version: 66.06
glider: 139
mission: 9
dive: 325
start: 5 12 111 15 47 18
data:
$ID,139
$MISSION,9
$DIVE,325
$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,-2182665.5
$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,19
$R_STBD_OVSHOOT,68
$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
$GPS1,154106,2056.463,-15750.159,16,1.6,26,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-75.4
$GPS2,154625,2056.408,-15750.091,10,2.0,15,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.175,0.136
$KALMAN_X,-211078.6,-518.6,-152.5,212700.6,1904.0
$KALMAN_Y,-27386.1,-1237.7,-113.3,2175.9,-1472.0
$MHEAD_RNG_PITCHd_Wd,298.2,30259,-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,-116.8,0.0,0.0,0,89,0.00,0.00,-70.03,0.000,6,0.000,0.000,426,2134,3112,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.4,-4.1,13,110,13.07,2.38,0.00,0.000,4,0.133,0.032,2869,3473,3114,0,0,0,0,0,0
$GC,361,-1.19,-116.8,59.3,-15.5,55,366,0.00,2.42,0.00,0.000,6,0.000,0.031,2869,2091,3117,0,0,0,0,0,0
$GC,627,-1.19,-116.8,100.7,-15.4,79,631,0.00,2.47,0.00,0.000,4,0.000,0.041,2869,693,3118,0,0,0,0,0,0
$GC,696,-1.19,-116.8,111.1,-14.2,86,701,0.00,2.33,0.00,0.000,6,0.000,0.020,2869,2073,3117,0,0,0,0,0,0
$GC,960,-1.19,-116.8,143.3,-11.6,110,964,0.00,2.47,0.00,0.000,4,0.000,0.041,2869,693,3118,0,0,0,0,0,0
$GC,988,-1.19,-116.8,147.4,-14.0,112,995,0.00,2.42,0.00,0.000,6,0.000,0.021,2869,2097,3118,0,0,0,0,0,0
$GC,1253,-1.19,-116.8,178.4,-11.4,137,1257,0.00,2.50,0.00,0.000,4,0.000,0.038,2869,3501,3119,0,0,0,0,0,0
$GC,1449,-1.19,-116.8,199.4,-9.6,158,1453,0.00,2.47,0.00,0.000,6,0.000,0.034,2869,2098,3120,0,0,0,0,0,0
$GC,1715,-1.19,-116.8,223.7,-10.4,171,1719,0.00,2.53,0.00,0.000,4,0.000,0.044,2869,693,3120,0,0,0,0,0,0
$GC,1794,-1.19,-116.8,232.5,-11.3,174,1798,0.00,2.42,0.00,0.000,6,0.000,0.022,2869,2111,3120,0,0,0,0,0,0
$GC,2111,-1.19,-116.8,265.4,-11.0,189,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2112,3120,0,0,0,0,0,0
$GC,2419,-1.19,-116.8,293.0,-6.9,204,2423,0.00,2.47,0.00,0.000,4,0.000,0.044,2869,3494,3119,0,0,0,0,0,0
$GC,2507,-1.19,-116.8,299.7,-7.6,208,2512,0.00,2.50,0.00,0.000,6,0.000,0.039,2869,2084,3119,0,0,0,0,0,0
$GC,2858,-1.19,-116.8,322.9,-6.5,217,2862,0.00,2.53,0.00,0.000,4,0.000,0.044,2869,3494,3118,0,0,0,0,0,0
$GC,2951,-1.19,-116.8,329.7,-6.5,219,2955,0.00,2.50,0.00,0.000,6,0.000,0.041,2869,2099,3117,0,0,0,0,0,0
$GC,3275,-1.19,-116.8,351.1,-7.3,227,3276,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2099,3116,0,0,0,0,0,0
$GC,3599,-1.19,-116.8,373.1,-6.7,235,3603,0.00,2.55,0.00,0.000,4,0.000,0.048,2869,3500,3114,0,0,0,0,0,0
$GC,3614,-1.19,-116.8,374.3,-7.2,235,3618,0.00,2.53,0.00,0.000,6,0.000,0.044,2869,2093,3114,0,0,0,0,0,0
$GC,3965,-1.19,-116.8,400.1,-7.2,244,3969,0.00,2.58,0.00,0.000,4,0.000,0.054,2869,694,3111,0,0,0,0,0,0
$GC,4063,-1.19,-116.8,407.8,-7.6,246,4067,0.00,2.45,0.00,0.000,6,0.000,0.028,2869,2096,3110,0,0,0,0,0,0
$GC,4382,-1.19,-116.8,429.8,-7.3,254,4386,0.00,2.58,0.00,0.000,4,0.000,0.054,2869,3504,3108,0,0,0,0,0,0
$GC,4466,-1.19,-116.8,436.1,-7.5,255,4472,0.00,2.55,0.00,0.000,6,0.000,0.046,2869,2100,3107,0,0,0,0,0,0
$STATE,4674,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4674,begin apogee
$GC,4682,-0.31,0.0,451.5,7.4,261,4780,0.95,0.00,95.07,0.824,6,0.083,0.000,3066,1796,2635,0,0,0,0,0,0
$STATE,4781,end apogee,CONTROL_FINISHED_OK
$STATE,4781,begin climb
$GC,4784,1.19,116.8,453.9,0.0,263,4896,1.48,2.65,100.18,0.805,4,0.054,0.047,3393,3199,2157,0,0,0,0,0,0
$GC,4912,1.19,116.8,443.7,11.5,266,4916,0.00,2.65,0.00,0.000,6,0.000,0.054,3392,1808,2156,0,0,0,0,0,0
$GC,5240,1.19,116.8,403.4,12.5,274,5244,0.00,2.60,0.00,0.000,4,0.000,0.048,3392,3203,2146,0,0,0,0,0,0
$GC,5254,1.19,116.8,401.4,12.1,274,5258,0.00,2.65,0.00,0.000,6,0.000,0.051,3392,1795,2147,0,0,0,0,0,0
$GC,5604,1.19,116.8,357.5,12.4,283,5605,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1795,2143,0,0,0,0,0,0
$GC,5929,1.19,116.8,323.3,10.2,291,5930,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1795,2140,0,0,0,0,0,0
$GC,6234,1.19,116.8,293.1,10.3,300,6239,0.00,2.60,0.00,0.000,4,0.000,0.043,3393,3213,2139,0,0,0,0,0,0
$GC,6286,1.19,116.8,287.9,10.3,302,6291,0.00,2.62,0.00,0.000,6,0.000,0.048,3392,1798,2139,0,0,0,0,0,0
$GC,6606,1.19,116.8,253.3,11.3,318,6611,0.00,2.58,0.00,0.000,4,0.000,0.041,3393,3209,2137,0,0,0,0,0,0
$GC,6674,1.19,116.8,246.2,10.6,321,6679,0.00,2.60,0.00,0.000,6,0.000,0.046,3393,1800,2137,0,0,0,0,0,0
$GC,7005,1.19,116.8,212.0,9.2,337,7010,0.00,2.62,0.00,0.000,4,0.000,0.058,3392,391,2135,0,0,0,0,0,0
$GC,7029,1.19,116.8,209.2,10.9,338,7033,0.00,2.47,0.00,0.000,6,0.000,0.025,3393,1811,2132,0,0,0,0,0,0
$GC,7362,1.19,116.8,178.3,8.8,365,7366,0.00,2.65,0.00,0.000,4,0.000,0.053,3392,392,2133,0,0,0,0,0,0
$GC,7388,1.19,116.8,175.5,11.0,367,7393,0.00,2.45,0.00,0.000,6,0.000,0.023,3393,1806,2131,0,0,0,0,0,0
$GC,7653,1.23,144.0,155.3,6.8,391,7679,0.00,0.00,20.12,0.595,6,0.000,0.000,3393,1810,2047,0,0,0,0,0,0
$GC,7936,1.23,144.0,132.0,8.5,418,7941,0.00,2.62,0.00,0.000,4,0.000,0.050,3392,387,2044,0,0,0,0,0,0
$GC,7964,1.23,144.0,129.4,9.1,420,7971,0.00,2.47,0.00,0.000,6,0.000,0.022,3393,1800,2042,0,0,0,0,0,0
$GC,8229,1.27,178.1,111.5,6.5,445,8266,0.00,0.00,30.38,0.555,6,0.000,0.000,3393,1803,1908,0,0,0,0,0,0
$GC,8523,1.29,191.7,89.7,7.4,473,8543,0.10,2.62,12.70,0.497,4,0.071,0.048,3431,392,1852,0,0,0,0,0,0
$GC,8578,1.29,191.7,83.5,11.9,478,8584,0.00,2.45,0.00,0.000,6,0.000,0.020,3430,1795,1849,0,0,0,0,0,0
$GC,8842,1.29,191.7,56.4,10.8,503,8846,0.00,2.58,0.00,0.000,4,0.000,0.048,3430,392,1849,0,0,0,0,0,0
$GC,8868,1.29,191.7,53.2,11.8,505,8872,0.00,2.42,0.00,0.000,6,0.000,0.019,3431,1801,1847,0,0,0,0,0,0
$GC,9132,1.29,191.7,28.9,9.0,530,9138,0.00,2.45,0.00,0.000,4,0.000,0.027,3431,3198,1847,0,0,0,0,0,0
$GC,9205,1.29,191.7,22.5,9.5,546,9212,0.00,2.53,0.00,0.000,6,0.000,0.034,3431,1802,1847,0,0,0,0,0,0
$GC,9408,1.29,191.7,3.5,9.5,583,9415,0.00,2.58,0.00,0.000,4,0.000,0.046,3430,395,1847,0,0,0,0,0,0
$STATE,9422,end climb,SURFACE_DEPTH_REACHED
$STATE,9422,begin surface coast
$FINISH,1.1,1.022865
$STATE,9436,end surface coast,CONTROL_FINISHED_OK
$STATE,9436,begin surface
$SM_CCo,9463,71.62,0.457,0,0,1289,330.17
$SM_GC,1.56,0.00,0.00,71.62,0.000,0.000,0.457,428,2111,1289,-12.46,0.31,330.17
$IRIDIUM_FIX,2050.21,-15750.49,050800,131314
$TT8_MAMPS,0.029146
$HUMID,56.18
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.5,26.487
$10V_AH,10.4,25.197
$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,28.425,107.050,258.450,71.625,0.000,30.235,32.011,135.396,4.500,0.000,15.406,1094.393,6252.061,414.814,1661.640,433.049,33.360,1128.498,0.000,1640.444,0.000,29.257,0.000
$DEVICE_MAMPS,133.458,57.525,823.758,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,398.205,384.287,839.610,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,31786,588
$CAP_FILE_SIZE,96920,0
$CFSIZE,260165632,240726016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120511,182736,2055.845,-15750.550,39,1.0,44,9.8