version: 66.06
glider: 139
mission: 9
dive: 334
start: 5 13 111 16 43 0
data:
$ID,139
$MISSION,9
$DIVE,334
$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,-2182822.8
$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,20
$R_STBD_OVSHOOT,75
$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
$GPS1,163630,2052.809,-15751.069,40,1.1,45,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-74.8
$GPS2,164207,2052.785,-15751.018,11,1.8,16,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.018,0.221
$KALMAN_X,-206683.4,-144.1,-264.5,206447.8,852.1
$KALMAN_Y,-56010.9,114.2,435.3,22166.1,-4070.3
$MHEAD_RNG_PITCHd_Wd,354.9,34546,-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,-69.70,0.000,2,0.000,0.000,430,2142,3108,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.4,-4.1,13,110,13.07,2.35,0.00,0.000,4,0.135,0.031,2868,3467,3111,0,0,0,0,0,0
$GC,262,-1.19,-116.8,41.9,-17.6,44,267,0.00,2.42,0.00,0.000,6,0.000,0.035,2868,2096,3112,0,0,0,0,0,0
$GC,524,-1.19,-116.8,87.1,-16.0,68,528,0.00,2.40,0.00,0.000,4,0.000,0.033,2868,3464,3113,0,0,0,0,0,0
$GC,541,-1.19,-116.8,89.7,-16.1,69,545,0.00,2.40,0.00,0.000,6,0.000,0.031,2867,2098,3113,0,0,0,0,0,0
$GC,805,-1.19,-116.8,123.9,-12.5,93,809,0.00,2.53,0.00,0.000,4,0.000,0.041,2868,692,3114,0,0,0,0,0,0
$GC,885,-1.19,-116.8,134.8,-14.1,101,890,0.00,2.33,0.00,0.000,6,0.000,0.021,2868,2065,3114,0,0,0,0,0,0
$GC,1148,-1.19,-116.8,165.6,-9.9,125,1152,0.00,2.47,0.00,0.000,4,0.000,0.043,2868,686,3115,0,0,0,0,0,0
$GC,1174,-1.19,-116.8,168.7,-12.3,127,1178,0.00,2.42,0.00,0.000,6,0.000,0.021,2868,2103,3115,0,0,0,0,0,0
$GC,1438,-1.19,-116.8,193.3,-8.0,151,1442,0.00,2.53,0.00,0.000,4,0.000,0.042,2868,692,3115,0,0,0,0,0,0
$GC,1527,-1.19,-116.8,202.1,-9.5,159,1532,0.00,2.40,0.00,0.000,6,0.000,0.022,2868,2105,3115,0,0,0,0,0,0
$GC,1858,-1.19,-116.8,233.5,-10.4,175,1862,0.00,2.53,0.00,0.000,4,0.000,0.044,2868,687,3116,0,0,0,0,0,0
$GC,1955,-1.19,-116.8,243.1,-10.1,179,1959,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2103,3115,0,0,0,0,0,0
$GC,2277,-1.19,-116.8,271.5,-7.9,195,2278,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2104,3115,0,0,0,0,0,0
$GC,2585,-1.19,-116.8,295.0,-7.8,210,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2104,3114,0,0,0,0,0,0
$GC,2914,-1.19,-116.8,320.1,-7.7,220,2918,0.00,2.53,0.00,0.000,4,0.000,0.045,2868,3496,3112,0,0,0,0,0,0
$GC,2948,-1.19,-116.8,322.7,-7.2,220,2953,0.00,2.47,0.00,0.000,6,0.000,0.039,2867,2102,3112,0,0,0,0,0,0
$GC,3281,-1.19,-116.8,345.6,-7.4,228,3286,0.00,2.58,0.00,0.000,4,0.000,0.050,2867,690,3111,0,0,0,0,0,0
$GC,3306,-1.19,-116.8,347.7,-8.0,228,3310,0.00,2.42,0.00,0.000,6,0.000,0.025,2867,2100,3111,0,0,0,0,0,0
$GC,3647,-1.19,-116.8,373.9,-7.2,237,3651,0.00,2.55,0.00,0.000,4,0.000,0.050,2867,693,3110,0,0,0,0,0,0
$GC,3726,-1.19,-116.8,380.7,-8.4,238,3730,0.00,2.42,0.00,0.000,6,0.000,0.026,2868,2104,3109,0,0,0,0,0,0
$GC,4057,-1.19,-116.8,409.7,-8.9,246,4058,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2105,3106,0,0,0,0,0,0
$GC,4383,-1.19,-116.8,435.0,-7.1,254,4387,0.00,2.60,0.00,0.000,4,0.000,0.053,2867,688,3104,0,0,0,0,0,0
$GC,4476,-1.19,-116.8,441.7,-7.2,256,4480,0.00,2.45,0.00,0.000,6,0.000,0.028,2868,2100,3104,0,0,0,0,0,0
$STATE,4674,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4674,begin apogee
$GC,4681,-0.31,0.0,451.3,4.4,261,4779,0.95,0.00,94.35,0.815,6,0.084,0.000,3064,1790,2635,0,0,0,0,0,0
$STATE,4780,end apogee,CONTROL_FINISHED_OK
$STATE,4780,begin climb
$GC,4783,1.19,116.8,450.9,0.0,263,4891,1.50,0.00,100.38,0.794,6,0.054,0.000,3395,1790,2158,0,0,0,0,0,0
$GC,5191,1.19,116.8,396.8,12.8,273,5192,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1790,2147,0,0,0,0,0,0
$GC,5516,1.19,116.8,362.3,9.8,281,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1790,2143,0,0,0,0,0,0
$GC,5841,1.19,116.8,334.1,8.8,289,5845,0.00,2.60,0.00,0.000,4,0.000,0.043,3395,3209,2140,0,0,0,0,0,0
$GC,5869,1.19,116.8,331.3,8.9,289,5874,0.00,2.62,0.00,0.000,6,0.000,0.050,3395,1805,2141,0,0,0,0,0,0
$GC,6205,1.19,116.8,301.7,9.3,298,6206,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1805,2138,0,0,0,0,0,0
$GC,6514,1.19,116.8,268.8,11.2,312,6516,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1806,2137,0,0,0,0,0,0
$GC,6825,1.19,116.8,240.2,8.4,327,6829,0.00,2.62,0.00,0.000,4,0.000,0.057,3394,389,2136,0,0,0,0,0,0
$GC,6845,1.19,116.8,238.3,9.3,328,6849,0.00,2.47,0.00,0.000,6,0.000,0.025,3395,1804,2134,0,0,0,0,0,0
$GC,7175,1.19,116.8,207.0,10.8,344,7179,0.00,2.50,0.00,0.000,4,0.000,0.038,3395,3206,2134,0,0,0,0,0,0
$GC,7203,1.19,116.8,203.8,11.1,345,7207,0.00,2.55,0.00,0.000,6,0.000,0.042,3395,1801,2134,0,0,0,0,0,0
$GC,7531,1.19,116.8,169.3,8.8,374,7535,0.00,2.60,0.00,0.000,4,0.000,0.054,3395,388,2133,0,0,0,0,0,0
$GC,7584,1.19,116.8,164.6,9.2,379,7589,0.00,2.45,0.00,0.000,6,0.000,0.023,3395,1810,2131,0,0,0,0,0,0
$GC,7849,1.22,139.6,145.5,7.0,403,7868,0.00,0.00,16.02,0.566,6,0.000,0.000,3395,1816,2066,0,0,0,0,0,0
$GC,8127,1.23,145.8,125.2,7.7,429,8139,0.00,2.70,6.88,0.472,4,0.000,0.050,3395,392,2039,0,0,0,0,0,0
$GC,8158,1.23,145.8,122.1,8.9,432,8165,0.00,2.47,0.00,0.000,6,0.000,0.021,3395,1803,2037,0,0,0,0,0,0
$GC,8423,1.24,156.7,100.8,7.5,457,8443,0.00,2.67,11.00,0.497,4,0.000,0.049,3394,395,1994,0,0,0,0,0,0
$GC,8512,1.24,156.7,92.4,9.2,466,8518,0.00,2.45,0.00,0.000,6,0.000,0.020,3395,1800,1991,0,0,0,0,0,0
$GC,8777,1.27,180.2,74.0,6.9,491,8803,0.00,0.00,21.48,0.505,6,0.000,0.000,3395,1802,1899,0,0,0,0,0,0
$GC,9062,1.33,229.0,55.6,5.8,518,9112,0.15,2.65,42.40,0.499,4,0.054,0.047,3446,392,1700,0,0,0,0,0,0
$GC,9176,1.33,229.0,44.0,12.5,530,9180,0.00,2.40,0.00,0.000,6,0.000,0.019,3446,1800,1694,0,0,0,0,0,0
$GC,9442,1.33,229.0,16.8,10.8,564,9449,0.00,2.62,0.00,0.000,4,0.000,0.048,3446,398,1694,0,0,0,0,0,0
$GC,9478,1.33,229.0,12.4,12.6,571,9484,0.00,2.42,0.00,0.000,6,0.000,0.018,3447,1800,1692,0,0,0,0,0,0
$STATE,9559,end climb,SURFACE_DEPTH_REACHED
$STATE,9560,begin surface coast
$FINISH,1.0,1.009561
$STATE,9590,end surface coast,CONTROL_FINISHED_OK
$STATE,9590,begin surface
$SM_CCo,9614,51.40,0.451,0,0,1287,330.17
$SM_GC,1.85,0.00,0.00,51.40,0.000,0.000,0.451,430,2156,1287,-12.45,1.53,330.17
$IRIDIUM_FIX,2043.29,-15751.36,060800,131304
$TT8_MAMPS,0.029146
$HUMID,55.39
$INTERNAL_PRESSURE,9.62581
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,27.183
$10V_AH,10.4,25.872
$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,28.575,91.050,292.500,51.400,0.000,30.484,34.892,145.757,4.500,0.000,16.399,1070.468,6513.522,401.736,1565.471,453.822,33.363,1078.636,0.000,1557.272,0.000,29.252,0.000
$DEVICE_MAMPS,134.992,56.758,815.321,450.996,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,399.838,394.605,847.807,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,31752,591
$CAP_FILE_SIZE,92490,0
$CFSIZE,260165632,240295936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130511,192516,2052.822,-15750.865,11,2.4,30,9.8