version: 66.06
glider: 139
mission: 9
dive: 324
start: 5 12 111 13 2 0
data:
$ID,139
$MISSION,9
$DIVE,324
$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,-2182649.2
$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,18
$R_STBD_OVSHOOT,46
$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
$GPS1,125533,2056.964,-15749.665,9,2.6,28,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-75.5
$GPS2,130107,2056.917,-15749.585,10,1.8,15,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.173,0.139
$KALMAN_X,-212201.7,-393.2,-212.0,214630.6,1346.4
$KALMAN_Y,-24724.2,-844.7,-628.3,574.4,-978.5
$MHEAD_RNG_PITCHd_Wd,299.0,30196,-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,13,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,-69.47,0.000,2,0.000,0.000,426,2102,3099,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.4,-4.2,13,110,13.10,2.47,-0.20,0.000,4,0.134,0.042,2869,3500,3112,0,0,0,0,0,0
$GC,173,-1.19,-116.8,24.9,-18.9,30,180,0.00,2.53,0.00,0.000,6,0.000,0.035,2869,2097,3113,0,0,0,0,0,0
$GC,379,-1.19,-116.8,59.7,-16.7,52,383,0.00,2.55,0.00,0.000,4,0.000,0.042,2869,680,3114,0,0,0,0,0,0
$GC,396,-1.19,-116.8,62.5,-16.4,53,401,0.00,2.40,0.00,0.000,6,0.000,0.021,2869,2092,3114,0,0,0,0,0,0
$GC,662,-1.19,-116.8,100.3,-13.1,77,666,0.00,2.50,0.00,0.000,4,0.000,0.035,2869,3500,3115,0,0,0,0,0,0
$GC,687,-1.19,-116.8,103.8,-12.5,79,692,0.00,2.45,0.00,0.000,6,0.000,0.032,2869,2097,3115,0,0,0,0,0,0
$GC,952,-1.19,-116.8,135.8,-12.0,103,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2097,3116,0,0,0,0,0,0
$GC,1213,-1.19,-116.8,169.5,-11.7,128,1218,0.00,2.50,0.00,0.000,4,0.000,0.036,2869,3506,3116,0,0,0,0,0,0
$GC,1261,-1.19,-116.8,175.1,-11.6,132,1267,0.00,2.50,0.00,0.000,6,0.000,0.034,2869,2101,3116,0,0,0,0,0,0
$GC,1526,-1.19,-116.8,200.3,-8.7,157,1530,0.00,2.53,0.00,0.000,4,0.000,0.044,2870,690,3117,0,0,0,0,0,0
$GC,1711,-1.19,-116.8,220.1,-10.8,165,1715,0.00,2.42,0.00,0.000,6,0.000,0.022,2869,2109,3118,0,0,0,0,0,0
$GC,2041,-1.19,-116.8,248.4,-8.6,181,2046,0.00,2.50,0.00,0.000,4,0.000,0.042,2869,3501,3118,0,0,0,0,0,0
$GC,2125,-1.19,-116.8,256.6,-8.8,184,2132,0.00,2.50,0.00,0.000,6,0.000,0.038,2869,2106,3117,0,0,0,0,0,0
$GC,2441,-1.19,-116.8,281.1,-6.6,200,2445,0.00,2.47,0.00,0.000,4,0.000,0.041,2869,3496,3117,0,0,0,0,0,0
$GC,2456,-1.19,-116.8,282.4,-7.2,200,2463,0.00,2.53,0.00,0.000,6,0.000,0.039,2869,2094,3117,0,0,0,0,0,0
$GC,2771,-1.19,-116.8,307.3,-7.5,214,2775,0.00,2.55,0.00,0.000,4,0.000,0.044,2869,3502,3116,0,0,0,0,0,0
$GC,2790,-1.19,-116.8,308.9,-7.9,214,2794,0.00,2.50,0.00,0.000,6,0.000,0.040,2869,2099,3116,0,0,0,0,0,0
$GC,3136,-1.19,-116.8,332.2,-6.9,223,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2099,3115,0,0,0,0,0,0
$GC,3460,-1.19,-116.8,354.1,-7.0,231,3461,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2099,3113,0,0,0,0,0,0
$GC,3785,-1.19,-116.8,379.8,-7.9,239,3790,0.00,2.50,0.00,0.000,4,0.000,0.049,2869,3484,3110,0,0,0,0,0,0
$GC,3802,-1.19,-116.8,381.4,-8.9,239,3806,0.00,2.50,0.00,0.000,6,0.000,0.044,2869,2100,3110,0,0,0,0,0,0
$GC,4115,-1.19,-116.8,412.0,-10.1,247,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2099,3108,0,0,0,0,0,0
$GC,4441,-1.19,-116.8,437.1,-7.6,255,4445,0.00,2.58,0.00,0.000,4,0.000,0.050,2869,3492,3106,0,0,0,0,0,0
$GC,4484,-1.19,-116.8,440.6,-8.1,256,4489,0.00,2.53,0.00,0.000,6,0.000,0.047,2869,2100,3106,0,0,0,0,0,0
$STATE,4606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4607,begin apogee
$GC,4613,-0.31,0.0,450.0,7.7,259,4712,0.95,0.00,94.90,0.820,6,0.082,0.000,3067,1796,2635,0,0,0,0,0,0
$STATE,4713,end apogee,CONTROL_FINISHED_OK
$STATE,4713,begin climb
$GC,4715,1.19,116.8,452.3,0.0,261,4824,1.48,0.00,100.90,0.802,6,0.056,0.000,3392,1796,2157,0,0,0,0,0,0
$GC,5165,1.19,116.8,404.0,11.7,272,5169,0.00,2.60,0.00,0.000,4,0.000,0.046,3392,3197,2146,0,0,0,0,0,0
$GC,5193,1.19,116.8,400.6,12.3,272,5198,0.00,2.62,0.00,0.000,6,0.000,0.052,3392,1806,2146,0,0,0,0,0,0
$GC,5529,1.19,116.8,357.7,12.6,281,5533,0.00,2.58,0.00,0.000,4,0.000,0.047,3392,3197,2142,0,0,0,0,0,0
$GC,5596,1.19,116.8,349.6,11.4,282,5600,0.00,2.62,0.00,0.000,6,0.000,0.052,3392,1795,2142,0,0,0,0,0,0
$GC,5941,1.19,116.8,314.5,9.7,291,5942,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1796,2139,0,0,0,0,0,0
$GC,6248,1.19,116.8,280.6,11.1,302,6252,0.00,2.58,0.00,0.000,4,0.000,0.044,3392,3203,2138,0,0,0,0,0,0
$GC,6303,1.19,116.8,274.6,10.7,304,6308,0.00,2.62,0.00,0.000,6,0.000,0.049,3392,1796,2138,0,0,0,0,0,0
$GC,6621,1.19,116.8,242.1,10.8,319,6625,0.00,2.58,0.00,0.000,4,0.000,0.041,3392,3207,2135,0,0,0,0,0,0
$GC,6690,1.19,116.8,235.2,10.0,322,6695,0.00,2.62,0.00,0.000,6,0.000,0.047,3392,1791,2135,0,0,0,0,0,0
$GC,7015,1.19,116.8,204.6,9.5,338,7020,0.00,2.58,0.00,0.000,4,0.000,0.058,3392,391,2134,0,0,0,0,0,0
$GC,7099,1.19,116.8,195.4,11.4,344,7106,0.00,2.47,0.00,0.000,6,0.000,0.024,3392,1799,2132,0,0,0,0,0,0
$GC,7364,1.19,116.8,170.3,9.2,369,7368,0.00,2.60,0.00,0.000,4,0.000,0.053,3392,390,2132,0,0,0,0,0,0
$GC,7402,1.19,116.8,166.2,10.0,372,7409,0.00,2.47,0.00,0.000,6,0.000,0.024,3392,1799,2131,0,0,0,0,0,0
$GC,7665,1.19,116.8,144.3,8.5,397,7669,0.00,2.47,0.00,0.000,4,0.000,0.034,3392,3202,2131,0,0,0,0,0,0
$GC,7727,1.19,116.8,138.2,9.4,403,7732,0.00,2.55,0.00,0.000,6,0.000,0.039,3392,1796,2131,0,0,0,0,0,0
$GC,7992,1.21,130.4,117.5,7.4,427,8005,0.00,2.62,8.12,0.496,4,0.000,0.053,3392,386,2102,0,0,0,0,0,0
$GC,8057,1.21,130.4,111.7,8.5,433,8062,0.00,2.45,0.00,0.000,6,0.000,0.021,3392,1811,2100,0,0,0,0,0,0
$GC,8320,1.27,181.3,95.0,5.7,458,8370,0.10,0.00,45.08,0.547,6,0.072,0.000,3430,1816,1894,0,0,0,0,0,0
$GC,8626,1.27,181.3,68.0,8.5,487,8630,0.00,2.62,0.00,0.000,4,0.000,0.048,3430,389,1890,0,0,0,0,0,0
$GC,8706,1.27,181.3,59.6,10.3,495,8713,0.00,2.45,0.00,0.000,6,0.000,0.020,3430,1796,1887,0,0,0,0,0,0
$GC,8970,1.27,181.3,36.7,9.2,520,8974,0.00,2.45,0.00,0.000,4,0.000,0.028,3430,3200,1886,0,0,0,0,0,0
$GC,9022,1.27,181.3,31.8,9.3,525,9027,0.00,2.53,0.00,0.000,6,0.000,0.035,3430,1796,1887,0,0,0,0,0,0
$GC,9288,1.27,181.3,8.7,8.2,571,9295,0.00,2.58,0.00,0.000,4,0.000,0.049,3430,395,1886,0,0,0,0,0,0
$GC,9332,1.27,181.3,4.7,9.5,580,9339,0.00,2.42,0.00,0.000,6,0.000,0.018,3430,1802,1886,0,0,0,0,0,0
$STATE,9349,end climb,SURFACE_DEPTH_REACHED
$STATE,9350,begin surface coast
$FINISH,0.9,1.010004
$STATE,9383,end surface coast,CONTROL_FINISHED_OK
$STATE,9383,begin surface
$SM_CCo,9407,73.50,0.455,0,0,1288,330.17
$SM_GC,1.74,0.00,0.00,73.50,0.000,0.000,0.455,426,2134,1288,-12.47,0.96,330.17
$IRIDIUM_FIX,2050.21,-15750.49,050800,101044
$TT8_MAMPS,0.029146
$HUMID,55.35
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,26.412
$10V_AH,10.4,25.122
$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,28.450,107.125,249.000,73.500,0.000,28.644,32.337,150.585,4.750,0.000,15.855,1091.343,6248.357,407.929,1625.880,443.259,33.363,1108.724,0.000,1605.795,0.000,34.045,0.000
$DEVICE_MAMPS,134.225,57.525,819.923,454.831,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,398.667,386.623,852.325,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,31729,589
$CAP_FILE_SIZE,96938,0
$CFSIZE,260165632,240775168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120511,154106,2056.463,-15750.159,16,1.6,26,9.8