version: 66.06
glider: 139
mission: 9
dive: 339
start: 5 14 111 6 38 25
data:
$ID,139
$MISSION,9
$DIVE,339
$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,-2182942
$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,45
$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
$GPS1,063207,2052.872,-15749.248,40,1.0,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-75.7
$GPS2,063732,2052.852,-15749.164,14,1.7,14,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.110,0.192
$KALMAN_X,-207253.6,19.6,152.7,209628.8,368.3
$KALMAN_Y,-68120.2,686.6,442.1,33824.7,-4222.0
$MHEAD_RNG_PITCHd_Wd,19.9,36314,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-69.45,0.000,6,0.000,0.000,426,2100,3112,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.5,-4.5,13,110,13.10,2.50,0.00,0.000,4,0.135,0.034,2866,3503,3115,0,0,0,0,0,0
$GC,361,-1.19,-116.8,60.7,-18.7,55,366,0.00,2.47,0.00,0.000,6,0.000,0.034,2867,2095,3117,0,0,0,0,0,0
$GC,626,-1.19,-116.8,101.8,-13.4,79,630,0.00,2.50,0.00,0.000,4,0.000,0.041,2867,690,3118,0,0,0,0,0,0
$GC,688,-1.19,-116.8,110.7,-13.7,85,692,0.00,2.40,0.00,0.000,6,0.000,0.019,2867,2102,3117,0,0,0,0,0,0
$GC,953,-1.19,-116.8,147.1,-13.9,109,957,0.00,2.50,0.00,0.000,4,0.000,0.042,2867,691,3118,0,0,0,0,0,0
$GC,987,-1.19,-116.8,152.3,-13.9,112,991,0.00,2.40,0.00,0.000,6,0.000,0.021,2867,2100,3118,0,0,0,0,0,0
$GC,1254,-1.19,-116.8,183.5,-10.2,137,1258,0.00,2.50,0.00,0.000,4,0.000,0.042,2867,691,3119,0,0,0,0,0,0
$GC,1306,-1.19,-116.8,189.0,-10.6,142,1310,0.00,2.42,0.00,0.000,6,0.000,0.021,2867,2108,3119,0,0,0,0,0,0
$GC,1564,-1.19,-116.8,216.4,-11.1,159,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2108,3119,0,0,0,0,0,0
$GC,1872,-1.19,-116.8,250.6,-10.9,174,1876,0.00,2.53,0.00,0.000,4,0.000,0.043,2867,685,3120,0,0,0,0,0,0
$GC,1900,-1.19,-116.8,253.7,-10.7,175,1905,0.00,2.40,0.00,0.000,6,0.000,0.022,2867,2098,3119,0,0,0,0,0,0
$GC,2222,-1.19,-116.8,282.4,-7.5,191,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2099,3120,0,0,0,0,0,0
$GC,2528,-1.19,-116.8,307.0,-8.3,204,2533,0.00,2.53,0.00,0.000,4,0.000,0.045,2867,685,3119,0,0,0,0,0,0
$GC,2543,-1.19,-116.8,308.3,-8.5,204,2547,0.00,2.42,0.00,0.000,6,0.000,0.025,2867,2102,3119,0,0,0,0,0,0
$GC,2893,-1.19,-116.8,335.2,-7.7,213,2894,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2103,3117,0,0,0,0,0,0
$GC,3218,-1.19,-116.8,357.4,-6.8,221,3222,0.00,2.55,0.00,0.000,4,0.000,0.049,2867,686,3116,0,0,0,0,0,0
$GC,3265,-1.19,-116.8,360.7,-7.0,222,3269,0.00,2.42,0.00,0.000,6,0.000,0.026,2867,2098,3115,0,0,0,0,0,0
$GC,3591,-1.19,-116.8,380.9,-6.4,230,3592,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2099,3114,0,0,0,0,0,0
$GC,3914,-1.19,-116.8,401.3,-6.5,238,3915,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2099,3111,0,0,0,0,0,0
$GC,4239,-1.19,-116.8,422.4,-6.6,246,4243,0.00,2.60,0.00,0.000,4,0.000,0.053,2867,692,3109,0,0,0,0,0,0
$GC,4372,-1.19,-116.8,431.6,-6.8,248,4377,0.00,2.45,0.00,0.000,6,0.000,0.029,2867,2099,3108,0,0,0,0,0,0
$STATE,4700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4700,begin apogee
$GC,4707,-0.31,0.0,450.5,5.7,257,4805,0.95,0.00,94.75,0.819,6,0.082,0.000,3064,1789,2635,0,0,0,0,0,0
$STATE,4806,end apogee,CONTROL_FINISHED_OK
$STATE,4806,begin climb
$GC,4809,1.19,116.8,451.2,0.0,259,4921,1.50,2.72,99.85,0.795,4,0.055,0.044,3396,3203,2158,0,0,0,0,0,0
$GC,4937,1.19,116.8,438.1,12.6,262,4942,0.00,2.65,0.00,0.000,6,0.000,0.052,3395,1810,2157,0,0,0,0,0,0
$GC,5265,1.19,116.8,392.2,14.0,270,5270,0.00,2.70,0.00,0.000,4,0.000,0.063,3395,394,2147,0,0,0,0,0,0
$GC,5309,1.19,116.8,385.5,15.9,271,5313,0.00,2.50,0.00,0.000,6,0.000,0.028,3395,1797,2143,0,0,0,0,0,0
$GC,5638,1.19,116.8,342.5,12.5,279,5643,0.00,2.65,0.00,0.000,4,0.000,0.061,3395,392,2141,0,0,0,0,0,0
$GC,5666,1.19,116.8,338.3,13.7,279,5671,0.00,2.50,0.00,0.000,6,0.000,0.028,3395,1803,2139,0,0,0,0,0,0
$GC,6002,1.19,116.8,299.3,11.7,288,6006,0.00,2.53,0.00,0.000,4,0.000,0.042,3395,3204,2139,0,0,0,0,0,0
$GC,6058,1.19,116.8,293.1,10.6,290,6062,0.00,2.62,0.00,0.000,6,0.000,0.049,3395,1798,2139,0,0,0,0,0,0
$GC,6375,1.19,116.8,259.9,10.3,305,6379,0.00,2.62,0.00,0.000,4,0.000,0.060,3395,390,2137,0,0,0,0,0,0
$GC,6426,1.19,116.8,254.1,10.7,307,6430,0.00,2.50,0.00,0.000,6,0.000,0.026,3395,1811,2134,0,0,0,0,0,0
$GC,6748,1.19,116.8,226.4,8.1,323,6749,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1816,2135,0,0,0,0,0,0
$GC,7056,1.20,118.5,199.6,7.9,338,7060,0.00,2.67,0.00,0.000,4,0.000,0.055,3395,391,2134,0,0,0,0,0,0
$GC,7129,1.20,118.5,192.8,9.6,345,7134,0.00,2.47,0.00,0.000,6,0.000,0.025,3395,1803,2132,0,0,0,0,0,0
$GC,7392,1.20,118.5,170.1,10.2,370,7396,0.00,2.47,0.00,0.000,4,0.000,0.035,3395,3211,2132,0,0,0,0,0,0
$GC,7456,1.20,118.5,163.3,10.0,376,7463,0.00,2.58,0.00,0.000,6,0.000,0.040,3395,1802,2132,0,0,0,0,0,0
$GC,7719,1.20,118.5,138.3,8.8,401,7724,0.00,2.58,0.00,0.000,4,0.000,0.052,3395,391,2132,0,0,0,0,0,0
$GC,7738,1.20,118.5,136.2,9.7,402,7745,0.00,2.47,0.00,0.000,6,0.000,0.022,3395,1810,2131,0,0,0,0,0,0
$GC,8003,1.26,172.8,118.9,5.5,427,8058,0.00,2.67,44.65,0.569,4,0.000,0.050,3395,392,1927,0,0,0,0,0,0
$GC,8116,1.26,172.8,109.0,10.7,439,8120,0.00,2.42,0.00,0.000,6,0.000,0.021,3395,1798,1923,0,0,0,0,0,0
$GC,8380,1.26,172.8,87.7,8.1,463,8384,0.00,2.45,0.00,0.000,4,0.000,0.029,3396,3203,1923,0,0,0,0,0,0
$GC,8414,1.27,179.3,84.7,7.7,466,8426,0.00,2.55,6.07,0.422,6,0.000,0.038,3395,1798,1904,0,0,0,0,0,0
$GC,8685,1.28,182.5,63.3,7.9,491,8696,0.00,2.60,4.60,0.365,4,0.000,0.050,3395,387,1889,0,0,0,0,0,0
$GC,8743,1.28,182.5,57.7,9.2,497,8748,0.00,2.42,0.00,0.000,6,0.000,0.019,3395,1809,1886,0,0,0,0,0,0
$GC,9008,1.30,202.4,36.6,7.1,521,9033,0.10,2.65,18.33,0.469,4,0.071,0.048,3435,392,1808,0,0,0,0,0,0
$GC,9100,1.30,202.4,27.4,10.9,532,9107,0.00,2.45,0.00,0.000,6,0.000,0.019,3435,1798,1804,0,0,0,0,0,0
$GC,9304,1.30,202.4,9.2,8.7,569,9311,0.00,2.62,0.00,0.000,4,0.000,0.050,3435,394,1804,0,0,1,0,0,0
$GC,9327,1.30,202.4,7.2,8.3,573,9334,0.00,2.42,0.00,0.000,6,0.000,0.018,3436,1800,1803,0,0,0,0,0,0
$STATE,9376,end climb,SURFACE_DEPTH_REACHED
$STATE,9376,begin surface coast
$FINISH,1.1,1.009570
$STATE,9415,end surface coast,CONTROL_FINISHED_OK
$STATE,9415,begin surface
$SM_CCo,9439,65.60,0.456,0,0,1288,330.17
$SM_GC,1.55,0.00,0.00,65.60,0.000,0.000,0.456,429,2124,1288,-12.46,0.68,330.17
$IRIDIUM_FIX,2043.29,-15750.49,070800,040415
$TT8_MAMPS,0.029146
$HUMID,56.45
$INTERNAL_PRESSURE,9.63558
$TCM_TEMP,22.20
$XPDR_PINGS,3
$24V_AH,23.5,27.594
$10V_AH,10.4,26.254
$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,28.425,107.125,268.250,65.600,0.000,22.904,34.067,146.569,5.250,0.000,14.963,1082.809,6272.456,400.928,1630.188,446.397,33.362,1109.718,0.000,1612.377,0.000,29.253,0.000
$DEVICE_MAMPS,134.992,62.894,819.156,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,398.592,387.594,857.776,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,31853,589
$CAP_FILE_SIZE,96334,0
$CFSIZE,260165632,240054272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,140511,091804,2052.304,-15748.245,14,2.8,33,9.8