version: 66.06
glider: 139
mission: 9
dive: 301
start: 5 9 111 16 34 20
data:
$ID,139
$MISSION,9
$DIVE,301
$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,-2182165.2
$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,18
$R_STBD_OVSHOOT,89
$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
$GPS1,162345,2106.632,-15746.218,40,2.4,59,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-73.6
$GPS2,163328,2106.656,-15746.286,15,2.4,34,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.173,0.138
$KALMAN_X,-191947.8,-150.8,-62.2,199671.5,-2893.1
$KALMAN_Y,-8737.2,-117.3,-131.4,1392.7,-1294.8
$MHEAD_RNG_PITCHd_Wd,41.7,6025,-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,-70.12,0.000,2,0.000,0.000,425,2162,3095,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.1,-3.6,13,111,13.10,2.65,-0.30,0.000,4,0.134,0.049,2870,682,3112,0,0,0,0,0,0
$GC,123,-1.19,-116.8,13.3,-27.9,18,130,0.00,2.38,0.00,0.000,6,0.000,0.020,2870,2057,3113,0,0,0,0,0,0
$GC,329,-1.19,-116.8,54.2,-17.0,44,334,0.00,2.58,0.00,0.000,4,0.000,0.036,2870,3501,3115,0,0,0,0,0,0
$GC,446,-1.19,-116.8,70.4,-12.2,56,453,0.00,2.50,0.00,0.000,6,0.000,0.032,2870,2094,3115,0,0,0,0,0,0
$GC,710,-1.19,-116.8,103.9,-13.8,81,714,0.00,2.50,0.00,0.000,4,0.000,0.035,2870,3505,3116,0,0,0,0,0,0
$GC,743,-1.19,-116.8,108.7,-12.5,84,748,0.00,2.45,0.00,0.000,6,0.000,0.032,2870,2099,3116,0,0,0,0,0,0
$GC,1008,-1.19,-116.8,142.4,-12.5,108,1013,0.00,2.50,0.00,0.000,4,0.000,0.042,2870,690,3116,0,0,0,0,0,0
$GC,1082,-1.19,-116.8,151.9,-11.1,115,1087,0.00,2.40,0.00,0.000,6,0.000,0.020,2870,2103,3116,0,0,0,0,0,0
$GC,1345,-1.19,-116.8,179.2,-10.1,140,1349,0.00,2.50,0.00,0.000,4,0.000,0.041,2870,688,3117,0,0,0,0,0,0
$GC,1363,-1.19,-116.8,181.4,-10.0,141,1369,0.00,2.40,0.00,0.000,6,0.000,0.021,2870,2098,3117,0,0,0,0,0,0
$GC,1622,-1.19,-116.8,210.1,-11.0,162,1626,0.00,2.50,0.00,0.000,4,0.000,0.039,2870,3497,3117,0,0,0,0,0,0
$GC,1665,-1.19,-116.8,214.8,-10.7,164,1669,0.00,2.47,0.00,0.000,6,0.000,0.036,2870,2089,3117,0,0,0,0,0,0
$GC,1994,-1.19,-116.8,247.1,-9.7,180,1995,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2088,3117,0,0,0,0,0,0
$GC,2306,-1.19,-116.8,272.9,-7.3,195,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2088,3116,0,0,0,0,0,0
$GC,2613,-1.19,-116.8,297.6,-8.2,210,2617,0.00,2.53,0.00,0.000,4,0.000,0.047,2870,681,3115,0,0,0,0,0,0
$GC,2669,-1.19,-116.8,303.4,-10.8,212,2673,0.00,2.45,0.00,0.000,6,0.000,0.024,2870,2103,3116,0,0,0,0,0,0
$GC,2987,-1.19,-116.8,331.5,-8.1,220,2991,0.00,2.53,0.00,0.000,4,0.000,0.047,2870,691,3115,0,0,0,0,0,0
$GC,3077,-1.19,-116.8,339.6,-9.6,222,3081,0.00,2.42,0.00,0.000,6,0.000,0.025,2870,2105,3114,0,0,0,0,0,0
$GC,3410,-1.19,-116.8,365.2,-7.1,230,3411,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2105,3112,0,0,0,0,0,0
$GC,3734,-1.19,-116.8,391.4,-8.3,238,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2106,3110,0,0,0,0,0,0
$GC,4059,-1.19,-116.8,415.7,-6.9,246,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2106,3108,0,0,0,0,0,0
$GC,4385,-1.19,-116.8,436.3,-6.2,254,4389,0.00,2.60,0.00,0.000,4,0.000,0.054,2870,689,3106,0,0,0,0,0,0
$GC,4464,-1.19,-116.8,441.5,-6.4,255,4468,0.00,2.47,0.00,0.000,6,0.000,0.029,2870,2105,3105,0,0,0,0,0,0
$STATE,4630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4630,begin apogee
$GC,4637,-0.31,0.0,451.6,6.1,259,4735,0.95,0.00,94.78,0.820,6,0.083,0.000,3066,1794,2635,0,0,0,0,0,0
$STATE,4736,end apogee,CONTROL_FINISHED_OK
$STATE,4736,begin climb
$GC,4739,1.19,116.8,452.6,0.0,261,4848,1.52,2.70,100.80,0.799,4,0.055,0.046,3400,3198,2157,0,0,0,0,0,0
$GC,4861,1.19,116.8,440.5,13.3,264,4865,0.00,2.62,0.00,0.000,6,0.000,0.052,3400,1810,2157,0,0,0,0,0,0
$GC,5201,1.19,116.8,395.0,13.1,273,5206,0.00,2.67,0.00,0.000,4,0.000,0.062,3399,394,2147,0,0,0,0,0,0
$GC,5258,1.19,116.8,387.2,13.4,274,5262,0.00,2.50,0.00,0.000,6,0.000,0.027,3400,1800,2143,0,0,0,0,0,0
$GC,5571,1.19,116.8,351.5,11.2,282,5576,0.00,2.58,0.00,0.000,4,0.000,0.045,3400,3208,2141,0,0,0,0,0,0
$GC,5623,1.19,116.8,345.3,11.3,283,5627,0.00,2.65,0.00,0.000,6,0.000,0.051,3400,1797,2141,0,0,0,0,0,0
$GC,5941,1.19,116.8,308.1,12.0,291,5946,0.00,2.65,0.00,0.000,4,0.000,0.061,3399,389,2139,0,0,0,0,0,0
$GC,5960,1.19,116.8,305.7,12.3,291,5965,0.00,2.50,0.00,0.000,6,0.000,0.027,3400,1804,2138,0,0,0,0,0,0
$GC,6289,1.19,116.8,270.7,10.4,306,6294,0.00,2.67,0.00,0.000,4,0.000,0.059,3399,387,2136,0,0,0,0,0,0
$GC,6311,1.19,116.8,268.3,12.5,307,6315,0.00,2.47,0.00,0.000,6,0.000,0.026,3400,1800,2135,0,0,0,0,0,0
$GC,6642,1.19,116.8,231.7,10.7,323,6646,0.00,2.53,0.00,0.000,4,0.000,0.038,3400,3210,2134,0,0,0,0,0,0
$GC,6688,1.19,116.8,226.3,10.1,325,6692,0.00,2.60,0.00,0.000,6,0.000,0.046,3400,1801,2135,0,0,0,0,0,0
$GC,7016,1.19,116.8,195.8,8.7,343,7017,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,1801,2134,0,0,0,0,0,0
$GC,7271,1.22,133.8,175.6,7.2,367,7290,0.00,2.60,11.45,0.582,4,0.000,0.035,3400,3205,2089,0,0,0,0,0,0
$GC,7314,1.22,137.1,171.9,7.9,371,7329,0.00,2.58,4.72,0.449,6,0.000,0.042,3400,1797,2076,0,0,0,0,0,0
$GC,7584,1.22,137.1,146.6,11.0,397,7585,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,1797,2073,0,0,0,0,0,0
$GC,7839,1.22,137.1,121.5,8.7,421,7843,0.00,2.58,0.00,0.000,4,0.000,0.051,3399,386,2073,0,0,0,0,0,0
$GC,7883,1.22,137.1,117.3,10.0,425,7887,0.00,2.45,0.00,0.000,6,0.000,0.021,3400,1807,2070,0,0,0,0,0,0
$GC,8148,1.27,174.2,99.9,6.3,449,8187,0.00,2.53,32.92,0.551,4,0.000,0.030,3400,3198,1923,0,0,0,0,0,0
$GC,8204,1.27,174.2,94.8,9.3,455,8209,0.00,2.55,0.00,0.000,6,0.000,0.038,3400,1798,1923,0,0,0,0,0,0
$GC,8469,1.27,174.2,65.0,11.8,479,8473,0.00,2.58,0.00,0.000,4,0.000,0.050,3400,390,1921,0,0,0,0,0,0
$GC,8497,1.27,174.2,61.1,12.3,481,8503,0.00,2.45,0.00,0.000,6,0.000,0.019,3400,1802,1918,0,0,0,0,0,0
$GC,8761,1.35,240.7,42.7,5.0,506,8824,0.12,2.47,56.47,0.499,4,0.061,0.026,3444,3196,1652,0,0,0,0,0,0
$GC,8847,1.35,240.7,36.3,8.3,514,8853,0.00,2.58,0.00,0.000,6,0.000,0.038,3444,1802,1652,0,0,0,0,0,0
$GC,9113,1.35,240.7,7.8,11.7,557,9119,0.00,2.62,0.00,0.000,4,0.000,0.051,3444,391,1648,0,0,0,0,0,0
$STATE,9145,end climb,SURFACE_DEPTH_REACHED
$STATE,9146,begin surface coast
$FINISH,1.1,1.023030
$STATE,9168,end surface coast,CONTROL_FINISHED_OK
$STATE,9168,begin surface
$SM_CCo,9195,45.97,0.456,0,0,1288,330.17
$SM_GC,1.72,0.00,0.00,45.97,0.000,0.000,0.456,429,2096,1288,-12.46,-0.11,330.17
$IRIDIUM_FIX,2101.76,-15743.60,020800,161633
$TT8_MAMPS,0.029146
$HUMID,56.61
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.70
$XPDR_PINGS,1
$24V_AH,23.5,24.467
$10V_AH,10.5,23.289
$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,28.550,107.475,301.150,45.975,0.000,53.053,89.396,226.956,4.750,0.000,35.598,1037.917,6189.052,418.787,1568.482,610.303,33.356,1100.581,0.000,1532.988,0.000,29.256,0.000
$DEVICE_MAMPS,134.225,62.127,819.923,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,384.516,374.284,815.271,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,31861,569
$CAP_FILE_SIZE,97302,0
$CFSIZE,260165632,241930240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090511,190934,2106.787,-15746.858,14,3.2,33,9.8