version: 66.06
glider: 139
mission: 9
dive: 291
start: 5 8 111 12 51 25
data:
$ID,139
$MISSION,9
$DIVE,291
$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,-2181917.8
$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,77
$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
$GPS1,124507,2107.279,-15749.615,36,1.0,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-75.7
$GPS2,125032,2107.241,-15749.627,16,1.0,16,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.222,-0.001
$KALMAN_X,-175872.7,93.5,832.8,176691.1,-2640.6
$KALMAN_Y,-971.0,-288.0,-122.0,-5126.7,46.6
$MHEAD_RNG_PITCHd_Wd,80.5,11890,-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,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,88,0.00,0.00,-69.68,0.000,2,0.000,0.000,428,2146,3102,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.4,-4.4,13,110,13.10,0.00,-0.17,0.000,6,0.135,0.000,2868,2146,3113,0,0,0,0,0,0
$GC,309,-1.19,-116.8,48.8,-16.3,43,313,0.00,2.33,0.00,0.000,4,0.000,0.032,2868,3467,3115,0,0,0,0,0,0
$GC,329,-1.19,-116.8,51.8,-14.1,45,334,0.00,2.42,0.00,0.000,6,0.000,0.031,2868,2083,3116,0,0,0,0,0,0
$GC,592,-1.19,-116.8,85.0,-13.3,69,596,0.00,2.47,0.00,0.000,4,0.000,0.043,2868,694,3116,0,0,0,0,0,0
$GC,656,-1.19,-116.8,95.0,-15.3,75,661,0.00,2.33,0.00,0.000,6,0.000,0.020,2868,2066,3116,0,0,0,0,0,0
$GC,919,-1.19,-116.8,127.1,-14.2,100,923,0.00,2.55,0.00,0.000,4,0.000,0.036,2868,3502,3117,0,0,0,0,0,0
$GC,1037,-1.19,-116.8,144.1,-13.5,112,1041,0.00,2.45,0.00,0.000,6,0.000,0.032,2868,2097,3118,0,0,0,0,0,0
$GC,1300,-1.19,-116.8,175.9,-11.7,136,1304,0.00,2.47,0.00,0.000,4,0.000,0.037,2868,3502,3118,0,0,0,0,0,0
$GC,1411,-1.19,-116.8,187.0,-8.8,147,1416,0.00,2.47,0.00,0.000,6,0.000,0.035,2867,2100,3118,0,0,0,0,0,0
$GC,1682,-1.19,-116.8,212.8,-10.2,167,1686,0.00,2.53,0.00,0.000,4,0.000,0.044,2867,685,3118,0,0,0,0,0,0
$GC,1780,-1.19,-116.8,223.3,-10.2,171,1785,0.00,2.40,0.00,0.000,6,0.000,0.021,2867,2101,3118,0,0,0,0,0,0
$GC,2102,-1.19,-116.8,253.3,-8.2,187,2107,0.00,2.50,0.00,0.000,4,0.000,0.042,2867,3506,3118,0,0,0,0,0,0
$GC,2140,-1.19,-116.8,256.2,-7.7,188,2147,0.00,2.50,0.00,0.000,6,0.000,0.037,2868,2105,3118,0,0,0,0,0,0
$GC,2457,-1.19,-116.8,284.2,-9.5,204,2462,0.00,2.58,0.00,0.000,4,0.000,0.047,2868,682,3118,0,0,0,0,0,0
$GC,2596,-1.19,-116.8,299.9,-10.6,210,2603,0.00,2.45,0.00,0.000,6,0.000,0.025,2867,2101,3118,0,0,0,0,0,0
$GC,2944,-1.19,-116.8,329.1,-7.8,219,2948,0.00,2.53,0.00,0.000,4,0.000,0.047,2868,3502,3116,0,0,0,0,0,0
$GC,2959,-1.19,-116.8,330.3,-7.4,219,2964,0.00,2.50,0.00,0.000,6,0.000,0.040,2868,2099,3116,0,0,0,0,0,0
$GC,3309,-1.19,-116.8,356.2,-7.6,228,3314,0.00,2.58,0.00,0.000,4,0.000,0.050,2867,689,3115,0,0,0,0,0,0
$GC,3374,-1.19,-116.8,361.8,-8.3,229,3379,0.00,2.42,0.00,0.000,6,0.000,0.026,2868,2102,3114,0,0,0,0,0,0
$GC,3721,-1.19,-116.8,392.0,-9.0,238,3726,0.00,2.55,0.00,0.000,4,0.000,0.051,2867,692,3112,0,0,0,0,0,0
$GC,3905,-1.19,-116.8,409.8,-8.7,242,3910,0.00,2.45,0.00,0.000,6,0.000,0.028,2867,2108,3111,0,0,0,0,0,0
$GC,4228,-1.19,-116.8,436.4,-8.2,250,4233,0.00,2.58,0.00,0.000,4,0.000,0.054,2868,3501,3109,0,0,0,0,0,0
$GC,4279,-1.19,-116.8,440.5,-8.4,251,4284,0.00,2.53,0.00,0.000,6,0.000,0.046,2868,2100,3108,0,0,0,0,0,0
$STATE,4432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4433,begin apogee
$GC,4440,-0.31,0.0,451.1,6.7,255,4539,0.95,0.00,95.65,0.819,6,0.081,0.000,3065,1796,2635,0,0,0,0,0,0
$STATE,4540,end apogee,CONTROL_FINISHED_OK
$STATE,4540,begin climb
$GC,4543,1.19,116.8,452.2,0.0,257,4648,1.50,0.00,101.30,0.798,6,0.055,0.000,3395,1796,2158,0,0,0,0,0,0
$GC,4952,1.19,116.8,405.3,12.1,267,4957,0.00,2.62,0.00,0.000,4,0.000,0.045,3395,3206,2147,0,0,0,0,0,0
$GC,4985,1.19,116.8,400.9,11.5,267,4990,0.00,2.62,0.00,0.000,6,0.000,0.053,3395,1805,2147,0,0,0,0,0,0
$GC,5316,1.19,116.8,366.5,10.3,275,5321,0.00,2.67,0.00,0.000,4,0.000,0.063,3395,394,2143,0,0,0,0,0,0
$GC,5396,1.19,116.8,357.3,11.3,276,5400,0.00,2.50,0.00,0.000,6,0.000,0.028,3395,1801,2139,0,0,0,0,0,0
$GC,5727,1.19,116.8,321.9,10.6,284,5731,0.00,2.53,0.00,0.000,4,0.000,0.044,3395,3204,2139,0,0,0,0,0,0
$GC,5746,1.19,116.8,320.0,9.3,284,5750,0.00,2.60,0.00,0.000,6,0.000,0.048,3395,1795,2139,0,0,0,0,0,0
$GC,6074,1.19,116.8,288.4,9.8,295,6078,0.00,2.62,0.00,0.000,4,0.000,0.060,3395,393,2137,0,0,0,0,0,0
$GC,6102,1.19,116.8,285.1,11.5,296,6106,0.00,2.45,0.00,0.000,6,0.000,0.026,3395,1802,2135,0,0,0,0,0,0
$GC,6422,1.19,116.8,253.0,9.6,312,6427,0.00,2.65,0.00,0.000,4,0.000,0.059,3394,393,2135,0,0,0,0,0,0
$GC,6478,1.19,116.8,246.5,12.7,314,6482,0.00,2.47,0.00,0.000,6,0.000,0.025,3395,1802,2133,0,0,0,0,0,0
$GC,6795,1.19,116.8,216.4,10.4,329,6800,0.00,2.50,0.00,0.000,4,0.000,0.040,3395,3210,2133,0,0,0,0,0,0
$GC,6874,1.19,116.8,207.8,10.1,332,6879,0.00,2.55,0.00,0.000,6,0.000,0.044,3395,1800,2133,0,0,0,0,0,0
$GC,7198,1.19,116.8,175.7,9.5,358,7203,0.00,2.58,0.00,0.000,4,0.000,0.054,3395,393,2133,0,0,0,0,0,0
$GC,7241,1.19,116.8,171.1,10.9,362,7245,0.00,2.42,0.00,0.000,6,0.000,0.023,3395,1804,2131,0,0,0,0,0,0
$GC,7504,1.19,116.8,145.9,8.8,386,7505,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1809,2132,0,0,0,0,0,0
$GC,7756,1.23,144.7,127.5,6.7,410,7785,0.00,2.55,20.35,0.572,4,0.000,0.034,3395,3202,2045,0,0,0,0,0,0
$GC,7800,1.25,165.3,124.2,7.1,414,7826,0.00,2.60,19.73,0.564,6,0.000,0.040,3395,1801,1961,0,0,0,0,0,0
$GC,8081,1.25,165.3,98.6,11.0,441,8085,0.00,2.58,0.00,0.000,4,0.000,0.051,3395,390,1956,0,0,0,0,0,0
$GC,8125,1.25,165.3,93.5,11.5,445,8130,0.00,2.45,0.00,0.000,6,0.000,0.021,3395,1809,1953,0,0,0,0,0,0
$GC,8390,1.28,187.1,72.2,7.0,469,8414,0.00,2.67,19.10,0.515,4,0.000,0.051,3395,385,1871,0,0,0,0,0,0
$GC,8492,1.28,187.1,63.1,10.6,479,8496,0.00,2.42,0.00,0.000,6,0.000,0.020,3395,1802,1866,0,0,0,0,0,0
$GC,8757,1.28,187.1,36.4,9.7,503,8762,0.00,2.42,0.00,0.000,4,0.000,0.028,3395,3199,1867,0,0,0,0,0,0
$GC,8802,1.28,187.1,32.5,8.1,507,8809,0.00,2.55,0.00,0.000,6,0.000,0.035,3395,1799,1866,0,0,0,0,0,0
$GC,9066,1.31,214.2,14.7,6.8,553,9096,0.12,2.67,24.20,0.467,4,0.061,0.049,3440,389,1760,0,0,0,0,0,0
$GC,9117,1.31,214.2,10.1,10.0,562,9124,0.00,2.45,0.00,0.000,6,0.000,0.019,3440,1796,1756,0,0,0,0,0,0
$STATE,9182,end climb,SURFACE_DEPTH_REACHED
$STATE,9182,begin surface coast
$FINISH,1.0,1.010140
$STATE,9210,end surface coast,CONTROL_FINISHED_OK
$STATE,9212,begin surface
$SM_CCo,9236,59.53,0.461,0,0,1288,330.17
$SM_GC,1.60,0.00,0.00,59.53,0.000,0.000,0.461,428,2135,1288,-12.46,0.99,330.17
$IRIDIUM_FIX,2059.45,-15753.03,010800,101009
$TT8_MAMPS,0.028379
$HUMID,55.94
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.70
$XPDR_PINGS,1
$24V_AH,23.5,23.664
$10V_AH,10.4,22.521
$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,28.600,116.775,280.325,59.525,0.000,24.546,33.903,143.865,4.750,0.000,16.420,1099.967,5955.424,425.527,1698.812,443.724,33.365,1155.651,0.000,1677.400,0.000,29.255,0.000
$DEVICE_MAMPS,134.992,62.894,819.156,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,391.948,380.461,857.748,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31849,579
$CAP_FILE_SIZE,99612,0
$CFSIZE,260165632,242417664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080511,152734,2106.940,-15749.403,14,2.3,33,9.8