version: 66.06
glider: 139
mission: 9
dive: 295
start: 5 8 111 23 57 25
data:
$ID,139
$MISSION,9
$DIVE,295
$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,-2182013
$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,80
$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
$GPS1,235107,2106.458,-15747.775,33,0.9,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-75.0
$GPS2,235632,2106.444,-15747.767,13,1.7,13,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.216,0.050
$KALMAN_X,-182359.8,26.4,737.2,186554.7,-2133.8
$KALMAN_Y,-3288.6,23.8,71.6,-4795.4,-602.1
$MHEAD_RNG_PITCHd_Wd,67.1,8459,-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,-116.8,0.0,0.0,0,89,0.00,0.00,-69.85,0.000,2,0.000,0.000,423,2147,3084,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.1,-3.3,13,112,13.12,2.35,-0.52,0.000,4,0.134,0.044,2870,3465,3113,0,0,0,0,0,0
$GC,276,-1.19,-116.8,42.4,-17.0,46,280,0.00,2.42,0.00,0.000,6,0.000,0.031,2870,2092,3115,0,0,0,0,0,0
$GC,538,-1.19,-116.8,77.9,-13.1,70,542,0.00,2.53,0.00,0.000,4,0.000,0.041,2870,684,3116,0,0,0,0,0,0
$GC,573,-1.19,-116.8,81.9,-11.3,73,577,0.00,2.35,0.00,0.000,6,0.000,0.020,2870,2062,3116,0,0,0,0,0,0
$GC,838,-1.19,-116.8,113.4,-12.2,97,842,0.00,2.45,0.00,0.000,4,0.000,0.042,2870,693,3117,0,0,0,0,0,0
$GC,992,-1.19,-116.8,136.0,-14.4,113,998,0.00,2.40,0.00,0.000,6,0.000,0.020,2870,2107,3117,0,0,0,0,0,0
$GC,1255,-1.19,-116.8,167.8,-12.6,138,1260,0.00,2.47,0.00,0.000,4,0.000,0.038,2870,3496,3117,0,0,0,0,0,0
$GC,1434,-1.19,-116.8,189.1,-11.7,157,1438,0.00,2.47,0.00,0.000,6,0.000,0.035,2870,2094,3118,0,0,0,0,0,0
$GC,1691,-1.19,-116.8,215.2,-9.9,174,1695,0.00,2.47,0.00,0.000,4,0.000,0.038,2870,3497,3118,0,0,0,0,0,0
$GC,1774,-1.19,-116.8,223.4,-9.5,177,1779,0.00,2.47,0.00,0.000,6,0.000,0.035,2870,2097,3118,0,0,0,0,0,0
$GC,2092,-1.19,-116.8,253.9,-11.0,193,2096,0.00,2.53,0.00,0.000,4,0.000,0.045,2869,693,3118,0,0,0,0,0,0
$GC,2143,-1.19,-116.8,259.9,-10.9,195,2150,0.00,2.40,0.00,0.000,6,0.000,0.023,2870,2095,3118,0,0,0,0,0,0
$GC,2472,-1.19,-116.8,285.1,-7.1,211,2477,0.00,2.50,0.00,0.000,4,0.000,0.046,2870,694,3118,0,0,0,0,0,0
$GC,2551,-1.19,-116.8,292.7,-9.1,214,2555,0.00,2.40,0.00,0.000,6,0.000,0.025,2870,2100,3118,0,0,0,0,0,0
$GC,2863,-1.19,-116.8,319.2,-8.8,224,2868,0.00,2.55,0.00,0.000,4,0.000,0.047,2869,686,3116,0,0,0,0,0,0
$GC,2897,-1.19,-116.8,322.5,-9.9,224,2901,0.00,2.45,0.00,0.000,6,0.000,0.025,2870,2108,3117,0,0,0,0,0,0
$GC,3228,-1.19,-116.8,350.7,-7.9,232,3232,0.00,2.55,0.00,0.000,4,0.000,0.048,2870,687,3115,0,0,0,0,0,0
$GC,3348,-1.19,-116.8,360.1,-7.7,234,3352,0.00,2.42,0.00,0.000,6,0.000,0.026,2870,2105,3115,0,0,0,0,0,0
$GC,3688,-1.19,-116.8,383.8,-7.1,243,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2105,3112,0,0,0,0,0,0
$GC,4013,-1.19,-116.8,408.3,-7.5,251,4018,0.00,2.53,0.00,0.000,4,0.000,0.051,2870,3495,3110,0,0,0,0,0,0
$GC,4070,-1.19,-116.8,412.9,-8.2,252,4074,0.00,2.50,0.00,0.000,6,0.000,0.045,2870,2099,3110,0,0,0,0,0,0
$GC,4384,-1.19,-116.8,435.8,-7.0,260,4388,0.00,2.58,0.00,0.000,4,0.000,0.055,2869,691,3108,0,0,0,0,0,0
$GC,4537,-1.19,-116.8,446.7,-7.1,263,4541,0.00,2.47,0.00,0.000,6,0.000,0.030,2870,2100,3106,0,0,0,0,0,0
$STATE,4600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4600,begin apogee
$GC,4607,-0.31,0.0,450.8,6.2,265,4705,0.95,0.00,95.15,0.818,6,0.082,0.000,3066,1792,2636,0,0,0,0,0,0
$STATE,4706,end apogee,CONTROL_FINISHED_OK
$STATE,4706,begin climb
$GC,4709,1.19,116.8,452.2,0.0,267,4817,1.48,0.00,100.78,0.798,6,0.055,0.000,3393,1792,2158,0,0,0,0,0,0
$GC,5117,1.19,116.8,407.0,11.5,277,5121,0.00,2.65,0.00,0.000,4,0.000,0.062,3392,401,2147,0,0,0,0,0,0
$GC,5168,1.19,116.8,400.3,13.3,278,5173,0.00,2.47,0.00,0.000,6,0.000,0.028,3393,1799,2143,0,0,0,0,0,0
$GC,5487,1.19,116.8,368.3,10.0,286,5491,0.00,2.58,0.00,0.000,4,0.000,0.046,3393,3204,2142,0,0,0,0,0,0
$GC,5535,1.19,116.8,363.3,10.0,287,5540,0.00,2.62,0.00,0.000,6,0.000,0.052,3393,1808,2142,0,0,0,0,0,0
$GC,5859,1.19,116.8,326.7,11.7,295,5863,0.00,2.67,0.00,0.000,4,0.000,0.061,3393,390,2139,0,0,0,0,0,0
$GC,5938,1.19,116.8,315.4,15.0,296,5942,0.00,2.50,0.00,0.000,6,0.000,0.028,3393,1802,2137,0,0,0,0,0,0
$GC,6252,1.19,116.8,280.5,11.1,307,6256,0.00,2.55,0.00,0.000,4,0.000,0.043,3393,3211,2136,0,0,0,0,0,0
$GC,6290,1.19,116.8,276.3,10.5,308,6297,0.00,2.62,0.00,0.000,6,0.000,0.049,3393,1805,2136,0,0,0,0,0,0
$GC,6605,1.19,116.8,245.6,9.0,324,6610,0.00,2.65,0.00,0.000,4,0.000,0.059,3393,391,2135,0,0,0,0,0,0
$GC,6638,1.19,116.8,242.2,10.2,325,6642,0.00,2.47,0.00,0.000,6,0.000,0.025,3393,1803,2133,0,0,0,0,0,0
$GC,6954,1.19,116.8,215.6,8.6,340,6958,0.00,2.62,0.00,0.000,4,0.000,0.056,3393,393,2133,0,0,0,0,0,0
$GC,6991,1.19,116.8,212.0,9.2,341,6996,0.00,2.45,0.00,0.000,6,0.000,0.025,3393,1806,2132,0,0,0,0,0,0
$GC,7313,1.19,116.8,185.6,9.2,365,7317,0.00,2.62,0.00,0.000,4,0.000,0.054,3393,390,2132,0,0,0,0,0,0
$GC,7328,1.19,116.8,183.9,9.7,366,7333,0.00,2.45,0.00,0.000,6,0.000,0.023,3393,1809,2131,0,0,0,0,0,0
$GC,7591,1.19,116.8,160.3,8.2,390,7596,0.00,2.45,0.00,0.000,4,0.000,0.035,3393,3200,2131,0,0,0,0,0,0
$GC,7637,1.19,116.8,156.4,8.2,394,7644,0.00,2.58,0.00,0.000,6,0.000,0.040,3393,1798,2132,0,0,0,0,0,0
$GC,7902,1.22,135.5,136.9,7.2,419,7921,0.00,2.60,12.65,0.545,4,0.000,0.051,3393,391,2081,0,0,0,0,0,0
$GC,7962,1.22,135.5,131.4,8.4,425,7966,0.00,2.45,0.00,0.000,6,0.000,0.021,3393,1807,2079,0,0,0,0,0,0
$GC,8226,1.22,135.5,110.5,8.2,449,8230,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1811,2079,0,0,0,0,0,0
$GC,8487,1.22,135.5,88.7,8.5,474,8492,0.00,2.60,0.00,0.000,4,0.000,0.049,3393,391,2079,0,0,0,0,0,0
$GC,8586,1.22,135.5,80.4,8.1,484,8590,0.00,2.42,0.00,0.000,6,0.000,0.020,3393,1807,2078,0,0,0,0,0,0
$GC,8852,1.27,177.7,64.9,6.1,508,8895,0.00,2.67,37.28,0.512,4,0.000,0.049,3393,392,1909,0,0,0,0,0,0
$GC,8925,1.27,177.7,59.4,8.4,515,8929,0.00,2.40,0.00,0.000,6,0.000,0.019,3393,1801,1906,0,0,0,0,0,0
$GC,9189,1.38,268.8,43.7,3.8,539,9274,0.20,2.45,76.30,0.495,4,0.045,0.025,3455,3198,1539,0,0,0,0,0,0
$GC,9355,1.38,268.8,26.9,10.6,559,9362,0.00,2.58,0.00,0.000,6,0.000,0.037,3455,1800,1537,0,0,0,0,0,0
$STATE,9539,end climb,SURFACE_DEPTH_REACHED
$STATE,9539,begin surface coast
$FINISH,1.1,1.010117
$STATE,9562,end surface coast,CONTROL_FINISHED_OK
$STATE,9562,begin surface
$SM_CCo,9586,32.65,0.447,0,0,1288,330.17
$SM_GC,1.82,0.00,0.00,32.65,0.000,0.000,0.447,426,2149,1288,-12.47,1.39,330.17
$IRIDIUM_FIX,2101.76,-16049.26,010800,212157
$TT8_MAMPS,0.028379
$HUMID,56.37
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,21.90
$XPDR_PINGS,1
$24V_AH,23.5,23.993
$10V_AH,10.4,22.836
$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,28.750,116.475,322.150,32.650,0.000,30.821,36.589,137.635,5.000,0.000,13.628,1120.224,6183.709,410.457,1783.348,448.363,33.360,1192.649,0.000,1760.551,0.000,32.099,0.000
$DEVICE_MAMPS,134.225,62.127,818.389,447.161,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,403.552,392.182,877.798,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31729,597
$CAP_FILE_SIZE,102543,0
$CFSIZE,260165632,242216960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090511,023907,2106.333,-15747.207,43,1.5,43,9.8