version: 66.06
glider: 139
mission: 9
dive: 345
start: 5 14 111 23 22 14
data:
$ID,139
$MISSION,9
$DIVE,345
$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,-2183053.2
$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,18
$R_STBD_OVSHOOT,74
$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
$GPS1,231038,2050.905,-15745.270,11,2.0,11,9.8
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-73.0
$GPS2,232120,2050.778,-15745.162,13,1.8,13,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.005,0.222
$KALMAN_X,-202336.9,-280.6,290.8,211783.4,862.4
$KALMAN_Y,-84810.3,444.5,-84.0,47438.1,-3386.2
$MHEAD_RNG_PITCHd_Wd,348.9,43700,-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,12,begin dive
$GC,15,-1.19,-116.8,0.0,0.0,0,87,0.00,0.00,-69.55,0.000,6,0.000,0.000,428,2133,3112,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.4,-4.3,13,110,13.07,2.38,0.00,0.000,4,0.134,0.031,2869,3473,3115,0,0,0,0,0,0
$GC,273,-1.19,-116.8,42.8,-17.5,46,280,0.00,2.47,0.00,0.000,6,0.000,0.035,2869,2091,3117,0,0,0,0,0,0
$GC,536,-1.19,-116.8,87.9,-16.2,71,540,0.00,2.53,0.00,0.000,4,0.000,0.041,2869,683,3118,0,0,0,0,0,0
$GC,589,-1.19,-116.8,96.3,-15.7,76,594,0.00,2.35,0.00,0.000,6,0.000,0.021,2869,2067,3117,0,0,0,0,0,0
$GC,853,-1.19,-116.8,129.4,-11.1,100,857,0.00,2.45,0.00,0.000,4,0.000,0.040,2869,682,3118,0,0,0,0,0,0
$GC,869,-1.19,-116.8,131.6,-12.0,101,874,0.00,2.40,0.00,0.000,6,0.000,0.021,2869,2100,3117,0,0,0,0,0,0
$GC,1134,-1.19,-116.8,161.9,-11.4,125,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2102,3118,0,0,0,0,0,0
$GC,1395,-1.19,-116.8,191.0,-10.7,150,1400,0.00,2.53,0.00,0.000,4,0.000,0.041,2869,689,3119,0,0,0,0,0,0
$GC,1423,-1.19,-116.8,194.4,-11.6,152,1430,0.00,2.42,0.00,0.000,6,0.000,0.021,2869,2095,3119,0,0,0,0,0,0
$GC,1690,-1.19,-116.8,220.8,-8.4,168,1694,0.00,2.55,0.00,0.000,4,0.000,0.046,2869,683,3119,0,0,0,0,0,0
$GC,1842,-1.19,-116.8,232.6,-7.2,174,1849,0.00,2.45,0.00,0.000,6,0.000,0.022,2869,2104,3119,0,0,0,0,0,0
$GC,2158,-1.19,-116.8,254.4,-7.9,190,2162,0.00,2.55,0.00,0.000,4,0.000,0.044,2869,684,3118,0,0,0,0,0,0
$GC,2180,-1.19,-116.8,256.7,-10.2,191,2184,0.00,2.42,0.00,0.000,6,0.000,0.024,2869,2108,3119,0,0,0,0,0,0
$GC,2511,-1.19,-116.8,290.2,-9.2,207,2515,0.00,2.53,0.00,0.000,4,0.000,0.044,2869,3506,3117,0,0,0,0,0,0
$GC,2681,-1.19,-116.8,306.2,-8.9,213,2686,0.00,2.50,0.00,0.000,6,0.000,0.038,2869,2091,3117,0,0,0,0,0,0
$GC,3013,-1.19,-116.8,333.7,-7.9,221,3018,0.00,2.55,0.00,0.000,4,0.000,0.048,2869,687,3116,0,0,0,0,0,0
$GC,3042,-1.19,-116.8,336.0,-7.7,221,3046,0.00,2.45,0.00,0.000,6,0.000,0.025,2869,2107,3115,0,0,0,0,0,0
$GC,3379,-1.19,-116.8,361.2,-7.5,230,3383,0.00,2.58,0.00,0.000,4,0.000,0.050,2869,693,3114,0,0,0,0,0,0
$GC,3426,-1.19,-116.8,365.6,-9.5,231,3430,0.00,2.42,0.00,0.000,6,0.000,0.026,2869,2104,3114,0,0,0,0,0,0
$GC,3751,-1.19,-116.8,389.2,-6.0,239,3752,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2104,3111,0,0,0,0,0,0
$GC,4074,-1.19,-116.8,407.8,-5.5,247,4078,0.00,2.55,0.00,0.000,4,0.000,0.051,2869,3495,3109,0,0,0,0,0,0
$GC,4149,-1.19,-116.8,412.5,-6.6,248,4154,0.00,2.53,0.00,0.000,6,0.000,0.044,2869,2097,3108,0,0,0,0,0,0
$GC,4485,-1.19,-116.8,436.3,-7.8,257,4487,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2095,3106,0,0,0,0,0,0
$STATE,4685,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4686,begin apogee
$GC,4693,-0.31,0.0,451.1,7.1,262,4791,0.95,0.00,94.72,0.823,6,0.081,0.000,3066,1794,2635,0,0,0,0,0,0
$STATE,4792,end apogee,CONTROL_FINISHED_OK
$STATE,4792,begin climb
$GC,4795,1.19,116.8,452.3,0.0,264,4900,1.50,0.00,101.38,0.802,6,0.054,0.000,3395,1794,2158,0,0,0,0,0,0
$GC,5213,1.19,116.8,402.5,11.9,275,5214,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1794,2146,0,0,0,0,0,0
$GC,5539,1.19,116.8,365.0,12.0,283,5543,0.00,2.60,0.00,0.000,4,0.000,0.044,3395,3201,2142,0,0,0,0,0,0
$GC,5567,1.19,116.8,361.2,12.4,283,5572,0.00,2.60,0.00,0.000,6,0.000,0.051,3395,1806,2143,0,0,0,0,0,0
$GC,5903,1.19,116.8,320.7,11.7,292,5904,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1806,2139,0,0,0,0,0,0
$GC,6209,1.19,116.8,289.0,9.6,302,6214,0.00,2.58,0.00,0.000,4,0.000,0.044,3395,3209,2137,0,0,0,0,0,0
$GC,6238,1.19,116.8,286.1,10.0,303,6242,0.00,2.62,0.00,0.000,6,0.000,0.048,3395,1795,2137,0,0,0,0,0,0
$GC,6559,1.19,116.8,255.6,9.0,319,6560,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1795,2135,0,0,0,0,0,0
$GC,6868,1.19,116.8,228.1,10.5,334,6869,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1795,2134,0,0,0,0,0,0
$GC,7177,1.19,116.8,197.1,9.0,350,7182,0.00,2.53,0.00,0.000,4,0.000,0.037,3395,3204,2133,0,0,0,0,0,0
$GC,7196,1.19,116.8,195.3,9.2,351,7202,0.00,2.58,0.00,0.000,6,0.000,0.041,3395,1797,2133,0,0,0,0,0,0
$GC,7459,1.19,116.8,171.9,9.1,376,7464,0.00,2.58,0.00,0.000,4,0.000,0.054,3395,389,2132,0,0,0,0,0,0
$GC,7530,1.19,116.8,164.8,9.8,383,7535,0.00,2.42,0.00,0.000,6,0.000,0.022,3395,1803,2130,0,0,0,0,0,0
$GC,7795,1.19,116.8,141.6,8.9,407,7799,0.00,2.60,0.00,0.000,4,0.000,0.051,3394,388,2130,0,0,0,0,0,0
$GC,7814,1.19,116.8,139.2,10.1,408,7820,0.00,2.47,0.00,0.000,6,0.000,0.022,3395,1806,2130,0,0,0,0,0,0
$GC,8078,1.19,116.8,116.9,8.9,433,8083,0.00,2.60,0.00,0.000,4,0.000,0.050,3395,388,2130,0,0,0,0,0,0
$GC,8094,1.19,116.8,115.1,9.0,434,8099,0.00,2.42,0.00,0.000,6,0.000,0.021,3395,1806,2130,0,0,0,0,0,0
$GC,8358,1.28,186.8,99.3,4.8,458,8422,0.00,2.53,56.00,0.557,4,0.000,0.031,3395,3188,1872,0,0,0,0,0,0
$GC,8454,1.31,212.8,93.6,6.8,468,8484,0.12,2.53,23.52,0.528,6,0.061,0.037,3439,1798,1767,0,0,0,0,0,0
$GC,8738,1.31,212.8,64.9,10.4,495,8742,0.00,2.58,0.00,0.000,4,0.000,0.051,3439,391,1761,0,0,0,0,0,0
$GC,8827,1.31,212.8,54.1,12.7,504,8831,0.00,2.42,0.00,0.000,6,0.000,0.019,3439,1803,1756,0,0,0,0,0,0
$GC,9091,1.31,212.8,25.9,10.5,531,9097,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,1807,1757,0,0,0,0,0,0
$GC,9293,1.31,212.8,6.2,9.5,568,9299,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,1807,1757,0,0,0,0,0,0
$STATE,9325,end climb,SURFACE_DEPTH_REACHED
$STATE,9325,begin surface coast
$FINISH,1.1,1.002759
$STATE,9353,end surface coast,CONTROL_FINISHED_OK
$STATE,9353,begin surface
$SM_CCo,9378,59.72,0.457,0,0,1288,330.17
$SM_GC,1.81,0.00,0.00,59.72,0.000,0.000,0.457,425,2143,1288,-12.48,1.22,330.17
$IRIDIUM_FIX,2043.29,-15741.08,070800,202049
$TT8_MAMPS,0.028379
$HUMID,57.16
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,22.00
$XPDR_PINGS,1
$24V_AH,23.5,28.072
$10V_AH,10.4,26.703
$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,28.500,91.250,275.625,59.725,0.000,88.230,163.056,146.495,4.750,0.000,15.354,1051.407,6429.658,432.665,1520.366,647.855,33.359,1075.578,0.000,1519.703,0.000,29.254,0.000
$DEVICE_MAMPS,134.225,53.690,822.991,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,391.739,381.142,822.753,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,31804,579
$CAP_FILE_SIZE,91348,0
$CFSIZE,260165632,239771648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150511,020054,2051.468,-15744.863,26,1.0,43,9.8