version: 66.06
glider: 139
mission: 9
dive: 290
start: 5 8 111 10 3 41
data:
$ID,139
$MISSION,9
$DIVE,290
$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,-2181900.5
$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,38
$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
$GPS1,095625,2107.561,-15750.638,42,1.3,42,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-73.1
$GPS2,100249,2107.570,-15750.632,13,1.0,30,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.221,-0.013
$KALMAN_X,-174695.3,371.7,105.7,174229.2,-1438.3
$KALMAN_Y,-835.6,-166.7,95.4,-4995.5,-113.0
$MHEAD_RNG_PITCHd_Wd,83.5,13719,-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,-116.8,0.0,0.0,0,89,0.00,0.00,-69.82,0.000,6,0.000,0.000,429,2091,3112,0,0,0,0,0,0
$GC,93,-1.19,-116.8,3.6,-5.0,13,111,13.07,0.00,0.00,0.000,6,0.134,0.000,2871,2091,3114,0,0,0,0,0,0
$GC,313,-1.19,-116.8,51.7,-17.6,42,317,0.00,2.47,0.00,0.000,4,0.000,0.034,2871,3499,3117,0,0,0,0,0,0
$GC,373,-1.19,-116.8,61.9,-16.6,48,378,0.00,2.50,0.00,0.000,6,0.000,0.035,2871,2093,3117,0,0,0,0,0,0
$GC,635,-1.19,-116.8,97.8,-13.4,72,639,0.00,2.50,0.00,0.000,4,0.000,0.041,2871,685,3117,0,0,0,0,0,0
$GC,689,-1.19,-116.8,105.2,-12.4,77,695,0.00,2.42,0.00,0.000,6,0.000,0.020,2871,2113,3117,0,0,0,0,0,0
$GC,953,-1.19,-116.8,134.9,-12.2,102,957,0.00,2.45,0.00,0.000,4,0.000,0.037,2871,3495,3118,0,0,0,0,0,0
$GC,987,-1.19,-116.8,138.9,-11.4,105,992,0.00,2.45,0.00,0.000,6,0.000,0.033,2871,2090,3118,0,0,0,0,0,0
$GC,1249,-1.19,-116.8,170.3,-13.3,129,1250,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2089,3118,0,0,0,0,0,0
$GC,1504,-1.19,-116.8,198.6,-10.8,153,1509,0.00,2.50,0.00,0.000,4,0.000,0.044,2871,689,3119,0,0,0,0,0,0
$GC,1521,-1.19,-116.8,200.5,-11.3,154,1527,0.00,2.42,0.00,0.000,6,0.000,0.022,2871,2095,3119,0,0,0,0,0,0
$GC,1836,-1.19,-116.8,233.0,-10.3,170,1837,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2094,3119,0,0,0,0,0,0
$GC,2147,-1.19,-116.8,263.7,-9.1,185,2151,0.00,2.55,0.00,0.000,4,0.000,0.044,2871,3507,3119,0,0,0,0,0,0
$GC,2207,-1.19,-116.8,269.2,-8.7,187,2213,0.00,2.47,0.00,0.000,6,0.000,0.038,2871,2103,3119,0,0,0,0,0,0
$GC,2525,-1.19,-116.8,294.5,-7.7,203,2526,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2103,3118,0,0,0,0,0,0
$GC,2829,-1.19,-116.8,315.3,-7.1,213,2834,0.00,2.58,0.00,0.000,4,0.000,0.048,2871,685,3117,0,0,0,0,0,0
$GC,2933,-1.19,-116.8,324.8,-9.2,215,2937,0.00,2.45,0.00,0.000,6,0.000,0.025,2871,2109,3117,0,0,0,0,0,0
$GC,3247,-1.19,-116.8,348.0,-7.5,223,3248,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2109,3115,0,0,0,0,0,0
$GC,3572,-1.19,-116.8,371.2,-7.4,231,3576,0.00,2.58,0.00,0.000,4,0.000,0.050,2871,692,3114,0,0,0,0,0,0
$GC,3685,-1.19,-116.8,380.7,-8.6,233,3690,0.00,2.45,0.00,0.000,6,0.000,0.028,2871,2096,3113,0,0,0,0,0,0
$GC,4031,-1.19,-116.8,407.8,-7.7,242,4035,0.00,2.55,0.00,0.000,4,0.000,0.053,2871,692,3110,0,0,0,0,0,0
$GC,4092,-1.19,-116.8,412.6,-7.7,243,4096,0.00,2.45,0.00,0.000,6,0.000,0.028,2871,2100,3110,0,0,0,0,0,0
$GC,4442,-1.19,-116.8,433.4,-6.0,252,4446,0.00,2.60,0.00,0.000,4,0.000,0.054,2871,688,3107,0,0,0,0,0,0
$GC,4509,-1.19,-116.8,438.1,-6.7,253,4513,0.00,2.45,0.00,0.000,6,0.000,0.029,2871,2099,3106,0,0,0,0,0,0
$STATE,4729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4730,begin apogee
$GC,4737,-0.31,0.0,452.9,6.8,259,4836,0.95,0.00,95.55,0.827,6,0.082,0.000,3068,1791,2635,0,0,0,0,0,0
$STATE,4836,end apogee,CONTROL_FINISHED_OK
$STATE,4836,begin climb
$GC,4839,1.19,116.8,454.6,0.0,261,4948,1.48,0.00,101.30,0.805,6,0.056,0.000,3394,1790,2158,0,0,0,0,0,0
$GC,5247,1.19,116.8,409.3,12.2,271,5248,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1791,2147,0,0,0,0,0,0
$GC,5572,1.19,116.8,372.6,11.3,279,5576,0.00,2.60,0.00,0.000,4,0.000,0.061,3393,403,2143,0,0,0,0,0,0
$GC,5607,1.19,116.8,368.0,13.5,279,5611,0.00,2.45,0.00,0.000,6,0.000,0.028,3393,1800,2140,0,0,0,0,0,0
$GC,5938,1.19,116.8,323.5,13.4,287,5942,0.00,2.67,0.00,0.000,4,0.000,0.061,3393,397,2140,0,0,0,0,0,0
$GC,5966,1.19,116.8,319.0,15.6,287,5970,0.00,2.50,0.00,0.000,6,0.000,0.028,3393,1805,2138,0,0,0,0,0,0
$GC,6285,1.19,116.8,285.3,9.6,299,6290,0.00,2.67,0.00,0.000,4,0.000,0.060,3393,397,2137,0,0,0,0,0,0
$GC,6305,1.19,116.8,283.1,10.2,300,6310,0.00,2.47,0.00,0.000,6,0.000,0.027,3393,1803,2136,0,0,0,0,0,0
$GC,6635,1.19,116.8,249.4,13.2,316,6639,0.00,2.62,0.00,0.000,4,0.000,0.058,3393,400,2135,0,0,0,0,0,0
$GC,6691,1.19,116.8,241.4,14.5,318,6695,0.00,2.45,0.00,0.000,6,0.000,0.026,3393,1799,2134,0,0,0,0,0,0
$GC,7009,1.19,116.8,207.1,9.3,333,7013,0.00,2.50,0.00,0.000,4,0.000,0.039,3394,3208,2133,0,0,0,0,0,0
$GC,7080,1.20,118.0,201.0,8.0,336,7085,0.00,2.55,0.00,0.000,6,0.000,0.044,3393,1807,2134,0,0,0,0,0,0
$GC,7416,1.20,118.0,176.9,8.3,367,7420,0.00,2.60,0.00,0.000,4,0.000,0.054,3393,390,2133,0,0,0,0,0,0
$GC,7505,1.20,118.0,167.6,10.5,376,7510,0.00,2.45,0.00,0.000,6,0.000,0.023,3393,1804,2131,0,0,0,0,0,0
$GC,7768,1.21,127.4,144.2,7.6,400,7780,0.00,2.65,5.68,0.469,4,0.000,0.051,3393,387,2114,0,0,0,0,0,0
$GC,7814,1.21,127.4,140.2,8.8,404,7821,0.00,2.47,0.00,0.000,6,0.000,0.022,3393,1799,2113,0,0,0,0,0,0
$GC,8077,1.21,127.4,118.7,8.3,429,8078,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1801,2113,0,0,0,0,0,0
$GC,8332,1.21,127.4,96.6,8.2,453,8336,0.00,2.45,0.00,0.000,4,0.000,0.032,3394,3207,2114,0,0,0,0,0,0
$GC,8367,1.23,148.1,93.8,7.1,456,8395,0.00,2.55,19.80,0.536,6,0.000,0.038,3393,1799,2030,0,0,0,0,0,0
$GC,8651,1.26,167.6,75.3,7.1,483,8674,0.00,2.62,17.95,0.510,4,0.000,0.054,3393,387,1950,0,0,0,0,0,0
$GC,8709,1.26,167.6,69.8,12.2,489,8713,0.00,2.45,0.00,0.000,6,0.000,0.020,3393,1804,1946,0,0,0,0,0,0
$GC,8973,1.26,167.6,46.3,9.3,513,8978,0.00,2.60,0.00,0.000,4,0.000,0.048,3393,392,1946,0,0,0,0,0,0
$GC,9053,1.26,167.6,38.3,8.8,521,9057,0.00,2.40,0.00,0.000,6,0.000,0.019,3393,1803,1944,0,0,0,0,0,0
$GC,9319,1.34,230.9,22.2,5.1,558,9381,0.15,0.00,54.35,0.482,6,0.053,0.000,3445,1809,1691,0,0,0,0,0,0
$STATE,9506,end climb,SURFACE_DEPTH_REACHED
$STATE,9507,begin surface coast
$FINISH,1.1,1.012877
$STATE,9534,end surface coast,CONTROL_FINISHED_OK
$STATE,9534,begin surface
$SM_CCo,9558,51.22,0.459,0,0,1288,330.17
$SM_GC,1.80,0.00,0.00,51.22,0.000,0.000,0.459,429,2148,1288,-12.46,1.36,330.17
$IRIDIUM_FIX,2059.45,-15748.75,010800,070753
$TT8_MAMPS,0.029146
$HUMID,56.41
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.20
$XPDR_PINGS,1
$24V_AH,23.5,23.586
$10V_AH,10.4,22.444
$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,28.525,96.625,294.625,51.225,0.000,28.046,38.996,173.941,4.750,0.000,30.922,1089.127,6377.795,398.095,1649.962,478.579,33.358,1106.711,0.000,1620.870,0.000,29.254,0.000
$DEVICE_MAMPS,134.225,61.360,826.826,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,403.878,393.491,867.778,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,31842,597
$CAP_FILE_SIZE,95348,0
$CFSIZE,260165632,242470912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080511,124507,2107.279,-15749.615,36,1.0,36,9.8