version: 66.06
glider: 139
mission: 9
dive: 431
start: 5 24 111 5 52 26
data:
$ID,139
$MISSION,9
$DIVE,431
$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,-2184932
$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,76
$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
$GPS1,054452,2104.622,-15803.057,11,2.5,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-75.5
$GPS2,055134,2104.620,-15803.155,14,2.4,33,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.118,0.188
$KALMAN_X,50812.8,154.2,-129.4,-65509.5,-957.5
$KALMAN_Y,-44568.4,113.4,46.4,96249.5,-768.2
$MHEAD_RNG_PITCHd_Wd,22.4,7131,-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,-65.05,0.000,2,0.000,0.000,426,2153,2977,0,0,0,0,0,0
$GC,87,-1.19,-116.8,3.1,-3.9,12,112,13.10,2.38,-2.80,0.000,4,0.134,0.045,2869,3464,3115,0,0,0,0,0,0
$GC,137,-1.19,-116.8,15.5,-21.8,21,143,0.00,2.47,0.00,0.000,6,0.000,0.033,2869,2094,3115,0,0,0,0,0,0
$GC,338,-1.19,-116.8,53.8,-18.0,46,342,0.00,2.40,0.00,0.000,4,0.000,0.030,2869,3467,3116,0,0,0,0,0,0
$GC,471,-1.19,-116.8,71.4,-12.5,60,475,0.00,2.40,0.00,0.000,6,0.000,0.031,2869,2098,3116,0,0,0,0,0,0
$GC,734,-1.19,-116.8,102.9,-10.6,84,738,0.00,2.40,0.00,0.000,4,0.000,0.032,2869,3463,3117,0,0,0,0,0,0
$GC,780,-1.19,-116.8,108.6,-11.9,88,787,0.00,2.42,0.00,0.000,6,0.000,0.033,2869,2102,3118,0,0,0,0,0,0
$GC,1045,-1.19,-116.8,140.2,-11.5,113,1049,0.00,2.40,0.00,0.000,4,0.000,0.035,2869,3463,3119,0,0,0,0,0,0
$GC,1059,-1.19,-116.8,142.3,-10.7,114,1065,0.00,2.42,0.00,0.000,6,0.000,0.034,2869,2101,3119,0,0,0,0,0,0
$GC,1324,-1.19,-116.8,170.3,-10.4,139,1328,0.00,2.53,0.00,0.000,4,0.000,0.044,2869,686,3119,0,0,0,0,0,0
$GC,1349,-1.19,-116.8,173.5,-11.5,141,1354,0.00,2.33,0.00,0.000,6,0.000,0.021,2870,2064,3118,0,0,0,0,0,0
$GC,1615,-1.19,-116.8,200.5,-10.8,165,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2064,3119,0,0,0,0,0,0
$GC,1920,-1.19,-116.8,230.0,-8.5,180,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2064,3120,0,0,0,0,0,0
$GC,2231,-1.19,-116.8,253.6,-7.1,195,2235,0.00,2.47,0.00,0.000,4,0.000,0.045,2869,694,3118,0,0,0,0,0,0
$GC,2255,-1.19,-116.8,255.7,-8.3,196,2259,0.00,2.42,0.00,0.000,6,0.000,0.023,2869,2104,3119,0,0,0,0,0,0
$GC,2582,-1.19,-116.8,281.9,-7.6,212,2586,0.00,2.50,0.00,0.000,4,0.000,0.044,2869,3497,3118,0,0,0,0,0,0
$GC,2634,-1.19,-116.8,286.2,-8.0,214,2638,0.00,2.47,0.00,0.000,6,0.000,0.039,2869,2099,3118,0,0,0,0,0,0
$GC,2954,-1.19,-116.8,310.2,-8.1,227,2958,0.00,2.50,0.00,0.000,4,0.000,0.043,2869,3497,3117,0,0,0,0,0,0
$GC,2987,-1.19,-116.8,313.6,-10.2,227,2991,0.00,2.50,0.00,0.000,6,0.000,0.041,2869,2102,3117,0,0,0,0,0,0
$GC,3320,-1.19,-116.8,347.7,-9.9,235,3324,0.00,2.55,0.00,0.000,4,0.000,0.050,2869,691,3115,0,0,0,0,0,0
$GC,3389,-1.19,-116.8,354.4,-9.4,236,3394,0.00,2.42,0.00,0.000,6,0.000,0.025,2869,2099,3115,0,0,0,0,0,0
$GC,3731,-1.19,-116.8,375.1,-5.6,245,3735,0.00,2.55,0.00,0.000,4,0.000,0.050,2869,691,3113,0,0,0,0,0,0
$GC,3912,-1.19,-116.8,388.8,-8.5,249,3916,0.00,2.42,0.00,0.000,6,0.000,0.027,2869,2096,3112,0,0,0,0,0,0
$GC,4240,-1.19,-116.8,414.8,-7.9,257,4245,0.00,2.58,0.00,0.000,4,0.000,0.052,2869,693,3110,0,0,0,0,0,0
$GC,4287,-1.19,-116.8,419.0,-8.5,258,4291,0.00,2.45,0.00,0.000,6,0.000,0.028,2869,2100,3109,0,0,0,0,0,0
$GC,4611,-1.19,-116.8,440.8,-6.3,266,4612,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2102,3107,0,0,0,0,0,0
$STATE,4769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4770,begin apogee
$GC,4777,-0.31,0.0,451.9,6.8,270,4876,0.95,0.00,95.53,0.815,6,0.081,0.000,3066,1791,2635,0,0,0,0,0,0
$STATE,4876,end apogee,CONTROL_FINISHED_OK
$STATE,4876,begin climb
$GC,4879,1.19,116.8,453.3,0.0,272,4987,1.48,0.00,100.47,0.797,6,0.054,0.000,3393,1791,2158,0,0,0,0,0,0
$GC,5287,1.19,116.8,411.9,11.1,282,5291,0.00,2.60,0.00,0.000,4,0.000,0.043,3394,3205,2148,0,0,0,0,0,0
$GC,5311,1.19,116.8,409.2,10.9,282,5315,0.00,2.60,0.00,0.000,6,0.000,0.052,3393,1809,2148,0,0,0,0,0,0
$GC,5652,1.19,116.8,369.1,12.1,291,5656,0.00,2.67,0.00,0.000,4,0.000,0.064,3393,393,2143,0,0,0,0,0,0
$GC,5722,1.19,116.8,359.0,14.1,292,5726,0.00,2.50,0.00,0.000,6,0.000,0.028,3393,1800,2140,0,0,0,0,0,0
$GC,6062,1.19,116.8,319.1,11.1,301,6066,0.00,2.53,0.00,0.000,4,0.000,0.043,3394,3204,2139,0,0,0,0,0,0
$GC,6110,1.19,116.8,314.2,10.0,302,6115,0.00,2.60,0.00,0.000,6,0.000,0.051,3393,1800,2139,0,0,0,0,0,0
$GC,6436,1.19,116.8,282.8,9.5,314,6437,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1800,2138,0,0,0,0,0,0
$GC,6747,1.19,116.8,249.4,11.9,329,6752,0.00,2.58,0.00,0.000,4,0.000,0.040,3393,3211,2136,0,0,0,0,0,0
$GC,6826,1.19,116.8,240.2,10.5,332,6831,0.00,2.60,0.00,0.000,6,0.000,0.046,3393,1799,2135,0,0,0,0,0,0
$GC,7143,1.19,116.8,210.0,8.8,347,7148,0.00,2.62,0.00,0.000,4,0.000,0.057,3393,389,2135,0,0,0,0,0,0
$GC,7158,1.19,116.8,208.5,8.5,347,7163,0.00,2.47,0.00,0.000,6,0.000,0.025,3394,1809,2134,0,0,0,0,0,0
$GC,7483,1.19,116.8,179.2,8.1,373,7487,0.00,2.47,0.00,0.000,4,0.000,0.037,3393,3201,2134,0,0,0,0,0,0
$GC,7572,1.20,121.9,171.6,7.8,382,7577,0.00,2.55,0.00,0.000,6,0.000,0.041,3393,1795,2134,0,0,0,0,0,0
$GC,7836,1.22,135.6,150.5,7.4,406,7855,0.00,2.65,13.02,0.562,4,0.000,0.054,3393,385,2082,0,0,0,0,0,0
$GC,7897,1.22,135.6,144.4,10.4,412,7904,0.00,2.47,0.00,0.000,6,0.000,0.022,3394,1792,2078,0,0,0,0,0,0
$GC,8160,1.22,135.6,122.8,8.7,437,8161,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1795,2078,0,0,0,0,0,0
$GC,8414,1.23,145.3,103.0,7.6,461,8433,0.00,2.55,9.70,0.495,4,0.000,0.031,3393,3204,2042,0,0,0,0,0,0
$GC,8473,1.23,145.3,98.3,8.6,467,8478,0.00,2.55,0.00,0.000,6,0.000,0.038,3393,1793,2041,0,0,0,0,0,0
$GC,8738,1.24,157.5,78.0,7.5,491,8759,0.00,2.58,12.27,0.489,4,0.000,0.030,3394,3204,1992,0,0,0,0,0,0
$GC,8809,1.25,165.6,72.2,7.7,498,8826,0.00,2.58,8.88,0.458,6,0.000,0.037,3393,1797,1957,0,0,0,0,0,0
$GC,9081,1.30,201.8,51.4,6.4,524,9122,0.12,2.67,31.62,0.497,4,0.061,0.051,3437,388,1810,0,0,0,0,0,0
$GC,9153,1.30,201.8,45.2,10.1,531,9157,0.00,2.45,0.00,0.000,6,0.000,0.019,3437,1817,1807,0,0,0,0,0,0
$GC,9417,1.30,201.8,24.2,9.6,561,9423,0.00,2.42,0.00,0.000,4,0.000,0.028,3438,3188,1807,0,0,0,0,0,0
$GC,9461,1.30,201.8,20.0,9.6,570,9467,0.00,2.55,0.00,0.000,6,0.000,0.035,3437,1794,1806,0,0,0,0,0,0
$STATE,9645,end climb,SURFACE_DEPTH_REACHED
$STATE,9645,begin surface coast
$FINISH,1.1,1.023100
$STATE,9674,end surface coast,CONTROL_FINISHED_OK
$STATE,9674,begin surface
$SM_CCo,9698,63.38,0.456,0,0,1288,330.17
$SM_GC,1.76,0.00,0.00,63.38,0.000,0.000,0.456,428,2100,1288,-12.47,0.00,330.17
$IRIDIUM_FIX,2054.83,-15804.20,170800,030354
$TT8_MAMPS,0.029146
$HUMID,57.71
$INTERNAL_PRESSURE,9.62581
$TCM_TEMP,22.00
$XPDR_PINGS,17
$24V_AH,23.5,34.996
$10V_AH,10.4,33.045
$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,28.475,111.325,271.500,63.375,0.000,25.929,35.794,196.270,8.750,0.000,34.885,1117.668,6396.872,419.140,1719.893,510.742,33.359,1150.658,0.000,1682.485,0.000,29.248,0.000
$DEVICE_MAMPS,134.225,63.661,815.321,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,412.184,408.101,892.795,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,34965,609
$CAP_FILE_SIZE,99986,0
$CFSIZE,260165632,235778048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240511,083637,2105.540,-15802.822,49,1.4,49,9.8