version: 66.06
glider: 139
mission: 9
dive: 269
start: 5 5 111 23 20 50
data:
$ID,139
$MISSION,9
$DIVE,269
$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,-2181366.8
$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,20
$R_STBD_OVSHOOT,75
$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
$GPS1,231354,2103.676,-15758.400,30,1.4,47,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-70.5
$GPS2,231958,2103.669,-15758.378,15,2.4,34,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.135,0.176
$KALMAN_X,-153062.7,-232.7,439.1,139496.2,534.7
$KALMAN_Y,-928.7,135.8,294.8,-12625.0,-652.7
$MHEAD_RNG_PITCHd_Wd,312.8,10732,-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,12,begin dive
$GC,15,-1.19,-116.8,0.0,0.0,0,87,0.00,0.00,-69.65,0.000,6,0.000,0.000,428,2139,3112,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.5,-4.7,13,110,13.12,2.35,0.00,0.000,4,0.136,0.028,2867,3479,3115,0,0,0,0,0,0
$GC,360,-1.19,-116.8,59.6,-14.2,56,365,0.00,2.40,0.00,0.000,6,0.000,0.031,2867,2093,3117,0,0,0,0,0,0
$GC,622,-1.19,-116.8,98.5,-14.7,80,626,0.00,2.40,0.00,0.000,4,0.000,0.033,2867,3467,3117,0,0,0,0,0,0
$GC,739,-1.19,-116.8,112.6,-12.0,92,743,0.00,2.40,0.00,0.000,6,0.000,0.031,2867,2100,3118,0,0,0,0,0,0
$GC,1002,-1.19,-116.8,143.5,-11.3,116,1006,0.00,2.53,0.00,0.000,4,0.000,0.042,2867,688,3118,0,0,0,0,0,0
$GC,1048,-1.19,-116.8,149.3,-12.4,120,1055,0.00,2.38,0.00,0.000,6,0.000,0.021,2867,2067,3119,0,0,0,0,0,0
$GC,1313,-1.19,-116.8,175.5,-9.9,145,1317,0.00,2.42,0.00,0.000,4,0.000,0.041,2867,693,3119,0,0,0,0,0,0
$GC,1383,-1.19,-116.8,183.7,-11.4,152,1388,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2101,3119,0,0,0,0,0,0
$GC,1654,-1.19,-116.8,213.3,-10.6,171,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2102,3119,0,0,0,0,0,0
$GC,1961,-1.19,-116.8,241.4,-8.7,186,1966,0.00,2.53,0.00,0.000,4,0.000,0.044,2867,691,3119,0,0,0,0,0,0
$GC,2046,-1.19,-116.8,249.2,-10.0,189,2051,0.00,2.40,0.00,0.000,6,0.000,0.022,2867,2099,3119,0,0,0,0,0,0
$GC,2363,-1.19,-116.8,279.0,-9.2,205,2367,0.00,2.53,0.00,0.000,4,0.000,0.045,2867,694,3119,0,0,0,0,0,0
$GC,2485,-1.19,-116.8,290.1,-8.9,210,2489,0.00,2.42,0.00,0.000,6,0.000,0.025,2867,2101,3118,0,0,0,0,0,0
$GC,2823,-1.19,-116.8,317.8,-8.4,222,2827,0.00,2.55,0.00,0.000,4,0.000,0.048,2867,692,3117,0,0,0,0,0,0
$GC,2837,-1.19,-116.8,319.4,-9.2,222,2841,0.00,2.42,0.00,0.000,6,0.000,0.025,2867,2099,3117,0,0,0,0,0,0
$GC,3187,-1.19,-116.8,346.5,-7.4,231,3192,0.00,2.58,0.00,0.000,4,0.000,0.049,2867,692,3115,0,0,0,0,0,0
$GC,3202,-1.19,-116.8,347.7,-7.5,231,3206,0.00,2.45,0.00,0.000,6,0.000,0.026,2867,2106,3115,0,0,0,0,0,0
$GC,3553,-1.19,-116.8,374.1,-7.5,240,3558,0.00,2.55,0.00,0.000,4,0.000,0.050,2867,3502,3113,0,0,0,0,0,0
$GC,3564,-1.19,-116.8,374.9,-7.3,240,3568,0.00,2.50,0.00,0.000,6,0.000,0.041,2867,2104,3113,0,0,0,0,0,0
$GC,3878,-1.19,-116.8,399.8,-8.1,248,3883,0.00,2.60,0.00,0.000,4,0.000,0.053,2867,686,3111,0,0,0,0,0,0
$GC,3980,-1.19,-116.8,410.2,-10.0,250,3985,0.00,2.47,0.00,0.000,6,0.000,0.028,2867,2103,3109,0,0,0,0,0,0
$GC,4300,-1.19,-116.8,434.5,-7.0,258,4304,0.00,2.60,0.00,0.000,4,0.000,0.053,2867,684,3107,0,0,0,0,0,0
$GC,4377,-1.19,-116.8,440.1,-7.3,259,4381,0.00,2.47,0.00,0.000,6,0.000,0.029,2867,2098,3107,0,0,0,0,0,0
$STATE,4548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4548,begin apogee
$GC,4555,-0.31,0.0,451.6,6.6,264,4654,0.95,0.00,95.47,0.818,6,0.084,0.000,3065,1788,2635,0,0,0,0,0,0
$STATE,4655,end apogee,CONTROL_FINISHED_OK
$STATE,4655,begin climb
$GC,4657,1.19,116.8,452.5,0.0,266,4763,1.52,0.00,101.62,0.798,6,0.055,0.000,3398,1788,2158,0,0,0,0,0,0
$GC,5075,1.19,116.8,402.7,12.7,277,5080,0.00,2.60,0.00,0.000,4,0.000,0.061,3397,404,2147,0,0,0,0,0,0
$GC,5109,1.19,116.8,398.2,13.4,277,5113,0.00,2.50,0.00,0.000,6,0.000,0.027,3397,1805,2144,0,0,0,0,0,0
$GC,5440,1.19,116.8,358.4,12.0,285,5444,0.00,2.67,0.00,0.000,4,0.000,0.060,3397,400,2142,0,0,0,0,0,0
$GC,5487,1.19,116.8,352.4,12.1,286,5491,0.00,2.47,0.00,0.000,6,0.000,0.027,3398,1801,2140,0,0,0,0,0,0
$GC,5810,1.19,116.8,317.1,10.8,294,5811,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1803,2139,0,0,0,0,0,0
$GC,6117,1.19,116.8,281.7,12.4,305,6122,0.00,2.62,0.00,0.000,4,0.000,0.058,3397,399,2138,0,0,0,0,0,0
$GC,6138,1.19,116.8,278.7,14.2,306,6142,0.00,2.47,0.00,0.000,6,0.000,0.026,3397,1806,2137,0,0,0,0,0,0
$GC,6468,1.19,116.8,242.8,10.5,322,6472,0.00,2.65,0.00,0.000,4,0.000,0.058,3397,399,2136,0,0,0,0,0,0
$GC,6564,1.19,116.8,232.0,11.1,326,6568,0.00,2.45,0.00,0.000,6,0.000,0.026,3397,1799,2133,0,0,0,0,0,0
$GC,6885,1.19,116.8,202.8,8.7,342,6886,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1801,2133,0,0,0,0,0,0
$GC,7202,1.19,116.8,175.4,8.5,370,7206,0.00,2.60,0.00,0.000,4,0.000,0.054,3397,403,2132,0,0,0,0,0,0
$GC,7281,1.19,116.8,167.4,10.5,378,7285,0.00,2.42,0.00,0.000,6,0.000,0.023,3397,1803,2132,0,0,0,0,0,0
$GC,7544,1.19,116.8,144.1,9.7,402,7548,0.00,2.45,0.00,0.000,4,0.000,0.034,3397,3206,2132,0,0,0,0,0,0
$GC,7596,1.19,116.8,138.9,9.6,407,7601,0.00,2.53,0.00,0.000,6,0.000,0.040,3397,1803,2132,0,0,0,0,0,0
$GC,7862,1.21,126.6,115.9,7.6,431,7872,0.00,2.53,5.12,0.429,4,0.000,0.031,3397,3214,2117,0,0,0,0,0,0
$GC,7887,1.21,129.8,113.5,7.9,433,7901,0.00,2.55,4.72,0.410,6,0.000,0.038,3397,1800,2105,0,0,0,0,0,0
$GC,8157,1.23,146.7,92.0,7.2,459,8179,0.00,2.58,16.15,0.521,4,0.000,0.031,3398,3207,2035,0,0,0,0,0,0
$GC,8215,1.25,163.2,87.7,7.3,465,8237,0.00,2.58,15.90,0.513,6,0.000,0.038,3397,1796,1968,0,0,0,0,0,0
$GC,8500,1.26,169.8,66.2,7.7,492,8512,0.00,2.60,6.60,0.426,4,0.000,0.049,3397,389,1942,0,0,0,0,0,0
$GC,8533,1.26,169.8,63.4,8.7,495,8537,0.00,2.42,0.00,0.000,6,0.000,0.020,3397,1809,1939,0,0,0,0,0,0
$GC,8803,1.26,169.8,42.9,8.5,520,8807,0.00,2.42,0.00,0.000,4,0.000,0.029,3397,3198,1939,0,0,0,0,0,0
$GC,8839,1.29,197.5,39.8,6.8,523,8869,0.00,2.55,24.70,0.482,6,0.000,0.037,3397,1800,1829,0,0,0,0,0,0
$GC,9129,1.32,214.8,20.5,7.2,562,9153,0.12,2.62,15.52,0.449,4,0.060,0.048,3443,395,1758,0,0,0,0,0,0
$GC,9191,1.32,214.8,13.6,13.4,574,9197,0.00,2.42,0.00,0.000,6,0.000,0.018,3443,1799,1754,0,0,0,0,0,0
$STATE,9299,end climb,SURFACE_DEPTH_REACHED
$STATE,9299,begin surface coast
$FINISH,1.0,1.022985
$STATE,9333,end surface coast,CONTROL_FINISHED_OK
$STATE,9333,begin surface
$SM_CCo,9357,57.80,0.454,0,0,1287,330.17
$SM_GC,1.69,0.00,0.00,57.80,0.000,0.000,0.454,425,2137,1287,-12.48,1.02,330.17
$IRIDIUM_FIX,2057.14,-15756.91,290700,202001
$TT8_MAMPS,0.029146
$HUMID,55.67
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,21.785
$10V_AH,10.6,20.821
$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,28.600,111.100,285.825,57.800,0.000,24.772,41.707,152.329,4.500,0.000,35.219,1110.033,6070.096,435.316,1693.206,471.465,33.359,1139.535,0.000,1669.262,0.000,29.253,0.000
$DEVICE_MAMPS,135.759,60.593,818.389,454.064,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,406.014,398.609,892.813,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34798,600
$CAP_FILE_SIZE,98560,0
$CFSIZE,260165632,243478528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060511,015838,2104.437,-15759.293,13,2.0,13,9.8