version: 66.06
glider: 139
mission: 9
dive: 296
start: 5 9 111 2 45 25
data:
$ID,139
$MISSION,9
$DIVE,296
$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,-2182029
$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
$GPS1,023907,2106.333,-15747.207,43,1.5,43,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-73.5
$GPS2,024432,2106.330,-15747.227,15,1.6,15,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.208,0.076
$KALMAN_X,-184011.5,298.8,649.1,188954.3,-3171.4
$KALMAN_Y,-4048.2,110.6,-30.1,-4227.6,-749.5
$MHEAD_RNG_PITCHd_Wd,60.0,7506,-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,-69.07,0.000,2,0.000,0.000,425,2146,3068,0,0,0,0,0,0
$GC,93,-1.19,-116.8,3.2,-3.8,13,111,13.12,0.00,-0.85,0.000,6,0.135,0.000,2868,2146,3114,0,0,0,0,0,0
$GC,306,-1.19,-116.8,53.2,-20.6,42,310,0.00,2.30,0.00,0.000,4,0.000,0.033,2868,3462,3117,0,0,0,0,0,0
$GC,322,-1.19,-116.8,56.1,-18.2,43,327,0.00,2.40,0.00,0.000,6,0.000,0.031,2868,2088,3117,0,0,0,0,0,0
$GC,585,-1.19,-116.8,96.0,-13.5,67,589,0.00,2.47,0.00,0.000,4,0.000,0.041,2868,693,3118,0,0,0,0,0,0
$GC,600,-1.19,-116.8,98.2,-12.8,68,604,0.00,2.35,0.00,0.000,6,0.000,0.020,2868,2071,3117,0,0,0,0,0,0
$GC,863,-1.19,-116.8,135.9,-14.9,92,868,0.00,2.50,0.00,0.000,4,0.000,0.036,2868,3495,3119,0,0,0,0,0,0
$GC,1018,-1.19,-116.8,155.3,-11.7,108,1024,0.00,2.47,0.00,0.000,6,0.000,0.033,2868,2103,3119,0,0,0,0,0,0
$GC,1284,-1.19,-116.8,185.0,-11.8,133,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2104,3120,0,0,0,0,0,0
$GC,1541,-1.19,-116.8,212.8,-10.0,152,1545,0.00,2.53,0.00,0.000,4,0.000,0.043,2868,692,3120,0,0,0,0,0,0
$GC,1585,-1.19,-116.8,217.4,-10.8,154,1590,0.00,2.40,0.00,0.000,6,0.000,0.022,2868,2107,3120,0,0,0,0,0,0
$GC,1915,-1.19,-116.8,247.3,-9.3,170,1919,0.00,2.53,0.00,0.000,4,0.000,0.044,2868,687,3120,0,0,0,0,0,0
$GC,1988,-1.19,-116.8,255.3,-11.7,173,1993,0.00,2.42,0.00,0.000,6,0.000,0.023,2868,2105,3120,0,0,0,0,0,0
$GC,2310,-1.19,-116.8,284.3,-8.9,189,2315,0.00,2.53,0.00,0.000,4,0.000,0.045,2868,692,3119,0,0,0,0,0,0
$GC,2417,-1.19,-116.8,295.8,-10.7,193,2422,0.00,2.42,0.00,0.000,6,0.000,0.024,2868,2099,3119,0,0,0,0,0,0
$GC,2750,-1.19,-116.8,322.7,-7.7,203,2751,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2101,3118,0,0,0,0,0,0
$GC,3074,-1.19,-116.8,346.8,-7.6,211,3078,0.00,2.55,0.00,0.000,4,0.000,0.048,2868,693,3117,0,0,0,0,0,0
$GC,3117,-1.19,-116.8,350.3,-8.3,212,3121,0.00,2.45,0.00,0.000,6,0.000,0.025,2868,2109,3116,0,0,0,0,0,0
$GC,3444,-1.19,-116.8,377.8,-8.9,220,3449,0.00,2.55,0.00,0.000,4,0.000,0.049,2868,693,3115,0,0,0,0,0,0
$GC,3470,-1.19,-116.8,380.1,-9.9,220,3475,0.00,2.45,0.00,0.000,6,0.000,0.027,2868,2108,3115,0,0,0,0,0,0
$GC,3811,-1.19,-116.8,407.2,-7.6,229,3815,0.00,2.55,0.00,0.000,4,0.000,0.051,2868,3496,3113,0,0,0,0,0,0
$GC,3930,-1.19,-116.8,415.7,-6.4,231,3934,0.00,2.53,0.00,0.000,6,0.000,0.045,2868,2105,3112,0,0,0,0,0,0
$GC,4273,-1.19,-116.8,442.9,-8.2,240,4277,0.00,2.60,0.00,0.000,4,0.000,0.055,2868,685,3109,0,0,0,0,0,0
$GC,4320,-1.19,-116.8,447.4,-9.0,241,4324,0.00,2.47,0.00,0.000,6,0.000,0.029,2868,2099,3109,0,0,0,0,0,0
$STATE,4350,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4350,begin apogee
$GC,4357,-0.31,0.0,450.4,8.7,241,4456,0.93,0.00,95.57,0.812,6,0.082,0.000,3063,1789,2635,0,0,0,0,0,0
$STATE,4457,end apogee,CONTROL_FINISHED_OK
$STATE,4457,begin climb
$GC,4460,1.19,116.8,453.4,0.0,244,4565,1.52,0.00,101.30,0.795,6,0.054,0.000,3397,1789,2158,0,0,0,0,0,0
$GC,4888,1.19,116.8,408.2,12.0,255,4890,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1789,2147,0,0,0,0,0,0
$GC,5213,1.19,116.8,367.5,13.1,263,5218,0.00,2.62,0.00,0.000,4,0.000,0.046,3397,3207,2143,0,0,0,0,0,0
$GC,5241,1.19,116.8,364.1,11.2,263,5246,0.00,2.60,0.00,0.000,6,0.000,0.051,3396,1809,2143,0,0,0,0,0,0
$GC,5578,1.19,116.8,325.6,11.2,272,5582,0.00,2.65,0.00,0.000,4,0.000,0.060,3396,392,2140,0,0,0,0,0,0
$GC,5657,1.19,116.8,316.0,12.3,273,5661,0.00,2.50,0.00,0.000,6,0.000,0.027,3397,1808,2137,0,0,0,0,0,0
$GC,5971,1.19,116.8,285.9,9.5,283,5975,0.00,2.67,0.00,0.000,4,0.000,0.058,3396,394,2137,0,0,0,0,0,0
$GC,5991,1.19,116.8,283.3,12.2,284,5995,0.00,2.45,0.00,0.000,6,0.000,0.026,3396,1801,2136,0,0,0,0,0,0
$GC,6320,1.19,116.8,247.6,10.7,300,6321,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1803,2135,0,0,0,0,0,0
$GC,6631,1.19,116.8,215.8,9.0,315,6635,0.00,2.50,0.00,0.000,4,0.000,0.039,3397,3209,2135,0,0,0,0,0,0
$GC,6678,1.20,117.4,211.7,8.0,317,6682,0.00,2.58,0.00,0.000,6,0.000,0.043,3397,1800,2135,0,0,0,0,0,0
$GC,7011,1.23,144.0,187.8,6.8,341,7039,0.00,2.67,20.38,0.615,4,0.000,0.054,3396,387,2046,0,0,0,0,0,0
$GC,7071,1.23,144.0,182.5,9.3,347,7077,0.00,2.50,0.00,0.000,6,0.000,0.022,3397,1809,2043,0,0,0,0,0,0
$GC,7334,1.23,144.0,161.4,8.9,372,7335,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1814,2042,0,0,0,0,0,0
$GC,7588,1.23,144.0,137.4,9.4,396,7589,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1814,2042,0,0,0,0,0,0
$GC,7842,1.23,144.0,113.2,9.2,420,7847,0.00,2.62,0.00,0.000,4,0.000,0.051,3396,393,2042,0,0,0,0,0,0
$GC,7907,1.23,144.0,106.0,12.0,426,7913,0.00,2.45,0.00,0.000,6,0.000,0.021,3397,1805,2039,0,0,0,0,0,0
$GC,8171,1.26,169.3,84.1,6.9,451,8199,0.00,2.47,22.60,0.520,4,0.000,0.028,3397,3203,1943,0,0,0,0,0,0
$GC,8231,1.28,185.4,80.0,7.3,457,8253,0.00,2.55,15.10,0.499,6,0.000,0.038,3397,1794,1879,0,0,0,0,0,0
$GC,8516,1.30,203.0,60.1,7.2,484,8538,0.10,2.60,16.05,0.482,4,0.072,0.048,3434,391,1806,0,0,0,0,0,0
$GC,8598,1.30,203.0,50.8,12.7,492,8605,0.00,2.45,0.00,0.000,6,0.000,0.019,3434,1801,1802,0,0,0,0,0,0
$GC,8866,1.30,203.0,25.2,9.4,521,8872,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1806,1802,0,0,0,0,0,0
$GC,9068,1.30,203.0,5.5,9.8,558,9075,0.00,2.62,0.00,0.000,4,0.000,0.048,3434,393,1802,0,0,0,0,0,0
$STATE,9089,end climb,SURFACE_DEPTH_REACHED
$STATE,9089,begin surface coast
$FINISH,1.7,1.022957
$STATE,9099,end surface coast,CONTROL_FINISHED_OK
$STATE,9099,begin surface
$SM_CCo,9125,65.15,0.456,0,0,1288,330.17
$SM_GC,1.67,0.00,0.00,65.15,0.000,0.000,0.456,428,2115,1288,-12.47,0.42,330.17
$IRIDIUM_FIX,2059.45,-15745.74,020800,000054
$TT8_MAMPS,0.028379
$HUMID,56.45
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.5,24.070
$10V_AH,10.4,22.908
$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,28.450,96.550,271.000,65.150,0.000,24.719,31.647,146.874,4.500,0.000,15.282,1037.816,6081.612,434.579,1537.453,426.014,33.361,1085.584,0.000,1518.164,0.000,29.254,0.000
$DEVICE_MAMPS,134.992,59.826,812.253,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,381.081,365.967,805.329,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,31800,564
$CAP_FILE_SIZE,91350,0
$CFSIZE,260165632,242180096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090511,051943,2106.288,-15747.114,11,1.6,28,9.8