version: 66.06
glider: 139
mission: 9
dive: 335
start: 5 13 111 19 31 56
data:
$ID,139
$MISSION,9
$DIVE,335
$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,-2182861.2
$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,20
$R_STBD_OVSHOOT,82
$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
$GPS1,192516,2052.822,-15750.865,11,2.4,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-74.1
$GPS2,193104,2052.785,-15750.822,17,2.3,36,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.077,0.208
$KALMAN_X,-206816.6,-207.9,39.9,206677.1,356.0
$KALMAN_Y,-58483.7,116.1,487.9,24584.7,-4140.2
$MHEAD_RNG_PITCHd_Wd,10.5,34733,-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,12,begin dive
$GC,15,-1.19,-116.8,0.0,0.0,0,88,0.00,0.00,-69.72,0.000,6,0.000,0.000,430,2156,3113,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.4,-3.8,13,110,13.07,2.33,0.00,0.000,4,0.134,0.032,2869,3463,3115,0,0,0,0,0,0
$GC,325,-1.19,-116.8,54.8,-16.1,51,331,0.00,2.45,0.00,0.000,6,0.000,0.033,2869,2090,3117,0,0,0,0,0,0
$GC,586,-1.19,-116.8,97.8,-16.4,76,590,0.00,2.50,0.00,0.000,4,0.000,0.042,2869,686,3118,0,0,0,0,0,0
$GC,612,-1.19,-116.8,101.8,-16.0,78,616,0.00,2.33,0.00,0.000,6,0.000,0.020,2869,2065,3117,0,0,0,0,0,0
$GC,875,-1.19,-116.8,136.3,-13.1,102,879,0.00,2.47,0.00,0.000,4,0.000,0.041,2869,682,3118,0,0,0,0,0,0
$GC,892,-1.19,-116.8,138.8,-14.0,103,896,0.00,2.40,0.00,0.000,6,0.000,0.021,2869,2096,3118,0,0,0,0,0,0
$GC,1154,-1.19,-116.8,168.9,-10.1,127,1159,0.00,2.53,0.00,0.000,4,0.000,0.041,2869,685,3119,0,0,0,0,0,0
$GC,1325,-1.19,-116.8,185.2,-9.8,145,1329,0.00,2.40,0.00,0.000,6,0.000,0.021,2869,2103,3119,0,0,0,0,0,0
$GC,1583,-1.19,-116.8,210.7,-9.5,164,1587,0.00,2.50,0.00,0.000,4,0.000,0.041,2869,3500,3120,0,0,0,0,0,0
$GC,1662,-1.19,-116.8,219.2,-11.3,167,1666,0.00,2.45,0.00,0.000,6,0.000,0.035,2869,2099,3119,0,0,0,0,0,0
$GC,1977,-1.19,-116.8,251.8,-9.6,182,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2098,3120,0,0,0,0,0,0
$GC,2289,-1.19,-116.8,278.9,-7.6,197,2293,0.00,2.55,0.00,0.000,4,0.000,0.046,2869,690,3119,0,0,0,0,0,0
$GC,2340,-1.19,-116.8,283.7,-9.1,199,2344,0.00,2.40,0.00,0.000,6,0.000,0.024,2869,2096,3119,0,0,0,0,0,0
$GC,2681,-1.19,-116.8,308.9,-6.9,213,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2096,3118,0,0,0,0,0,0
$GC,3004,-1.19,-116.8,331.2,-7.6,221,3005,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2097,3117,0,0,0,0,0,0
$GC,3329,-1.19,-116.8,358.9,-9.8,229,3333,0.00,2.55,0.00,0.000,4,0.000,0.048,2869,693,3115,0,0,0,0,0,0
$GC,3431,-1.19,-116.8,370.0,-10.6,231,3435,0.00,2.45,0.00,0.000,6,0.000,0.026,2869,2100,3115,0,0,0,0,0,0
$GC,3745,-1.19,-116.8,396.9,-7.6,239,3749,0.00,2.58,0.00,0.000,4,0.000,0.051,2869,691,3112,0,0,0,0,0,0
$GC,3791,-1.19,-116.8,400.2,-7.7,240,3795,0.00,2.45,0.00,0.000,6,0.000,0.027,2869,2110,3113,0,0,0,0,0,0
$GC,4119,-1.19,-116.8,419.3,-5.6,248,4123,0.00,2.60,0.00,0.000,4,0.000,0.052,2869,690,3109,0,0,0,0,0,0
$GC,4189,-1.19,-116.8,424.3,-6.9,249,4193,0.00,2.45,0.00,0.000,6,0.000,0.028,2869,2105,3109,0,0,0,0,0,0
$GC,4530,-1.19,-116.8,445.6,-6.0,258,4531,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2105,3106,0,0,0,0,0,0
$STATE,4609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4609,begin apogee
$GC,4616,-0.31,0.0,450.6,6.0,260,4715,0.95,0.00,95.20,0.818,6,0.082,0.000,3066,1794,2634,0,0,0,0,0,0
$STATE,4716,end apogee,CONTROL_FINISHED_OK
$STATE,4716,begin climb
$GC,4719,1.19,116.8,452.2,0.0,262,4826,1.48,0.00,100.18,0.800,6,0.054,0.000,3393,1794,2158,0,0,0,0,0,0
$GC,5127,1.19,116.8,403.6,12.9,272,5131,0.00,2.62,0.00,0.000,4,0.000,0.044,3394,3203,2147,0,0,0,0,0,0
$GC,5150,1.19,116.8,400.4,12.4,272,5155,0.00,2.62,0.00,0.000,6,0.000,0.052,3393,1811,2147,0,0,0,0,0,0
$GC,5491,1.19,116.8,363.9,9.7,281,5496,0.00,2.70,0.00,0.000,4,0.000,0.062,3393,392,2143,0,0,0,0,0,0
$GC,5547,1.19,116.8,357.3,12.2,282,5552,0.00,2.47,0.00,0.000,6,0.000,0.028,3393,1798,2139,0,0,0,0,0,0
$GC,5861,1.19,116.8,324.3,11.2,290,5862,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1799,2139,0,0,0,0,0,0
$GC,6168,1.19,116.8,292.6,10.6,299,6173,0.00,2.55,0.00,0.000,4,0.000,0.043,3393,3204,2137,0,0,0,0,0,0
$GC,6224,1.19,116.8,286.5,10.5,301,6228,0.00,2.62,0.00,0.000,6,0.000,0.050,3393,1798,2137,0,0,0,0,0,0
$GC,6539,1.19,116.8,256.6,8.8,316,6544,0.00,2.62,0.00,0.000,4,0.000,0.060,3393,389,2135,0,0,0,0,0,0
$GC,6595,1.19,116.8,250.4,12.0,318,6600,0.00,2.47,0.00,0.000,6,0.000,0.027,3393,1806,2133,0,0,0,0,0,0
$GC,6912,1.19,116.8,216.2,11.2,333,6913,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1809,2133,0,0,0,0,0,0
$GC,7226,1.19,116.8,186.3,8.7,355,7231,0.00,2.50,0.00,0.000,4,0.000,0.038,3393,3205,2133,0,0,0,0,0,0
$GC,7253,1.19,116.8,183.7,10.2,357,7257,0.00,2.55,0.00,0.000,6,0.000,0.043,3393,1801,2133,0,0,0,0,0,0
$GC,7517,1.19,116.8,158.6,9.8,381,7522,0.00,2.60,0.00,0.000,4,0.000,0.057,3393,389,2132,0,0,0,0,0,0
$GC,7563,1.19,116.8,152.8,11.6,385,7569,0.00,2.45,0.00,0.000,6,0.000,0.023,3393,1807,2131,0,0,0,0,0,0
$GC,7827,1.24,153.5,131.1,6.3,410,7864,0.00,2.67,28.10,0.580,4,0.000,0.051,3393,386,2007,0,0,0,0,0,0
$GC,7933,1.24,153.5,122.3,8.8,421,7937,0.00,2.47,0.00,0.000,6,0.000,0.022,3393,1801,2002,0,0,0,0,0,0
$GC,8197,1.24,153.5,100.0,8.1,445,8201,0.00,2.60,0.00,0.000,4,0.000,0.051,3393,392,2002,0,0,0,0,0,0
$GC,8225,1.24,153.5,97.0,9.5,447,8231,0.00,2.42,0.00,0.000,6,0.000,0.021,3394,1805,2000,0,0,0,0,0,0
$GC,8489,1.33,229.1,80.5,4.6,472,8560,0.15,2.70,64.82,0.536,4,0.054,0.050,3442,389,1700,0,0,0,0,0,0
$GC,8577,1.33,229.1,72.2,12.4,480,8584,0.00,2.50,0.00,0.000,6,0.000,0.020,3442,1807,1697,0,0,0,0,0,0
$GC,8839,1.33,229.1,41.2,11.0,505,8843,0.00,2.62,0.00,0.000,4,0.000,0.048,3442,391,1695,0,0,0,0,0,0
$GC,8875,1.33,229.1,36.9,11.5,508,8882,0.00,2.45,0.00,0.000,6,0.000,0.019,3442,1800,1693,0,0,0,0,0,0
$GC,9140,1.33,229.1,9.6,10.0,551,9146,0.00,2.62,0.00,0.000,4,0.000,0.048,3442,393,1692,0,0,0,0,0,0
$GC,9154,1.33,229.1,8.0,10.6,553,9161,0.00,2.42,0.00,0.000,6,0.000,0.019,3442,1803,1692,0,0,0,0,0,0
$STATE,9204,end climb,SURFACE_DEPTH_REACHED
$STATE,9204,begin surface coast
$FINISH,1.0,1.011164
$STATE,9232,end surface coast,CONTROL_FINISHED_OK
$STATE,9233,begin surface
$SM_CCo,9257,51.83,0.456,0,0,1287,330.17
$SM_GC,1.90,0.00,0.00,51.83,0.000,0.000,0.456,423,2115,1287,-12.48,0.42,330.17
$IRIDIUM_FIX,2047.91,-15752.63,060800,161612
$TT8_MAMPS,0.029146
$HUMID,57.00
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.5,27.261
$10V_AH,10.6,25.945
$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,28.525,101.675,288.300,51.825,0.000,22.299,34.166,145.863,4.500,0.000,37.793,1046.702,6174.725,409.024,1592.303,435.526,33.351,1093.769,0.000,1554.959,0.000,31.460,0.000
$DEVICE_MAMPS,134.225,62.127,818.389,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,383.622,366.756,802.780,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,31804,567
$CAP_FILE_SIZE,93160,0
$CFSIZE,260165632,240250880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130511,220830,2052.629,-15750.469,41,1.2,46,9.8