version: 66.06
glider: 139
mission: 9
dive: 331
start: 5 13 111 8 20 25
data:
$ID,139
$MISSION,9
$DIVE,331
$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,-2182778.8
$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,17
$R_STBD_OVSHOOT,89
$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
$GPS1,081337,2053.846,-15751.023,43,0.9,43,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-74.8
$GPS2,081932,2053.826,-15750.925,13,1.3,13,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.115,0.189
$KALMAN_X,-207697.6,-161.8,222.7,207145.0,555.2
$KALMAN_Y,-48110.7,909.9,553.0,15276.4,-5618.9
$MHEAD_RNG_PITCHd_Wd,318.9,33049,-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,15,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,-69.00,0.000,2,0.000,0.000,426,2164,3103,0,0,0,0,0,0
$GC,93,-1.19,-116.8,3.5,-4.7,13,112,13.10,2.30,0.00,0.000,4,0.134,0.035,2869,3453,3106,0,0,0,0,0,0
$GC,360,-1.19,-116.8,57.7,-15.6,55,364,0.00,2.40,0.00,0.000,6,0.000,0.032,2869,2084,3108,0,0,0,0,0,0
$GC,623,-1.19,-116.8,96.4,-12.2,79,627,0.00,2.38,0.00,0.000,4,0.000,0.031,2869,3450,3108,0,0,0,0,0,0
$GC,642,-1.19,-116.8,99.1,-11.6,80,649,0.00,2.40,0.00,0.000,6,0.000,0.033,2869,2099,3108,0,0,0,0,0,0
$GC,907,-1.19,-116.8,128.3,-9.9,105,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2099,3109,0,0,0,0,0,0
$GC,1168,-1.19,-116.8,156.7,-9.2,130,1172,0.00,2.53,0.00,0.000,4,0.000,0.041,2869,686,3110,0,0,0,0,0,0
$GC,1228,-1.19,-116.8,162.4,-9.7,136,1232,0.00,2.33,0.00,0.000,6,0.000,0.020,2869,2053,3110,0,0,0,0,0,0
$GC,1499,-1.19,-116.8,183.5,-8.1,161,1503,0.00,2.45,0.00,0.000,4,0.000,0.042,2869,684,3110,0,0,0,0,0,0
$GC,1634,-1.19,-116.8,198.1,-11.1,175,1639,0.00,2.42,0.00,0.000,6,0.000,0.021,2869,2102,3111,0,0,0,0,0,0
$GC,1899,-1.19,-116.8,226.2,-11.0,188,1903,0.00,2.55,0.00,0.000,4,0.000,0.044,2869,684,3110,0,0,0,0,0,0
$GC,1927,-1.19,-116.8,229.4,-11.1,189,1931,0.00,2.42,0.00,0.000,6,0.000,0.022,2869,2105,3110,0,0,0,0,0,0
$GC,2249,-1.19,-116.8,258.7,-9.0,205,2253,0.00,2.55,0.00,0.000,4,0.000,0.044,2869,686,3110,0,0,0,0,0,0
$GC,2339,-1.19,-116.8,268.2,-10.9,209,2343,0.00,2.42,0.00,0.000,6,0.000,0.024,2869,2106,3110,0,0,0,0,0,0
$GC,2675,-1.19,-116.8,296.4,-6.4,225,2679,0.00,2.53,0.00,0.000,4,0.000,0.044,2869,3496,3109,0,0,0,0,0,0
$GC,2793,-1.19,-116.8,305.3,-7.5,229,2797,0.00,2.50,0.00,0.000,6,0.000,0.039,2869,2097,3109,0,0,0,0,0,0
$GC,3134,-1.19,-116.8,329.6,-7.1,238,3139,0.00,2.55,0.00,0.000,4,0.000,0.048,2869,693,3108,0,0,0,0,0,0
$GC,3186,-1.19,-116.8,333.5,-8.6,239,3190,0.00,2.42,0.00,0.000,6,0.000,0.025,2869,2098,3107,0,0,0,0,0,0
$GC,3504,-1.19,-116.8,357.7,-7.4,247,3505,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2099,3105,0,0,0,0,0,0
$GC,3831,-1.19,-116.8,380.9,-6.9,255,3832,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2099,3103,0,0,0,0,0,0
$GC,4155,-1.19,-116.8,400.3,-6.1,263,4159,0.00,2.58,0.00,0.000,4,0.000,0.051,2868,690,3101,0,0,0,0,0,0
$GC,4174,-1.19,-116.8,401.6,-5.9,263,4179,0.00,2.42,0.00,0.000,6,0.000,0.028,2869,2098,3100,0,0,0,0,0,0
$GC,4520,-1.19,-116.8,424.9,-6.7,272,4525,0.00,2.55,0.00,0.000,4,0.000,0.051,2869,3501,3098,0,0,0,0,0,0
$GC,4577,-1.19,-116.8,428.8,-7.4,273,4581,0.00,2.50,0.00,0.000,6,0.000,0.044,2869,2102,3098,0,0,0,0,0,0
$GC,4891,-1.19,-116.8,449.1,-6.9,281,4896,0.00,2.60,0.00,0.000,4,0.000,0.054,2869,692,3096,0,0,0,0,0,0
$STATE,4903,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4904,begin apogee
$GC,4912,-0.31,0.0,450.4,6.9,281,5009,0.93,0.00,92.88,0.818,6,0.084,0.000,3063,1813,2635,0,0,0,0,0,0
$STATE,5009,end apogee,CONTROL_FINISHED_OK
$STATE,5010,begin climb
$GC,5012,1.19,116.8,452.0,0.0,283,5122,1.50,2.80,101.25,0.799,4,0.054,0.062,3394,399,2158,0,0,0,0,0,0
$GC,5137,1.19,116.8,440.4,13.4,286,5143,0.00,2.50,0.00,0.000,6,0.000,0.026,3395,1799,2154,0,0,0,0,0,0
$GC,5468,1.19,116.8,396.5,12.9,295,5473,0.00,2.58,0.00,0.000,4,0.000,0.046,3395,3201,2147,0,0,0,0,0,0
$GC,5562,1.19,116.8,384.9,12.1,297,5566,0.00,2.65,0.00,0.000,6,0.000,0.051,3395,1796,2146,0,0,0,0,0,0
$GC,5885,1.19,116.8,345.5,11.8,305,5889,0.00,2.62,0.00,0.000,4,0.000,0.060,3395,392,2142,0,0,0,0,0,0
$GC,5900,1.19,116.8,343.6,11.9,305,5904,0.00,2.50,0.00,0.000,6,0.000,0.027,3395,1801,2140,0,0,0,0,0,0
$GC,6250,1.19,116.8,307.7,9.8,314,6254,0.00,2.53,0.00,0.000,4,0.000,0.043,3395,3204,2139,0,0,0,0,0,0
$GC,6293,1.19,116.8,303.7,9.3,315,6297,0.00,2.60,0.00,0.000,6,0.000,0.050,3395,1800,2139,0,0,0,0,0,0
$GC,6625,1.19,116.8,269.3,10.4,330,6630,0.00,2.58,0.00,0.000,4,0.000,0.041,3395,3209,2137,0,0,0,0,0,0
$GC,6673,1.19,116.8,264.4,10.2,332,6677,0.00,2.62,0.00,0.000,6,0.000,0.048,3395,1796,2137,0,0,0,0,0,0
$GC,6998,1.19,116.8,233.8,9.2,348,7002,0.00,2.60,0.00,0.000,4,0.000,0.058,3395,392,2136,0,0,0,0,0,0
$GC,7012,1.19,116.8,232.3,9.3,348,7019,0.00,2.50,0.00,0.000,6,0.000,0.026,3395,1804,2134,0,0,0,0,0,0
$GC,7328,1.19,116.8,202.6,9.3,364,7329,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1808,2134,0,0,0,0,0,0
$GC,7645,1.19,116.8,174.0,8.5,392,7646,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1808,2134,0,0,0,0,0,0
$GC,7901,1.19,116.8,149.8,11.4,416,7905,0.00,2.62,0.00,0.000,4,0.000,0.053,3394,391,2134,0,0,0,0,0,0
$GC,8021,1.19,116.8,135.6,11.5,428,8027,0.00,2.45,0.00,0.000,6,0.000,0.023,3395,1799,2131,0,0,0,0,0,0
$GC,8286,1.21,128.7,112.5,7.5,453,8298,0.00,2.53,6.78,0.472,4,0.000,0.033,3395,3203,2110,0,0,0,0,0,0
$GC,8343,1.23,142.6,108.3,7.4,459,8363,0.00,2.55,14.02,0.531,6,0.000,0.039,3396,1800,2052,0,0,0,0,0,0
$GC,8618,1.28,187.0,91.4,6.0,485,8664,0.00,2.65,38.92,0.544,4,0.000,0.051,3395,387,1871,0,0,0,0,0,0
$GC,8724,1.28,187.0,81.9,10.9,496,8730,0.00,2.47,0.00,0.000,6,0.000,0.021,3395,1800,1866,0,0,0,0,0,0
$GC,8988,1.31,213.0,62.0,6.8,521,9016,0.12,0.00,22.67,0.499,6,0.061,0.000,3438,1804,1766,0,0,0,0,0,0
$GC,9271,1.31,213.0,34.5,10.7,548,9275,0.00,2.62,0.00,0.000,4,0.000,0.048,3438,385,1763,0,0,0,0,0,0
$GC,9298,1.31,213.0,31.2,11.4,550,9305,0.00,2.47,0.00,0.000,6,0.000,0.019,3438,1810,1761,0,0,0,0,0,0
$GC,9564,1.31,213.0,4.0,9.8,598,9570,0.00,2.65,0.00,0.000,4,0.000,0.047,3438,389,1760,0,0,0,0,0,0
$STATE,9576,end climb,SURFACE_DEPTH_REACHED
$STATE,9576,begin surface coast
$FINISH,1.5,1.022765
$STATE,9587,end surface coast,CONTROL_FINISHED_OK
$STATE,9587,begin surface
$SM_CCo,9613,60.90,0.459,0,0,1289,330.17
$SM_GC,1.76,0.00,0.00,60.90,0.000,0.000,0.459,428,2110,1289,-12.46,0.28,330.17
$IRIDIUM_FIX,2045.60,-15748.36,060800,050508
$TT8_MAMPS,0.029146
$HUMID,56.73
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,21.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,440.6,62.8
$24V_AH,23.5,26.952
$10V_AH,10.4,25.649
$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,28.550,110.850,276.525,60.900,0.000,22.991,34.056,155.264,4.750,0.000,13.631,1107.827,6328.156,427.848,1678.031,490.115,33.363,1144.508,0.000,1672.218,0.000,32.276,0.000
$DEVICE_MAMPS,134.225,62.127,817.622,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.352,398.648,857.764,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,34949,602
$CAP_FILE_SIZE,98468,0
$CFSIZE,260165632,240431104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,130511,110251,2053.124,-15751.344,12,2.3,31,9.8