version: 66.06
glider: 139
mission: 9
dive: 274
start: 5 6 111 13 23 49
data:
$ID,139
$MISSION,9
$DIVE,274
$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,-2181490.8
$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,19
$R_STBD_OVSHOOT,72
$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
$GPS1,131357,2108.228,-15801.788,35,2.2,54,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-73.0
$GPS2,132256,2108.181,-15801.854,16,1.0,16,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.214,0.059
$KALMAN_X,-154829.7,-362.2,505.6,135320.3,-1521.9
$KALMAN_Y,-2968.8,-387.0,-143.9,-1271.3,-779.2
$MHEAD_RNG_PITCHd_Wd,64.8,33013,-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,-116.8,0.0,0.0,0,84,0.00,0.00,-65.20,0.000,2,0.000,0.000,425,2145,2975,0,0,0,0,0,0
$GC,87,-1.19,-116.8,3.0,-3.5,12,112,13.12,2.40,-2.90,0.000,4,0.136,0.048,2866,3469,3114,0,0,0,0,0,0
$GC,141,-1.19,-116.8,16.1,-21.7,22,147,0.00,2.45,0.00,0.000,6,0.000,0.031,2866,2096,3115,0,0,0,0,0,0
$GC,342,-1.19,-116.8,50.2,-14.2,47,343,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2096,3116,0,0,0,0,0,0
$GC,599,-1.19,-116.8,85.9,-12.6,71,603,0.00,2.40,0.00,0.000,4,0.000,0.032,2866,3468,3117,0,0,0,0,0,0
$GC,614,-1.19,-116.8,88.3,-13.0,72,618,0.00,2.40,0.00,0.000,6,0.000,0.032,2866,2095,3117,0,0,0,0,0,0
$GC,878,-1.19,-116.8,123.9,-11.9,96,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2094,3118,0,0,0,0,0,0
$GC,1141,-1.19,-116.8,151.4,-11.1,121,1146,0.00,2.53,0.00,0.000,4,0.000,0.043,2866,685,3118,0,0,0,0,0,0
$GC,1179,-1.19,-116.8,156.0,-11.4,124,1185,0.00,2.38,0.00,0.000,6,0.000,0.021,2866,2066,3119,0,0,0,0,0,0
$GC,1443,-1.19,-116.8,182.9,-10.1,149,1448,0.00,2.55,0.00,0.000,4,0.000,0.039,2866,3497,3119,0,0,0,0,0,0
$GC,1473,-1.19,-116.8,186.0,-8.9,151,1478,0.00,2.47,0.00,0.000,6,0.000,0.035,2866,2092,3119,0,0,0,0,0,0
$GC,1741,-1.19,-116.8,209.8,-9.4,172,1746,0.00,2.50,0.00,0.000,4,0.000,0.044,2866,690,3119,0,0,0,0,0,0
$GC,1857,-1.19,-116.8,221.9,-10.5,177,1862,0.00,2.40,0.00,0.000,6,0.000,0.022,2866,2104,3118,0,0,0,0,0,0
$GC,2189,-1.19,-116.8,250.9,-7.9,193,2193,0.00,2.53,0.00,0.000,4,0.000,0.044,2866,695,3118,0,0,0,0,0,0
$GC,2234,-1.19,-116.8,254.8,-8.7,195,2239,0.00,2.40,0.00,0.000,6,0.000,0.024,2867,2102,3118,0,0,0,0,0,0
$GC,2565,-1.19,-116.8,283.5,-8.4,211,2569,0.00,2.55,0.00,0.000,4,0.000,0.046,2866,688,3117,0,0,0,0,0,0
$GC,2621,-1.19,-116.8,289.3,-9.9,213,2625,0.00,2.42,0.00,0.000,6,0.000,0.025,2866,2102,3117,0,0,0,0,0,0
$GC,2954,-1.19,-116.8,317.7,-8.4,224,2958,0.00,2.55,0.00,0.000,4,0.000,0.048,2866,694,3115,0,0,0,0,0,0
$GC,3005,-1.19,-116.8,322.6,-9.9,225,3009,0.00,2.42,0.00,0.000,6,0.000,0.025,2866,2108,3115,0,0,0,0,0,0
$GC,3323,-1.19,-116.8,350.5,-8.5,233,3328,0.00,2.55,0.00,0.000,4,0.000,0.049,2866,3507,3113,0,0,0,0,0,0
$GC,3388,-1.19,-116.8,356.6,-9.7,234,3393,0.00,2.53,0.00,0.000,6,0.000,0.042,2866,2099,3113,0,0,0,0,0,0
$GC,3734,-1.19,-116.8,390.4,-9.5,243,3738,0.00,2.55,0.00,0.000,4,0.000,0.048,2866,3498,3111,0,0,0,0,0,0
$GC,3882,-1.19,-116.8,404.8,-9.4,246,3887,0.00,2.53,0.00,0.000,6,0.000,0.044,2866,2099,3110,0,0,0,0,0,0
$GC,4196,-1.19,-116.8,432.6,-8.9,254,4201,0.00,2.60,0.00,0.000,4,0.000,0.054,2866,689,3108,0,0,0,0,0,0
$GC,4286,-1.19,-116.8,441.3,-8.9,256,4290,0.00,2.47,0.00,0.000,6,0.000,0.028,2866,2102,3107,0,0,0,0,0,0
$STATE,4408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4408,begin apogee
$GC,4415,-0.31,0.0,450.5,7.1,259,4514,0.98,0.00,95.40,0.812,6,0.084,0.000,3068,1793,2635,0,0,0,0,0,0
$STATE,4515,end apogee,CONTROL_FINISHED_OK
$STATE,4515,begin climb
$GC,4517,1.19,116.8,451.7,0.0,261,4630,1.48,2.67,100.38,0.791,4,0.055,0.060,3393,403,2157,0,0,0,0,0,0
$GC,4654,1.19,116.8,437.6,14.5,264,4658,0.00,2.50,0.00,0.000,6,0.000,0.026,3393,1802,2152,0,0,0,0,0,0
$GC,4972,1.19,116.8,396.1,13.2,272,4977,0.00,2.67,0.00,0.000,4,0.000,0.061,3393,403,2146,0,0,0,0,0,0
$GC,5005,1.19,116.8,391.5,14.0,272,5009,0.00,2.47,0.00,0.000,6,0.000,0.027,3393,1801,2144,0,0,0,0,0,0
$GC,5337,1.19,116.8,352.4,11.8,280,5341,0.00,2.58,0.00,0.000,4,0.000,0.044,3393,3212,2142,0,0,0,0,0,0
$GC,5406,1.19,116.8,344.3,10.9,281,5411,0.00,2.62,0.00,0.000,6,0.000,0.049,3393,1802,2142,0,0,0,0,0,0
$GC,5747,1.19,116.8,306.6,10.5,290,5751,0.00,2.65,0.00,0.000,4,0.000,0.059,3393,390,2139,0,0,0,0,0,0
$GC,5817,1.19,116.8,298.2,11.6,291,5822,0.00,2.50,0.00,0.000,6,0.000,0.026,3393,1803,2136,0,0,0,0,0,0
$GC,6144,1.19,116.8,264.9,10.5,307,6148,0.00,2.65,0.00,0.000,4,0.000,0.058,3393,391,2136,0,0,0,0,0,0
$GC,6168,1.19,116.8,262.1,11.6,308,6172,0.00,2.47,0.00,0.000,6,0.000,0.025,3393,1807,2135,0,0,0,0,0,0
$GC,6493,1.19,116.8,228.0,11.5,324,6497,0.00,2.67,0.00,0.000,4,0.000,0.057,3393,389,2134,0,0,0,0,0,0
$GC,6521,1.19,116.8,224.0,13.7,325,6525,0.00,2.47,0.00,0.000,6,0.000,0.025,3393,1801,2133,0,0,0,0,0,0
$GC,6845,1.19,116.8,189.3,9.6,346,6849,0.00,2.62,0.00,0.000,4,0.000,0.055,3393,393,2133,0,0,0,0,0,0
$GC,6873,1.19,116.8,186.1,10.9,348,6880,0.00,2.47,0.00,0.000,6,0.000,0.024,3393,1801,2132,0,0,0,0,0,0
$GC,7138,1.19,116.8,161.6,10.4,373,7142,0.00,2.60,0.00,0.000,4,0.000,0.052,3393,391,2132,0,0,0,0,0,0
$GC,7157,1.19,116.8,159.2,10.0,374,7164,0.00,2.47,0.00,0.000,6,0.000,0.023,3393,1807,2132,0,0,0,0,0,0
$GC,7421,1.20,119.6,136.9,7.9,399,7426,0.00,2.45,0.00,0.000,4,0.000,0.035,3392,3203,2132,0,0,0,0,0,0
$GC,7496,1.20,119.6,130.3,8.6,406,7502,0.00,2.58,0.00,0.000,6,0.000,0.041,3393,1803,2132,0,0,0,0,0,0
$GC,7760,1.20,119.6,108.6,8.8,431,7765,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1804,2132,0,0,0,0,0,0
$GC,8022,1.22,136.1,87.8,7.3,456,8040,0.00,0.00,13.15,0.513,6,0.000,0.000,3393,1803,2079,0,0,0,0,0,0
$GC,8299,1.22,136.1,66.1,8.6,482,8304,0.00,2.58,0.00,0.000,4,0.000,0.049,3393,385,2078,0,0,0,0,0,0
$GC,8335,1.22,136.1,62.7,10.1,485,8339,0.00,2.42,0.00,0.000,6,0.000,0.020,3393,1802,2076,0,0,0,0,0,0
$GC,8599,1.22,140.2,41.4,7.8,509,8611,0.00,2.62,5.12,0.380,4,0.000,0.047,3393,385,2062,0,0,0,0,0,0
$GC,8632,1.22,140.2,38.4,9.2,512,8636,0.00,2.42,0.00,0.000,6,0.000,0.019,3393,1800,2060,0,0,0,0,0,0
$GC,8903,1.32,218.9,23.1,4.4,550,8981,0.15,2.53,67.80,0.486,4,0.053,0.028,3445,3198,1740,0,0,0,0,0,0
$GC,9000,1.32,218.9,15.8,9.4,567,9007,0.08,2.58,0.00,0.000,6,0.073,0.036,3425,1800,1740,0,0,0,0,0,0
$STATE,9125,end climb,SURFACE_DEPTH_REACHED
$STATE,9127,begin surface coast
$FINISH,1.0,1.023028
$STATE,9154,end surface coast,CONTROL_FINISHED_OK
$STATE,9154,begin surface
$SM_CCo,9178,56.10,0.459,0,0,1288,330.17
$SM_GC,1.88,0.00,0.00,56.10,0.000,0.000,0.459,429,2145,1288,-12.46,1.27,330.17
$IRIDIUM_FIX,2104.07,-15807.62,300700,131339
$TT8_MAMPS,0.029146
$HUMID,56.10
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.5,22.207
$10V_AH,10.5,21.214
$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,28.600,116.925,281.850,56.100,0.000,57.217,74.410,214.432,4.500,0.000,16.141,1094.875,5958.648,406.710,1701.956,613.630,33.357,1160.221,0.000,1694.032,0.000,29.256,0.000
$DEVICE_MAMPS,135.759,60.593,812.253,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,401.869,402.002,897.785,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,31786,595
$CAP_FILE_SIZE,103579,0
$CFSIZE,260165632,243236864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,060511,155852,2108.656,-15801.656,9,2.7,28,9.8