version: 66.06
glider: 139
mission: 9
dive: 329
start: 5 13 111 2 48 30
data:
$ID,139
$MISSION,9
$DIVE,329
$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,-2182749.8
$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,67
$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
$GPS1,024207,2054.475,-15751.018,34,1.1,34,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-75.5
$GPS2,024737,2054.515,-15751.000,11,1.1,16,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.010,0.221
$KALMAN_X,-208997.0,40.9,-262.2,208601.5,1281.0
$KALMAN_Y,-41805.5,825.3,77.8,10820.9,-4052.2
$MHEAD_RNG_PITCHd_Wd,347.7,31941,-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,-69.60,0.000,2,0.000,0.000,427,2142,3107,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.6,-4.7,13,110,13.12,2.62,0.00,0.000,4,0.135,0.039,2869,682,3110,0,0,0,0,0,0
$GC,293,-1.19,-116.8,51.6,-19.2,46,300,0.00,2.40,0.00,0.000,6,0.000,0.020,2869,2071,3112,0,0,0,0,0,0
$GC,556,-1.19,-116.8,93.4,-14.1,71,561,0.00,2.50,0.00,0.000,4,0.000,0.041,2869,680,3113,0,0,0,0,0,0
$GC,649,-1.19,-116.8,108.7,-16.5,80,655,0.00,2.45,0.00,0.000,6,0.000,0.021,2869,2101,3113,0,0,0,0,0,0
$GC,913,-1.19,-116.8,142.2,-11.9,105,917,0.00,2.55,0.00,0.000,4,0.000,0.041,2869,676,3114,0,0,0,0,0,0
$GC,976,-1.19,-116.8,149.9,-12.7,111,980,0.00,2.45,0.00,0.000,6,0.000,0.020,2869,2111,3114,0,0,0,0,0,0
$GC,1241,-1.19,-116.8,179.4,-10.5,135,1245,0.00,2.53,0.00,0.000,4,0.000,0.042,2869,688,3115,0,0,0,0,0,0
$GC,1317,-1.19,-116.8,188.0,-12.1,143,1321,0.00,2.40,0.00,0.000,6,0.000,0.021,2870,2104,3115,0,0,0,0,0,0
$GC,1573,-1.19,-116.8,213.9,-9.4,160,1578,0.00,2.47,0.00,0.000,4,0.000,0.039,2869,3505,3115,0,0,0,0,0,0
$GC,1595,-1.19,-116.8,215.7,-9.2,161,1599,0.00,2.47,0.00,0.000,6,0.000,0.035,2869,2093,3115,0,0,0,0,0,0
$GC,1928,-1.19,-116.8,247.4,-9.7,177,1932,0.00,2.53,0.00,0.000,4,0.000,0.045,2869,691,3115,0,0,0,0,0,0
$GC,2115,-1.19,-116.8,269.3,-11.7,185,2120,0.00,2.40,0.00,0.000,6,0.000,0.022,2869,2107,3115,0,0,0,0,0,0
$GC,2437,-1.19,-116.8,296.0,-7.6,201,2438,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2108,3114,0,0,0,0,0,0
$GC,2742,-1.19,-116.8,316.2,-6.6,210,2746,0.00,2.55,0.00,0.000,4,0.000,0.048,2869,687,3113,0,0,0,0,0,0
$GC,2761,-1.19,-116.8,317.9,-7.8,210,2766,0.00,2.40,0.00,0.000,6,0.000,0.025,2869,2096,3113,0,0,0,0,0,0
$GC,3106,-1.19,-116.8,348.0,-9.7,219,3111,0.00,2.53,0.00,0.000,4,0.000,0.049,2869,693,3111,0,0,0,0,0,0
$GC,3158,-1.19,-116.8,354.1,-12.2,220,3162,0.00,2.42,0.00,0.000,6,0.000,0.026,2869,2100,3112,0,0,0,0,0,0
$GC,3476,-1.19,-116.8,386.6,-10.1,228,3480,0.00,2.58,0.00,0.000,4,0.000,0.051,2869,689,3109,0,0,0,0,0,0
$GC,3500,-1.19,-116.8,389.1,-10.4,228,3504,0.00,2.42,0.00,0.000,6,0.000,0.027,2869,2099,3109,0,0,0,0,0,0
$GC,3841,-1.19,-116.8,419.0,-8.1,237,3845,0.00,2.58,0.00,0.000,4,0.000,0.051,2869,3506,3106,0,0,0,0,0,0
$GC,3873,-1.19,-116.8,421.5,-8.0,237,3878,0.00,2.53,0.00,0.000,6,0.000,0.044,2869,2097,3106,0,0,0,0,0,0
$GC,4205,-1.19,-116.8,442.9,-5.7,245,4209,0.00,2.60,0.00,0.000,4,0.000,0.054,2869,688,3104,0,0,0,0,0,0
$GC,4284,-1.19,-116.8,447.5,-5.8,246,4289,0.00,2.47,0.00,0.000,6,0.000,0.029,2869,2104,3104,0,0,0,0,0,0
$STATE,4329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4329,begin apogee
$GC,4336,-0.31,0.0,450.2,5.6,247,4433,0.95,0.00,93.95,0.810,6,0.081,0.000,3067,1793,2635,0,0,0,0,0,0
$STATE,4434,end apogee,CONTROL_FINISHED_OK
$STATE,4434,begin climb
$GC,4437,1.19,116.8,451.1,0.0,249,4542,1.50,0.00,100.57,0.792,6,0.054,0.000,3396,1793,2157,0,0,0,0,0,0
$GC,4857,1.19,116.8,394.0,14.5,260,4861,0.00,2.62,0.00,0.000,4,0.000,0.044,3396,3210,2147,0,0,0,0,0,0
$GC,4876,1.19,116.8,391.2,14.1,260,4881,0.00,2.62,0.00,0.000,6,0.000,0.049,3395,1809,2147,0,0,0,0,0,0
$GC,5221,1.19,116.8,347.1,12.3,269,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1809,2143,0,0,0,0,0,0
$GC,5546,1.19,116.8,312.9,10.2,277,5551,0.00,2.55,0.00,0.000,4,0.000,0.045,3396,3204,2141,0,0,0,0,0,0
$GC,5584,1.19,116.8,309.1,10.4,277,5590,0.00,2.58,0.00,0.000,6,0.000,0.048,3396,1798,2141,0,0,0,0,0,0
$GC,5898,1.19,116.8,277.4,10.3,290,5899,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1798,2138,0,0,0,0,0,0
$GC,6209,1.19,116.8,249.1,9.0,305,6213,0.00,2.60,0.00,0.000,4,0.000,0.058,3396,393,2137,0,0,0,0,0,0
$GC,6242,1.19,116.8,245.6,10.3,306,6246,0.00,2.45,0.00,0.000,6,0.000,0.025,3396,1801,2135,0,0,0,0,0,0
$GC,6559,1.19,116.8,213.8,10.0,321,6563,0.00,2.62,0.00,0.000,4,0.000,0.056,3396,393,2134,0,0,0,0,0,0
$GC,6582,1.19,116.8,210.9,11.5,322,6587,0.00,2.47,0.00,0.000,6,0.000,0.025,3396,1809,2134,0,0,0,0,0,0
$GC,6917,1.20,118.4,182.6,8.0,347,6921,0.00,2.47,0.00,0.000,4,0.000,0.037,3396,3202,2134,0,0,0,0,0,0
$GC,6951,1.20,118.4,179.2,8.9,350,6955,0.00,2.55,0.00,0.000,6,0.000,0.042,3396,1796,2134,0,0,0,0,0,0
$GC,7214,1.21,128.8,157.0,7.5,374,7228,0.00,2.67,6.90,0.501,4,0.000,0.053,3396,386,2110,0,0,0,0,0,0
$GC,7245,1.21,128.8,154.3,8.2,377,7249,0.00,2.45,0.00,0.000,6,0.000,0.022,3396,1806,2108,0,0,0,0,0,0
$GC,7510,1.22,137.0,133.4,7.6,401,7521,0.00,0.00,8.82,0.509,6,0.000,0.000,3396,1811,2076,0,0,0,0,0,0
$GC,7774,1.27,177.4,114.5,6.2,426,7821,0.00,2.67,36.10,0.555,4,0.000,0.049,3396,389,1908,0,0,0,0,0,0
$GC,7836,1.28,188.0,110.0,7.5,432,7852,0.00,2.50,10.07,0.492,6,0.000,0.021,3396,1811,1867,0,0,0,0,0,0
$GC,8107,1.31,208.1,89.7,7.1,458,8136,0.12,2.65,18.38,0.509,4,0.061,0.048,3438,389,1784,0,0,0,0,0,0
$GC,8158,1.31,208.1,84.8,11.5,463,8162,0.00,2.45,0.00,0.000,6,0.000,0.020,3439,1801,1782,0,0,0,0,0,0
$GC,8423,1.31,208.1,57.7,10.2,487,8427,0.00,2.60,0.00,0.000,4,0.000,0.048,3439,389,1782,0,0,0,0,0,0
$GC,8477,1.31,208.1,51.3,10.8,492,8483,0.00,2.45,0.00,0.000,6,0.000,0.020,3439,1800,1779,0,0,0,0,0,0
$GC,8741,1.31,208.1,26.2,9.7,520,8748,0.00,2.62,0.00,0.000,4,0.000,0.048,3439,392,1779,0,0,0,0,0,0
$GC,8764,1.31,208.1,23.5,10.4,524,8771,0.00,2.42,0.00,0.000,6,0.000,0.019,3439,1800,1779,0,0,0,0,0,0
$GC,8968,1.31,208.1,4.3,8.7,561,8975,0.00,2.62,0.00,0.000,4,0.000,0.048,3439,392,1778,0,0,0,0,0,0
$STATE,8980,end climb,SURFACE_DEPTH_REACHED
$STATE,8980,begin surface coast
$FINISH,1.6,1.022689
$STATE,8995,end surface coast,CONTROL_FINISHED_OK
$STATE,8995,begin surface
$SM_CCo,9021,62.83,0.453,0,0,1288,330.17
$SM_GC,1.68,0.00,0.00,62.83,0.000,0.000,0.453,430,2104,1288,-12.45,0.14,330.17
$IRIDIUM_FIX,2047.91,-15750.49,060800,000050
$TT8_MAMPS,0.028379
$HUMID,55.55
$INTERNAL_PRESSURE,9.62581
$TCM_TEMP,22.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,440.7,56.5
$24V_AH,23.5,26.795
$10V_AH,10.4,25.496
$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,28.550,112.050,274.800,62.825,0.000,29.951,33.993,142.544,4.750,0.000,16.350,1042.222,5954.889,430.445,1539.960,449.251,33.359,1101.838,0.000,1525.991,0.000,32.266,0.000
$DEVICE_MAMPS,134.992,58.292,809.952,453.297,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,382.363,377.074,812.143,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,31797,566
$CAP_FILE_SIZE,94498,0
$CFSIZE,260165632,240533504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130511,052106,2054.388,-15750.769,16,1.2,32,9.8