version: 66.06
glider: 139
mission: 9
dive: 337
start: 5 14 111 1 0 14
data:
$ID,139
$MISSION,9
$DIVE,337
$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,-2182912.8
$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,21
$R_STBD_OVSHOOT,61
$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
$GPS1,005334,2052.578,-15750.149,11,2.2,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-74.4
$GPS2,005922,2052.604,-15750.111,13,2.2,32,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.061,0.213
$KALMAN_X,-207298.9,-242.5,-183.5,208642.9,-30.4
$KALMAN_Y,-63205.9,562.1,-28.1,29044.0,-3316.3
$MHEAD_RNG_PITCHd_Wd,6.2,35706,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,84,0.00,0.00,-64.88,0.000,2,0.000,0.000,429,2122,2971,0,0,0,0,0,0
$GC,87,-1.19,-116.8,3.2,-4.1,12,112,13.07,2.45,-2.95,0.000,4,0.134,0.044,2869,3474,3114,0,0,0,0,0,0
$GC,360,-1.19,-116.8,57.9,-17.1,56,367,0.00,2.45,0.00,0.000,6,0.000,0.033,2869,2100,3115,0,0,0,0,0,0
$GC,623,-1.19,-116.8,96.1,-11.0,81,627,0.00,2.40,0.00,0.000,4,0.000,0.032,2869,3478,3116,0,0,0,0,0,0
$GC,642,-1.19,-116.8,98.5,-11.2,82,649,0.00,2.45,0.00,0.000,6,0.000,0.031,2869,2096,3117,0,0,0,0,0,0
$GC,908,-1.19,-116.8,125.6,-9.9,107,912,0.00,2.53,0.00,0.000,4,0.000,0.041,2869,689,3118,0,0,0,0,0,0
$GC,988,-1.19,-116.8,136.6,-12.7,115,992,0.00,2.35,0.00,0.000,6,0.000,0.020,2869,2085,3118,0,0,0,0,0,0
$GC,1252,-1.19,-116.8,166.6,-11.0,139,1256,0.00,2.47,0.00,0.000,4,0.000,0.043,2869,693,3119,0,0,0,0,0,0
$GC,1417,-1.19,-116.8,187.1,-10.9,156,1423,0.00,2.42,0.00,0.000,6,0.000,0.021,2869,2096,3118,0,0,0,0,0,0
$GC,1686,-1.19,-116.8,209.5,-7.6,176,1690,0.00,2.50,0.00,0.000,4,0.000,0.039,2869,3507,3119,0,0,0,0,0,0
$GC,1700,-1.19,-116.8,211.0,-8.3,176,1707,0.00,2.50,0.00,0.000,6,0.000,0.035,2869,2102,3119,0,0,0,0,0,0
$GC,2015,-1.19,-116.8,243.2,-11.2,192,2020,0.00,2.55,0.00,0.000,4,0.000,0.045,2868,690,3119,0,0,0,0,0,0
$GC,2129,-1.19,-116.8,256.7,-12.0,197,2133,0.00,2.40,0.00,0.000,6,0.000,0.023,2869,2100,3119,0,0,0,0,0,0
$GC,2466,-1.19,-116.8,283.6,-6.2,213,2470,0.00,2.50,0.00,0.000,4,0.000,0.044,2868,3497,3118,0,0,0,0,0,0
$GC,2487,-1.19,-116.8,285.3,-6.7,214,2491,0.00,2.47,0.00,0.000,6,0.000,0.038,2868,2095,3117,0,0,0,0,0,0
$GC,2835,-1.19,-116.8,311.8,-8.8,228,2839,0.00,2.53,0.00,0.000,4,0.000,0.047,2869,693,3117,0,0,0,0,0,0
$GC,2849,-1.19,-116.8,313.3,-9.4,228,2853,0.00,2.40,0.00,0.000,6,0.000,0.025,2869,2099,3116,0,0,0,0,0,0
$GC,3199,-1.19,-116.8,345.6,-8.6,237,3204,0.00,2.55,0.00,0.000,4,0.000,0.048,2869,686,3115,0,0,0,0,0,0
$GC,3214,-1.19,-116.8,346.9,-8.0,237,3218,0.00,2.45,0.00,0.000,6,0.000,0.026,2869,2109,3115,0,0,0,0,0,0
$GC,3564,-1.19,-116.8,369.6,-6.1,246,3568,0.00,2.58,0.00,0.000,4,0.000,0.049,2868,693,3112,0,0,0,0,0,0
$GC,3635,-1.19,-116.8,374.9,-7.4,247,3639,0.00,2.42,0.00,0.000,6,0.000,0.027,2868,2099,3112,0,0,0,0,0,0
$GC,3975,-1.19,-116.8,399.9,-6.9,256,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2100,3110,0,0,0,0,0,0
$GC,4300,-1.19,-116.8,424.6,-8.0,264,4305,0.00,2.58,0.00,0.000,4,0.000,0.051,2868,692,3107,0,0,0,0,0,0
$GC,4333,-1.19,-116.8,427.6,-9.2,264,4337,0.00,2.45,0.00,0.000,6,0.000,0.028,2869,2108,3107,0,0,0,0,0,0
$STATE,4621,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4621,begin apogee
$GC,4628,-0.31,0.0,451.4,7.7,271,4726,0.95,0.00,95.07,0.817,6,0.083,0.000,3065,1796,2635,0,0,0,0,0,0
$STATE,4727,end apogee,CONTROL_FINISHED_OK
$STATE,4727,begin climb
$GC,4730,1.19,116.8,453.0,0.0,273,4842,1.50,2.70,99.85,0.801,4,0.056,0.044,3396,3219,2157,0,0,0,0,0,0
$GC,4867,1.19,116.8,439.7,12.7,276,4871,0.00,2.70,0.00,0.000,6,0.000,0.054,3395,1806,2157,0,0,0,0,0,0
$GC,5185,1.19,116.8,398.4,13.0,284,5190,0.00,2.67,0.00,0.000,4,0.000,0.062,3395,393,2147,0,0,0,0,0,0
$GC,5204,1.19,116.8,395.6,13.8,284,5209,0.00,2.53,0.00,0.000,6,0.000,0.028,3395,1806,2144,0,0,0,0,0,0
$GC,5550,1.19,116.8,356.1,10.7,293,5554,0.00,2.70,0.00,0.000,4,0.000,0.061,3395,386,2142,0,0,0,0,0,0
$GC,5578,1.19,116.8,352.8,11.5,293,5583,0.00,2.50,0.00,0.000,6,0.000,0.028,3395,1802,2139,0,0,0,0,0,0
$GC,5914,1.19,116.8,314.3,11.6,302,5918,0.00,2.55,0.00,0.000,4,0.000,0.043,3396,3207,2139,0,0,0,0,0,0
$GC,5965,1.19,116.8,308.0,12.0,303,5970,0.00,2.62,0.00,0.000,6,0.000,0.051,3395,1800,2139,0,0,0,0,0,0
$GC,6289,1.19,116.8,271.6,10.4,317,6293,0.00,2.58,0.00,0.000,4,0.000,0.041,3395,3204,2138,0,0,0,0,0,0
$GC,6317,1.19,116.8,268.5,10.0,318,6322,0.00,2.60,0.00,0.000,6,0.000,0.048,3395,1795,2137,0,0,0,0,0,0
$GC,6638,1.19,116.8,238.2,9.6,334,6642,0.00,2.60,0.00,0.000,4,0.000,0.058,3396,392,2136,0,0,0,0,0,0
$GC,6652,1.19,116.8,236.5,9.7,334,6659,0.00,2.50,0.00,0.000,6,0.000,0.027,3396,1802,2134,0,0,0,0,0,0
$GC,6968,1.19,116.8,205.3,9.4,350,6969,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1805,2135,0,0,0,0,0,0
$GC,7286,1.20,122.5,178.7,7.8,377,7291,0.00,2.62,0.00,0.000,4,0.000,0.054,3395,390,2134,0,0,0,0,0,0
$GC,7338,1.20,122.5,174.6,8.1,382,7343,0.00,2.45,0.00,0.000,6,0.000,0.025,3395,1803,2132,0,0,0,0,0,0
$GC,7602,1.21,125.4,156.2,7.9,406,7603,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1808,2132,0,0,0,0,0,0
$GC,7854,1.22,135.7,136.6,7.5,430,7874,0.00,2.53,13.00,0.555,4,0.000,0.034,3396,3210,2081,0,0,0,0,0,0
$GC,7888,1.22,135.7,133.6,9.0,433,7894,0.00,2.53,0.00,0.000,6,0.000,0.039,3395,1804,2081,0,0,0,0,0,0
$GC,8152,1.26,172.8,114.9,6.3,458,8191,0.00,2.70,33.17,0.562,4,0.000,0.052,3395,393,1929,0,0,0,0,0,0
$GC,8249,1.26,172.8,107.6,8.2,468,8255,0.00,2.47,0.00,0.000,6,0.000,0.021,3395,1801,1924,0,0,0,0,0,0
$GC,8514,1.28,189.5,88.8,7.3,493,8534,0.00,2.67,15.00,0.508,4,0.000,0.048,3395,385,1860,0,0,0,0,0,0
$GC,8568,1.28,189.5,84.1,8.5,498,8575,0.00,2.47,0.00,0.000,6,0.000,0.020,3396,1798,1857,0,0,0,0,0,0
$GC,8831,1.28,189.5,60.4,8.6,523,8832,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1800,1857,0,0,0,0,0,0
$GC,9085,1.35,244.9,42.6,5.5,547,9136,0.15,0.00,47.67,0.492,6,0.054,0.000,3446,1800,1635,0,0,0,0,0,0
$GC,9394,1.35,244.9,14.8,9.8,590,9400,0.00,2.62,0.00,0.000,4,0.000,0.049,3445,395,1631,0,0,1,0,0,0
$GC,9429,1.35,244.9,10.7,12.1,597,9436,0.00,2.45,0.00,0.000,6,0.000,0.018,3446,1804,1628,0,0,0,0,0,0
$STATE,9500,end climb,SURFACE_DEPTH_REACHED
$STATE,9501,begin surface coast
$FINISH,1.1,1.010711
$STATE,9530,end surface coast,CONTROL_FINISHED_OK
$STATE,9531,begin surface
$SM_CCo,9554,44.47,0.450,0,0,1288,330.17
$SM_GC,1.71,0.00,0.00,44.47,0.000,0.000,0.450,424,2166,1288,-12.48,1.87,330.17
$IRIDIUM_FIX,2043.29,-15751.36,060800,222226
$TT8_MAMPS,0.028379
$HUMID,56.49
$INTERNAL_PRESSURE,9.62581
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,27.424
$10V_AH,10.4,26.100
$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,28.525,112.200,303.775,44.475,0.000,24.985,36.669,145.246,4.500,0.000,33.406,1113.716,6271.325,410.777,1698.664,453.194,33.360,1146.801,0.000,1665.089,0.000,29.248,0.000
$DEVICE_MAMPS,134.225,62.127,816.855,450.229,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,415.964,407.431,897.794,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,34981,615
$CAP_FILE_SIZE,98203,0
$CFSIZE,260165632,240148480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,140511,034136,2052.774,-15749.876,37,1.1,43,9.8