version: 66.06
glider: 139
mission: 9
dive: 299
start: 5 9 111 11 3 56
data:
$ID,139
$MISSION,9
$DIVE,299
$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,-2182112.2
$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,46
$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
$GPS1,105643,2106.416,-15746.062,12,1.6,29,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-75.4
$GPS2,110302,2106.392,-15746.003,33,1.6,33,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.193,0.109
$KALMAN_X,-188771.9,424.0,467.6,195884.8,-2294.3
$KALMAN_Y,-6556.3,-7.6,147.4,-1666.2,-1198.6
$MHEAD_RNG_PITCHd_Wd,50.7,5436,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-69.75,0.000,6,0.000,0.000,428,2103,3112,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.5,-5.1,13,110,13.15,2.47,0.00,0.000,4,0.136,0.032,2870,3503,3114,0,0,0,0,0,0
$GC,264,-1.19,-116.8,40.8,-15.0,44,269,0.00,2.47,0.00,0.000,6,0.000,0.033,2870,2094,3116,0,0,0,0,0,0
$GC,526,-1.19,-116.8,81.5,-14.0,68,530,0.00,2.53,0.00,0.000,4,0.000,0.042,2870,690,3117,0,0,0,0,0,0
$GC,562,-1.19,-116.8,88.1,-19.1,71,568,0.00,2.38,0.00,0.000,6,0.000,0.019,2870,2102,3117,0,0,0,0,0,0
$GC,826,-1.19,-116.8,123.7,-13.3,96,830,0.00,2.50,0.00,0.000,4,0.000,0.040,2870,690,3118,0,0,0,0,0,0
$GC,836,-1.19,-116.8,125.5,-13.7,96,842,0.00,2.42,0.00,0.000,6,0.000,0.019,2870,2106,3118,0,0,0,0,0,0
$GC,1100,-1.19,-116.8,156.7,-10.7,121,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2106,3119,0,0,0,0,0,0
$GC,1362,-1.19,-116.8,183.8,-10.1,146,1367,0.00,2.53,0.00,0.000,4,0.000,0.042,2870,684,3119,0,0,0,0,0,0
$GC,1459,-1.19,-116.8,194.7,-12.1,156,1463,0.00,2.42,0.00,0.000,6,0.000,0.021,2870,2099,3119,0,0,0,0,0,0
$GC,1714,-1.19,-116.8,223.8,-11.1,170,1718,0.00,2.53,0.00,0.000,4,0.000,0.044,2870,691,3119,0,0,0,0,0,0
$GC,1735,-1.19,-116.8,226.0,-10.4,171,1739,0.00,2.42,0.00,0.000,6,0.000,0.022,2870,2105,3119,0,0,0,0,0,0
$GC,2066,-1.19,-116.8,252.7,-7.6,187,2071,0.00,2.53,0.00,0.000,4,0.000,0.044,2870,687,3119,0,0,0,0,0,0
$GC,2095,-1.19,-116.8,255.4,-8.7,188,2099,0.00,2.42,0.00,0.000,6,0.000,0.023,2870,2097,3119,0,0,0,0,0,0
$GC,2415,-1.19,-116.8,284.6,-9.4,204,2419,0.00,2.53,0.00,0.000,4,0.000,0.046,2870,684,3118,0,0,0,0,0,0
$GC,2507,-1.19,-116.8,292.9,-8.8,208,2511,0.00,2.45,0.00,0.000,6,0.000,0.024,2870,2105,3118,0,0,0,0,0,0
$GC,2849,-1.19,-116.8,322.1,-8.9,219,2854,0.00,2.55,0.00,0.000,4,0.000,0.047,2870,3507,3117,0,0,0,0,0,0
$GC,2917,-1.19,-116.8,327.4,-8.2,220,2921,0.00,2.50,0.00,0.000,6,0.000,0.041,2870,2098,3117,0,0,0,0,0,0
$GC,3262,-1.19,-116.8,356.1,-8.5,229,3263,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2097,3115,0,0,0,0,0,0
$GC,3587,-1.19,-116.8,383.2,-8.2,237,3592,0.00,2.55,0.00,0.000,4,0.000,0.052,2870,693,3114,0,0,0,0,0,0
$GC,3648,-1.19,-116.8,388.4,-8.1,238,3652,0.00,2.42,0.00,0.000,6,0.000,0.027,2869,2098,3113,0,0,0,0,0,0
$GC,3964,-1.19,-116.8,411.8,-7.4,246,3968,0.00,2.58,0.00,0.000,4,0.000,0.052,2870,692,3111,0,0,0,0,0,0
$GC,4015,-1.19,-116.8,416.1,-8.1,247,4019,0.00,2.45,0.00,0.000,6,0.000,0.028,2869,2099,3110,0,0,0,0,0,0
$GC,4335,-1.19,-116.8,440.4,-7.9,255,4339,0.00,2.60,0.00,0.000,4,0.000,0.054,2869,687,3108,0,0,0,0,0,0
$STATE,4439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4439,begin apogee
$GC,4450,-0.31,0.0,450.1,8.8,257,4549,0.93,0.00,95.12,0.821,6,0.085,0.000,3064,1807,2635,0,0,0,0,0,0
$STATE,4549,end apogee,CONTROL_FINISHED_OK
$STATE,4549,begin climb
$GC,4553,1.19,116.8,452.7,0.0,259,4665,1.50,2.65,100.05,0.801,4,0.056,0.047,3395,3195,2157,0,0,0,0,0,0
$GC,4684,1.19,116.8,441.9,11.4,262,4689,0.00,2.65,0.00,0.000,6,0.000,0.054,3394,1805,2156,0,0,0,0,0,0
$GC,5007,1.19,116.8,401.6,12.3,270,5012,0.00,2.67,0.00,0.000,4,0.000,0.062,3394,389,2147,0,0,0,0,0,0
$GC,5077,1.19,116.8,392.1,14.1,271,5082,0.00,2.53,0.00,0.000,6,0.000,0.028,3394,1802,2143,0,0,0,0,0,0
$GC,5418,1.19,116.8,354.2,10.8,280,5423,0.00,2.70,0.00,0.000,4,0.000,0.061,3394,390,2141,0,0,0,0,0,0
$GC,5433,1.19,116.8,352.4,10.8,280,5437,0.00,2.50,0.00,0.000,6,0.000,0.027,3394,1814,2139,0,0,0,0,0,0
$GC,5783,1.19,116.8,315.0,10.6,289,5787,0.00,2.67,0.00,0.000,4,0.000,0.054,3394,392,2138,0,0,0,0,0,0
$GC,5826,1.19,116.8,310.6,11.4,290,5831,0.00,2.50,0.00,0.000,6,0.000,0.028,3394,1801,2137,0,0,0,0,0,0
$GC,6159,1.19,116.8,273.2,11.6,303,6163,0.00,2.53,0.00,0.000,4,0.000,0.041,3395,3205,2137,0,0,0,0,0,0
$GC,6249,1.19,116.8,264.1,9.8,307,6253,0.00,2.60,0.00,0.000,6,0.000,0.048,3395,1799,2137,0,0,0,0,0,0
$GC,6580,1.19,116.8,234.4,9.2,323,6584,0.00,2.62,0.00,0.000,4,0.000,0.057,3394,390,2134,0,0,0,0,0,0
$GC,6604,1.19,116.8,231.7,11.5,324,6608,0.00,2.47,0.00,0.000,6,0.000,0.025,3394,1804,2133,0,0,0,0,0,0
$GC,6929,1.19,116.8,202.1,8.6,340,6933,0.00,2.50,0.00,0.000,4,0.000,0.038,3395,3213,2133,0,0,0,0,0,0
$GC,6961,1.19,116.8,199.3,8.8,342,6968,0.00,2.62,0.00,0.000,6,0.000,0.044,3395,1797,2133,0,0,0,0,0,0
$GC,7224,1.19,116.8,177.2,8.9,367,7229,0.00,2.58,0.00,0.000,4,0.000,0.054,3394,391,2133,0,0,0,0,0,0
$GC,7287,1.19,116.8,171.1,9.3,373,7291,0.00,2.45,0.00,0.000,6,0.000,0.023,3394,1805,2131,0,0,0,0,0,0
$GC,7551,1.19,116.8,150.8,8.3,397,7556,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1809,2132,0,0,0,0,0,0
$GC,7813,1.22,137.2,131.2,7.1,422,7832,0.00,0.00,14.40,0.555,6,0.000,0.000,3395,1810,2074,0,0,0,0,0,0
$GC,8089,1.22,137.2,109.8,8.6,448,8094,0.00,2.62,0.00,0.000,4,0.000,0.050,3394,384,2072,0,0,0,0,0,0
$GC,8109,1.22,137.2,107.8,8.9,449,8114,0.00,2.47,0.00,0.000,6,0.000,0.021,3394,1819,2070,0,0,0,0,0,0
$GC,8372,1.22,138.4,85.4,8.0,474,8373,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1823,2071,0,0,0,0,0,0
$GC,8626,1.30,205.4,69.7,4.9,498,8695,0.12,2.75,59.00,0.525,4,0.062,0.050,3436,391,1796,0,0,0,0,0,0
$GC,8808,1.30,205.4,48.2,14.7,517,8815,0.00,2.45,0.00,0.000,6,0.000,0.019,3437,1797,1789,0,0,0,0,0,0
$GC,9074,1.30,205.4,17.5,9.9,552,9081,0.00,2.47,0.00,0.000,4,0.000,0.028,3437,3198,1789,0,0,0,0,0,0
$GC,9135,1.30,205.4,11.8,9.7,565,9141,0.00,2.55,0.00,0.000,6,0.000,0.036,3437,1801,1789,0,0,0,0,0,0
$STATE,9223,end climb,SURFACE_DEPTH_REACHED
$STATE,9223,begin surface coast
$FINISH,0.8,1.010154
$STATE,9253,end surface coast,CONTROL_FINISHED_OK
$STATE,9253,begin surface
$SM_CCo,9277,62.62,0.462,0,0,1288,330.17
$SM_GC,1.66,0.00,0.00,62.62,0.000,0.000,0.462,428,2146,1288,-12.46,1.30,330.17
$IRIDIUM_FIX,2057.14,-15746.61,020800,080818
$TT8_MAMPS,0.029146
$HUMID,56.34
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.5,24.304
$10V_AH,10.5,23.137
$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,28.600,111.300,268.575,62.625,0.000,28.974,40.704,168.928,4.500,0.000,33.500,1083.630,6057.313,396.808,1696.458,487.723,33.363,1136.696,0.000,1665.249,0.000,29.245,0.000
$DEVICE_MAMPS,135.759,62.127,820.690,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,396.714,387.854,847.243,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,31762,586
$CAP_FILE_SIZE,98186,0
$CFSIZE,260165632,242028544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090511,134124,2106.487,-15745.770,69,1.1,69,9.8