8,450,8170,0.00,2.65,18.45,0.541,4,0.000,0.048,3395,398,2052,0,0,0,0,0,0
$GC,8176,1.23,142.4,101.7,8.6,453,8182,0.00,2.42,0.00,0.000,6,0.000,0.021,3395,1802,2051,0,0,0,0,0,0
$GC,8439,1.23,142.4,82.4,8.0,478,8443,0.00,2.45,0.00,0.000,4,0.000,0.030,3396,3201,2050,0,0,0,0,0,0
$GC,8464,1.23,142.4,80.0,8.4,480,8468,0.00,2.53,0.00,0.000,6,0.000,0.037,3396,1802,2050,0,0,0,0,0,0
$GC,8728,1.23,142.4,57.2,9.3,504,8733,0.00,2.55,0.00,0.000,4,0.000,0.048,3395,393,2050,0,0,0,0,0,0
$GC,8747,1.23,142.4,54.9,9.7,505,8754,0.00,2.42,0.00,0.000,6,0.000,0.020,3396,1798,2048,0,0,0,0,0,0
$GC,9012,1.31,208.0,37.9,5.0,530,9078,0.10,2.67,56.38,0.492,4,0.072,0.047,3435,398,1785,0,0,0,0,0,0
$GC,9124,1.31,208.0,29.1,9.3,543,9131,0.00,2.45,0.00,0.000,6,0.000,0.019,3435,1801,1781,0,0,0,0,0,0
$GC,9330,1.32,220.4,10.3,7.5,580,9343,0.00,0.00,11.07,0.423,6,0.000,0.000,3435,1805,1736,0,0,0,0,0,0
$STATE,9413,end climb,SURFACE_DEPTH_REACHED
$STATE,9413,begin surface coast
$FINISH,1.0,1.023015
$STATE,9443,end surface coast,CONTROL_FINISHED_OK
$STATE,9443,begin surface
$SM_CCo,9467,55.55,0.453,0,0,1289,330.17
$SM_GC,1.81,0.00,0.00,55.55,0.000,0.000,0.453,429,2137,1289,-12.46,1.05,330.17
$IRIDIUM_FIX,2054.83,-15759.05,290700,202059
$TT8_MAMPS,0.029146
$HUMID,55.98
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.5,21.708
$10V_AH,10.5,20.743
$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,28.625,95.300,281.075,55.550,0.000,48.747,77.126,242.886,4.500,0.000,13.501,1073.525,6409.413,392.479,1592.267,628.931,33.357,1086.097,0.000,1581.400,0.000,29.261,0.000
$DEVICE_MAMPS,137.293,60.593,818.389,453.297,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,405.937,394.960,879.701,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,31825,600
$CAP_FILE_SIZE,96650,0
$CFSIZE,260165632,243535872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050511,231354,2103.676,-15758.400,30,1.4,47,9.8