version: 66.06
glider: 139
mission: 9
dive: 359
start: 5 15 111 15 53 9
data:
$ID,139
$MISSION,9
$DIVE,359
$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,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,270
$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,-2183376.2
$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,17
$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
$GPS1,154637,2050.667,-15743.933,14,1.8,31,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-75.3
$GPS2,155251,2050.628,-15743.892,15,2.3,34,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,HEADING
$TGT_LATLONG,2050.628,-15755.447
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.082,0.206
$KALMAN_X,-197895.0,373.7,194.6,208192.4,10278.9
$KALMAN_Y,-90001.3,-266.9,-292.7,57028.9,-11190.3
$MHEAD_RNG_PITCHd_Wd,260.2,20000,-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,-116.8,0.0,0.0,0,86,0.00,0.00,-65.18,0.000,2,0.000,0.000,428,2131,2980,0,0,0,0,0,0
$GC,89,-1.19,-116.8,3.1,-4.1,12,114,13.07,2.65,-2.72,0.000,4,0.135,0.053,2867,684,3114,0,0,0,0,0,0
$GC,265,-1.19,-116.8,44.0,-18.9,43,270,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2077,3115,0,0,0,0,0,0
$GC,528,-1.19,-116.8,91.3,-15.1,67,532,0.00,2.53,0.00,0.000,4,0.000,0.034,2867,3509,3116,0,0,0,0,0,0
$GC,543,-1.19,-116.8,93.9,-14.8,68,548,0.00,2.45,0.00,0.000,6,0.000,0.028,2868,2087,3116,0,0,0,0,0,0
$GC,806,-1.19,-116.8,123.4,-12.1,92,811,0.00,2.47,0.00,0.000,4,0.000,0.033,2868,3509,3117,0,0,0,0,0,0
$GC,823,-1.19,-116.8,125.4,-11.1,93,828,0.00,2.47,0.00,0.000,6,0.000,0.031,2868,2098,3117,0,0,0,0,0,0
$GC,1088,-1.19,-116.8,155.8,-12.1,117,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2098,3118,0,0,0,0,0,0
$GC,1349,-1.19,-116.8,186.0,-11.5,142,1353,0.00,2.53,0.00,0.000,4,0.000,0.042,2867,684,3118,0,0,0,0,0,0
$GC,1431,-1.19,-116.8,194.8,-11.0,150,1438,0.00,2.42,0.00,0.000,6,0.000,0.021,2867,2098,3119,0,0,0,0,0,0
$GC,1688,-1.19,-116.8,217.1,-7.4,165,1693,0.00,2.50,0.00,0.000,4,0.000,0.042,2868,693,3119,0,0,0,0,0,0
$GC,1703,-1.19,-116.8,218.7,-8.8,165,1708,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2100,3118,0,0,0,0,0,0
$GC,2019,-1.19,-116.8,249.8,-10.5,181,2024,0.00,2.53,0.00,0.000,4,0.000,0.044,2868,692,3118,0,0,0,0,0,0
$GC,2176,-1.19,-116.8,266.8,-10.0,188,2181,0.00,2.40,0.00,0.000,6,0.000,0.022,2867,2105,3118,0,0,0,0,0,0
$GC,2506,-1.19,-116.8,299.8,-9.9,204,2510,0.00,2.50,0.00,0.000,4,0.000,0.045,2867,693,3117,0,0,0,0,0,0
$GC,2633,-1.19,-116.8,313.7,-10.2,207,2637,0.00,2.42,0.00,0.000,6,0.000,0.024,2867,2107,3117,0,0,0,0,0,0
$GC,2969,-1.19,-116.8,342.7,-8.6,216,2974,0.00,2.55,0.00,0.000,4,0.000,0.046,2867,690,3116,0,0,0,0,0,0
$GC,3013,-1.19,-116.8,346.5,-8.8,217,3017,0.00,2.42,0.00,0.000,6,0.000,0.025,2868,2098,3116,0,0,0,0,0,0
$GC,3342,-1.19,-116.8,366.8,-5.4,225,3343,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2098,3114,0,0,0,0,0,0
$GC,3666,-1.19,-116.8,384.9,-6.0,233,3670,0.00,2.53,0.00,0.000,4,0.000,0.048,2867,693,3112,0,0,0,0,0,0
$GC,3727,-1.19,-116.8,389.2,-7.2,234,3731,0.00,2.45,0.00,0.000,6,0.000,0.027,2867,2104,3111,0,0,0,0,0,0
$GC,4077,-1.19,-116.8,410.2,-5.8,243,4081,0.00,2.58,0.00,0.000,4,0.000,0.051,2867,692,3109,0,0,0,0,0,0
$GC,4092,-1.19,-116.8,411.1,-5.9,243,4097,0.00,2.45,0.00,0.000,6,0.000,0.028,2868,2102,3109,0,0,0,0,0,0
$GC,4443,-1.19,-116.8,434.7,-7.2,252,4447,0.00,2.58,0.00,0.000,4,0.000,0.053,2868,695,3107,0,0,0,0,0,0
$GC,4494,-1.19,-116.8,438.9,-8.1,253,4498,0.00,2.45,0.00,0.000,6,0.000,0.028,2867,2099,3106,0,0,0,0,0,0
$STATE,4647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4647,begin apogee
$GC,4654,-0.31,0.0,450.1,7.2,257,4752,0.95,0.00,94.40,0.826,6,0.081,0.000,3065,1789,2635,0,0,0,0,0,0
$STATE,4753,end apogee,CONTROL_FINISHED_OK
$STATE,4753,begin climb
$GC,4756,1.19,116.8,452.0,0.0,259,4863,1.48,0.00,99.93,0.805,6,0.054,0.000,3393,1789,2158,0,0,0,0,0,0
$GC,5208,1.19,116.8,399.1,13.0,270,5213,0.00,2.60,0.00,0.000,4,0.000,0.061,3392,405,2146,0,0,0,0,0,0
$GC,5237,1.19,116.8,395.0,14.1,270,5241,0.00,2.47,0.00,0.000,6,0.000,0.027,3393,1802,2143,0,0,0,0,0,0
$GC,5573,1.19,116.8,361.1,8.9,279,5577,0.00,2.55,0.00,0.000,4,0.000,0.044,3393,3206,2141,0,0,0,0,0,0
$GC,5592,1.20,120.1,359.5,7.9,279,5597,0.00,2.62,0.00,0.000,6,0.000,0.050,3393,1801,2141,0,0,0,0,0,0
$GC,5937,1.20,120.1,328.7,9.2,288,5942,0.00,2.65,0.00,0.000,4,0.000,0.061,3392,394,2139,0,0,0,0,0,0
$GC,5981,1.20,120.1,323.8,11.5,289,5985,0.00,2.50,0.00,0.000,6,0.000,0.028,3393,1805,2136,0,0,0,0,0,0
$GC,6309,1.20,120.1,292.8,9.2,298,6310,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1809,2136,0,0,0,0,0,0
$GC,6620,1.20,120.1,261.2,10.5,313,6621,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1809,2135,0,0,0,0,0,0
$GC,6928,1.20,120.1,233.0,8.3,328,6933,0.00,2.65,0.00,0.000,4,0.000,0.058,3392,392,2134,0,0,0,0,0,0
$GC,6972,1.20,120.1,228.7,10.2,330,6976,0.00,2.47,0.00,0.000,6,0.000,0.026,3393,1802,2132,0,0,0,0,0,0
$GC,7302,1.21,126.5,200.9,7.7,346,7314,0.00,2.65,5.07,0.486,4,0.000,0.054,3392,388,2118,0,0,0,0,0,0
$GC,7332,1.21,126.5,198.0,9.5,348,7339,0.00,2.50,0.00,0.000,6,0.000,0.025,3392,1802,2117,0,0,0,0,0,0
$GC,7597,1.24,154.1,175.3,6.8,373,7625,0.00,0.00,25.73,0.621,6,0.000,0.000,3393,1805,2005,0,0,0,0,0,0
$GC,7879,1.26,171.5,151.6,7.2,400,7901,0.00,2.72,15.90,0.576,4,0.000,0.056,3392,398,1935,0,0,0,0,0,0
$GC,7945,1.26,171.5,145.5,10.3,407,7949,0.00,2.45,0.00,0.000,6,0.000,0.024,3393,1804,1931,0,0,0,0,0,0
$GC,8210,1.26,171.5,120.9,9.2,431,8214,0.00,2.50,0.00,0.000,4,0.000,0.034,3393,3210,1931,0,0,0,0,0,0
$GC,8244,1.26,171.5,117.0,10.3,434,8249,0.00,2.55,0.00,0.000,6,0.000,0.038,3392,1800,1931,0,0,0,0,0,0
$GC,8508,1.26,171.5,94.5,8.7,458,8512,0.00,2.53,0.00,0.000,4,0.000,0.031,3392,3212,1931,0,0,0,0,0,0
$GC,8524,1.26,171.5,93.0,8.4,459,8529,0.00,2.55,0.00,0.000,6,0.000,0.036,3393,1793,1931,0,0,0,0,0,0
$GC,8790,1.30,199.0,74.3,6.8,483,8821,0.12,2.58,24.73,0.520,4,0.062,0.028,3436,3211,1821,0,0,0,0,0,0
$GC,8842,1.30,199.0,69.8,8.5,488,8847,0.00,2.60,0.00,0.000,6,0.000,0.038,3436,1791,1822,0,0,0,0,0,0
$GC,9107,1.30,199.0,47.4,8.8,512,9111,0.00,2.58,0.00,0.000,4,0.000,0.051,3436,391,1819,0,0,0,0,0,0
$GC,9150,1.30,199.0,42.9,9.2,516,9155,0.00,2.42,0.00,0.000,6,0.000,0.020,3436,1814,1817,0,0,0,0,0,0
$GC,9415,1.30,199.0,21.9,8.4,549,9421,0.00,2.42,0.00,0.000,4,0.000,0.028,3436,3191,1817,0,0,0,0,0,0
$GC,9454,1.30,199.0,18.7,8.2,557,9461,0.00,2.55,0.00,0.000,6,0.000,0.038,3436,1799,1817,0,0,0,0,0,0
$STATE,9644,end climb,SURFACE_DEPTH_REACHED
$STATE,9645,begin surface coast
$FINISH,0.9,1.012346
$STATE,9683,end surface coast,CONTROL_FINISHED_OK
$STATE,9683,begin surface
$SM_CCo,9707,65.50,0.460,0,0,1287,330.17
$SM_GC,1.69,0.00,0.00,65.50,0.000,0.000,0.460,427,2118,1287,-12.47,0.51,330.17
$IRIDIUM_FIX,2040.99,-15744.09,080800,131337
$TT8_MAMPS,0.029146
$HUMID,61.65
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,20.70
$XPDR_PINGS,5
$24V_AH,23.5,28.919
$10V_AH,10.4,27.392
$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,28.500,111.850,265.750,65.500,0.000,30.241,32.871,169.470,5.750,0.000,35.043,1107.561,6476.269,402.789,1687.294,473.460,0.000,1125.689,0.000,1646.246,0.000,29.266,0.000
$DEVICE_MAMPS,134.992,61.360,826.059,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,405.867,391.988,865.280,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,31783,599
$CAP_FILE_SIZE,100306,0
$CFSIZE,260165632,239321088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150511,183707,2050.446,-15744.839,26,1.8,26,9.8