version: 66.06
glider: 139
mission: 9
dive: 341
start: 5 14 111 12 9 12
data:
$ID,139
$MISSION,9
$DIVE,341
$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,-2182974
$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,17
$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
$GPS1,120236,2051.658,-15748.363,35,1.2,35,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-74.4
$GPS2,120819,2051.611,-15748.283,11,1.2,17,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.052,0.215
$KALMAN_X,-205855.2,403.5,119.0,209393.0,428.2
$KALMAN_Y,-73394.9,91.3,-123.8,37961.3,-3739.9
$MHEAD_RNG_PITCHd_Wd,3.9,39063,-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,-116.8,0.0,0.0,0,83,0.00,0.00,-64.20,0.000,2,0.000,0.000,425,2106,2952,0,0,0,0,0,0
$GC,86,-1.19,-116.8,3.1,-3.5,12,110,13.10,2.50,-3.38,0.000,4,0.134,0.045,2868,3492,3114,0,0,0,0,0,0
$GC,339,-1.19,-116.8,52.3,-15.6,54,344,0.00,2.45,0.00,0.000,6,0.000,0.031,2868,2091,3116,0,0,0,0,0,0
$GC,601,-1.19,-116.8,87.2,-13.4,78,605,0.00,2.50,0.00,0.000,4,0.000,0.041,2868,685,3116,0,0,0,0,0,0
$GC,691,-1.19,-116.8,100.2,-13.6,87,695,0.00,2.40,0.00,0.000,6,0.000,0.020,2868,2095,3117,0,0,0,0,0,0
$GC,956,-1.19,-116.8,134.4,-11.3,111,960,0.00,2.53,0.00,0.000,4,0.000,0.042,2868,688,3118,0,0,0,0,0,0
$GC,992,-1.19,-116.8,139.3,-12.5,114,999,0.00,2.42,0.00,0.000,6,0.000,0.021,2868,2096,3118,0,0,0,0,0,0
$GC,1257,-1.19,-116.8,169.3,-12.0,139,1261,0.00,2.53,0.00,0.000,4,0.000,0.044,2868,692,3118,0,0,0,0,0,0
$GC,1392,-1.19,-116.8,187.0,-11.9,153,1398,0.00,2.40,0.00,0.000,6,0.000,0.022,2868,2107,3118,0,0,0,0,0,0
$GC,1660,-1.19,-116.8,213.5,-8.7,172,1664,0.00,2.55,0.00,0.000,4,0.000,0.044,2868,685,3118,0,0,0,0,0,0
$GC,1715,-1.19,-116.8,219.1,-9.8,174,1720,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2107,3119,0,0,0,0,0,0
$GC,2032,-1.19,-116.8,251.9,-11.1,189,2037,0.00,2.55,0.00,0.000,4,0.000,0.044,2868,689,3119,0,0,0,0,0,0
$GC,2161,-1.19,-116.8,267.6,-11.0,194,2168,0.00,2.45,0.00,0.000,6,0.000,0.023,2868,2097,3119,0,0,0,0,0,0
$GC,2477,-1.19,-116.8,291.7,-6.3,210,2482,0.00,2.53,0.00,0.000,4,0.000,0.045,2868,693,3117,0,0,0,0,0,0
$GC,2499,-1.19,-116.8,293.1,-6.5,211,2503,0.00,2.40,0.00,0.000,6,0.000,0.024,2869,2101,3118,0,0,0,0,0,0
$GC,2846,-1.19,-116.8,321.6,-8.5,222,2850,0.00,2.53,0.00,0.000,4,0.000,0.048,2868,693,3117,0,0,0,0,0,0
$GC,2879,-1.19,-116.8,324.7,-9.1,222,2883,0.00,2.40,0.00,0.000,6,0.000,0.025,2868,2099,3117,0,0,0,0,0,0
$GC,3210,-1.19,-116.8,352.3,-8.0,230,3214,0.00,2.53,0.00,0.000,4,0.000,0.048,2867,695,3115,0,0,0,0,0,0
$GC,3254,-1.19,-116.8,355.8,-8.0,231,3258,0.00,2.42,0.00,0.000,6,0.000,0.026,2868,2104,3115,0,0,0,0,0,0
$GC,3584,-1.19,-116.8,380.1,-7.1,239,3588,0.00,2.55,0.00,0.000,4,0.000,0.050,2868,693,3113,0,0,0,0,0,0
$GC,3663,-1.19,-116.8,386.3,-7.2,240,3668,0.00,2.42,0.00,0.000,6,0.000,0.027,2868,2104,3112,0,0,0,0,0,0
$GC,3995,-1.19,-116.8,404.2,-5.0,248,3996,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2105,3110,0,0,0,0,0,0
$GC,4320,-1.19,-116.8,418.7,-4.5,256,4325,0.00,2.55,0.00,0.000,4,0.000,0.051,2868,696,3107,0,0,0,0,0,0
$GC,4418,-1.19,-116.8,424.3,-6.4,258,4423,0.00,2.42,0.00,0.000,6,0.000,0.028,2868,2097,3107,0,0,0,0,0,0
$GC,4739,-1.19,-116.8,444.1,-7.0,266,4743,0.00,2.58,0.00,0.000,4,0.000,0.053,2868,696,3104,0,0,0,0,0,0
$GC,4786,-1.19,-116.8,448.1,-7.9,267,4790,0.00,2.45,0.00,0.000,6,0.000,0.029,2868,2105,3104,0,0,0,0,0,0
$STATE,4813,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4813,begin apogee
$GC,4820,-0.31,0.0,450.1,7.3,267,4918,0.93,0.00,95.10,0.822,6,0.082,0.000,3064,1795,2635,0,0,0,0,0,0
$STATE,4919,end apogee,CONTROL_FINISHED_OK
$STATE,4919,begin climb
$GC,4922,1.19,116.8,452.4,0.0,270,5030,1.52,0.00,101.82,0.803,6,0.054,0.000,3397,1795,2157,0,0,0,0,0,0
$GC,5355,1.19,116.8,403.3,12.8,281,5359,0.00,2.62,0.00,0.000,4,0.000,0.062,3396,405,2146,0,0,0,0,0,0
$GC,5393,1.19,116.8,397.9,14.5,281,5398,0.00,2.47,0.00,0.000,6,0.000,0.028,3397,1802,2143,0,0,0,0,0,0
$GC,5724,1.19,116.8,355.7,12.8,290,5728,0.00,2.65,0.00,0.000,4,0.000,0.061,3396,404,2141,0,0,0,0,0,0
$GC,5748,1.19,116.8,352.0,14.9,290,5752,0.00,2.47,0.00,0.000,6,0.000,0.028,3397,1799,2139,0,0,0,0,0,0
$GC,6088,1.19,116.8,306.1,13.0,299,6093,0.00,2.55,0.00,0.000,4,0.000,0.043,3397,3205,2138,0,0,0,0,0,0
$GC,6191,1.19,116.8,293.8,11.6,301,6195,0.00,2.58,0.00,0.000,6,0.000,0.048,3397,1806,2138,0,0,0,0,0,0
$GC,6506,1.19,116.8,262.2,9.5,316,6510,0.00,2.58,0.00,0.000,4,0.000,0.042,3397,3213,2136,0,0,0,0,0,0
$GC,6534,1.19,116.8,259.5,9.0,317,6539,0.00,2.62,0.00,0.000,6,0.000,0.045,3397,1795,2136,0,0,0,0,0,0
$GC,6858,1.19,116.8,227.4,10.5,333,6859,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1795,2135,0,0,0,0,0,0
$GC,7164,1.22,139.8,201.8,7.0,348,7185,0.00,0.00,16.88,0.631,6,0.000,0.000,3397,1795,2065,0,0,0,0,0,0
$GC,7504,1.22,139.8,171.4,11.1,378,7506,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1794,2061,0,0,0,0,0,0
$GC,7757,1.22,139.8,141.8,12.6,402,7761,0.00,2.58,0.00,0.000,4,0.000,0.052,3396,388,2060,0,0,0,0,0,0
$GC,7785,1.22,139.8,137.9,14.0,404,7792,0.00,2.47,0.00,0.000,6,0.000,0.022,3397,1802,2058,0,0,0,0,0,0
$GC,8049,1.30,199.5,111.2,5.3,429,8108,0.10,2.70,51.95,0.571,4,0.073,0.051,3433,391,1820,0,0,0,0,0,0
$GC,8132,1.30,199.5,106.6,8.5,438,8136,0.00,2.45,0.00,0.000,6,0.000,0.021,3433,1800,1816,0,0,0,0,0,0
$GC,8395,1.30,199.5,83.4,10.5,462,8396,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1803,1815,0,0,0,0,0,0
$GC,8649,1.30,199.5,55.9,11.0,486,8654,0.00,2.60,0.00,0.000,4,0.000,0.049,3433,391,1814,0,0,0,0,0,0
$GC,8728,1.30,199.5,46.6,11.0,494,8733,0.00,2.40,0.00,0.000,6,0.000,0.019,3434,1803,1810,0,0,0,0,0,0
$GC,8992,1.31,208.4,24.6,7.6,524,9004,0.00,0.00,7.57,0.410,6,0.000,0.000,3434,1807,1785,0,0,0,0,0,0
$GC,9200,1.31,208.4,6.5,8.6,562,9207,0.00,2.62,0.00,0.000,4,0.000,0.047,3434,394,1785,0,0,0,0,0,0
$STATE,9237,end climb,SURFACE_DEPTH_REACHED
$STATE,9237,begin surface coast
$FINISH,1.1,1.012602
$STATE,9268,end surface coast,CONTROL_FINISHED_OK
$STATE,9268,begin surface
$SM_CCo,9295,61.88,0.459,0,0,1288,330.17
$SM_GC,1.73,0.00,0.00,61.88,0.000,0.000,0.459,430,2106,1288,-12.46,0.17,330.17
$IRIDIUM_FIX,2043.29,-15746.22,070800,090947
$TT8_MAMPS,0.029146
$HUMID,56.93
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,21.90
$XPDR_PINGS,1
$24V_AH,23.5,27.751
$10V_AH,10.4,26.404
$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,28.475,101.375,273.325,61.875,0.000,23.988,41.915,151.164,4.750,0.000,17.243,1073.798,6129.680,433.776,1620.890,444.585,33.367,1110.076,0.000,1603.106,0.000,29.252,0.000
$DEVICE_MAMPS,134.225,62.127,822.224,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,390.492,378.060,845.253,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,31757,577
$CAP_FILE_SIZE,93553,0
$CFSIZE,260165632,239964160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140511,144622,2051.375,-15747.888,13,2.4,32,9.8