version: 66.06
glider: 139
mission: 9
dive: 340
start: 5 14 111 9 24 43
data:
$ID,139
$MISSION,9
$DIVE,340
$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,-2182956
$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,19
$R_STBD_OVSHOOT,71
$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
$GPS1,091804,2052.304,-15748.245,14,2.8,33,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-74.2
$GPS2,092350,2052.233,-15748.154,13,1.3,13,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.127,0.182
$KALMAN_X,-207120.2,203.5,351.6,210858.0,-220.9
$KALMAN_Y,-70803.3,427.6,108.8,35955.6,-4332.1
$MHEAD_RNG_PITCHd_Wd,315.3,38295,-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,-116.8,0.0,0.0,0,89,0.00,0.00,-69.82,0.000,6,0.000,0.000,429,2125,3113,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.5,-4.2,13,111,13.12,2.58,0.00,0.000,4,0.136,0.035,2867,680,3115,0,0,0,0,0,0
$GC,257,-1.19,-116.8,42.4,-20.1,43,262,0.00,2.38,0.00,0.000,6,0.000,0.021,2867,2068,3117,0,0,0,0,0,0
$GC,520,-1.19,-116.8,81.2,-15.7,67,524,0.00,2.47,0.00,0.000,4,0.000,0.041,2867,685,3118,0,0,0,0,0,0
$GC,537,-1.19,-116.8,84.0,-15.4,68,541,0.00,2.42,0.00,0.000,6,0.000,0.021,2867,2106,3118,0,0,0,0,0,0
$GC,798,-1.19,-116.8,124.8,-14.6,92,802,0.00,2.45,0.00,0.000,4,0.000,0.035,2867,3496,3119,0,0,0,0,0,0
$GC,835,-1.19,-116.8,130.0,-13.5,95,841,0.00,2.47,0.00,0.000,6,0.000,0.031,2867,2084,3119,0,0,0,0,0,0
$GC,1098,-1.19,-116.8,158.1,-9.5,120,1102,0.00,2.50,0.00,0.000,4,0.000,0.043,2866,692,3119,0,0,0,0,0,0
$GC,1268,-1.19,-116.8,176.7,-10.5,138,1273,0.00,2.40,0.00,0.000,6,0.000,0.021,2867,2099,3119,0,0,0,0,0,0
$GC,1530,-1.19,-116.8,204.3,-10.1,160,1531,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2100,3120,0,0,0,0,0,0
$GC,1840,-1.19,-116.8,237.8,-10.8,175,1844,0.00,2.50,0.00,0.000,4,0.000,0.043,2867,693,3120,0,0,0,0,0,0
$GC,2000,-1.19,-116.8,255.8,-10.4,182,2004,0.00,2.40,0.00,0.000,6,0.000,0.022,2867,2097,3120,0,0,0,0,0,0
$GC,2329,-1.19,-116.8,282.3,-7.4,198,2330,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2098,3119,0,0,0,0,0,0
$GC,2633,-1.19,-116.8,310.1,-9.9,211,2637,0.00,2.55,0.00,0.000,4,0.000,0.044,2867,3505,3119,0,0,0,0,0,0
$GC,2662,-1.19,-116.8,313.0,-9.6,211,2666,0.00,2.47,0.00,0.000,6,0.000,0.038,2867,2105,3119,0,0,0,0,0,0
$GC,2999,-1.19,-116.8,342.8,-8.4,220,3003,0.00,2.58,0.00,0.000,4,0.000,0.048,2867,687,3117,0,0,0,0,0,0
$GC,3015,-1.19,-116.8,344.2,-8.1,220,3019,0.00,2.45,0.00,0.000,6,0.000,0.025,2867,2104,3117,0,0,0,0,0,0
$GC,3365,-1.19,-116.8,370.2,-7.0,229,3370,0.00,2.58,0.00,0.000,4,0.000,0.050,2867,690,3115,0,0,0,0,0,0
$GC,3380,-1.19,-116.8,371.4,-7.1,229,3384,0.00,2.45,0.00,0.000,6,0.000,0.027,2867,2100,3115,0,0,0,0,0,0
$GC,3730,-1.19,-116.8,395.4,-7.0,238,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2101,3113,0,0,0,0,0,0
$GC,4058,-1.19,-116.8,420.3,-7.6,246,4062,0.00,2.55,0.00,0.000,4,0.000,0.051,2867,3502,3110,0,0,0,0,0,0
$GC,4077,-1.19,-116.8,422.0,-7.4,246,4081,0.00,2.53,0.00,0.000,6,0.000,0.044,2867,2100,3110,0,0,0,0,0,0
$GC,4422,-1.19,-116.8,447.7,-7.5,255,4424,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2100,3108,0,0,0,0,0,0
$STATE,4460,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4460,begin apogee
$GC,4467,-0.31,0.0,450.9,7.6,256,4566,0.95,0.00,95.12,0.815,6,0.081,0.000,3065,1795,2635,0,0,0,0,0,0
$STATE,4567,end apogee,CONTROL_FINISHED_OK
$STATE,4567,begin climb
$GC,4570,1.19,116.8,453.3,0.0,258,4675,1.50,0.00,100.85,0.796,6,0.055,0.000,3396,1795,2158,0,0,0,0,0,0
$GC,4979,1.19,116.8,411.3,11.1,268,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1795,2147,0,0,0,0,0,0
$GC,5302,1.19,116.8,379.1,9.5,276,5306,0.00,2.62,0.00,0.000,4,0.000,0.044,3396,3213,2143,0,0,0,0,0,0
$GC,5327,1.19,116.8,376.8,9.4,276,5332,0.00,2.62,0.00,0.000,6,0.000,0.050,3395,1809,2144,0,0,0,0,0,0
$GC,5668,1.19,116.8,337.0,13.2,285,5672,0.00,2.67,0.00,0.000,4,0.000,0.060,3396,392,2141,0,0,0,0,0,0
$GC,5687,1.19,116.8,334.0,14.4,285,5692,0.00,2.50,0.00,0.000,6,0.000,0.028,3396,1801,2139,0,0,0,0,0,0
$GC,6012,1.19,116.8,296.3,11.1,294,6017,0.00,2.55,0.00,0.000,4,0.000,0.043,3396,3206,2137,0,0,0,0,0,0
$GC,6045,1.19,116.8,292.5,10.7,295,6049,0.00,2.62,0.00,0.000,6,0.000,0.048,3396,1796,2137,0,0,0,0,0,0
$GC,6361,1.19,116.8,254.9,11.1,310,6365,0.00,2.58,0.00,0.000,4,0.000,0.041,3396,3210,2136,0,0,0,0,0,0
$GC,6393,1.19,116.8,251.0,11.6,311,6398,0.00,2.62,0.00,0.000,6,0.000,0.048,3396,1796,2136,0,0,0,0,0,0
$GC,6709,1.19,116.8,217.6,8.9,326,6713,0.00,2.62,0.00,0.000,4,0.000,0.058,3396,389,2135,0,0,0,0,0,0
$GC,6760,1.19,116.8,212.4,10.1,328,6765,0.00,2.47,0.00,0.000,6,0.000,0.025,3396,1803,2132,0,0,0,0,0,0
$GC,7088,1.19,116.8,184.7,8.9,352,7092,0.00,2.50,0.00,0.000,4,0.000,0.037,3396,3208,2133,0,0,0,0,0,0
$GC,7105,1.19,116.8,183.1,8.9,353,7109,0.00,2.55,0.00,0.000,6,0.000,0.041,3396,1798,2133,0,0,0,0,0,0
$GC,7369,1.19,116.8,158.1,9.0,377,7374,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1799,2132,0,0,0,0,0,0
$GC,7631,1.23,149.4,138.8,6.5,402,7663,0.00,2.67,24.60,0.578,4,0.000,0.051,3395,391,2024,0,0,0,0,0,0
$GC,7691,1.24,154.6,134.6,7.8,408,7702,0.00,2.50,5.60,0.446,6,0.000,0.022,3396,1805,2004,0,0,0,0,0,0
$GC,7960,1.26,167.2,114.4,7.4,433,7980,0.00,2.67,12.57,0.523,4,0.000,0.050,3395,385,1952,0,0,0,0,0,0
$GC,8021,1.26,167.2,108.8,9.1,439,8027,0.00,2.47,0.00,0.000,6,0.000,0.021,3396,1812,1948,0,0,0,0,0,0
$GC,8284,1.26,167.2,86.0,8.9,464,8289,0.00,2.62,0.00,0.000,4,0.000,0.048,3395,390,1948,0,0,0,0,0,0
$GC,8303,1.26,167.2,83.8,10.0,465,8308,0.00,2.45,0.00,0.000,6,0.000,0.020,3396,1809,1947,0,0,0,0,0,0
$GC,8567,1.27,176.9,62.0,7.6,490,8582,0.00,2.65,9.32,0.453,4,0.000,0.048,3396,387,1913,0,0,0,0,0,0
$GC,8656,1.27,176.9,54.0,9.2,499,8660,0.00,2.42,0.00,0.000,6,0.000,0.020,3396,1797,1910,0,0,0,0,0,0
$GC,8920,1.33,225.0,36.2,5.8,523,8970,0.12,2.50,42.08,0.486,4,0.060,0.027,3442,3201,1717,0,0,0,0,0,0
$GC,9015,1.33,225.0,28.6,8.6,534,9021,0.00,2.58,0.00,0.000,6,0.000,0.035,3442,1799,1717,0,0,0,0,0,0
$GC,9219,1.33,225.0,9.9,8.8,571,9226,0.00,2.60,0.00,0.000,4,0.000,0.049,3442,394,1714,0,0,0,0,0,0
$STATE,9286,end climb,SURFACE_DEPTH_REACHED
$STATE,9286,begin surface coast
$FINISH,0.9,1.014864
$STATE,9319,end surface coast,CONTROL_FINISHED_OK
$STATE,9319,begin surface
$SM_CCo,9345,53.67,0.453,0,0,1288,330.17
$SM_GC,1.85,0.00,0.00,53.67,0.000,0.000,0.453,425,2102,1288,-12.48,0.08,330.17
$IRIDIUM_FIX,2045.60,-15748.36,070800,060642
$TT8_MAMPS,0.029146
$HUMID,56.26
$INTERNAL_PRESSURE,9.62581
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,27.672
$10V_AH,10.4,26.329
$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,28.625,107.350,290.150,53.675,0.000,30.169,34.857,160.047,4.750,0.000,13.186,1080.756,6194.333,422.844,1575.001,474.165,33.367,1094.091,0.000,1561.752,0.000,32.111,0.000
$DEVICE_MAMPS,135.759,59.826,814.554,452.530,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,401.234,392.848,872.772,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355724
$DATA_FILE_SIZE,31770,593
$CAP_FILE_SIZE,94697,0
$CFSIZE,260165632,240005120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140511,120236,2051.658,-15748.363,35,1.2,35,9.8