version: 66.06
glider: 139
mission: 9
dive: 300
start: 5 9 111 13 47 31
data:
$ID,139
$MISSION,9
$DIVE,300
$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,-2182129
$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,76
$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
$GPS1,134124,2106.487,-15745.770,69,1.1,69,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-73.8
$GPS2,134638,2106.467,-15745.791,15,1.4,15,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.150,0.163
$KALMAN_X,-190568.6,118.4,788.7,198032.3,-3664.4
$KALMAN_Y,-7489.8,-79.8,71.2,-445.4,-1350.1
$MHEAD_RNG_PITCHd_Wd,32.7,5109,-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,-69.50,0.000,2,0.000,0.000,427,2145,3083,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.2,-4.2,13,111,13.12,2.35,-0.52,0.000,4,0.135,0.043,2868,3474,3112,0,0,0,0,0,0
$GC,283,-1.19,-116.8,42.6,-16.3,46,287,0.00,2.45,0.00,0.000,6,0.000,0.033,2868,2091,3115,0,0,0,0,0,0
$GC,546,-1.19,-116.8,79.6,-12.6,70,550,0.00,2.53,0.00,0.000,4,0.000,0.042,2868,685,3115,0,0,0,0,0,0
$GC,617,-1.19,-116.8,89.2,-12.7,77,621,0.00,2.33,0.00,0.000,6,0.000,0.020,2868,2065,3115,0,0,0,0,0,0
$GC,884,-1.19,-116.8,121.2,-12.8,101,888,0.00,2.55,0.00,0.000,4,0.000,0.036,2868,3496,3116,0,0,0,0,0,0
$GC,912,-1.19,-116.8,126.0,-14.5,103,917,0.00,2.45,0.00,0.000,6,0.000,0.034,2868,2101,3116,0,0,0,0,0,0
$GC,1175,-1.19,-116.8,160.6,-11.7,128,1180,0.00,2.53,0.00,0.000,4,0.000,0.042,2868,682,3117,0,0,0,0,0,0
$GC,1200,-1.19,-116.8,163.7,-12.6,130,1204,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2100,3117,0,0,0,0,0,0
$GC,1463,-1.19,-116.8,190.8,-8.9,154,1467,0.00,2.50,0.00,0.000,4,0.000,0.038,2868,3497,3117,0,0,0,0,0,0
$GC,1479,-1.19,-116.8,192.4,-9.2,155,1484,0.00,2.45,0.00,0.000,6,0.000,0.035,2868,2099,3117,0,0,0,0,0,0
$GC,1747,-1.19,-116.8,219.4,-10.5,171,1754,0.00,2.50,0.00,0.000,4,0.000,0.044,2868,699,3118,0,0,0,0,0,0
$GC,1833,-1.19,-116.8,230.1,-13.7,174,1837,0.00,2.40,0.00,0.000,6,0.000,0.022,2868,2103,3118,0,0,0,0,0,0
$GC,2150,-1.19,-116.8,262.8,-9.3,189,2151,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2104,3118,0,0,0,0,0,0
$GC,2458,-1.19,-116.8,288.3,-8.4,204,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2104,3118,0,0,0,0,0,0
$GC,2764,-1.19,-116.8,314.7,-8.9,215,2769,0.00,2.53,0.00,0.000,4,0.000,0.047,2868,694,3116,0,0,0,0,0,0
$GC,2798,-1.19,-116.8,318.1,-10.0,215,2802,0.00,2.40,0.00,0.000,6,0.000,0.025,2868,2097,3116,0,0,0,0,0,0
$GC,3129,-1.19,-116.8,348.3,-9.7,223,3133,0.00,2.53,0.00,0.000,4,0.000,0.048,2868,692,3115,0,0,0,0,0,0
$GC,3143,-1.19,-116.8,349.9,-10.1,223,3147,0.00,2.42,0.00,0.000,6,0.000,0.025,2867,2106,3115,0,0,0,0,0,0
$GC,3493,-1.19,-116.8,379.3,-8.2,232,3497,0.00,2.55,0.00,0.000,4,0.000,0.050,2868,694,3113,0,0,0,0,0,0
$GC,3563,-1.19,-116.8,385.5,-8.8,233,3567,0.00,2.42,0.00,0.000,6,0.000,0.026,2868,2101,3113,0,0,0,0,0,0
$GC,3904,-1.19,-116.8,409.5,-7.1,242,3908,0.00,2.55,0.00,0.000,4,0.000,0.051,2868,694,3110,0,0,0,0,0,0
$GC,3979,-1.19,-116.8,415.2,-7.7,243,3983,0.00,2.45,0.00,0.000,6,0.000,0.028,2868,2100,3110,0,0,0,0,0,0
$GC,4315,-1.19,-116.8,436.3,-5.9,252,4319,0.00,2.58,0.00,0.000,4,0.000,0.053,2868,696,3107,0,0,0,0,0,0
$GC,4419,-1.19,-116.8,443.4,-7.3,254,4423,0.00,2.42,0.00,0.000,6,0.000,0.028,2868,2099,3107,0,0,0,0,0,0
$STATE,4528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4529,begin apogee
$GC,4535,-0.31,0.0,450.9,6.8,257,4634,0.95,0.00,95.22,0.822,6,0.083,0.000,3065,1789,2635,0,0,0,0,0,0
$STATE,4635,end apogee,CONTROL_FINISHED_OK
$STATE,4635,begin climb
$GC,4638,1.19,116.8,453.6,0.0,259,4750,1.52,2.67,100.55,0.803,4,0.054,0.044,3399,3205,2157,0,0,0,0,0,0
$GC,4765,1.19,116.8,444.8,10.2,262,4770,0.00,2.67,0.00,0.000,6,0.000,0.054,3398,1804,2156,0,0,0,0,0,0
$GC,5096,1.19,116.8,406.1,12.3,270,5101,0.00,2.70,0.00,0.000,4,0.000,0.064,3398,390,2146,0,0,0,0,0,0
$GC,5162,1.19,116.8,396.7,14.6,271,5166,0.00,2.47,0.00,0.000,6,0.000,0.028,3398,1799,2142,0,0,0,0,0,0
$GC,5507,1.19,116.8,348.3,14.5,280,5511,0.00,2.55,0.00,0.000,4,0.000,0.045,3399,3203,2140,0,0,0,0,0,0
$GC,5531,1.19,116.8,344.9,14.2,280,5535,0.00,2.62,0.00,0.000,6,0.000,0.050,3399,1796,2140,0,0,0,0,0,0
$GC,5871,1.19,116.8,306.6,10.3,289,5872,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1795,2138,0,0,0,0,0,0
$GC,6179,1.19,116.8,275.0,10.2,302,6184,0.00,2.58,0.00,0.000,4,0.000,0.042,3399,3204,2136,0,0,0,0,0,0
$GC,6203,1.19,116.8,272.4,10.4,303,6207,0.00,2.60,0.00,0.000,6,0.000,0.047,3399,1799,2136,0,0,0,0,0,0
$GC,6529,1.19,116.8,237.6,10.1,319,6533,0.00,2.62,0.00,0.000,4,0.000,0.059,3398,392,2135,0,0,0,0,0,0
$GC,6557,1.19,116.8,233.9,12.4,320,6561,0.00,2.45,0.00,0.000,6,0.000,0.025,3399,1803,2133,0,0,0,0,0,0
$GC,6878,1.19,116.8,201.7,9.6,336,6882,0.00,2.62,0.00,0.000,4,0.000,0.056,3398,392,2133,0,0,0,0,0,0
$GC,6899,1.19,116.8,199.5,11.0,337,6905,0.00,2.45,0.00,0.000,6,0.000,0.024,3399,1809,2132,0,0,0,0,0,0
$GC,7162,1.19,116.8,173.2,10.7,362,7167,0.00,2.45,0.00,0.000,4,0.000,0.036,3399,3202,2132,0,0,0,0,0,0
$GC,7216,1.19,116.8,167.8,9.1,367,7220,0.00,2.55,0.00,0.000,6,0.000,0.041,3399,1795,2132,0,0,0,0,0,0
$GC,7480,1.23,145.2,147.4,6.7,391,7508,0.00,2.65,20.90,0.588,4,0.000,0.061,3398,392,2043,0,0,0,0,0,0
$GC,7559,1.23,145.2,140.8,9.1,399,7564,0.00,2.47,0.00,0.000,6,0.000,0.021,3399,1809,2038,0,0,0,0,0,0
$GC,7822,1.23,145.2,117.9,9.2,424,7826,0.00,2.65,0.00,0.000,4,0.000,0.051,3398,387,2038,0,0,0,0,0,0
$GC,7846,1.23,145.2,114.9,11.5,426,7851,0.00,2.42,0.00,0.000,6,0.000,0.021,3398,1807,2037,0,0,0,0,0,0
$GC,8109,1.23,145.2,86.6,12.2,450,8114,0.00,2.42,0.00,0.000,4,0.000,0.031,3399,3198,2037,0,0,0,0,0,0
$GC,8155,1.23,145.2,81.5,9.7,454,8162,0.00,2.55,0.00,0.000,6,0.000,0.039,3399,1803,2037,0,0,0,0,0,0
$GC,8418,1.29,192.2,63.7,5.9,479,8467,0.00,2.67,40.83,0.519,4,0.000,0.051,3398,396,1850,0,0,0,0,0,0
$GC,8541,1.30,204.1,55.4,7.5,492,8563,0.10,2.40,10.98,0.463,6,0.072,0.019,3435,1800,1802,0,0,0,0,0,0
$GC,8817,1.30,204.1,35.8,9.6,518,8821,0.00,2.45,0.00,0.000,4,0.000,0.028,3435,3199,1800,0,0,0,0,0,0
$GC,8852,1.30,204.1,32.5,9.2,521,8856,0.00,2.53,0.00,0.000,6,0.000,0.035,3435,1799,1800,0,0,0,0,0,0
$GC,9117,1.30,204.1,7.9,10.2,567,9124,0.00,2.60,0.00,0.000,4,0.000,0.049,3435,392,1800,0,0,0,0,0,0
$GC,9153,1.30,204.1,3.8,12.0,574,9159,0.00,2.42,0.00,0.000,6,0.000,0.019,3435,1796,1797,0,0,0,0,0,0
$STATE,9164,end climb,SURFACE_DEPTH_REACHED
$STATE,9164,begin surface coast
$FINISH,1.0,1.004912
$STATE,9188,end surface coast,CONTROL_FINISHED_OK
$STATE,9188,begin surface
$SM_CCo,9212,62.85,0.457,0,0,1288,330.17
$SM_GC,1.63,0.00,0.00,62.85,0.000,0.000,0.457,425,2163,1288,-12.48,1.78,330.17
$IRIDIUM_FIX,2057.14,-15746.61,020800,111131
$TT8_MAMPS,0.028379
$HUMID,55.82
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.90
$XPDR_PINGS,1
$24V_AH,23.5,24.380
$10V_AH,10.4,23.213
$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,28.550,121.575,268.475,62.850,0.000,24.758,33.698,132.979,4.750,0.000,16.019,1075.592,6047.474,422.289,1610.267,434.997,33.359,1120.990,0.000,1596.726,0.000,31.532,0.000
$DEVICE_MAMPS,134.992,63.661,822.224,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,392.638,386.283,867.761,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,31846,580
$CAP_FILE_SIZE,97731,0
$CFSIZE,260165632,241979392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090511,162345,2106.632,-15746.218,40,2.4,59,9.8