version: 66.06
glider: 139
mission: 9
dive: 292
start: 5 8 111 15 37 13
data:
$ID,139
$MISSION,9
$DIVE,292
$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,-2181932.2
$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,17
$R_STBD_OVSHOOT,76
$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
$GPS1,152734,2106.940,-15749.403,14,2.3,33,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-75.6
$GPS2,153620,2106.966,-15749.485,13,1.5,13,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.221,-0.010
$KALMAN_X,-177253.2,-142.2,222.9,179164.6,-2845.4
$KALMAN_Y,-1385.6,-268.3,-241.5,-5120.0,177.5
$MHEAD_RNG_PITCHd_Wd,82.7,11546,-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,-69.50,0.000,2,0.000,0.000,428,2135,3082,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.2,-3.4,13,110,13.00,0.00,-0.57,0.000,6,0.132,0.000,2868,2135,3112,0,0,0,0,0,0
$GC,309,-1.19,-116.8,50.6,-16.8,43,313,0.00,2.35,0.00,0.000,4,0.000,0.035,2868,3462,3115,0,0,0,0,0,0
$GC,400,-1.19,-116.8,64.6,-16.5,53,404,0.00,2.42,0.00,0.000,6,0.000,0.032,2869,2082,3115,0,0,0,0,0,0
$GC,662,-1.19,-116.8,98.9,-12.2,77,666,0.00,2.50,0.00,0.000,4,0.000,0.044,2868,692,3115,0,0,0,0,0,0
$GC,690,-1.19,-116.8,103.5,-16.9,79,695,0.00,2.35,0.00,0.000,6,0.000,0.020,2868,2072,3115,0,0,0,0,0,0
$GC,953,-1.19,-116.8,134.2,-11.2,104,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2072,3116,0,0,0,0,0,0
$GC,1205,-1.19,-116.8,162.9,-12.5,128,1210,0.00,2.55,0.00,0.000,4,0.000,0.038,2868,3505,3117,0,0,0,0,0,0
$GC,1324,-1.19,-116.8,176.7,-11.5,140,1328,0.00,2.45,0.00,0.000,6,0.000,0.034,2868,2100,3117,0,0,0,0,0,0
$GC,1586,-1.19,-116.8,206.2,-9.6,161,1590,0.00,2.55,0.00,0.000,4,0.000,0.044,2868,684,3117,0,0,0,0,0,0
$GC,1641,-1.19,-116.8,212.8,-11.1,163,1646,0.00,2.42,0.00,0.000,6,0.000,0.021,2868,2108,3117,0,0,0,0,0,0
$GC,1957,-1.19,-116.8,237.8,-7.6,178,1962,0.00,2.50,0.00,0.000,4,0.000,0.041,2868,3503,3118,0,0,0,0,0,0
$GC,1983,-1.19,-116.8,240.1,-9.5,179,1987,0.00,2.47,0.00,0.000,6,0.000,0.038,2868,2100,3118,0,0,0,0,0,0
$GC,2309,-1.19,-116.8,266.9,-8.8,195,2314,0.00,2.55,0.00,0.000,4,0.000,0.048,2868,692,3117,0,0,0,0,0,0
$GC,2412,-1.19,-116.8,277.9,-11.5,199,2416,0.00,2.40,0.00,0.000,6,0.000,0.023,2868,2103,3116,0,0,0,0,0,0
$GC,2747,-1.19,-116.8,310.8,-11.1,213,2752,0.00,2.53,0.00,0.000,4,0.000,0.047,2868,692,3116,0,0,0,0,0,0
$GC,2785,-1.19,-116.8,315.4,-11.4,213,2790,0.00,2.40,0.00,0.000,6,0.000,0.025,2868,2098,3115,0,0,0,0,0,0
$GC,3116,-1.19,-116.8,346.4,-8.6,222,3117,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2098,3114,0,0,0,0,0,0
$GC,3441,-1.19,-116.8,369.0,-6.0,230,3446,0.00,2.55,0.00,0.000,4,0.000,0.050,2868,684,3112,0,0,0,0,0,0
$GC,3526,-1.19,-116.8,375.0,-6.9,231,3531,0.00,2.47,0.00,0.000,6,0.000,0.027,2868,2107,3112,0,0,0,0,0,0
$GC,3859,-1.19,-116.8,400.3,-7.8,240,3864,0.00,2.58,0.00,0.000,4,0.000,0.052,2868,688,3109,0,0,0,0,0,0
$GC,4035,-1.19,-116.8,415.7,-8.3,243,4041,0.00,2.47,0.00,0.000,6,0.000,0.028,2868,2105,3108,0,0,0,0,0,0
$GC,4367,-1.19,-116.8,440.1,-7.2,252,4372,0.00,2.58,0.00,0.000,4,0.000,0.054,2868,692,3106,0,0,0,0,0,0
$GC,4490,-1.19,-116.8,449.8,-8.5,254,4494,0.00,2.05,0.00,0.000,3,0.000,0.028,2868,1880,3105,0,0,0,0,0,0
$STATE,4495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4495,begin apogee
$GC,4502,-0.31,0.0,450.3,8.2,254,4600,0.93,0.00,94.90,0.820,6,0.082,0.000,3064,1784,2635,0,0,0,0,0,0
$STATE,4601,end apogee,CONTROL_FINISHED_OK
$STATE,4601,begin climb
$GC,4605,1.19,116.8,451.7,0.0,257,4712,1.50,0.00,100.28,0.799,6,0.055,0.000,3395,1784,2158,0,0,0,0,0,0
$GC,5057,1.19,116.8,395.1,13.6,268,5062,0.00,2.58,0.00,0.000,4,0.000,0.061,3394,410,2146,0,0,0,0,0,0
$GC,5095,1.19,116.8,389.3,15.3,268,5100,0.00,2.45,0.00,0.000,6,0.000,0.028,3394,1801,2143,0,0,0,0,0,0
$GC,5426,1.19,116.8,348.8,12.2,277,5431,0.00,2.65,0.00,0.000,4,0.000,0.061,3394,411,2142,0,0,0,0,0,0
$GC,5492,1.19,116.8,340.0,13.7,278,5496,0.00,2.47,0.00,0.000,6,0.000,0.028,3395,1805,2139,0,0,0,0,0,0
$GC,5837,1.19,116.8,301.4,10.3,287,5841,0.00,2.55,0.00,0.000,4,0.000,0.044,3394,3210,2138,0,0,0,0,0,0
$GC,5862,1.19,116.8,298.9,9.6,287,5867,0.00,2.58,0.00,0.000,6,0.000,0.048,3395,1812,2138,0,0,0,0,0,0
$GC,6189,1.19,116.8,269.9,8.4,303,6193,0.00,2.65,0.00,0.000,4,0.000,0.059,3394,396,2137,0,0,0,0,0,0
$GC,6258,1.19,116.8,262.3,10.8,306,6262,0.00,2.47,0.00,0.000,6,0.000,0.026,3394,1801,2134,0,0,0,0,0,0
$GC,6583,1.19,116.8,227.6,10.6,322,6587,0.00,2.50,0.00,0.000,4,0.000,0.040,3395,3209,2134,0,0,0,0,0,0
$GC,6651,1.19,116.8,220.7,10.4,325,6655,0.00,2.60,0.00,0.000,6,0.000,0.044,3395,1797,2134,0,0,0,0,0,0
$GC,6973,1.19,116.8,186.7,8.7,346,6974,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1797,2133,0,0,0,0,0,0
$GC,7228,1.19,116.8,163.8,8.8,370,7233,0.00,2.55,0.00,0.000,4,0.000,0.035,3395,3216,2132,0,0,0,0,0,0
$GC,7265,1.19,116.8,160.6,8.5,373,7271,0.00,2.58,0.00,0.000,6,0.000,0.041,3395,1803,2133,0,0,0,0,0,0
$GC,7528,1.19,116.8,138.9,8.2,398,7529,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1803,2132,0,0,0,0,0,0
$GC,7781,1.19,116.8,114.4,8.1,422,7785,0.00,2.58,0.00,0.000,4,0.000,0.051,3395,386,2132,0,0,0,0,0,0
$GC,7800,1.20,117.3,112.8,8.0,423,7805,0.00,2.42,0.00,0.000,6,0.000,0.021,3395,1812,2131,0,0,0,0,0,0
$GC,8063,1.21,130.3,94.9,7.4,448,8077,0.00,2.50,8.15,0.479,4,0.000,0.033,3395,3202,2102,0,0,0,0,0,0
$GC,8140,1.21,130.3,89.0,8.4,456,8144,0.00,2.55,0.00,0.000,6,0.000,0.036,3395,1793,2102,0,0,0,0,0,0
$GC,8404,1.21,132.1,68.6,7.9,480,8409,0.00,2.53,0.00,0.000,4,0.000,0.048,3395,390,2102,0,0,0,0,0,0
$GC,8432,1.23,144.1,66.2,7.5,482,8451,0.00,2.45,13.55,0.490,6,0.000,0.020,3396,1809,2046,0,0,0,0,0,0
$GC,8715,1.29,197.7,48.9,5.6,509,8768,0.10,2.67,46.92,0.504,4,0.071,0.048,3434,388,1827,0,0,0,0,0,0
$GC,8824,1.29,197.7,38.7,11.3,520,8828,0.00,2.40,0.00,0.000,6,0.000,0.018,3434,1799,1821,0,0,0,0,0,0
$GC,9090,1.29,197.7,15.3,9.6,559,9095,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1800,1821,0,0,0,0,0,0
$STATE,9219,end climb,SURFACE_DEPTH_REACHED
$STATE,9219,begin surface coast
$FINISH,0.9,1.020542
$STATE,9259,end surface coast,CONTROL_FINISHED_OK
$STATE,9259,begin surface
$SM_CCo,9283,65.22,0.457,0,0,1288,330.17
$SM_GC,1.76,0.00,0.00,65.22,0.000,0.000,0.457,426,2155,1288,-12.47,1.55,330.17
$IRIDIUM_FIX,2059.45,-15748.75,010800,151515
$TT8_MAMPS,0.028379
$HUMID,55.94
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,23.745
$10V_AH,10.5,22.599
$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,28.350,100.500,263.800,65.225,0.000,52.203,68.442,215.708,4.500,0.000,13.875,1097.059,6104.057,388.298,1709.493,577.620,33.354,1121.071,0.000,1688.559,0.000,29.249,0.000
$DEVICE_MAMPS,131.924,62.894,819.923,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,399.616,389.389,875.286,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,31670,590
$CAP_FILE_SIZE,100572,0
$CFSIZE,260165632,242368512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080511,181427,2106.576,-15749.519,26,3.2,45,9.8