version: 66.06
glider: 139
mission: 9
dive: 343
start: 5 14 111 17 41 25
data:
$ID,139
$MISSION,9
$DIVE,343
$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,-2183023
$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,81
$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
$GPS1,173507,2051.334,-15747.268,45,1.0,45,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-74.4
$GPS2,174032,2051.320,-15747.220,12,1.8,12,9.8
$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,-204735.5,299.1,-105.1,210447.6,626.7
$KALMAN_Y,-79046.6,-165.4,460.5,42746.3,-3905.3
$MHEAD_RNG_PITCHd_Wd,3.8,40625,-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,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,88,0.00,0.00,-69.62,0.000,2,0.000,0.000,428,2142,3099,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.1,-3.2,13,111,13.05,2.35,-0.22,0.000,4,0.133,0.044,2869,3460,3113,0,0,0,0,0,0
$GC,336,-1.19,-116.8,58.5,-20.2,52,340,0.00,2.42,0.00,0.000,6,0.000,0.035,2869,2092,3115,0,0,0,0,0,0
$GC,597,-1.19,-116.8,97.2,-13.1,76,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2092,3116,0,0,0,0,0,0
$GC,852,-1.19,-116.8,127.7,-9.9,100,856,0.00,2.42,0.00,0.000,4,0.000,0.034,2869,3457,3117,0,0,0,0,0,0
$GC,875,-1.19,-116.8,130.2,-10.5,102,880,0.00,2.38,0.00,0.000,6,0.000,0.034,2869,2100,3117,0,0,0,0,0,0
$GC,1140,-1.19,-116.8,160.5,-12.8,126,1146,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2099,3118,0,0,0,0,0,0
$GC,1402,-1.19,-116.8,193.2,-11.6,151,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2098,3118,0,0,0,0,0,0
$GC,1662,-1.19,-116.8,220.0,-10.0,167,1667,0.00,2.50,0.00,0.000,4,0.000,0.043,2869,696,3118,0,0,0,0,0,0
$GC,1742,-1.19,-116.8,227.1,-7.4,170,1746,0.00,2.30,0.00,0.000,6,0.000,0.021,2869,2060,3118,0,0,0,0,0,0
$GC,2062,-1.19,-116.8,252.7,-9.0,186,2067,0.00,2.55,0.00,0.000,4,0.000,0.040,2869,3495,3118,0,0,0,0,0,0
$GC,2154,-1.19,-116.8,262.7,-10.9,190,2158,0.00,2.45,0.00,0.000,6,0.000,0.037,2869,2097,3118,0,0,0,0,0,0
$GC,2479,-1.19,-116.8,291.8,-8.0,206,2484,0.00,2.53,0.00,0.000,4,0.000,0.046,2869,689,3118,0,0,0,0,0,0
$GC,2502,-1.19,-116.8,293.9,-8.1,207,2507,0.00,2.40,0.00,0.000,6,0.000,0.023,2869,2097,3117,0,0,0,0,0,0
$GC,2844,-1.19,-116.8,319.4,-7.7,218,2849,0.00,2.55,0.00,0.000,4,0.000,0.046,2869,686,3117,0,0,0,0,0,0
$GC,2923,-1.19,-116.8,327.0,-10.3,219,2928,0.00,2.45,0.00,0.000,6,0.000,0.025,2869,2106,3116,0,0,0,0,0,0
$GC,3254,-1.19,-116.8,356.3,-8.9,227,3259,0.00,2.58,0.00,0.000,4,0.000,0.048,2869,689,3114,0,0,0,0,0,0
$GC,3325,-1.19,-116.8,363.0,-8.8,228,3329,0.00,2.45,0.00,0.000,6,0.000,0.025,2869,2106,3114,0,0,0,0,0,0
$GC,3667,-1.19,-116.8,384.9,-5.9,237,3668,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2106,3112,0,0,0,0,0,0
$GC,3991,-1.19,-116.8,400.2,-4.4,245,3992,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2107,3109,0,0,0,0,0,0
$GC,4316,-1.19,-116.8,416.1,-5.0,253,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2107,3107,0,0,0,0,0,0
$GC,4640,-1.19,-116.8,437.4,-7.4,261,4645,0.00,2.58,0.00,0.000,4,0.000,0.053,2869,690,3106,0,0,0,0,0,0
$GC,4660,-1.19,-116.8,438.9,-7.5,261,4664,0.00,2.45,0.00,0.000,6,0.000,0.029,2869,2096,3105,0,0,0,0,0,0
$STATE,4839,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4840,begin apogee
$GC,4847,-0.31,0.0,452.2,7.2,266,4945,0.95,0.00,94.65,0.828,6,0.082,0.000,3066,1795,2635,0,0,0,0,0,0
$STATE,4946,end apogee,CONTROL_FINISHED_OK
$STATE,4946,begin climb
$GC,4949,1.19,116.8,454.6,0.0,268,5061,1.48,2.67,100.07,0.808,4,0.054,0.044,3394,3204,2157,0,0,0,0,0,0
$GC,5099,1.19,116.8,441.9,11.3,271,5103,0.00,2.62,0.00,0.000,6,0.000,0.054,3394,1810,2155,0,0,0,0,0,0
$GC,5444,1.19,116.8,401.6,11.4,280,5449,0.00,2.70,0.00,0.000,4,0.000,0.061,3394,392,2146,0,0,0,0,0,0
$GC,5507,1.19,116.8,393.6,13.6,281,5511,0.00,2.50,0.00,0.000,6,0.000,0.028,3394,1798,2142,0,0,0,0,0,0
$GC,5856,1.19,116.8,354.1,11.3,290,5861,0.00,2.58,0.00,0.000,4,0.000,0.045,3394,3206,2140,0,0,0,0,0,0
$GC,5900,1.19,116.8,349.2,11.0,291,5904,0.00,2.65,0.00,0.000,6,0.000,0.051,3394,1794,2140,0,0,0,0,0,0
$GC,6228,1.19,116.8,309.7,12.7,299,6232,0.00,2.62,0.00,0.000,4,0.000,0.060,3394,388,2138,0,0,0,0,0,0
$GC,6271,1.19,116.8,303.9,14.2,300,6275,0.00,2.50,0.00,0.000,6,0.000,0.028,3394,1801,2136,0,0,0,0,0,0
$GC,6604,1.19,116.8,268.9,9.9,315,6609,0.00,2.67,0.00,0.000,4,0.000,0.058,3394,389,2135,0,0,0,0,0,0
$GC,6625,1.19,116.8,266.5,11.4,316,6629,0.00,2.47,0.00,0.000,6,0.000,0.027,3394,1803,2134,0,0,0,0,0,0
$GC,6954,1.22,136.7,237.9,7.1,332,6978,0.00,2.60,14.32,0.651,4,0.000,0.040,3394,3208,2077,0,0,0,0,0,0
$GC,7011,1.22,136.7,233.2,8.9,334,7016,0.00,2.62,0.00,0.000,6,0.000,0.045,3394,1800,2077,0,0,0,0,0,0
$GC,7331,1.22,136.7,203.9,10.2,350,7336,0.00,2.65,0.00,0.000,4,0.000,0.056,3393,389,2074,0,0,0,0,0,0
$GC,7392,1.22,136.7,196.1,13.4,354,7397,0.00,2.47,0.00,0.000,6,0.000,0.024,3393,1803,2071,0,0,0,0,0,0
$GC,7655,1.22,136.7,170.6,8.7,378,7656,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1808,2071,0,0,0,0,0,0
$GC,7908,1.22,136.7,149.1,8.1,402,7909,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1808,2071,0,0,0,0,0,0
$GC,8163,1.25,163.2,131.4,6.8,426,8193,0.00,2.62,23.58,0.565,4,0.000,0.050,3394,391,1968,0,0,0,0,0,0
$GC,8232,1.25,163.2,125.4,9.8,433,8237,0.00,2.47,0.00,0.000,6,0.000,0.021,3394,1810,1964,0,0,0,0,0,0
$GC,8497,1.25,163.2,100.8,9.1,457,8502,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1816,1964,0,0,0,0,0,0
$GC,8760,1.26,171.1,78.2,7.7,482,8769,0.00,0.00,7.62,0.448,6,0.000,0.000,3394,1816,1937,0,0,0,0,0,0
$GC,9027,1.39,277.1,67.0,3.2,507,9126,0.20,2.70,90.12,0.516,4,0.044,0.051,3457,388,1504,0,0,0,0,0,0
$GC,9157,1.39,277.1,56.1,13.9,520,9161,0.00,2.47,0.00,0.000,6,0.000,0.019,3458,1810,1498,0,0,0,0,0,0
$GC,9421,1.39,277.1,22.1,12.6,549,9428,0.00,2.67,0.00,0.000,4,0.000,0.049,3458,390,1498,0,0,0,0,0,0
$GC,9499,1.39,277.1,10.7,15.7,566,9505,0.00,2.45,0.00,0.000,6,0.000,0.018,3458,1799,1493,0,0,0,0,0,0
$STATE,9553,end climb,SURFACE_DEPTH_REACHED
$STATE,9553,begin surface coast
$FINISH,1.1,1.023056
$STATE,9576,end surface coast,CONTROL_FINISHED_OK
$STATE,9577,begin surface
$SM_CCo,9600,28.33,0.444,0,0,1288,330.17
$SM_GC,1.73,0.00,0.00,28.33,0.000,0.000,0.444,427,2107,1288,-12.47,0.20,330.17
$IRIDIUM_FIX,2043.29,-15746.22,070800,141458
$TT8_MAMPS,0.029146
$HUMID,56.89
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,21.90
$XPDR_PINGS,3
$24V_AH,23.5,27.911
$10V_AH,10.6,26.553
$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,28.575,92.100,330.375,28.325,0.000,28.091,35.697,141.038,5.250,0.000,12.676,1056.757,6482.134,388.522,1600.192,427.923,33.357,1107.288,0.000,1584.863,0.000,31.528,0.000
$DEVICE_MAMPS,133.458,61.360,828.360,444.093,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,392.142,379.341,817.367,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,31691,580
$CAP_FILE_SIZE,93809,0
$CFSIZE,260165632,239869952
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140511,202306,2050.966,-15746.390,33,1.0,33,9.8