version: 66.06
glider: 139
mission: 9
dive: 333
start: 5 13 111 13 53 25
data:
$ID,139
$MISSION,9
$DIVE,333
$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,-2182805.5
$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,18
$R_STBD_OVSHOOT,66
$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
$GPS1,134724,2052.810,-15751.155,41,1.4,41,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-76.3
$GPS2,135232,2052.815,-15751.109,11,1.4,11,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.003,0.222
$KALMAN_X,-206649.3,-178.4,-357.7,206385.1,1047.3
$KALMAN_Y,-53333.4,284.2,73.1,19735.4,-4123.4
$MHEAD_RNG_PITCHd_Wd,350.9,34411,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-69.75,0.000,2,0.000,0.000,426,2126,3086,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.2,-3.3,13,111,13.12,2.40,-0.50,0.000,4,0.135,0.043,2869,3478,3114,0,0,0,0,0,0
$GC,284,-1.19,-116.8,43.9,-18.9,47,289,0.00,2.47,0.00,0.000,6,0.000,0.036,2869,2095,3117,0,0,0,0,0,0
$GC,547,-1.19,-116.8,87.7,-15.2,71,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2094,3117,0,0,0,0,0,0
$GC,802,-1.19,-116.8,122.9,-11.0,95,806,0.00,2.53,0.00,0.000,4,0.000,0.042,2869,688,3117,0,0,0,0,0,0
$GC,846,-1.19,-116.8,129.1,-14.8,99,850,0.00,2.35,0.00,0.000,6,0.000,0.020,2869,2075,3118,0,0,0,0,0,0
$GC,1108,-1.19,-116.8,161.3,-11.1,123,1112,0.00,2.50,0.00,0.000,4,0.000,0.041,2869,679,3118,0,0,0,0,0,0
$GC,1141,-1.19,-116.8,165.3,-12.4,126,1146,0.00,2.40,0.00,0.000,6,0.000,0.021,2869,2100,3119,0,0,0,0,0,0
$GC,1405,-1.19,-116.8,192.0,-10.0,150,1409,0.00,2.53,0.00,0.000,4,0.000,0.043,2869,681,3120,0,0,0,0,0,0
$GC,1493,-1.19,-116.8,202.0,-12.3,159,1497,0.00,2.40,0.00,0.000,6,0.000,0.022,2869,2096,3119,0,0,0,0,0,0
$GC,1824,-1.19,-116.8,234.3,-8.5,175,1828,0.00,2.53,0.00,0.000,4,0.000,0.044,2869,689,3120,0,0,0,0,0,0
$GC,1871,-1.19,-116.8,238.7,-9.3,177,1875,0.00,2.40,0.00,0.000,6,0.000,0.022,2869,2108,3120,0,0,0,0,0,0
$GC,2197,-1.19,-116.8,265.7,-8.7,193,2201,0.00,2.55,0.00,0.000,4,0.000,0.045,2869,690,3120,0,0,0,0,0,0
$GC,2253,-1.19,-116.8,270.7,-8.7,195,2257,0.00,2.40,0.00,0.000,6,0.000,0.024,2869,2096,3120,0,0,0,0,0,0
$GC,2568,-1.19,-116.8,297.6,-8.6,210,2572,0.00,2.53,0.00,0.000,4,0.000,0.044,2869,3501,3119,0,0,0,0,0,0
$GC,2590,-1.19,-116.8,299.3,-8.3,211,2594,0.00,2.50,0.00,0.000,6,0.000,0.039,2869,2091,3119,0,0,0,0,0,0
$GC,2935,-1.19,-116.8,325.4,-6.9,220,2940,0.00,2.55,0.00,0.000,4,0.000,0.044,2869,3498,3118,0,0,0,0,0,0
$GC,2992,-1.19,-116.8,329.6,-6.7,221,2996,0.00,2.50,0.00,0.000,6,0.000,0.039,2869,2099,3117,0,0,0,0,0,0
$GC,3307,-1.19,-116.8,352.3,-6.7,229,3312,0.00,2.53,0.00,0.000,4,0.000,0.045,2869,3500,3116,0,0,0,0,0,0
$GC,3354,-1.19,-116.8,355.3,-5.9,230,3359,0.00,2.50,0.00,0.000,6,0.000,0.041,2869,2097,3116,0,0,0,0,0,0
$GC,3678,-1.19,-116.8,370.2,-4.6,238,3682,0.00,2.58,0.00,0.000,4,0.000,0.051,2869,692,3115,0,0,0,0,0,0
$GC,3792,-1.19,-116.8,377.9,-7.3,240,3796,0.00,2.45,0.00,0.000,6,0.000,0.028,2869,2107,3113,0,0,0,0,0,0
$GC,4137,-1.19,-116.8,403.4,-7.9,249,4139,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2109,3111,0,0,0,0,0,0
$GC,4463,-1.19,-116.8,431.5,-8.8,257,4464,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2108,3109,0,0,0,0,0,0
$STATE,4784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4784,begin apogee
$GC,4791,-0.31,0.0,451.6,6.0,265,4890,0.95,0.00,95.60,0.821,6,0.082,0.000,3066,1795,2634,0,0,0,0,0,0
$STATE,4891,end apogee,CONTROL_FINISHED_OK
$STATE,4891,begin climb
$GC,4894,1.19,116.8,452.6,0.0,267,5006,1.48,2.65,100.35,0.803,4,0.057,0.046,3392,3204,2157,0,0,0,0,0,0
$GC,5030,1.19,116.8,438.2,13.5,270,5035,0.00,2.67,0.00,0.000,6,0.000,0.054,3391,1802,2156,0,0,0,0,0,0
$GC,5349,1.19,116.8,394.7,13.1,278,5350,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,1802,2147,0,0,0,0,0,0
$GC,5674,1.19,116.8,352.7,12.4,286,5675,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1802,2144,0,0,0,0,0,0
$GC,5999,1.19,116.8,316.2,10.6,294,6003,0.00,2.60,0.00,0.000,4,0.000,0.046,3391,3207,2141,0,0,0,0,0,0
$GC,6060,1.19,116.8,310.1,9.4,295,6064,0.00,2.62,0.00,0.000,6,0.000,0.052,3391,1799,2141,0,0,0,0,0,0
$GC,6392,1.19,116.8,282.7,9.0,308,6396,0.00,2.58,0.00,0.000,4,0.000,0.042,3391,3212,2138,0,0,0,0,0,0
$GC,6406,1.19,116.8,281.0,10.1,308,6413,0.00,2.65,0.00,0.000,6,0.000,0.046,3391,1794,2138,0,0,0,0,0,0
$GC,6722,1.19,116.8,248.1,10.5,324,6726,0.00,2.60,0.00,0.000,4,0.000,0.058,3391,392,2136,0,0,0,0,0,0
$GC,6743,1.19,116.8,245.9,10.7,325,6748,0.00,2.47,0.00,0.000,6,0.000,0.027,3392,1799,2134,0,0,0,0,0,0
$GC,7074,1.19,116.8,216.3,8.1,341,7078,0.00,2.62,0.00,0.000,4,0.000,0.056,3391,390,2134,0,0,0,0,0,0
$GC,7089,1.19,116.8,214.9,8.3,341,7094,0.00,2.47,0.00,0.000,6,0.000,0.025,3392,1807,2133,0,0,0,0,0,0
$GC,7409,1.19,116.8,187.7,8.8,363,7410,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1812,2133,0,0,0,0,0,0
$GC,7664,1.19,116.8,162.8,10.9,387,7669,0.00,2.62,0.00,0.000,4,0.000,0.053,3391,387,2133,0,0,0,0,0,0
$GC,7680,1.19,116.8,160.7,11.5,388,7684,0.00,2.45,0.00,0.000,6,0.000,0.023,3391,1803,2132,0,0,0,0,0,0
$GC,7943,1.19,116.8,136.5,8.0,412,7947,0.00,2.60,0.00,0.000,4,0.000,0.051,3391,391,2132,0,0,0,0,0,0
$GC,7996,1.19,116.8,131.7,8.8,417,8000,0.00,2.45,0.00,0.000,6,0.000,0.022,3392,1806,2131,0,0,0,0,0,0
$GC,8260,1.27,175.7,116.1,5.3,441,8315,0.00,2.70,47.20,0.567,4,0.000,0.050,3391,388,1916,0,0,0,0,0,0
$GC,8330,1.27,175.7,111.1,8.0,448,8337,0.00,2.50,0.00,0.000,6,0.000,0.021,3392,1800,1913,0,0,0,0,0,0
$GC,8593,1.27,175.7,89.0,9.5,473,8597,0.00,2.60,0.00,0.000,4,0.000,0.049,3391,391,1911,0,0,0,0,0,0
$GC,8656,1.27,175.7,82.2,10.9,479,8660,0.00,2.42,0.00,0.000,6,0.000,0.020,3392,1806,1908,0,0,0,0,0,0
$GC,8920,1.27,175.7,60.2,8.0,503,8924,0.00,2.42,0.00,0.000,4,0.000,0.029,3392,3203,1908,0,0,0,0,0,0
$GC,8938,1.27,180.4,58.6,7.8,504,8950,0.00,2.50,4.20,0.346,6,0.000,0.034,3391,1798,1898,0,0,0,0,0,0
$GC,9205,1.33,223.7,42.3,6.0,529,9255,0.15,2.62,38.55,0.489,4,0.054,0.048,3442,389,1720,0,0,0,0,0,0
$GC,9310,1.33,223.7,31.7,12.6,540,9314,0.00,2.42,0.00,0.000,6,0.000,0.019,3442,1800,1716,0,0,0,0,0,0
$GC,9576,1.33,223.7,4.2,9.3,587,9582,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1804,1715,0,0,0,0,0,0
$STATE,9587,end climb,SURFACE_DEPTH_REACHED
$STATE,9587,begin surface coast
$FINISH,1.2,1.022831
$STATE,9622,end surface coast,CONTROL_FINISHED_OK
$STATE,9622,begin surface
$SM_CCo,9647,53.33,0.453,0,0,1288,330.17
$SM_GC,1.74,0.00,0.00,53.33,0.000,0.000,0.453,431,2141,1288,-12.45,1.16,330.17
$IRIDIUM_FIX,2047.91,-15750.49,060800,111129
$TT8_MAMPS,0.028379
$HUMID,55.63
$INTERNAL_PRESSURE,9.62581
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,27.106
$10V_AH,10.4,25.797
$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,28.625,106.875,285.900,53.325,0.000,27.197,33.428,129.193,4.500,0.000,12.080,1095.784,6464.398,398.172,1632.859,419.312,33.358,1113.107,0.000,1613.352,0.000,31.464,0.000
$DEVICE_MAMPS,134.992,58.292,821.457,452.530,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,402.922,387.936,860.297,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355656
$DATA_FILE_SIZE,31823,595
$CAP_FILE_SIZE,97281,0
$CFSIZE,260165632,240340992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130511,163630,2052.809,-15751.069,40,1.1,45,9.8