version: 66.06
glider: 139
mission: 9
dive: 330
start: 5 13 111 5 29 43
data:
$ID,139
$MISSION,9
$DIVE,330
$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,-2182764.2
$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,16
$R_STBD_OVSHOOT,45
$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
$GPS1,052106,2054.388,-15750.769,16,1.2,32,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-74.9
$GPS2,052850,2054.413,-15750.659,13,1.5,13,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.121,0.186
$KALMAN_X,-208644.5,-55.2,161.5,208511.0,687.3
$KALMAN_Y,-45230.0,1044.2,650.4,13258.1,-5417.0
$MHEAD_RNG_PITCHd_Wd,317.0,32447,-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,14,begin dive
$GC,17,-1.19,-116.8,0.0,0.0,0,90,0.00,0.00,-69.55,0.000,6,0.000,0.000,429,2105,3112,0,0,0,0,0,0
$GC,93,-1.19,-116.8,3.8,-5.1,13,112,13.10,2.55,0.00,0.000,4,0.136,0.035,2866,675,3115,0,0,0,0,0,0
$GC,276,-1.19,-116.8,47.0,-21.1,44,280,0.00,2.42,0.00,0.000,6,0.000,0.021,2867,2100,3117,0,0,0,0,0,0
$GC,537,-1.19,-116.8,93.8,-15.5,68,542,0.00,2.55,0.00,0.000,4,0.000,0.043,2867,683,3118,0,0,0,0,0,0
$GC,565,-1.19,-116.8,99.3,-18.3,70,573,0.00,2.45,0.00,0.000,6,0.000,0.020,2867,2106,3117,0,0,0,0,0,0
$GC,830,-1.19,-116.8,138.1,-15.2,95,835,0.00,2.55,0.00,0.000,4,0.000,0.041,2867,679,3118,0,0,0,0,0,0
$GC,912,-1.19,-116.8,150.2,-13.2,103,918,0.00,2.42,0.00,0.000,6,0.000,0.020,2867,2107,3118,0,0,0,0,0,0
$GC,1175,-1.19,-116.8,178.4,-9.7,128,1180,0.00,2.55,0.00,0.000,4,0.000,0.041,2867,678,3119,0,0,0,0,0,0
$GC,1222,-1.19,-116.8,183.7,-10.7,132,1229,0.00,2.45,0.00,0.000,6,0.000,0.021,2867,2099,3119,0,0,0,0,0,0
$GC,1484,-1.19,-116.8,207.0,-8.3,153,1488,0.00,2.58,0.00,0.000,4,0.000,0.043,2867,676,3119,0,0,0,0,0,0
$GC,1586,-1.19,-116.8,215.4,-7.8,157,1590,0.00,2.42,0.00,0.000,6,0.000,0.021,2867,2108,3119,0,0,0,0,0,0
$GC,1901,-1.19,-116.8,244.1,-10.8,172,1905,0.00,2.55,0.00,0.000,4,0.000,0.044,2867,682,3119,0,0,0,0,0,0
$GC,2017,-1.19,-116.8,257.2,-10.6,177,2021,0.00,2.42,0.00,0.000,6,0.000,0.022,2867,2102,3119,0,0,0,0,0,0
$GC,2345,-1.19,-116.8,287.0,-7.7,193,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2102,3119,0,0,0,0,0,0
$GC,2651,-1.19,-116.8,309.6,-6.9,205,2656,0.00,2.53,0.00,0.000,4,0.000,0.045,2867,3503,3118,0,0,0,0,0,0
$GC,2686,-1.19,-116.8,311.9,-6.5,205,2691,0.00,2.50,0.00,0.000,6,0.000,0.038,2867,2090,3117,0,0,0,0,0,0
$GC,3018,-1.19,-116.8,336.1,-7.6,213,3022,0.00,2.55,0.00,0.000,4,0.000,0.049,2867,691,3116,0,0,0,0,0,0
$GC,3038,-1.19,-116.8,337.5,-6.8,213,3042,0.00,2.42,0.00,0.000,6,0.000,0.025,2867,2105,3116,0,0,0,0,0,0
$GC,3386,-1.19,-116.8,362.1,-7.5,222,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2106,3114,0,0,0,0,0,0
$GC,3708,-1.19,-116.8,386.4,-7.0,230,3713,0.00,2.55,0.00,0.000,4,0.000,0.051,2867,3506,3112,0,0,0,0,0,0
$GC,3756,-1.19,-116.8,389.8,-6.5,231,3761,0.00,2.53,0.00,0.000,6,0.000,0.043,2867,2093,3111,0,0,0,0,0,0
$GC,4079,-1.19,-116.8,407.2,-5.4,239,4084,0.00,2.55,0.00,0.000,4,0.000,0.048,2867,3501,3109,0,0,0,0,0,0
$GC,4159,-1.19,-116.8,412.3,-6.5,240,4164,0.00,2.53,0.00,0.000,6,0.000,0.044,2867,2093,3108,0,0,0,0,0,0
$GC,4491,-1.19,-116.8,436.1,-7.7,248,4492,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2093,3106,0,0,0,0,0,0
$STATE,4691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4691,begin apogee
$GC,4698,-0.31,0.0,452.0,7.9,253,4796,0.95,0.00,94.82,0.819,6,0.082,0.000,3065,1790,2634,0,0,0,0,0,0
$STATE,4797,end apogee,CONTROL_FINISHED_OK
$STATE,4797,begin climb
$GC,4800,1.19,116.8,454.2,0.0,255,4912,1.50,2.65,100.22,0.800,4,0.055,0.044,3396,3196,2158,0,0,0,0,0,0
$GC,4923,1.19,116.8,444.8,11.0,257,4928,0.00,2.65,0.00,0.000,6,0.000,0.051,3395,1805,2156,0,0,0,0,0,0
$GC,5254,1.19,116.8,404.4,12.3,266,5258,0.00,2.58,0.00,0.000,4,0.000,0.046,3396,3201,2147,0,0,0,0,0,0
$GC,5292,1.19,116.8,400.1,10.3,266,5297,0.00,2.65,0.00,0.000,6,0.000,0.051,3395,1794,2147,0,0,0,0,0,0
$GC,5623,1.19,116.8,364.1,10.7,275,5624,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1794,2143,0,0,0,0,0,0
$GC,5948,1.19,116.8,331.1,10.1,283,5953,0.00,2.60,0.00,0.000,4,0.000,0.043,3395,3210,2141,0,0,0,0,0,0
$GC,6004,1.19,116.8,324.9,11.1,284,6009,0.00,2.62,0.00,0.000,6,0.000,0.051,3396,1801,2140,0,0,0,0,0,0
$GC,6319,1.19,116.8,290.5,9.7,294,6323,0.00,2.58,0.00,0.000,4,0.000,0.042,3396,3210,2139,0,0,0,0,0,0
$GC,6334,1.19,116.8,289.1,9.2,294,6340,0.00,2.62,0.00,0.000,6,0.000,0.046,3396,1803,2139,0,0,0,0,0,0
$GC,6649,1.19,116.8,262.0,9.0,310,6653,0.00,2.53,0.00,0.000,4,0.000,0.040,3396,3204,2137,0,0,0,0,0,0
$GC,6672,1.19,116.8,259.7,8.9,311,6677,0.00,2.60,0.00,0.000,6,0.000,0.048,3396,1793,2137,0,0,0,0,0,0
$GC,6999,1.19,116.8,228.9,9.3,327,7000,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1793,2135,0,0,0,0,0,0
$GC,7307,1.19,116.8,199.3,10.3,342,7308,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1793,2135,0,0,0,0,0,0
$GC,7562,1.19,116.8,175.2,9.1,366,7566,0.00,2.58,0.00,0.000,4,0.000,0.054,3396,388,2134,0,0,0,0,0,0
$GC,7590,1.19,116.8,172.1,10.7,368,7597,0.00,2.47,0.00,0.000,6,0.000,0.022,3396,1803,2132,0,0,0,0,0,0
$GC,7854,1.19,116.8,146.4,9.5,393,7859,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1808,2132,0,0,0,0,0,0
$GC,8116,1.21,132.0,124.4,7.3,418,8128,0.00,0.00,9.65,0.517,6,0.000,0.000,3396,1808,2097,0,0,0,0,0,0
$GC,8384,1.25,165.1,107.7,6.5,443,8422,0.00,2.72,29.75,0.551,4,0.000,0.051,3395,390,1961,0,0,0,0,0,0
$GC,8452,1.25,165.1,102.5,8.2,450,8456,0.00,2.45,0.00,0.000,6,0.000,0.021,3395,1810,1958,0,0,0,0,0,0
$GC,8715,1.29,195.3,82.4,6.6,474,8747,0.00,2.70,26.70,0.520,4,0.000,0.050,3396,385,1837,0,0,0,0,0,0
$GC,8760,1.29,195.3,78.9,8.1,478,8764,0.00,2.45,0.00,0.000,6,0.000,0.020,3396,1806,1835,0,0,0,0,0,0
$GC,9024,1.30,200.9,58.3,7.8,502,9037,0.10,2.65,5.78,0.397,4,0.071,0.047,3434,384,1815,0,0,0,0,0,0
$GC,9050,1.30,200.9,55.8,9.6,504,9054,0.00,2.42,0.00,0.000,6,0.000,0.019,3435,1801,1813,0,0,0,0,0,0
$GC,9314,1.30,200.9,32.3,9.1,528,9318,0.00,2.60,0.00,0.000,4,0.000,0.048,3435,386,1813,0,0,0,0,0,0
$GC,9340,1.30,200.9,29.5,10.3,530,9346,0.00,2.42,0.00,0.000,6,0.000,0.018,3435,1797,1811,0,0,0,0,0,0
$GC,9544,1.30,200.9,10.2,8.7,567,9550,0.00,2.62,0.00,0.000,4,0.000,0.048,3434,388,1811,0,0,1,0,0,0
$GC,9583,1.30,200.9,6.4,9.9,575,9590,0.00,2.42,0.00,0.000,6,0.000,0.018,3435,1797,1810,0,0,0,0,0,0
$STATE,9622,end climb,SURFACE_DEPTH_REACHED
$STATE,9622,begin surface coast
$FINISH,0.9,1.000094
$STATE,9660,end surface coast,CONTROL_FINISHED_OK
$STATE,9661,begin surface
$SM_CCo,9685,66.72,0.454,0,0,1289,330.17
$SM_GC,1.73,0.00,0.00,66.72,0.000,0.000,0.454,426,2161,1289,-12.47,1.72,330.17
$IRIDIUM_FIX,2043.29,-15753.50,060800,050543
$TT8_MAMPS,0.028379
$HUMID,55.15
$INTERNAL_PRESSURE,9.63558
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,26.874
$10V_AH,10.4,25.572
$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,28.525,107.700,266.925,66.725,0.000,50.351,92.702,140.680,4.500,0.000,13.828,1081.720,6612.897,405.650,1588.309,529.417,33.363,1106.146,0.000,1573.408,0.000,29.259,0.000
$DEVICE_MAMPS,135.759,54.457,819.156,454.064,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,398.257,386.018,842.778,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,31750,589
$CAP_FILE_SIZE,97923,0
$CFSIZE,260165632,240488448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,130511,081337,2053.846,-15751.023,43,0.9,43,9.8