version: 66.06
glider: 139
mission: 9
dive: 239
start: 5 2 111 8 35 53
data:
$ID,139
$MISSION,9
$DIVE,239
$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,-2180531.5
$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,21
$R_STBD_OVSHOOT,85
$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
$GPS1,082937,2106.472,-15749.310,37,1.2,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-74.0
$GPS2,083501,2106.462,-15749.241,10,1.8,10,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.221,-0.013
$KALMAN_X,-151239.5,594.1,684.7,152367.8,-2572.7
$KALMAN_Y,-15570.8,-167.4,64.4,7724.5,152.6
$MHEAD_RNG_PITCHd_Wd,83.5,10992,-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,-70.05,0.000,2,0.000,0.000,429,2153,3104,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.2,-3.7,13,110,13.15,2.33,0.00,0.000,4,0.137,0.035,2870,3453,3106,0,0,0,0,0,0
$GC,300,-1.19,-116.8,45.1,-14.4,48,304,0.00,2.40,0.00,0.000,6,0.000,0.031,2870,2094,3108,0,0,0,0,0,0
$GC,562,-1.19,-116.8,76.9,-11.2,72,566,0.00,2.50,0.00,0.000,4,0.000,0.041,2871,689,3109,0,0,0,0,0,0
$GC,604,-1.19,-116.8,82.4,-12.8,76,609,0.00,2.30,0.00,0.000,6,0.000,0.020,2870,2056,3109,0,0,0,0,0,0
$GC,867,-1.19,-116.8,117.3,-14.1,100,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2056,3110,0,0,0,0,0,0
$GC,1121,-1.19,-116.8,147.8,-11.6,124,1122,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2057,3111,0,0,0,0,0,0
$GC,1375,-1.19,-116.8,174.4,-9.7,148,1379,0.00,2.45,0.00,0.000,4,0.000,0.041,2870,688,3111,0,0,0,0,0,0
$GC,1385,-1.19,-116.8,175.6,-10.2,148,1392,0.00,2.42,0.00,0.000,6,0.000,0.022,2870,2096,3111,0,0,0,0,0,0
$GC,1647,-1.19,-116.8,202.3,-10.5,172,1652,0.00,2.50,0.00,0.000,4,0.000,0.040,2870,3507,3112,0,0,0,0,0,0
$GC,1744,-1.19,-116.8,212.9,-9.6,176,1749,0.00,2.47,0.00,0.000,6,0.000,0.035,2870,2093,3111,0,0,0,0,0,0
$GC,2065,-1.19,-116.8,240.3,-8.4,192,2070,0.00,2.53,0.00,0.000,4,0.000,0.039,2870,3504,3111,0,0,0,0,0,0
$GC,2150,-1.19,-116.8,247.6,-8.8,195,2155,0.00,2.50,0.00,0.000,6,0.000,0.038,2870,2098,3111,0,0,0,0,0,0
$GC,2467,-1.19,-116.8,274.9,-8.6,211,2471,0.00,2.55,0.00,0.000,4,0.000,0.048,2870,691,3111,0,0,0,0,0,0
$GC,2526,-1.19,-116.8,280.4,-9.1,213,2532,0.00,2.42,0.00,0.000,6,0.000,0.025,2870,2105,3111,0,0,0,0,0,0
$GC,2863,-1.19,-116.8,312.7,-10.4,227,2867,0.00,2.55,0.00,0.000,4,0.000,0.047,2870,682,3109,0,0,0,0,0,0
$GC,2877,-1.19,-116.8,314.1,-9.3,227,2881,0.00,2.42,0.00,0.000,6,0.000,0.025,2870,2097,3109,0,0,0,0,0,0
$GC,3228,-1.19,-116.8,342.1,-7.9,236,3232,0.00,2.55,0.00,0.000,4,0.000,0.048,2870,692,3107,0,0,0,0,0,0
$GC,3254,-1.19,-116.8,343.9,-7.2,236,3258,0.00,2.42,0.00,0.000,6,0.000,0.027,2870,2105,3107,0,0,0,0,0,0
$GC,3594,-1.19,-116.8,366.5,-7.2,245,3599,0.00,2.55,0.00,0.000,4,0.000,0.051,2870,692,3105,0,0,0,0,0,0
$GC,3722,-1.19,-116.8,376.0,-8.5,247,3726,0.00,2.45,0.00,0.000,6,0.000,0.028,2870,2099,3104,0,0,0,0,0,0
$GC,4060,-1.19,-116.8,402.4,-8.3,256,4064,0.00,2.60,0.00,0.000,4,0.000,0.053,2870,692,3102,0,0,0,0,0,0
$GC,4103,-1.19,-116.8,406.4,-9.1,257,4107,0.00,2.45,0.00,0.000,6,0.000,0.028,2870,2099,3102,0,0,0,0,0,0
$GC,4431,-1.19,-116.8,432.3,-7.5,265,4435,0.00,2.58,0.00,0.000,4,0.000,0.053,2870,694,3099,0,0,0,0,0,0
$GC,4455,-1.19,-116.8,434.3,-8.4,265,4459,0.00,2.45,0.00,0.000,6,0.000,0.029,2870,2097,3099,0,0,0,0,0,0
$STATE,4711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4711,begin apogee
$GC,4718,-0.31,0.0,451.4,6.2,272,4815,0.95,0.00,93.82,0.820,6,0.082,0.000,3067,1799,2635,0,0,0,0,0,0
$STATE,4816,end apogee,CONTROL_FINISHED_OK
$STATE,4816,begin climb
$GC,4819,1.19,116.8,452.7,0.0,274,4925,1.48,0.00,101.30,0.802,6,0.054,0.000,3394,1799,2158,0,0,0,0,0,0
$GC,5229,1.19,116.8,403.9,13.1,284,5233,0.00,2.67,0.00,0.000,4,0.000,0.064,3394,400,2146,0,0,0,0,0,0
$GC,5272,1.19,116.8,397.7,13.8,285,5276,0.00,2.50,0.00,0.000,6,0.000,0.028,3394,1801,2143,0,0,0,0,0,0
$GC,5600,1.19,116.8,356.6,12.4,293,5601,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1803,2141,0,0,0,0,0,0
$GC,5925,1.19,116.8,314.5,12.7,301,5929,0.00,2.67,0.00,0.000,4,0.000,0.061,3393,400,2139,0,0,0,0,0,0
$GC,5987,1.19,116.8,306.5,12.1,302,5992,0.00,2.50,0.00,0.000,6,0.000,0.028,3394,1807,2137,0,0,0,0,0,0
$GC,6322,1.19,116.8,270.6,11.4,317,6326,0.00,2.65,0.00,0.000,4,0.000,0.059,3393,397,2136,0,0,0,0,0,0
$GC,6350,1.19,116.8,267.0,12.6,318,6355,0.00,2.45,0.00,0.000,6,0.000,0.028,3394,1800,2134,0,0,0,0,0,0
$GC,6671,1.19,116.8,232.3,10.1,334,6672,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1802,2134,0,0,0,0,0,0
$GC,6982,1.20,124.9,207.2,7.7,349,6983,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1803,2133,0,0,0,0,0,0
$GC,7296,1.20,124.9,178.6,9.4,374,7297,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1803,2133,0,0,0,0,0,0
$GC,7550,1.20,124.9,156.7,8.1,398,7555,0.00,2.60,0.00,0.000,4,0.000,0.052,3393,398,2133,0,0,0,0,0,0
$GC,7585,1.20,124.9,153.5,9.9,401,7590,0.00,2.45,0.00,0.000,6,0.000,0.023,3394,1812,2131,0,0,0,0,0,0
$GC,7850,1.20,124.9,132.4,8.1,425,7855,0.00,2.60,0.00,0.000,4,0.000,0.051,3393,399,2131,0,0,0,0,0,0
$GC,7877,1.20,124.9,129.9,10.0,427,7881,0.00,2.42,0.00,0.000,6,0.000,0.022,3394,1802,2131,0,0,0,0,0,0
$GC,8141,1.20,124.9,108.0,8.9,451,8146,0.00,2.60,0.00,0.000,4,0.000,0.050,3394,396,2131,0,0,0,0,0,0
$GC,8167,1.20,124.9,105.3,10.2,453,8171,0.00,2.42,0.00,0.000,6,0.000,0.021,3394,1806,2131,0,0,0,0,0,0
$GC,8432,1.21,130.6,84.3,7.8,477,8451,0.00,2.60,8.50,0.472,4,0.000,0.048,3394,397,2100,0,0,0,0,0,0
$GC,8480,1.21,130.6,79.4,9.6,482,8484,0.00,2.40,0.00,0.000,6,0.000,0.021,3394,1801,2099,0,0,0,0,0,0
$GC,8750,1.24,150.7,60.0,7.1,507,8774,0.00,2.62,18.60,0.498,4,0.000,0.049,3394,397,2019,0,0,0,0,0,0
$GC,8823,1.24,150.7,54.1,8.3,514,8830,0.00,2.45,0.00,0.000,6,0.000,0.020,3394,1802,2016,0,0,0,0,0,0
$GC,9088,1.28,184.7,38.2,6.5,539,9128,0.00,2.47,29.85,0.488,4,0.000,0.027,3394,3204,1881,0,0,0,0,0,0
$GC,9142,1.28,184.7,33.5,8.3,544,9149,0.00,2.58,0.00,0.000,6,0.000,0.037,3394,1803,1881,0,0,0,0,0,0
$GC,9409,1.30,203.0,14.3,7.2,589,9433,0.12,2.60,16.65,0.449,4,0.061,0.048,3439,393,1804,0,0,0,0,0,0
$GC,9483,1.30,203.0,6.9,10.9,604,9490,0.00,2.45,0.00,0.000,6,0.000,0.019,3439,1800,1801,0,0,0,0,0,0
$STATE,9522,end climb,SURFACE_DEPTH_REACHED
$STATE,9523,begin surface coast
$FINISH,0.8,1.009984
$STATE,9550,end surface coast,CONTROL_FINISHED_OK
$STATE,9550,begin surface
$SM_CCo,9574,65.25,0.458,0,0,1289,330.17
$SM_GC,1.55,0.00,0.00,65.25,0.000,0.000,0.458,427,2150,1289,-12.47,1.41,330.17
$IRIDIUM_FIX,2057.14,-15751.76,260700,050540
$TT8_MAMPS,0.028379
$HUMID,54.84
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.5,19.020
$10V_AH,10.6,18.383
$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,28.650,106.150,268.725,65.250,0.000,28.212,36.130,143.950,4.500,0.000,10.193,1119.538,6299.961,420.073,1667.483,458.342,33.350,1125.028,0.000,1668.679,0.000,29.248,0.000
$DEVICE_MAMPS,136.526,63.661,819.923,457.899,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,417.203,410.706,929.671,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,34909,616
$CAP_FILE_SIZE,96735,0
$CFSIZE,260165632,244953088
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020511,111743,2106.184,-15748.641,14,1.3,31,9.8