version: 66.06
glider: 139
mission: 9
dive: 297
start: 5 9 111 5 26 31
data:
$ID,139
$MISSION,9
$DIVE,297
$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,-2182062
$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,45
$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
$GPS1,051943,2106.288,-15747.114,11,1.6,28,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-76.8
$GPS2,052540,2106.309,-15747.156,12,2.1,31,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.206,0.082
$KALMAN_X,-185403.3,535.6,-380.2,191257.9,-2376.6
$KALMAN_Y,-4925.5,158.7,-103.3,-3365.6,-914.0
$MHEAD_RNG_PITCHd_Wd,58.4,7380,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.19,-116.8,0.0,0.0,0,90,0.00,0.00,-69.07,0.000,2,0.000,0.000,427,2117,3081,0,0,0,0,0,0
$GC,93,-1.19,-116.8,3.4,-4.0,13,112,13.07,0.00,-0.57,0.000,6,0.133,0.000,2872,2117,3113,0,0,0,0,0,0
$GC,311,-1.19,-116.8,50.7,-17.9,43,312,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2118,3115,0,0,0,0,0,0
$GC,566,-1.19,-116.8,90.0,-14.7,67,570,0.00,2.45,0.00,0.000,4,0.000,0.035,2872,3499,3116,0,0,0,0,0,0
$GC,622,-1.19,-116.8,98.2,-13.7,72,629,0.00,2.50,0.00,0.000,6,0.000,0.034,2871,2094,3115,0,0,0,0,0,0
$GC,886,-1.19,-116.8,130.1,-11.4,97,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2094,3117,0,0,0,0,0,0
$GC,1148,-1.19,-116.8,159.8,-11.2,122,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2093,3117,0,0,0,0,0,0
$GC,1402,-1.19,-116.8,184.8,-9.0,146,1406,0.00,2.47,0.00,0.000,4,0.000,0.036,2872,3492,3118,0,0,0,0,0,0
$GC,1493,-1.19,-116.8,193.2,-10.1,155,1499,0.00,2.47,0.00,0.000,6,0.000,0.035,2872,2093,3117,0,0,0,0,0,0
$GC,1750,-1.19,-116.8,219.1,-9.7,171,1754,0.00,2.50,0.00,0.000,4,0.000,0.038,2872,3492,3118,0,0,0,0,0,0
$GC,1810,-1.19,-116.8,225.1,-10.2,173,1816,0.00,2.47,0.00,0.000,6,0.000,0.036,2872,2094,3118,0,0,0,0,0,0
$GC,2127,-1.19,-116.8,256.0,-9.5,189,2132,0.00,2.53,0.00,0.000,4,0.000,0.046,2872,694,3117,0,0,0,0,0,0
$GC,2156,-1.19,-116.8,258.9,-9.5,190,2160,0.00,2.40,0.00,0.000,6,0.000,0.023,2872,2094,3118,0,0,0,0,0,0
$GC,2478,-1.19,-116.8,284.9,-8.7,206,2482,0.00,2.53,0.00,0.000,4,0.000,0.043,2872,3507,3117,0,0,0,0,0,0
$GC,2492,-1.19,-116.8,286.6,-9.3,206,2499,0.00,2.53,0.00,0.000,6,0.000,0.041,2872,2111,3117,0,0,0,0,0,0
$GC,2826,-1.19,-116.8,312.9,-7.9,219,2830,0.00,2.58,0.00,0.000,4,0.000,0.048,2872,681,3116,0,0,0,0,0,0
$GC,2841,-1.19,-116.8,314.3,-8.2,219,2845,0.00,2.42,0.00,0.000,6,0.000,0.025,2872,2100,3116,0,0,0,0,0,0
$GC,3191,-1.19,-116.8,340.0,-7.9,228,3196,0.00,2.58,0.00,0.000,4,0.000,0.050,2872,685,3115,0,0,0,0,0,0
$GC,3247,-1.19,-116.8,345.1,-8.5,229,3251,0.00,2.45,0.00,0.000,6,0.000,0.025,2872,2106,3114,0,0,0,0,0,0
$GC,3563,-1.19,-116.8,366.9,-7.1,237,3564,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2107,3112,0,0,0,0,0,0
$GC,3886,-1.19,-116.8,392.3,-8.0,245,3887,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2108,3110,0,0,0,0,0,0
$GC,4211,-1.19,-116.8,417.8,-7.6,253,4215,0.00,2.58,0.00,0.000,4,0.000,0.052,2872,688,3108,0,0,0,0,0,0
$GC,4286,-1.19,-116.8,423.3,-7.3,254,4291,0.00,2.47,0.00,0.000,6,0.000,0.028,2872,2102,3107,0,0,0,0,0,0
$GC,4623,-1.19,-116.8,442.5,-6.0,263,4628,0.00,2.58,0.00,0.000,4,0.000,0.054,2871,688,3105,0,0,0,0,0,0
$GC,4680,-1.19,-116.8,446.7,-7.2,264,4684,0.00,2.45,0.00,0.000,6,0.000,0.029,2871,2098,3104,0,0,0,0,0,0
$STATE,4747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4747,begin apogee
$GC,4754,-0.31,0.0,451.4,6.7,266,4853,0.95,0.00,95.20,0.821,6,0.083,0.000,3068,1789,2635,0,0,0,0,0,0
$STATE,4853,end apogee,CONTROL_FINISHED_OK
$STATE,4853,begin climb
$GC,4856,1.19,116.8,452.8,0.0,268,4968,1.48,2.72,100.45,0.802,4,0.055,0.047,3394,3204,2157,0,0,0,0,0,0
$GC,4979,1.19,116.8,443.2,10.0,270,4984,0.00,2.65,0.00,0.000,6,0.000,0.051,3394,1810,2157,0,0,0,0,0,0
$GC,5310,1.19,116.8,405.6,11.5,279,5314,0.00,2.67,0.00,0.000,4,0.000,0.062,3394,393,2147,0,0,0,0,0,0
$GC,5334,1.19,116.8,402.2,14.4,279,5338,0.00,2.50,0.00,0.000,6,0.000,0.027,3394,1804,2144,0,0,0,0,0,0
$GC,5674,1.19,116.8,360.0,12.6,288,5679,0.00,2.70,0.00,0.000,4,0.000,0.061,3393,389,2142,0,0,0,0,0,0
$GC,5693,1.19,116.8,357.4,12.9,288,5698,0.00,2.50,0.00,0.000,6,0.000,0.027,3395,1802,2140,0,0,0,0,0,0
$GC,6039,1.19,116.8,317.4,11.2,297,6043,0.00,2.67,0.00,0.000,4,0.000,0.060,3394,393,2140,0,0,0,0,0,0
$GC,6062,1.19,116.8,314.3,12.3,297,6067,0.00,2.47,0.00,0.000,6,0.000,0.027,3394,1797,2138,0,0,0,0,0,0
$GC,6385,1.19,116.8,278.9,10.6,310,6390,0.00,2.53,0.00,0.000,4,0.000,0.042,3394,3204,2137,0,0,0,0,0,0
$GC,6441,1.19,116.8,273.1,9.7,312,6445,0.00,2.60,0.00,0.000,6,0.000,0.048,3394,1798,2137,0,0,0,0,0,0
$GC,6758,1.19,116.8,242.8,9.3,327,6762,0.00,2.60,0.00,0.000,4,0.000,0.058,3394,393,2135,0,0,0,0,0,0
$GC,6788,1.19,116.8,239.7,11.0,328,6792,0.00,2.47,0.00,0.000,6,0.000,0.026,3394,1803,2133,0,0,0,0,0,0
$GC,7108,1.19,116.8,207.4,10.0,344,7112,0.00,2.50,0.00,0.000,4,0.000,0.039,3394,3203,2134,0,0,0,0,0,0
$GC,7181,1.19,116.8,200.7,8.9,347,7186,0.00,2.58,0.00,0.000,6,0.000,0.044,3394,1800,2134,0,0,0,0,0,0
$GC,7511,1.19,116.8,173.6,9.1,378,7515,0.00,2.58,0.00,0.000,4,0.000,0.054,3394,392,2133,0,0,0,0,0,0
$GC,7554,1.19,116.8,169.0,10.9,382,7559,0.00,2.45,0.00,0.000,6,0.000,0.023,3394,1805,2132,0,0,0,0,0,0
$GC,7818,1.19,116.8,146.4,8.8,406,7822,0.00,2.62,0.00,0.000,4,0.000,0.052,3394,393,2132,0,0,0,0,0,0
$GC,7842,1.19,116.8,143.8,10.4,408,7847,0.00,2.42,0.00,0.000,6,0.000,0.022,3394,1807,2131,0,0,0,0,0,0
$GC,8105,1.19,116.8,123.2,8.4,432,8110,0.00,2.42,0.00,0.000,4,0.000,0.034,3394,3200,2131,0,0,0,0,0,0
$GC,8141,1.20,118.3,120.3,8.0,435,8145,0.00,2.53,0.00,0.000,6,0.000,0.038,3394,1800,2131,0,0,0,0,0,0
$GC,8406,1.20,122.0,99.9,7.9,459,8410,0.00,2.50,0.00,0.000,4,0.000,0.031,3394,3206,2131,0,0,0,0,0,0
$GC,8432,1.20,122.7,97.8,8.0,461,8436,0.00,2.53,0.00,0.000,6,0.000,0.037,3394,1792,2132,0,0,0,0,0,0
$GC,8694,1.20,122.7,77.2,8.4,485,8695,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1792,2132,0,0,0,0,0,0
$GC,8950,1.25,158.0,58.9,6.4,509,8989,0.00,2.65,31.95,0.509,4,0.000,0.049,3394,389,1988,0,0,0,0,0,0
$GC,9002,1.29,191.4,55.4,6.5,514,9042,0.10,2.45,29.50,0.499,6,0.072,0.019,3429,1819,1853,0,0,0,0,0,0
$GC,9297,1.31,211.3,32.0,7.1,542,9321,0.00,2.45,17.58,0.463,4,0.000,0.028,3429,3177,1772,0,0,0,0,0,0
$GC,9333,1.31,213.7,29.2,7.9,546,9346,0.00,2.53,4.07,0.321,6,0.000,0.034,3429,1801,1762,0,0,0,0,0,0
$GC,9542,1.31,213.7,9.8,9.4,584,9548,0.00,2.60,0.00,0.000,4,0.000,0.048,3429,394,1759,0,0,0,0,0,0
$GC,9569,1.31,213.7,7.1,10.3,589,9575,0.00,2.42,0.00,0.000,6,0.000,0.018,3429,1799,1756,0,0,0,0,0,0
$STATE,9607,end climb,SURFACE_DEPTH_REACHED
$STATE,9607,begin surface coast
$FINISH,1.0,1.008802
$STATE,9635,end surface coast,CONTROL_FINISHED_OK
$STATE,9635,begin surface
$SM_CCo,9659,59.33,0.456,0,0,1288,330.17
$SM_GC,1.59,0.00,0.00,59.33,0.000,0.000,0.456,425,2137,1288,-12.48,1.05,330.17
$IRIDIUM_FIX,2059.45,-15750.89,020800,020243
$TT8_MAMPS,0.029146
$HUMID,55.67
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.5,24.147
$10V_AH,10.5,22.984
$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,28.475,117.300,278.750,59.325,0.000,23.913,35.499,159.841,4.500,0.000,32.323,1098.551,6476.715,408.803,1636.398,456.662,33.354,1131.747,0.000,1602.982,0.000,29.246,0.000
$DEVICE_MAMPS,133.458,62.127,821.457,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,406.627,395.947,867.785,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,31858,601
$CAP_FILE_SIZE,100609,0
$CFSIZE,260165632,242126848
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090511,080937,2106.374,-15746.935,28,1.3,28,9.8