version: 66.06
glider: 139
mission: 9
dive: 332
start: 5 13 111 11 9 1
data:
$ID,139
$MISSION,9
$DIVE,332
$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,-2182792.8
$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,53
$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
$GPS1,110251,2053.124,-15751.344,12,2.3,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-74.8
$GPS2,110808,2053.103,-15751.307,13,2.0,13,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.045,0.217
$KALMAN_X,-206707.7,-198.1,-95.5,205849.7,1032.7
$KALMAN_Y,-50721.8,582.7,78.8,17350.2,-4767.9
$MHEAD_RNG_PITCHd_Wd,1.9,33779,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,83,0.00,0.00,-64.47,0.000,2,0.000,0.000,428,2111,2959,0,0,0,0,0,0
$GC,86,-1.19,-116.8,3.1,-3.7,12,111,13.10,2.50,-3.25,0.000,4,0.134,0.049,2870,3481,3116,0,0,0,0,0,0
$GC,359,-1.19,-116.8,57.2,-18.4,56,366,0.00,2.50,0.00,0.000,6,0.000,0.035,2870,2090,3118,0,0,0,0,0,0
$GC,622,-1.19,-116.8,99.4,-13.9,81,626,0.00,2.42,0.00,0.000,4,0.000,0.032,2870,3483,3118,0,0,0,0,0,0
$GC,687,-1.19,-116.8,109.1,-14.1,88,692,0.00,2.42,0.00,0.000,6,0.000,0.034,2870,2100,3119,0,0,0,0,0,0
$GC,950,-1.19,-116.8,136.1,-9.5,112,955,0.00,2.53,0.00,0.000,4,0.000,0.042,2870,681,3120,0,0,0,0,0,0
$GC,1021,-1.19,-116.8,143.0,-11.1,119,1025,0.00,2.38,0.00,0.000,6,0.000,0.020,2870,2088,3120,0,0,0,0,0,0
$GC,1285,-1.19,-116.8,170.9,-11.1,143,1290,0.00,2.47,0.00,0.000,4,0.000,0.041,2870,692,3120,0,0,0,0,0,0
$GC,1403,-1.19,-116.8,186.0,-11.8,155,1407,0.00,2.40,0.00,0.000,6,0.000,0.021,2870,2098,3121,0,0,0,0,0,0
$GC,1671,-1.19,-116.8,212.7,-9.8,174,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2098,3121,0,0,0,0,0,0
$GC,1981,-1.19,-116.8,239.2,-9.0,189,1986,0.00,2.53,0.00,0.000,4,0.000,0.044,2870,692,3121,0,0,0,0,0,0
$GC,2099,-1.19,-116.8,253.7,-12.8,194,2104,0.00,2.42,0.00,0.000,6,0.000,0.023,2870,2100,3121,0,0,0,0,0,0
$GC,2424,-1.19,-116.8,291.6,-11.3,210,2428,0.00,2.53,0.00,0.000,4,0.000,0.044,2870,3504,3120,0,0,0,0,0,0
$GC,2457,-1.19,-116.8,295.5,-12.1,211,2461,0.00,2.50,0.00,0.000,6,0.000,0.039,2870,2093,3119,0,0,0,0,0,0
$GC,2790,-1.19,-116.8,321.5,-6.0,220,2794,0.00,2.55,0.00,0.000,4,0.000,0.048,2870,690,3118,0,0,0,0,0,0
$GC,2856,-1.19,-116.8,325.7,-6.5,221,2860,0.00,2.42,0.00,0.000,6,0.000,0.025,2870,2102,3118,0,0,0,0,0,0
$GC,3201,-1.19,-116.8,348.1,-7.3,230,3202,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2103,3117,0,0,0,0,0,0
$GC,3526,-1.19,-116.8,376.9,-9.2,238,3530,0.00,2.58,0.00,0.000,4,0.000,0.050,2870,690,3115,0,0,0,0,0,0
$GC,3677,-1.19,-116.8,392.6,-10.5,241,3681,0.00,2.42,0.00,0.000,6,0.000,0.028,2870,2100,3113,0,0,0,0,0,0
$GC,4027,-1.19,-116.8,418.2,-6.5,250,4032,0.00,2.55,0.00,0.000,4,0.000,0.052,2870,694,3111,0,0,0,0,0,0
$GC,4042,-1.19,-116.8,419.4,-6.8,250,4046,0.00,2.45,0.00,0.000,6,0.000,0.028,2870,2100,3111,0,0,0,0,0,0
$GC,4392,-1.19,-116.8,435.4,-3.3,259,4397,0.00,2.58,0.00,0.000,4,0.000,0.052,2869,3503,3109,0,0,0,0,0,0
$GC,4407,-1.19,-116.8,435.9,-2.9,259,4412,0.00,2.53,0.00,0.000,6,0.000,0.045,2870,2099,3109,0,0,0,0,0,0
$GC,4757,-1.19,-116.8,447.7,-3.7,268,4762,0.00,2.60,0.00,0.000,4,0.000,0.055,2870,692,3106,0,0,0,0,0,0
$STATE,4802,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4802,begin apogee
$GC,4810,-0.31,0.0,450.2,5.9,269,4909,0.93,0.00,95.12,0.822,6,0.085,0.000,3063,1809,2635,0,0,0,0,0,0
$STATE,4910,end apogee,CONTROL_FINISHED_OK
$STATE,4910,begin climb
$GC,4913,1.19,116.8,450.4,0.0,271,5024,1.52,2.65,101.78,0.802,4,0.054,0.047,3396,3197,2157,0,0,0,0,0,0
$GC,5034,1.19,116.8,438.1,12.7,274,5039,0.00,2.62,0.00,0.000,6,0.000,0.051,3396,1803,2156,0,0,0,0,0,0
$GC,5375,1.19,116.8,395.6,11.9,283,5379,0.00,2.67,0.00,0.000,4,0.000,0.064,3395,390,2145,0,0,0,0,0,0
$GC,5389,1.19,116.8,393.7,11.8,283,5394,0.00,2.50,0.00,0.000,6,0.000,0.027,3395,1809,2144,0,0,0,0,0,0
$GC,5739,1.19,116.8,357.4,9.7,292,5744,0.00,2.70,0.00,0.000,4,0.000,0.062,3395,389,2141,0,0,0,0,0,0
$GC,5783,1.19,116.8,352.5,11.6,293,5787,0.00,2.47,0.00,0.000,6,0.000,0.028,3396,1796,2139,0,0,0,0,0,0
$GC,6110,1.19,116.8,319.5,10.4,301,6115,0.00,2.58,0.00,0.000,4,0.000,0.044,3396,3213,2138,0,0,0,0,0,0
$GC,6143,1.19,116.8,315.6,11.2,301,6148,0.00,2.65,0.00,0.000,6,0.000,0.049,3396,1793,2138,0,0,0,0,0,0
$GC,6456,1.19,116.8,277.2,13.0,312,6461,0.00,2.60,0.00,0.000,4,0.000,0.058,3396,392,2137,0,0,0,0,0,0
$GC,6471,1.19,116.8,275.1,13.4,312,6477,0.00,2.50,0.00,0.000,6,0.000,0.027,3396,1802,2135,0,0,0,0,0,0
$GC,6787,1.19,116.8,236.5,12.2,328,6788,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1804,2134,0,0,0,0,0,0
$GC,7097,1.24,151.6,210.5,6.4,343,7126,0.00,0.00,27.15,0.657,6,0.000,0.000,3396,1805,2017,0,0,0,0,0,0
$GC,7434,1.24,151.6,179.7,10.7,368,7435,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1804,2011,0,0,0,0,0,0
$GC,7689,1.24,151.6,151.9,10.2,392,7694,0.00,2.65,0.00,0.000,4,0.000,0.054,3396,391,2010,0,0,0,0,0,0
$GC,7771,1.24,151.6,143.0,10.7,400,7778,0.00,2.47,0.00,0.000,6,0.000,0.024,3396,1795,2008,0,0,0,0,0,0
$GC,8036,1.25,160.7,122.5,7.6,425,8046,0.00,0.00,8.35,0.503,6,0.000,0.000,3396,1797,1979,0,0,0,0,0,0
$GC,8304,1.30,200.8,105.3,6.2,450,8351,0.10,2.67,36.15,0.555,4,0.073,0.050,3432,388,1814,0,0,0,0,0,0
$GC,8362,1.30,200.8,100.1,10.2,456,8366,0.00,2.47,0.00,0.000,6,0.000,0.021,3432,1813,1812,0,0,0,0,0,0
$GC,8628,1.30,200.8,71.1,11.8,480,8633,0.00,2.62,0.00,0.000,4,0.000,0.048,3432,391,1811,0,0,0,0,0,0
$GC,8645,1.30,200.8,68.4,12.6,481,8649,0.00,2.42,0.00,0.000,6,0.000,0.020,3432,1806,1809,0,0,0,0,0,0
$GC,8909,1.30,200.8,38.9,9.8,505,8913,0.00,2.60,0.00,0.000,4,0.000,0.047,3432,391,1809,0,0,0,0,0,0
$GC,8953,1.30,200.8,34.2,10.3,509,8957,0.00,2.40,0.00,0.000,6,0.000,0.020,3432,1796,1807,0,0,0,0,0,0
$GC,9218,1.30,200.8,9.7,9.4,553,9224,0.00,2.47,0.00,0.000,4,0.000,0.028,3432,3199,1807,0,0,0,0,0,0
$GC,9245,1.30,200.8,7.3,9.6,558,9251,0.00,2.55,0.00,0.000,6,0.000,0.036,3432,1800,1807,0,0,0,0,0,0
$STATE,9294,end climb,SURFACE_DEPTH_REACHED
$STATE,9295,begin surface coast
$FINISH,1.0,1.018279
$STATE,9333,end surface coast,CONTROL_FINISHED_OK
$STATE,9334,begin surface
$SM_CCo,9357,65.18,0.460,0,0,1289,330.17
$SM_GC,1.67,0.00,0.00,65.18,0.000,0.000,0.460,426,2125,1289,-12.47,0.71,330.17
$IRIDIUM_FIX,2047.91,-15750.49,060800,080813
$TT8_MAMPS,0.028379
$HUMID,56.41
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.5,27.029
$10V_AH,10.5,25.722
$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,28.500,106.050,268.550,65.175,0.000,25.112,33.954,136.869,4.500,0.000,13.231,1065.981,6238.076,421.805,1590.813,425.226,33.364,1103.854,0.000,1574.152,0.000,29.261,0.000
$DEVICE_MAMPS,134.225,63.661,822.224,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,389.099,372.657,815.254,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,31769,574
$CAP_FILE_SIZE,94689,0
$CFSIZE,260165632,240390144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130511,134724,2052.810,-15751.155,41,1.4,41,9.8