version: 66.06
glider: 139
mission: 9
dive: 432
start: 5 24 111 8 48 37
data:
$ID,139
$MISSION,9
$DIVE,432
$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,-2184949.2
$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,17
$R_STBD_OVSHOOT,51
$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
$GPS1,083637,2105.540,-15802.822,49,1.4,49,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-69.6
$GPS2,084744,2105.582,-15802.930,16,1.4,16,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.059,0.214
$KALMAN_X,50112.2,173.5,-382.3,-64185.3,-373.4
$KALMAN_Y,-45249.2,64.3,460.4,98344.6,-1396.8
$MHEAD_RNG_PITCHd_Wd,5.8,5311,-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,16,-1.19,-116.8,0.0,0.0,0,87,0.00,0.00,-69.30,0.000,6,0.000,0.000,427,2104,3113,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.6,-4.6,13,110,13.10,2.45,0.00,0.000,4,0.135,0.028,2867,3497,3115,0,0,0,0,0,0
$GC,118,-1.19,-116.8,13.6,-27.8,17,125,0.00,2.53,0.00,0.000,6,0.000,0.031,2867,2087,3116,0,0,0,0,0,0
$GC,318,-1.19,-116.8,53.5,-20.6,43,322,0.00,2.47,0.00,0.000,4,0.000,0.032,2867,3488,3117,0,0,0,0,0,0
$GC,490,-1.19,-116.8,83.7,-14.0,61,494,0.00,2.42,0.00,0.000,6,0.000,0.030,2867,2098,3118,0,0,0,0,0,0
$GC,754,-1.19,-116.8,117.9,-12.6,85,759,0.00,2.42,0.00,0.000,4,0.000,0.033,2867,3487,3118,0,0,0,0,0,0
$GC,894,-1.19,-116.8,136.5,-13.6,99,899,0.00,2.42,0.00,0.000,6,0.000,0.035,2867,2099,3118,0,0,0,0,0,0
$GC,1158,-1.19,-116.8,165.6,-10.3,124,1162,0.00,2.42,0.00,0.000,4,0.000,0.035,2867,3485,3118,0,0,0,0,0,0
$GC,1185,-1.19,-116.8,169.1,-11.1,126,1192,0.00,2.47,0.00,0.000,6,0.000,0.035,2867,2098,3118,0,0,0,0,0,0
$GC,1449,-1.19,-116.8,199.5,-11.3,151,1457,0.00,2.42,0.00,0.000,4,0.000,0.037,2867,3483,3119,0,0,0,0,0,0
$GC,1485,-1.19,-116.8,204.2,-11.7,153,1489,0.00,2.42,0.00,0.000,6,0.000,0.035,2867,2098,3119,0,0,0,0,0,0
$GC,1807,-1.19,-116.8,237.2,-10.1,169,1811,0.00,2.55,0.00,0.000,4,0.000,0.046,2867,688,3119,0,0,0,0,0,0
$GC,1862,-1.19,-116.8,243.2,-11.3,171,1866,0.00,2.40,0.00,0.000,6,0.000,0.021,2867,2096,3119,0,0,0,0,0,0
$GC,2178,-1.19,-116.8,272.1,-8.2,186,2182,0.00,2.50,0.00,0.000,4,0.000,0.042,2867,3497,3119,0,0,0,0,0,0
$GC,2201,-1.19,-116.8,274.2,-8.6,187,2205,0.00,2.47,0.00,0.000,6,0.000,0.037,2867,2096,3119,0,0,0,0,0,0
$GC,2548,-1.19,-116.8,303.0,-7.1,203,2553,0.00,2.53,0.00,0.000,4,0.000,0.047,2867,690,3118,0,0,0,0,0,0
$GC,2600,-1.19,-116.8,307.6,-8.6,204,2604,0.00,2.40,0.00,0.000,6,0.000,0.023,2867,2098,3118,0,0,0,0,0,0
$GC,2919,-1.19,-116.8,335.4,-8.6,212,2921,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2099,3116,0,0,0,0,0,0
$GC,3243,-1.19,-116.8,360.0,-7.4,220,3248,0.00,2.55,0.00,0.000,4,0.000,0.048,2867,692,3115,0,0,0,0,0,0
$GC,3277,-1.19,-116.8,362.5,-7.9,220,3281,0.00,2.40,0.00,0.000,6,0.000,0.025,2867,2098,3115,0,0,0,0,0,0
$GC,3615,-1.19,-116.8,389.3,-7.9,229,3616,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2099,3113,0,0,0,0,0,0
$GC,3938,-1.19,-116.8,408.7,-6.0,237,3943,0.00,2.58,0.00,0.000,4,0.000,0.051,2867,685,3110,0,0,0,0,0,0
$GC,3990,-1.19,-116.8,412.1,-7.1,238,3995,0.00,2.47,0.00,0.000,6,0.000,0.028,2867,2106,3110,0,0,0,0,0,0
$GC,4309,-1.19,-116.8,434.3,-7.0,246,4314,0.00,2.60,0.00,0.000,4,0.000,0.053,2867,691,3108,0,0,0,0,0,0
$GC,4458,-1.19,-116.8,446.1,-7.9,249,4462,0.00,2.47,0.00,0.000,6,0.000,0.029,2867,2097,3107,0,0,0,0,0,0
$STATE,4525,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4525,begin apogee
$GC,4533,-0.31,0.0,451.0,7.0,251,4631,0.98,0.00,95.28,0.813,6,0.081,0.000,3069,1788,2635,0,0,0,0,0,0
$STATE,4632,end apogee,CONTROL_FINISHED_OK
$STATE,4632,begin climb
$GC,4635,1.19,116.8,452.9,0.0,253,4747,1.48,2.72,100.07,0.792,4,0.054,0.045,3396,3207,2157,0,0,0,0,0,0
$GC,4758,1.19,116.8,442.7,11.2,255,4763,0.00,2.65,0.00,0.000,6,0.000,0.051,3396,1802,2157,0,0,0,0,0,0
$GC,5089,1.19,116.8,401.4,12.5,264,5093,0.00,2.65,0.00,0.000,4,0.000,0.062,3396,393,2147,0,0,0,0,0,0
$GC,5122,1.19,116.8,397.1,13.4,264,5126,0.00,2.50,0.00,0.000,6,0.000,0.028,3396,1803,2144,0,0,0,0,0,0
$GC,5454,1.19,116.8,360.0,11.1,272,5455,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1807,2142,0,0,0,0,0,0
$GC,5778,1.19,116.8,320.9,12.6,280,5782,0.00,2.55,0.00,0.000,4,0.000,0.043,3397,3210,2139,0,0,0,0,0,0
$GC,5825,1.19,116.8,315.4,11.8,281,5829,0.00,2.62,0.00,0.000,6,0.000,0.051,3396,1800,2139,0,0,0,0,0,0
$GC,6152,1.19,116.8,277.5,10.6,293,6157,0.00,2.62,0.00,0.000,4,0.000,0.061,3396,393,2138,0,0,0,0,0,0
$GC,6172,1.19,116.8,275.0,11.4,294,6177,0.00,2.47,0.00,0.000,6,0.000,0.027,3396,1810,2136,0,0,0,0,0,0
$GC,6502,1.19,116.8,241.6,10.3,310,6506,0.00,2.50,0.00,0.000,4,0.000,0.040,3396,3208,2136,0,0,0,0,0,0
$GC,6594,1.19,116.8,232.9,8.5,314,6599,0.00,2.60,0.00,0.000,6,0.000,0.048,3396,1795,2135,0,0,0,0,0,0
$GC,6919,1.19,116.8,204.6,10.0,330,6923,0.00,2.53,0.00,0.000,4,0.000,0.038,3396,3203,2134,0,0,0,0,0,0
$GC,6941,1.19,116.8,202.6,9.6,331,6945,0.00,2.55,0.00,0.000,6,0.000,0.043,3396,1799,2134,0,0,0,0,0,0
$GC,7268,1.19,116.8,172.6,9.0,360,7273,0.00,2.58,0.00,0.000,4,0.000,0.055,3396,393,2133,0,0,0,0,0,0
$GC,7285,1.19,116.8,171.0,9.3,361,7290,0.00,2.45,0.00,0.000,6,0.000,0.023,3396,1806,2132,0,0,0,0,0,0
$GC,7550,1.22,140.9,150.3,6.9,385,7573,0.00,2.50,17.40,0.576,4,0.000,0.034,3396,3199,2060,0,0,0,0,0,0
$GC,7651,1.23,149.4,142.8,7.6,395,7671,0.00,2.55,9.20,0.522,6,0.000,0.040,3396,1796,2024,0,0,0,0,0,0
$GC,7926,1.25,163.1,121.2,7.4,421,7946,0.00,2.62,13.18,0.528,4,0.000,0.051,3396,389,1968,0,0,0,0,0,0
$GC,7994,1.25,163.1,115.3,8.8,428,7998,0.00,2.42,0.00,0.000,6,0.000,0.021,3396,1803,1964,0,0,0,0,0,0
$GC,8257,1.26,173.3,95.0,7.6,452,8275,0.00,2.47,9.82,0.482,4,0.000,0.028,3396,3207,1926,0,0,0,0,0,0
$GC,8308,1.26,173.3,90.7,8.0,457,8314,0.00,2.55,0.00,0.000,6,0.000,0.036,3396,1792,1926,0,0,0,0,0,0
$GC,8571,1.31,212.2,70.9,6.2,482,8612,0.12,2.62,34.70,0.512,4,0.061,0.049,3440,386,1768,0,0,0,0,0,0
$GC,8722,1.31,212.2,55.5,11.0,498,8729,0.00,2.45,0.00,0.000,6,0.000,0.020,3439,1796,1761,0,0,0,0,0,0
$GC,8985,1.31,212.2,29.7,10.2,523,8991,0.00,2.50,0.00,0.000,4,0.000,0.030,3440,3201,1761,0,0,0,0,0,0
$GC,9016,1.31,212.2,26.6,10.3,529,9023,0.00,2.55,0.00,0.000,6,0.000,0.035,3440,1800,1761,0,0,0,0,0,0
$GC,9219,1.31,212.2,7.2,8.5,566,9225,0.00,2.50,0.00,0.000,4,0.000,0.029,3440,3199,1761,0,0,0,0,0,0
$GC,9245,1.31,212.2,5.0,8.1,571,9252,0.00,2.55,0.00,0.000,6,0.000,0.035,3440,1800,1761,0,0,0,0,0,0
$STATE,9262,end climb,SURFACE_DEPTH_REACHED
$STATE,9262,begin surface coast
$FINISH,1.1,1.022321
$STATE,9295,end surface coast,CONTROL_FINISHED_OK
$STATE,9295,begin surface
$SM_CCo,9320,58.15,0.455,0,0,1289,330.17
$SM_GC,1.91,0.00,0.00,58.15,0.000,0.000,0.455,425,2121,1289,-12.48,0.59,330.17
$IRIDIUM_FIX,2057.14,-15804.20,170800,080826
$TT8_MAMPS,0.029146
$HUMID,57.48
$INTERNAL_PRESSURE,9.63558
$TCM_TEMP,22.10
$XPDR_PINGS,19
$24V_AH,23.5,35.088
$10V_AH,10.5,33.124
$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,28.500,121.775,279.650,58.150,0.000,55.526,77.201,334.204,9.250,0.000,16.598,1083.813,6145.745,413.923,1663.490,738.818,33.362,1158.730,0.000,1643.582,0.000,29.274,0.000
$DEVICE_MAMPS,134.992,62.127,813.020,454.831,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,391.808,381.732,830.089,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355844
$DATA_FILE_SIZE,31795,580
$CAP_FILE_SIZE,105674,0
$CFSIZE,260165632,235728896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240511,112606,2106.293,-15802.780,11,2.1,30,9.8