version: 66.06
glider: 139
mission: 9
dive: 254
start: 5 4 111 3 51 31
data:
$ID,139
$MISSION,9
$DIVE,254
$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,-2180887.2
$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,19
$R_STBD_OVSHOOT,75
$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
$GPS1,034437,2101.181,-15745.088,73,0.8,73,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-76.2
$GPS2,035038,2101.176,-15745.091,15,1.6,15,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.143,-0.169
$KALMAN_X,-157442.7,387.7,-729.6,167362.4,1225.2
$KALMAN_Y,-7147.1,378.3,-533.5,-10436.8,1613.2
$MHEAD_RNG_PITCHd_Wd,210.5,10220,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.19,-116.8,0.0,0.0,0,89,0.00,0.00,-69.10,0.000,2,0.000,0.000,427,2123,3106,0,0,0,0,0,0
$GC,93,-1.19,-116.8,3.7,-5.6,13,111,13.07,2.58,0.00,0.000,4,0.134,0.038,2869,681,3108,0,0,0,0,0,0
$GC,268,-1.19,-116.8,45.7,-16.6,43,275,0.00,2.38,0.00,0.000,6,0.000,0.021,2869,2059,3110,0,0,0,0,0,0
$GC,529,-1.19,-116.8,85.7,-15.4,68,534,0.00,2.55,0.00,0.000,4,0.000,0.035,2869,3499,3111,0,0,0,0,0,0
$GC,637,-1.19,-116.8,101.8,-13.9,79,642,0.00,2.47,0.00,0.000,6,0.000,0.032,2869,2092,3111,0,0,0,0,0,0
$GC,902,-1.19,-116.8,134.1,-14.0,103,906,0.00,2.50,0.00,0.000,4,0.000,0.035,2869,3506,3112,0,0,0,0,0,0
$GC,1013,-1.19,-116.8,147.1,-10.5,114,1019,0.00,2.50,0.00,0.000,6,0.000,0.032,2869,2096,3112,0,0,0,0,0,0
$GC,1278,-1.19,-116.8,175.9,-10.9,139,1282,0.00,2.50,0.00,0.000,4,0.000,0.042,2869,686,3112,0,0,0,0,0,0
$GC,1293,-1.19,-116.8,178.0,-10.6,140,1297,0.00,2.42,0.00,0.000,6,0.000,0.021,2869,2110,3112,0,0,0,0,0,0
$GC,1556,-1.19,-116.8,202.1,-8.8,163,1561,0.00,2.50,0.00,0.000,4,0.000,0.041,2869,692,3113,0,0,0,0,0,0
$GC,1590,-1.19,-116.8,205.6,-10.1,164,1594,0.00,2.40,0.00,0.000,6,0.000,0.022,2869,2098,3112,0,0,0,0,0,0
$GC,1907,-1.19,-116.8,237.5,-10.5,179,1911,0.00,2.50,0.00,0.000,4,0.000,0.043,2869,689,3112,0,0,0,0,0,0
$GC,2023,-1.19,-116.8,250.3,-10.0,184,2028,0.00,2.40,0.00,0.000,6,0.000,0.022,2869,2100,3112,0,0,0,0,0,0
$GC,2350,-1.19,-116.8,280.3,-8.2,200,2355,0.00,2.53,0.00,0.000,4,0.000,0.043,2869,3503,3112,0,0,0,0,0,0
$GC,2440,-1.19,-116.8,286.8,-7.4,204,2444,0.00,2.50,0.00,0.000,6,0.000,0.038,2868,2098,3112,0,0,0,0,0,0
$GC,2768,-1.19,-116.8,308.6,-6.6,217,2772,0.00,2.53,0.00,0.000,4,0.000,0.048,2869,691,3110,0,0,0,0,0,0
$GC,2857,-1.19,-116.8,315.6,-8.8,219,2861,0.00,2.42,0.00,0.000,6,0.000,0.024,2869,2099,3110,0,0,0,0,0,0
$GC,3185,-1.19,-116.8,341.9,-8.3,227,3189,0.00,2.58,0.00,0.000,4,0.000,0.049,2869,682,3108,0,0,0,0,0,0
$GC,3250,-1.19,-116.8,347.2,-8.5,228,3254,0.00,2.45,0.00,0.000,6,0.000,0.026,2869,2096,3108,0,0,0,0,0,0
$GC,3596,-1.19,-116.8,372.6,-6.9,237,3600,0.00,2.55,0.00,0.000,4,0.000,0.048,2869,3505,3105,0,0,0,0,0,0
$GC,3790,-1.19,-116.8,393.6,-13.8,241,3794,0.00,2.50,0.00,0.000,6,0.000,0.041,2869,2100,3104,0,0,0,0,0,0
$GC,4104,-1.19,-116.8,417.0,-8.4,249,4108,0.00,2.60,0.00,0.000,4,0.000,0.054,2869,688,3102,0,0,0,0,0,0
$GC,4231,-1.19,-116.8,430.1,-8.8,251,4236,0.00,2.45,0.00,0.000,6,0.000,0.029,2869,2101,3101,0,0,0,0,0,0
$STATE,4519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4519,begin apogee
$GC,4526,-0.31,0.0,451.6,6.9,258,4623,0.95,0.00,94.18,0.816,6,0.082,0.000,3066,1793,2635,0,0,0,0,0,0
$STATE,4624,end apogee,CONTROL_FINISHED_OK
$STATE,4624,begin climb
$GC,4627,1.19,116.8,453.9,0.0,260,4739,1.48,2.67,101.00,0.796,4,0.055,0.063,3391,406,2157,0,0,0,0,0,0
$GC,4773,1.19,116.8,440.7,15.2,263,4777,0.00,2.50,0.00,0.000,6,0.000,0.028,3392,1802,2151,0,0,0,0,0,0
$GC,5122,1.19,116.8,391.1,15.0,272,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1804,2144,0,0,0,0,0,0
$GC,5447,1.19,116.8,348.5,12.5,280,5451,0.00,2.58,0.00,0.000,4,0.000,0.046,3392,3208,2141,0,0,0,0,0,0
$GC,5472,1.19,116.8,345.4,12.3,280,5477,0.00,2.62,0.00,0.000,6,0.000,0.048,3392,1803,2141,0,0,0,0,0,0
$GC,5813,1.19,116.8,302.9,12.7,289,5817,0.00,2.62,0.00,0.000,4,0.000,0.061,3391,393,2138,0,0,0,0,0,0
$GC,5903,1.19,116.8,291.2,13.3,292,5907,0.00,2.50,0.00,0.000,6,0.000,0.028,3392,1802,2136,0,0,0,0,0,0
$GC,6232,1.19,116.8,256.8,8.5,308,6236,0.00,2.53,0.00,0.000,4,0.000,0.041,3392,3212,2136,0,0,0,0,0,0
$GC,6269,1.19,116.8,253.3,8.8,309,6275,0.00,2.62,0.00,0.000,6,0.000,0.047,3392,1797,2136,0,0,0,0,0,0
$GC,6586,1.19,116.8,224.6,9.5,325,6590,0.00,2.55,0.00,0.000,4,0.000,0.038,3392,3206,2134,0,0,0,0,0,0
$GC,6610,1.19,116.8,222.1,9.5,326,6614,0.00,2.60,0.00,0.000,6,0.000,0.044,3392,1793,2134,0,0,0,0,0,0
$GC,6936,1.19,116.8,195.6,8.8,344,6937,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1793,2133,0,0,0,0,0,0
$GC,7191,1.19,116.8,174.3,8.1,368,7195,0.00,2.60,0.00,0.000,4,0.000,0.054,3392,386,2132,0,0,0,0,0,0
$GC,7226,1.19,116.8,171.3,9.3,371,7231,0.00,2.47,0.00,0.000,6,0.000,0.023,3392,1811,2131,0,0,0,0,0,0
$GC,7491,1.19,116.8,150.0,8.1,395,7495,0.00,2.65,0.00,0.000,4,0.000,0.051,3391,388,2131,0,0,0,0,0,0
$GC,7524,1.19,116.8,146.7,10.1,398,7529,0.00,2.45,0.00,0.000,6,0.000,0.022,3392,1802,2130,0,0,0,0,0,0
$GC,7788,1.19,116.8,122.6,9.6,422,7792,0.00,2.62,0.00,0.000,4,0.000,0.051,3391,387,2131,0,0,0,0,0,0
$GC,7822,1.19,116.8,119.0,10.1,425,7827,0.00,2.45,0.00,0.000,6,0.000,0.021,3392,1809,2130,0,0,0,0,0,0
$GC,8088,1.24,154.1,100.7,6.3,449,8125,0.00,2.53,28.17,0.542,4,0.000,0.031,3392,3201,2006,0,0,0,0,0,0
$GC,8155,1.25,161.5,95.7,7.7,456,8168,0.00,2.55,8.30,0.469,6,0.000,0.038,3392,1799,1975,0,0,0,0,0,0
$GC,8431,1.25,163.4,75.6,7.9,482,8436,0.00,2.58,0.00,0.000,4,0.000,0.049,3392,390,1972,0,0,0,0,0,0
$GC,8503,1.25,163.4,68.3,9.5,489,8510,0.00,2.45,0.00,0.000,6,0.000,0.020,3392,1802,1968,0,0,0,0,0,0
$GC,8768,1.27,179.1,49.1,7.3,514,8789,0.00,2.45,15.85,0.473,4,0.000,0.027,3392,3197,1902,0,0,0,0,0,0
$GC,8819,1.29,197.0,45.1,7.2,519,8843,0.12,2.55,16.65,0.471,6,0.060,0.035,3438,1790,1830,0,0,0,0,0,0
$GC,9109,1.29,198.0,16.2,8.0,559,9116,0.00,2.58,0.00,0.000,4,0.000,0.048,3437,394,1827,0,0,0,0,0,0
$GC,9166,1.29,198.0,11.0,9.0,571,9173,0.00,2.42,0.00,0.000,6,0.000,0.018,3438,1801,1823,0,0,0,0,0,0
$STATE,9253,end climb,SURFACE_DEPTH_REACHED
$STATE,9253,begin surface coast
$FINISH,1.0,1.022759
$STATE,9289,end surface coast,CONTROL_FINISHED_OK
$STATE,9289,begin surface
$SM_CCo,9312,67.10,0.454,0,0,1288,330.17
$SM_GC,1.53,0.00,0.00,67.10,0.000,0.000,0.454,426,2149,1288,-12.47,1.39,330.17
$IRIDIUM_FIX,2052.52,-15746.61,280700,010159
$TT8_MAMPS,0.029146
$HUMID,55.23
$INTERNAL_PRESSURE,9.62581
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.5,20.378
$10V_AH,10.6,19.591
$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,28.500,116.975,264.150,67.100,0.000,28.003,46.384,161.261,4.750,0.000,15.673,1127.386,5959.384,401.096,1770.380,483.775,33.375,1165.090,0.000,1746.263,0.000,32.128,0.000
$DEVICE_MAMPS,134.225,62.894,816.088,454.064,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,401.603,389.150,872.140,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,31893,593
$CAP_FILE_SIZE,101924,0
$CFSIZE,260165632,244219904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040511,062907,2100.901,-15745.586,37,1.4,37,9.8