version: 66.06
glider: 139
mission: 9
dive: 302
start: 5 9 111 19 15 48
data:
$ID,139
$MISSION,9
$DIVE,302
$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,-2182182.5
$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,17
$R_STBD_OVSHOOT,41
$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
$GPS1,190934,2106.787,-15746.858,14,3.2,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-73.0
$GPS2,191455,2106.844,-15746.860,11,1.1,16,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.196,0.103
$KALMAN_X,-194187.5,-250.8,-652.3,201619.0,-1929.3
$KALMAN_Y,-9986.1,-93.3,-103.1,2937.5,-1228.9
$MHEAD_RNG_PITCHd_Wd,52.6,7074,-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,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,88,0.00,0.00,-69.62,0.000,2,0.000,0.000,429,2097,3081,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.2,-3.7,13,110,13.15,0.00,-0.57,0.000,6,0.137,0.000,2869,2097,3113,0,0,0,0,0,0
$GC,304,-1.19,-116.8,48.3,-18.4,43,308,0.00,2.47,0.00,0.000,4,0.000,0.033,2869,3506,3114,0,0,0,0,0,0
$GC,492,-1.19,-116.8,76.2,-14.1,63,496,0.00,2.47,0.00,0.000,6,0.000,0.032,2869,2090,3115,0,0,0,0,0,0
$GC,756,-1.19,-116.8,116.8,-14.4,87,761,0.00,2.47,0.00,0.000,4,0.000,0.034,2869,3502,3116,0,0,0,0,0,0
$GC,837,-1.19,-116.8,127.8,-13.0,95,842,0.00,2.45,0.00,0.000,6,0.000,0.032,2869,2097,3116,0,0,0,0,0,0
$GC,1102,-1.19,-116.8,155.6,-8.3,119,1106,0.00,2.47,0.00,0.000,4,0.000,0.035,2869,3505,3117,0,0,0,0,0,0
$GC,1157,-1.19,-116.8,160.6,-7.8,124,1163,0.00,2.50,0.00,0.000,6,0.000,0.033,2869,2100,3117,0,0,0,0,0,0
$GC,1422,-1.19,-116.8,184.7,-9.5,149,1427,0.00,2.47,0.00,0.000,4,0.000,0.038,2869,3495,3117,0,0,0,0,0,0
$GC,1548,-1.19,-116.8,197.6,-10.2,162,1553,0.00,2.45,0.00,0.000,6,0.000,0.035,2869,2098,3117,0,0,0,0,0,0
$GC,1804,-1.19,-116.8,221.9,-9.3,175,1808,0.00,2.50,0.00,0.000,4,0.000,0.044,2869,693,3118,0,0,0,0,0,0
$GC,1878,-1.19,-116.8,229.0,-9.4,178,1882,0.00,2.40,0.00,0.000,6,0.000,0.021,2869,2098,3118,0,0,0,0,0,0
$GC,2198,-1.19,-116.8,256.2,-8.6,194,2203,0.00,2.50,0.00,0.000,4,0.000,0.044,2869,692,3118,0,0,0,0,0,0
$GC,2208,-1.19,-116.8,257.2,-8.5,194,2212,0.00,2.40,0.00,0.000,6,0.000,0.023,2869,2108,3118,0,0,0,0,0,0
$GC,2525,-1.19,-116.8,285.2,-7.8,209,2530,0.00,2.53,0.00,0.000,4,0.000,0.045,2870,692,3117,0,0,0,0,0,0
$GC,2570,-1.19,-116.8,288.9,-8.4,211,2574,0.00,2.42,0.00,0.000,6,0.000,0.025,2869,2099,3117,0,0,0,0,0,0
$GC,2897,-1.19,-116.8,312.4,-7.6,223,2901,0.00,2.55,0.00,0.000,4,0.000,0.048,2869,691,3116,0,0,0,0,0,0
$GC,2972,-1.19,-116.8,319.3,-9.5,224,2976,0.00,2.45,0.00,0.000,6,0.000,0.025,2869,2107,3115,0,0,0,0,0,0
$GC,3307,-1.19,-116.8,347.9,-8.2,233,3312,0.00,2.58,0.00,0.000,4,0.000,0.048,2869,688,3114,0,0,0,0,0,0
$GC,3327,-1.19,-116.8,349.6,-8.6,233,3331,0.00,2.45,0.00,0.000,6,0.000,0.026,2869,2099,3114,0,0,0,0,0,0
$GC,3673,-1.19,-116.8,375.5,-7.1,242,3677,0.00,2.55,0.00,0.000,4,0.000,0.051,2869,3503,3112,0,0,0,0,0,0
$GC,3808,-1.19,-116.8,387.0,-8.0,245,3813,0.00,2.53,0.00,0.000,6,0.000,0.043,2869,2104,3111,0,0,0,0,0,0
$GC,4136,-1.19,-116.8,409.5,-6.9,253,4141,0.00,2.58,0.00,0.000,4,0.000,0.054,2869,691,3108,0,0,0,0,0,0
$GC,4151,-1.19,-116.8,410.6,-6.5,253,4155,0.00,2.47,0.00,0.000,6,0.000,0.028,2869,2109,3108,0,0,0,0,0,0
$GC,4501,-1.19,-116.8,435.1,-6.8,262,4506,0.00,2.60,0.00,0.000,4,0.000,0.054,2869,685,3106,0,0,0,0,0,0
$GC,4553,-1.19,-116.8,439.3,-7.9,263,4558,0.00,2.47,0.00,0.000,6,0.000,0.029,2869,2100,3106,0,0,0,0,0,0
$STATE,4747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4747,begin apogee
$GC,4754,-0.31,0.0,451.5,6.0,268,4852,0.95,0.00,95.10,0.828,6,0.082,0.000,3066,1792,2635,0,0,0,0,0,0
$STATE,4853,end apogee,CONTROL_FINISHED_OK
$STATE,4853,begin climb
$GC,4856,1.19,116.8,452.3,0.0,270,4968,1.50,2.72,100.70,0.807,4,0.057,0.062,3396,409,2157,0,0,0,0,0,0
$GC,4993,1.19,116.8,437.1,16.5,273,4997,0.00,2.47,0.00,0.000,6,0.000,0.027,3396,1800,2151,0,0,0,0,0,0
$GC,5311,1.19,116.8,393.8,13.7,281,5312,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1802,2145,0,0,0,0,0,0
$GC,5636,1.19,116.8,353.7,11.5,289,5637,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1802,2142,0,0,0,0,0,0
$GC,5961,1.19,116.8,315.1,12.1,297,5965,0.00,2.65,0.00,0.000,4,0.000,0.060,3396,404,2139,0,0,0,0,0,0
$GC,5985,1.19,116.8,311.8,13.9,297,5989,0.00,2.47,0.00,0.000,6,0.000,0.028,3396,1802,2138,0,0,0,0,0,0
$GC,6310,1.19,116.8,275.7,10.1,311,6314,0.00,2.53,0.00,0.000,4,0.000,0.042,3396,3213,2137,0,0,0,0,0,0
$GC,6333,1.19,116.8,273.2,10.0,312,6338,0.00,2.60,0.00,0.000,6,0.000,0.046,3396,1804,2137,0,0,0,0,0,0
$GC,6659,1.19,116.8,244.1,9.0,328,6663,0.00,2.65,0.00,0.000,4,0.000,0.059,3396,389,2135,0,0,0,0,0,0
$GC,6714,1.19,116.8,238.1,10.3,330,6719,0.00,2.50,0.00,0.000,6,0.000,0.025,3396,1809,2133,0,0,0,0,0,0
$GC,7031,1.19,116.8,207.4,9.9,345,7032,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1813,2133,0,0,0,0,0,0
$GC,7347,1.19,116.8,176.4,9.6,371,7351,0.00,2.47,0.00,0.000,4,0.000,0.035,3396,3206,2133,0,0,0,0,0,0
$GC,7362,1.19,116.8,174.8,10.0,372,7367,0.00,2.58,0.00,0.000,6,0.000,0.041,3396,1794,2132,0,0,0,0,0,0
$GC,7626,1.19,116.8,147.9,10.6,396,7630,0.00,2.53,0.00,0.000,4,0.000,0.034,3396,3211,2132,0,0,0,0,0,0
$GC,7679,1.19,116.8,142.5,9.6,401,7683,0.00,2.58,0.00,0.000,6,0.000,0.039,3396,1794,2132,0,0,0,0,0,0
$GC,7943,1.19,116.8,120.3,8.5,425,7948,0.00,2.55,0.00,0.000,4,0.000,0.051,3396,390,2132,0,0,0,0,0,0
$GC,7972,1.20,120.2,117.7,7.9,427,7977,0.00,2.45,0.00,0.000,6,0.000,0.021,3396,1814,2131,0,0,0,0,0,0
$GC,8235,1.26,172.1,102.0,5.6,452,8283,0.00,0.00,43.78,0.561,6,0.000,0.000,3396,1819,1933,0,0,0,0,0,0
$GC,8539,1.26,172.1,76.5,9.0,481,8543,0.00,2.62,0.00,0.000,4,0.000,0.048,3396,390,1928,0,0,0,0,0,0
$GC,8591,1.26,172.1,71.5,9.4,486,8595,0.00,2.42,0.00,0.000,6,0.000,0.019,3396,1800,1926,0,0,0,0,0,0
$GC,8856,1.28,187.9,49.8,7.3,510,8876,0.00,2.67,14.07,0.476,4,0.000,0.048,3396,392,1867,0,0,0,0,0,0
$GC,8896,1.28,189.0,46.4,8.0,514,8903,0.00,2.45,0.00,0.000,6,0.000,0.019,3396,1802,1865,0,0,0,0,0,0
$GC,9163,1.30,198.7,26.0,7.6,543,9182,0.10,2.67,10.25,0.436,4,0.071,0.047,3435,388,1824,0,0,0,0,0,0
$GC,9215,1.30,198.7,20.3,11.0,553,9222,0.00,2.45,0.00,0.000,6,0.000,0.018,3436,1799,1821,0,0,0,0,0,0
$STATE,9391,end climb,SURFACE_DEPTH_REACHED
$STATE,9391,begin surface coast
$FINISH,1.0,1.022972
$STATE,9419,end surface coast,CONTROL_FINISHED_OK
$STATE,9419,begin surface
$SM_CCo,9443,66.75,0.459,0,0,1288,330.17
$SM_GC,1.44,0.00,0.00,66.75,0.000,0.000,0.459,422,2152,1288,-12.49,1.44,330.17
$IRIDIUM_FIX,2057.14,-15751.76,020800,161648
$TT8_MAMPS,0.029146
$HUMID,55.35
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.5,24.543
$10V_AH,10.6,23.365
$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,28.575,111.825,263.900,66.750,0.000,24.271,32.449,142.706,4.500,0.000,16.472,1097.686,6226.963,400.087,1663.761,445.745,33.356,1122.796,0.000,1649.666,0.000,29.243,0.000
$DEVICE_MAMPS,136.526,62.127,827.593,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,400.065,389.015,857.776,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,31875,590
$CAP_FILE_SIZE,98753,0
$CFSIZE,260165632,241876992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090511,215528,2107.098,-15746.637,10,3.6,29,9.8