version: 66.06
glider: 139
mission: 9
dive: 318
start: 5 11 111 20 42 13
data:
$ID,139
$MISSION,9
$DIVE,318
$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,-2182554.8
$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,27
$R_STBD_OVSHOOT,66
$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
$GPS1,203037,2101.336,-15746.210,33,1.1,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-73.0
$GPS2,204120,2101.359,-15746.193,16,1.1,16,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.097,-0.200
$KALMAN_X,-217989.9,461.6,596.4,224594.6,-1584.9
$KALMAN_Y,-21222.9,-151.1,392.4,3566.4,-447.8
$MHEAD_RNG_PITCHd_Wd,196.0,8991,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.19,-116.8,0.0,0.0,0,123,0.00,0.00,-100.47,0.000,6,0.000,0.000,432,2120,3112,0,0,0,0,0,0
$GC,126,-1.19,-116.8,3.6,-5.9,19,145,13.20,2.58,0.00,0.000,4,0.139,0.039,2868,692,3115,0,0,0,0,0,0
$GC,208,-1.19,-116.8,27.4,-24.0,36,214,0.00,2.40,0.00,0.000,6,0.000,0.020,2868,2070,3116,0,0,0,0,0,0
$GC,413,-1.19,-116.8,62.0,-17.3,56,417,0.00,2.55,0.00,0.000,4,0.000,0.035,2868,3502,3117,0,0,0,0,0,0
$GC,509,-1.19,-116.8,75.0,-14.0,66,513,0.00,2.45,0.00,0.000,6,0.000,0.030,2868,2100,3117,0,0,0,0,0,0
$GC,772,-1.19,-116.8,111.9,-12.6,90,776,0.00,2.50,0.00,0.000,4,0.000,0.040,2868,692,3119,0,0,0,0,0,0
$GC,789,-1.19,-116.8,114.3,-13.6,91,794,0.00,2.42,0.00,0.000,6,0.000,0.020,2868,2112,3118,0,0,0,0,0,0
$GC,1053,-1.19,-116.8,145.4,-10.5,115,1057,0.00,2.53,0.00,0.000,4,0.000,0.041,2868,690,3119,0,0,0,0,0,0
$GC,1079,-1.19,-116.8,148.9,-12.2,117,1084,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2102,3119,0,0,0,0,0,0
$GC,1344,-1.19,-116.8,171.9,-10.1,141,1348,0.00,2.50,0.00,0.000,4,0.000,0.040,2868,692,3120,0,0,0,0,0,0
$GC,1363,-1.19,-116.8,174.8,-12.0,142,1369,0.00,2.42,0.00,0.000,6,0.000,0.021,2868,2094,3120,0,0,0,0,0,0
$GC,1628,-1.19,-116.8,194.0,-6.5,167,1633,0.00,2.53,0.00,0.000,4,0.000,0.043,2868,690,3120,0,0,0,0,0,0
$GC,1654,-1.19,-116.8,196.3,-8.9,169,1659,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2104,3120,0,0,0,0,0,0
$GC,1911,-1.19,-116.8,219.4,-10.6,183,1916,0.00,2.50,0.00,0.000,4,0.000,0.044,2868,691,3121,0,0,0,0,0,0
$GC,1930,-1.19,-116.8,222.5,-13.7,183,1936,0.00,2.42,0.00,0.000,6,0.000,0.022,2868,2100,3121,0,0,0,0,0,0
$GC,2247,-1.19,-116.8,248.9,-9.6,199,2252,0.00,2.53,0.00,0.000,4,0.000,0.041,2868,3507,3121,0,0,0,0,0,0
$GC,2481,-1.19,-116.8,275.7,-11.8,209,2486,0.00,2.50,0.00,0.000,6,0.000,0.042,2868,2106,3121,0,0,0,0,0,0
$GC,2824,-1.19,-116.8,303.2,-5.8,225,2828,0.00,2.50,0.00,0.000,4,0.000,0.043,2868,3502,3120,0,0,0,0,0,0
$GC,3042,-1.19,-116.8,319.6,-7.0,229,3047,0.00,2.53,0.00,0.000,6,0.000,0.039,2868,2091,3119,0,0,0,0,0,0
$GC,3374,-1.19,-116.8,347.1,-10.3,237,3378,0.00,2.58,0.00,0.000,4,0.000,0.056,2868,690,3118,0,0,0,0,0,0
$GC,3384,-1.19,-116.8,347.9,-9.8,237,3388,0.00,2.45,0.00,0.000,6,0.000,0.025,2868,2100,3118,0,0,0,0,0,0
$GC,3697,-1.19,-116.8,369.4,-8.2,245,3699,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2105,3116,0,0,0,0,0,0
$GC,4023,-1.19,-116.8,399.8,-7.8,253,4025,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2105,3115,0,0,0,0,0,0
$GC,4349,-1.19,-116.8,428.2,-10.7,261,4353,0.00,2.58,0.00,0.000,4,0.000,0.054,2867,693,3112,0,0,0,0,0,0
$STATE,4601,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4601,begin apogee
$GC,4610,-0.31,0.0,450.3,10.5,266,4710,0.93,0.00,96.82,0.821,6,0.082,0.000,3063,1801,2635,0,0,0,0,0,0
$STATE,4711,end apogee,CONTROL_FINISHED_OK
$STATE,4711,begin climb
$GC,4714,1.19,116.8,452.6,0.0,269,4820,1.52,0.00,101.78,0.802,6,0.055,0.000,3395,1801,2158,0,0,0,0,0,0
$GC,5114,1.19,116.8,412.9,12.3,279,5118,0.00,2.67,0.00,0.000,4,0.000,0.061,3395,398,2147,0,0,0,0,0,0
$GC,5157,1.19,116.8,407.1,13.3,280,5161,0.00,2.50,0.00,0.000,6,0.000,0.028,3395,1799,2145,0,0,0,0,0,0
$GC,5485,1.19,116.8,370.4,11.2,288,5489,0.00,2.58,0.00,0.000,4,0.000,0.045,3395,3211,2142,0,0,0,0,0,0
$GC,5541,1.19,116.8,363.7,11.2,289,5545,0.00,2.62,0.00,0.000,6,0.000,0.048,3395,1804,2142,0,0,0,0,0,0
$GC,5855,1.19,116.8,329.4,10.6,297,5859,0.00,2.67,0.00,0.000,4,0.000,0.061,3394,392,2140,0,0,0,0,0,0
$GC,5898,1.19,116.8,323.6,13.3,298,5903,0.00,2.50,0.00,0.000,6,0.000,0.027,3395,1799,2138,0,0,0,0,0,0
$GC,6229,1.19,116.8,287.1,9.9,309,6230,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1800,2137,0,0,0,0,0,0
$GC,6537,1.19,116.8,257.9,9.0,324,6541,0.00,2.53,0.00,0.000,4,0.000,0.040,3395,3204,2136,0,0,0,0,0,0
$GC,6580,1.19,116.8,253.4,10.3,326,6584,0.00,2.60,0.00,0.000,6,0.000,0.047,3395,1801,2136,0,0,0,0,0,0
$GC,6909,1.19,116.8,223.4,8.5,342,6910,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1801,2135,0,0,0,0,0,0
$GC,7221,1.21,126.4,193.6,7.6,360,7232,0.00,2.55,5.22,0.489,4,0.000,0.035,3395,3205,2118,0,0,0,0,0,0
$GC,7254,1.23,145.0,191.4,7.2,363,7281,0.00,2.58,18.17,0.621,6,0.000,0.044,3395,1800,2042,0,0,0,0,0,0
$GC,7537,1.23,145.0,164.8,10.7,390,7541,0.00,2.62,0.00,0.000,4,0.000,0.054,3395,393,2038,0,0,0,0,0,0
$GC,7572,1.23,145.0,160.7,12.1,393,7576,0.00,2.45,0.00,0.000,6,0.000,0.023,3395,1806,2036,0,0,0,0,0,0
$GC,7836,1.23,145.0,134.3,9.4,417,7841,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1810,2036,0,0,0,0,0,0
$GC,8098,1.23,145.0,110.6,8.7,442,8102,0.00,2.62,0.00,0.000,4,0.000,0.051,3395,392,2036,0,0,0,0,0,0
$GC,8151,1.23,145.0,104.9,11.3,447,8155,0.00,2.42,0.00,0.000,6,0.000,0.021,3395,1806,2034,0,0,0,0,0,0
$GC,8416,1.23,145.0,79.7,8.9,471,8420,0.00,2.60,0.00,0.000,4,0.000,0.050,3394,392,2034,0,0,0,0,0,0
$GC,8459,1.23,145.0,75.2,10.2,475,8463,0.00,2.40,0.00,0.000,6,0.000,0.020,3395,1807,2034,0,0,0,0,0,0
$GC,8723,1.23,145.0,54.5,8.1,499,8727,0.00,2.40,0.00,0.000,4,0.000,0.030,3395,3195,2034,0,0,0,0,0,0
$GC,8758,1.26,166.8,51.7,7.0,502,8787,0.00,2.50,18.98,0.492,6,0.000,0.035,3395,1793,1954,0,0,0,0,0,0
$GC,9043,1.30,200.9,31.8,6.5,529,9079,0.10,2.53,30.15,0.482,4,0.072,0.027,3435,3199,1815,0,0,0,0,0,0
$GC,9096,1.30,200.9,27.4,9.0,536,9102,0.00,2.58,0.00,0.000,6,0.000,0.035,3434,1801,1814,0,0,0,0,0,0
$GC,9298,1.30,200.9,7.1,9.0,573,9305,0.00,2.62,0.00,0.000,4,0.000,0.050,3434,397,1812,0,0,0,0,0,0
$GC,9334,1.30,200.9,3.6,10.2,580,9340,0.00,2.42,0.00,0.000,6,0.000,0.019,3434,1796,1809,0,0,0,0,0,0
$STATE,9346,end climb,SURFACE_DEPTH_REACHED
$STATE,9346,begin surface coast
$FINISH,1.0,1.009839
$STATE,9375,end surface coast,CONTROL_FINISHED_OK
$STATE,9375,begin surface
$SM_CCo,9399,65.85,0.458,0,0,1289,330.17
$SM_GC,1.64,0.00,0.00,65.85,0.000,0.000,0.458,424,2161,1289,-12.48,1.72,330.17
$IRIDIUM_FIX,2054.83,-15744.48,040800,131338
$TT8_MAMPS,0.029146
$HUMID,54.68
$INTERNAL_PRESSURE,9.58675
$TCM_TEMP,21.50
$XPDR_PINGS,1
$24V_AH,23.4,25.948
$10V_AH,10.4,24.664
$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,28.625,110.675,271.125,65.850,0.000,40.292,39.552,370.570,4.750,0.000,17.066,1092.921,6111.019,454.441,1690.429,721.212,33.378,1185.198,0.000,1674.498,0.000,29.245,0.000
$DEVICE_MAMPS,138.827,61.360,820.690,457.899,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,396.340,390.762,864.706,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355840
$DATA_FILE_SIZE,31880,587
$CAP_FILE_SIZE,103249,0
$CFSIZE,260165632,241057792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110511,232106,2100.179,-15746.649,13,1.0,29,9.8