version: 66.06
glider: 139
mission: 9
dive: 293
start: 5 8 111 18 25 55
data:
$ID,139
$MISSION,9
$DIVE,293
$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,-2181964.8
$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,18
$R_STBD_OVSHOOT,81
$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
$GPS1,181427,2106.576,-15749.519,26,3.2,45,9.8
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-75.9
$GPS2,182501,2106.630,-15749.627,14,1.3,31,9.8
$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,-178939.5,-263.6,-692.3,181644.8,-1529.4
$KALMAN_Y,-2133.2,-197.4,-100.7,-5204.1,-110.3
$MHEAD_RNG_PITCHd_Wd,80.5,11690,-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,-69.68,0.000,6,0.000,0.000,426,2152,3112,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.6,-5.2,13,110,13.05,2.30,0.00,0.000,4,0.133,0.030,2869,3462,3114,0,0,0,0,0,0
$GC,172,-1.19,-116.8,24.5,-18.9,30,179,0.00,2.45,0.00,0.000,6,0.000,0.034,2869,2097,3116,0,0,0,0,0,0
$GC,372,-1.19,-116.8,63.3,-17.2,51,374,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2097,3116,0,0,0,0,0,0
$GC,627,-1.19,-116.8,99.1,-14.8,75,631,0.00,2.40,0.00,0.000,4,0.000,0.035,2869,3463,3116,0,0,0,0,0,0
$GC,775,-1.19,-116.8,118.5,-13.0,91,779,0.00,2.40,0.00,0.000,6,0.000,0.032,2869,2095,3117,0,0,0,0,0,0
$GC,1039,-1.19,-116.8,148.7,-10.2,115,1043,0.00,2.53,0.00,0.000,4,0.000,0.041,2869,684,3118,0,0,0,0,0,0
$GC,1065,-1.19,-116.8,151.5,-10.2,117,1070,0.00,2.33,0.00,0.000,6,0.000,0.021,2869,2061,3117,0,0,0,0,0,0
$GC,1330,-1.19,-116.8,176.3,-10.1,141,1334,0.00,2.53,0.00,0.000,4,0.000,0.038,2869,3494,3118,0,0,0,0,0,0
$GC,1381,-1.19,-116.8,182.4,-11.6,146,1385,0.00,2.45,0.00,0.000,6,0.000,0.035,2869,2095,3118,0,0,0,0,0,0
$GC,1650,-1.19,-116.8,209.6,-8.4,166,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2094,3118,0,0,0,0,0,0
$GC,1960,-1.19,-116.8,235.1,-8.0,181,1965,0.00,2.50,0.00,0.000,4,0.000,0.041,2869,3493,3118,0,0,0,0,0,0
$GC,2069,-1.19,-116.8,244.7,-8.0,185,2074,0.00,2.45,0.00,0.000,6,0.000,0.036,2869,2098,3118,0,0,0,0,0,0
$GC,2386,-1.19,-116.8,269.2,-7.7,201,2390,0.00,2.53,0.00,0.000,4,0.000,0.048,2869,693,3117,0,0,0,0,0,0
$GC,2523,-1.19,-116.8,282.8,-11.0,207,2527,0.00,2.40,0.00,0.000,6,0.000,0.025,2869,2099,3116,0,0,0,0,0,0
$GC,2846,-1.19,-116.8,312.9,-9.1,220,2850,0.00,2.53,0.00,0.000,4,0.000,0.047,2868,689,3115,0,0,0,0,0,0
$GC,2874,-1.19,-116.8,315.7,-10.2,220,2878,0.00,2.42,0.00,0.000,6,0.000,0.025,2869,2108,3115,0,0,0,0,0,0
$GC,3211,-1.19,-116.8,341.4,-7.3,229,3216,0.00,2.55,0.00,0.000,4,0.000,0.048,2869,690,3113,0,0,0,0,0,0
$GC,3249,-1.19,-116.8,345.3,-10.0,229,3254,0.00,2.42,0.00,0.000,6,0.000,0.026,2869,2100,3113,0,0,0,0,0,0
$GC,3580,-1.19,-116.8,375.6,-8.6,238,3584,0.00,2.58,0.00,0.000,4,0.000,0.051,2869,687,3111,0,0,0,0,0,0
$GC,3595,-1.19,-116.8,376.9,-8.6,238,3599,0.00,2.47,0.00,0.000,6,0.000,0.027,2869,2108,3111,0,0,0,0,0,0
$GC,3945,-1.19,-116.8,404.7,-7.5,247,3949,0.00,2.58,0.00,0.000,4,0.000,0.052,2869,687,3108,0,0,0,0,0,0
$GC,4130,-1.19,-116.8,420.0,-8.0,251,4135,0.00,2.47,0.00,0.000,6,0.000,0.028,2868,2114,3107,0,0,0,0,0,0
$GC,4458,-1.19,-116.8,444.7,-7.6,259,4462,0.00,2.55,0.00,0.000,4,0.000,0.054,2869,3507,3105,0,0,0,0,0,0
$GC,4496,-1.19,-116.8,447.6,-7.5,259,4502,0.00,2.55,0.00,0.000,6,0.000,0.046,2869,2100,3105,0,0,0,0,0,0
$STATE,4540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4540,begin apogee
$GC,4547,-0.31,0.0,450.8,7.0,261,4646,0.95,0.00,94.97,0.821,6,0.081,0.000,3066,1793,2635,0,0,0,0,0,0
$STATE,4646,end apogee,CONTROL_FINISHED_OK
$STATE,4647,begin climb
$GC,4649,1.19,116.8,452.4,0.0,263,4755,1.50,0.00,101.47,0.802,6,0.054,0.000,3395,1793,2158,0,0,0,0,0,0
$GC,5068,1.19,116.8,404.3,12.8,274,5069,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1793,2147,0,0,0,0,0,0
$GC,5393,1.19,116.8,369.1,10.9,282,5397,0.00,2.62,0.00,0.000,4,0.000,0.061,3394,403,2144,0,0,0,0,0,0
$GC,5472,1.19,116.8,359.4,12.2,283,5476,0.00,2.47,0.00,0.000,6,0.000,0.027,3395,1800,2139,0,0,0,0,0,0
$GC,5803,1.19,116.8,322.1,11.2,291,5808,0.00,2.53,0.00,0.000,4,0.000,0.044,3395,3205,2138,0,0,0,0,0,0
$GC,5818,1.19,116.8,320.6,10.2,291,5823,0.00,2.58,0.00,0.000,6,0.000,0.047,3395,1805,2138,0,0,0,0,0,0
$GC,6149,1.19,116.8,287.8,10.3,302,6150,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1806,2137,0,0,0,0,0,0
$GC,6460,1.19,116.8,252.5,12.0,317,6465,0.00,2.62,0.00,0.000,4,0.000,0.058,3394,395,2136,0,0,0,0,0,0
$GC,6544,1.19,116.8,241.5,12.6,320,6550,0.00,2.50,0.00,0.000,6,0.000,0.026,3395,1803,2133,0,0,0,0,0,0
$GC,6859,1.19,116.8,211.7,9.1,336,6864,0.00,2.53,0.00,0.000,4,0.000,0.039,3395,3214,2133,0,0,0,0,0,0
$GC,6961,1.19,116.8,202.0,9.7,340,6965,0.00,2.60,0.00,0.000,6,0.000,0.044,3395,1798,2133,0,0,0,0,0,0
$GC,7286,1.19,116.8,171.2,9.9,369,7287,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1798,2133,0,0,0,0,0,0
$GC,7541,1.19,116.8,147.5,9.2,393,7546,0.00,2.53,0.00,0.000,4,0.000,0.034,3395,3208,2132,0,0,0,0,0,0
$GC,7597,1.19,116.8,142.1,9.1,398,7603,0.00,2.58,0.00,0.000,6,0.000,0.041,3394,1805,2132,0,0,0,0,0,0
$GC,7862,1.23,144.6,123.2,6.7,423,7890,0.00,2.67,20.33,0.562,4,0.000,0.052,3395,393,2045,0,0,0,0,0,0
$GC,7959,1.23,144.6,115.3,9.4,433,7963,0.00,2.45,0.00,0.000,6,0.000,0.021,3396,1814,2041,0,0,0,0,0,0
$GC,8224,1.25,161.7,97.1,7.2,457,8246,0.00,2.50,16.02,0.525,4,0.000,0.031,3395,3195,1974,0,0,0,0,0,0
$GC,8282,1.25,161.7,92.2,8.6,463,8286,0.00,2.53,0.00,0.000,6,0.000,0.036,3395,1795,1974,0,0,0,0,0,0
$GC,8545,1.25,161.7,70.3,8.4,487,8546,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1795,1972,0,0,0,0,0,0
$GC,8799,1.25,161.7,49.4,9.1,511,8803,0.00,2.55,0.00,0.000,4,0.000,0.048,3395,387,1972,0,0,0,0,0,0
$GC,8860,1.25,161.7,44.1,9.5,517,8865,0.00,2.40,0.00,0.000,6,0.000,0.018,3395,1805,1969,0,0,0,0,0,0
$GC,9127,1.29,197.2,26.1,6.4,546,9168,0.10,2.67,31.17,0.476,4,0.071,0.046,3435,397,1828,0,0,0,0,0,0
$GC,9224,1.29,197.2,17.7,10.1,565,9231,0.00,2.42,0.00,0.000,6,0.000,0.018,3435,1798,1824,0,0,0,0,0,0
$STATE,9370,end climb,SURFACE_DEPTH_REACHED
$STATE,9372,begin surface coast
$FINISH,1.0,1.023076
$STATE,9399,end surface coast,CONTROL_FINISHED_OK
$STATE,9399,begin surface
$SM_CCo,9423,65.62,0.456,0,0,1288,330.17
$SM_GC,1.75,0.00,0.00,65.62,0.000,0.000,0.456,430,2131,1288,-12.46,0.88,330.17
$IRIDIUM_FIX,2059.45,-15750.89,010800,181806
$TT8_MAMPS,0.029146
$HUMID,55.78
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.5,23.833
$10V_AH,10.5,22.679
$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,28.475,101.150,263.975,65.625,0.000,56.869,66.410,306.197,4.500,0.000,31.746,1096.141,6252.911,427.902,1685.108,664.181,33.359,1121.142,0.000,1648.437,0.000,29.268,0.000
$DEVICE_MAMPS,132.691,61.360,821.457,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,404.103,393.306,875.272,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,31758,597
$CAP_FILE_SIZE,100336,0
$CFSIZE,260165632,242319360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080511,210501,2106.344,-15748.938,13,1.6,18,9.8