version: 66.06
glider: 139
mission: 9
dive: 298
start: 5 9 111 8 16 1
data:
$ID,139
$MISSION,9
$DIVE,298
$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,-2182078
$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,74
$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
$GPS1,080937,2106.374,-15746.935,28,1.3,28,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-74.8
$GPS2,081508,2106.427,-15746.883,15,1.3,15,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.210,0.070
$KALMAN_X,-187111.9,582.8,-534.5,193547.9,-1487.8
$KALMAN_Y,-5673.4,118.3,-14.0,-2450.7,-931.4
$MHEAD_RNG_PITCHd_Wd,61.7,6945,-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,-69.62,0.000,2,0.000,0.000,424,2138,3096,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.3,-4.4,13,111,13.10,2.38,-0.25,0.000,4,0.133,0.046,2869,3465,3112,0,0,0,0,0,0
$GC,234,-1.19,-116.8,37.3,-19.9,40,241,0.00,2.45,0.00,0.000,6,0.000,0.035,2869,2099,3114,0,0,0,0,0,0
$GC,497,-1.19,-116.8,76.8,-14.3,65,501,0.00,2.40,0.00,0.000,4,0.000,0.031,2870,3473,3115,0,0,0,0,0,0
$GC,515,-1.19,-116.8,79.8,-14.0,66,522,0.00,2.45,0.00,0.000,6,0.000,0.032,2870,2092,3115,0,0,0,0,0,0
$GC,780,-1.19,-116.8,114.8,-12.8,91,784,0.00,2.42,0.00,0.000,4,0.000,0.035,2869,3473,3115,0,0,0,0,0,0
$GC,1005,-1.19,-116.8,141.3,-10.2,115,1009,0.00,2.40,0.00,0.000,6,0.000,0.032,2869,2096,3116,0,0,0,0,0,0
$GC,1270,-1.19,-116.8,175.1,-14.1,139,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2096,3116,0,0,0,0,0,0
$GC,1542,-1.19,-116.8,202.4,-8.8,164,1547,0.00,2.50,0.00,0.000,4,0.000,0.044,2869,692,3117,0,0,0,0,0,0
$GC,1648,-1.19,-116.8,211.9,-8.2,168,1655,0.00,2.38,0.00,0.000,6,0.000,0.021,2869,2065,3117,0,0,0,0,0,0
$GC,1964,-1.19,-116.8,233.8,-7.0,184,1968,0.00,2.55,0.00,0.000,4,0.000,0.041,2869,3497,3116,0,0,0,0,0,0
$GC,2015,-1.19,-116.8,238.2,-9.0,186,2019,0.00,2.47,0.00,0.000,6,0.000,0.038,2869,2093,3117,0,0,0,0,0,0
$GC,2336,-1.19,-116.8,265.2,-8.0,202,2340,0.00,2.53,0.00,0.000,4,0.000,0.046,2869,682,3116,0,0,0,0,0,0
$GC,2403,-1.19,-116.8,269.9,-7.3,205,2408,0.00,2.45,0.00,0.000,6,0.000,0.023,2869,2108,3116,0,0,0,0,0,0
$GC,2735,-1.19,-116.8,293.1,-7.4,221,2736,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2108,3115,0,0,0,0,0,0
$GC,3060,-1.19,-116.8,320.5,-7.7,231,3064,0.00,2.55,0.00,0.000,4,0.000,0.048,2869,686,3114,0,0,0,0,0,0
$GC,3079,-1.19,-116.8,322.2,-7.8,231,3084,0.00,2.42,0.00,0.000,6,0.000,0.025,2869,2098,3114,0,0,0,0,0,0
$GC,3426,-1.19,-116.8,349.6,-8.7,240,3431,0.00,2.55,0.00,0.000,4,0.000,0.050,2869,694,3113,0,0,0,0,0,0
$GC,3440,-1.19,-116.8,351.1,-8.7,240,3445,0.00,2.45,0.00,0.000,6,0.000,0.026,2869,2109,3112,0,0,0,0,0,0
$GC,3791,-1.19,-116.8,381.1,-8.1,249,3795,0.00,2.58,0.00,0.000,4,0.000,0.051,2869,688,3109,0,0,0,0,0,0
$GC,3881,-1.19,-116.8,388.2,-6.9,251,3885,0.00,2.47,0.00,0.000,6,0.000,0.028,2869,2104,3109,0,0,0,0,0,0
$GC,4209,-1.19,-116.8,405.9,-5.0,259,4213,0.00,2.58,0.00,0.000,4,0.000,0.053,2869,687,3106,0,0,0,0,0,0
$GC,4311,-1.19,-116.8,412.5,-6.9,261,4316,0.00,2.47,0.00,0.000,6,0.000,0.029,2869,2097,3106,0,0,0,0,0,0
$GC,4626,-1.19,-116.8,433.6,-6.6,269,4630,0.00,2.58,0.00,0.000,4,0.000,0.054,2869,688,3104,0,0,0,0,0,0
$GC,4677,-1.19,-116.8,437.7,-8.3,270,4682,0.00,2.47,0.00,0.000,6,0.000,0.030,2869,2100,3104,0,0,0,0,0,0
$STATE,4830,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4830,begin apogee
$GC,4837,-0.31,0.0,450.1,8.0,274,4935,0.95,0.00,94.53,0.834,6,0.083,0.000,3066,1792,2635,0,0,0,0,0,0
$STATE,4936,end apogee,CONTROL_FINISHED_OK
$STATE,4936,begin climb
$GC,4939,1.19,116.8,453.3,0.0,276,5052,1.50,2.72,100.25,0.812,4,0.056,0.046,3396,3205,2157,0,0,0,0,0,0
$GC,5057,1.19,116.8,446.0,9.4,278,5062,0.00,2.67,0.00,0.000,6,0.000,0.052,3396,1802,2157,0,0,0,0,0,0
$GC,5390,1.19,116.8,407.1,12.0,286,5395,0.00,2.67,0.00,0.000,4,0.000,0.064,3396,389,2146,0,0,0,0,0,0
$GC,5433,1.19,116.8,400.7,14.8,287,5438,0.00,2.50,0.00,0.000,6,0.000,0.028,3396,1800,2143,0,0,0,0,0,0
$GC,5761,1.19,116.8,360.0,12.3,295,5765,0.00,2.67,0.00,0.000,4,0.000,0.061,3396,391,2141,0,0,0,0,0,0
$GC,5794,1.19,116.8,355.3,14.8,295,5799,0.00,2.50,0.00,0.000,6,0.000,0.028,3396,1801,2139,0,0,0,0,0,0
$GC,6125,1.19,116.8,314.4,12.2,303,6130,0.00,2.55,0.00,0.000,4,0.000,0.044,3396,3206,2138,0,0,0,0,0,0
$GC,6177,1.19,116.8,308.6,10.1,304,6181,0.00,2.60,0.00,0.000,6,0.000,0.048,3396,1796,2139,0,0,0,0,0,0
$GC,6500,1.19,116.8,275.5,10.1,317,6504,0.00,2.58,0.00,0.000,4,0.000,0.041,3396,3204,2137,0,0,0,0,0,0
$GC,6523,1.19,116.8,272.9,10.2,318,6528,0.00,2.58,0.00,0.000,6,0.000,0.047,3396,1800,2137,0,0,0,0,0,0
$GC,6848,1.19,116.8,243.6,8.3,334,6852,0.00,2.62,0.00,0.000,4,0.000,0.059,3396,393,2135,0,0,0,0,0,0
$GC,6922,1.19,116.8,235.7,11.4,337,6926,0.00,2.47,0.00,0.000,6,0.000,0.026,3396,1804,2132,0,0,0,0,0,0
$GC,7243,1.19,116.8,202.8,10.8,353,7248,0.00,2.53,0.00,0.000,4,0.000,0.039,3396,3213,2133,0,0,0,0,0,0
$GC,7308,1.19,116.8,195.6,10.8,357,7313,0.00,2.58,0.00,0.000,6,0.000,0.044,3396,1794,2133,0,0,0,0,0,0
$GC,7571,1.22,140.3,172.2,6.9,382,7594,0.00,2.62,16.90,0.610,4,0.000,0.054,3396,393,2063,0,0,0,0,0,0
$GC,7663,1.25,158.2,165.6,7.2,391,7685,0.00,2.45,16.92,0.597,6,0.000,0.022,3396,1810,1989,0,0,0,0,0,0
$GC,7943,1.25,158.2,140.6,11.2,417,7944,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1810,1986,0,0,0,0,0,0
$GC,8198,1.25,158.2,111.3,10.6,441,8199,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1810,1985,0,0,0,0,0,0
$GC,8452,1.25,158.2,85.3,8.7,465,8456,0.00,2.60,0.00,0.000,4,0.000,0.049,3396,391,1985,0,0,0,0,0,0
$GC,8486,1.25,158.2,82.0,10.4,468,8490,0.00,2.40,0.00,0.000,6,0.000,0.020,3397,1802,1983,0,0,0,0,0,0
$GC,8752,1.27,180.6,64.1,7.0,492,8782,0.00,2.65,20.10,0.509,4,0.000,0.048,3396,392,1896,0,0,0,0,0,0
$GC,8851,1.27,180.6,56.0,8.3,502,8858,0.00,2.45,0.00,0.000,6,0.000,0.019,3396,1801,1892,0,0,0,0,0,0
$GC,9114,1.32,221.6,38.8,6.1,527,9156,0.12,2.70,35.70,0.494,4,0.061,0.049,3440,395,1731,0,0,0,0,0,0
$GC,9186,1.32,221.6,31.2,14.0,534,9193,0.00,2.45,0.00,0.000,6,0.000,0.019,3440,1802,1727,0,0,0,0,0,0
$GC,9452,1.32,221.6,4.2,10.1,582,9458,0.00,2.62,0.00,0.000,4,0.000,0.045,3439,392,1726,0,0,0,0,0,0
$STATE,9465,end climb,SURFACE_DEPTH_REACHED
$STATE,9465,begin surface coast
$FINISH,0.9,1.022225
$STATE,9492,end surface coast,CONTROL_FINISHED_OK
$STATE,9492,begin surface
$SM_CCo,9519,55.00,0.458,0,0,1289,330.17
$SM_GC,1.79,0.00,0.00,55.00,0.000,0.000,0.458,429,2103,1289,-12.46,0.08,330.17
$IRIDIUM_FIX,2059.45,-15745.74,020800,050516
$TT8_MAMPS,0.029146
$HUMID,56.34
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.5,24.226
$10V_AH,10.6,23.061
$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,28.525,117.225,284.400,55.000,0.000,24.851,37.404,144.128,4.500,0.000,15.308,1108.495,6218.917,407.487,1731.330,440.433,33.359,1167.108,0.000,1705.635,0.000,29.250,0.000
$DEVICE_MAMPS,133.458,63.661,833.729,457.899,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,399.486,388.689,867.774,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31767,590
$CAP_FILE_SIZE,101275,0
$CFSIZE,260165632,242073600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090511,105643,2106.416,-15746.062,12,1.6,29,9.8