version: 66.06
glider: 139
mission: 9
dive: 433
start: 5 24 111 11 41 28
data:
$ID,139
$MISSION,9
$DIVE,433
$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,-2184984.5
$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,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
$GPS1,112606,2106.293,-15802.780,11,2.1,30,9.8
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-71.8
$GPS2,114036,2106.223,-15802.821,18,1.1,34,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.085,0.205
$KALMAN_X,49262.2,97.1,62.9,-63515.8,-689.7
$KALMAN_Y,-46057.5,25.3,104.5,100736.3,-1526.6
$MHEAD_RNG_PITCHd_Wd,12.6,4122,-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,-116.8,0.0,0.0,0,82,0.00,0.00,-64.32,0.000,2,0.000,0.000,425,2122,2987,0,0,0,0,0,0
$GC,86,-1.19,-116.8,3.2,-4.3,12,110,13.15,2.45,-2.58,0.000,4,0.136,0.042,2868,3485,3115,0,0,0,0,0,0
$GC,269,-1.19,-116.8,39.6,-19.9,46,274,0.00,2.47,0.00,0.000,6,0.000,0.035,2868,2086,3115,0,0,0,0,0,0
$GC,531,-1.19,-116.8,84.1,-10.4,70,535,0.00,2.50,0.00,0.000,4,0.000,0.041,2868,681,3116,0,0,0,0,0,0
$GC,555,-1.19,-116.8,87.2,-12.5,72,560,0.00,2.40,0.00,0.000,6,0.000,0.020,2868,2089,3117,0,0,0,0,0,0
$GC,820,-1.19,-116.8,124.2,-14.8,96,824,0.00,2.47,0.00,0.000,4,0.000,0.035,2868,3496,3117,0,0,0,0,0,0
$GC,927,-1.19,-116.8,137.9,-10.9,107,932,0.00,2.45,0.00,0.000,6,0.000,0.033,2868,2097,3117,0,0,0,0,0,0
$GC,1191,-1.19,-116.8,165.1,-9.6,131,1195,0.00,2.47,0.00,0.000,4,0.000,0.035,2868,3506,3117,0,0,0,0,0,0
$GC,1229,-1.19,-116.8,169.3,-10.2,134,1235,0.00,2.50,0.00,0.000,6,0.000,0.033,2868,2101,3117,0,0,0,0,0,0
$GC,1493,-1.19,-116.8,195.8,-10.3,159,1497,0.00,2.53,0.00,0.000,4,0.000,0.043,2868,683,3118,0,0,0,0,0,0
$GC,1509,-1.19,-116.8,197.8,-10.5,160,1513,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2103,3118,0,0,0,0,0,0
$GC,1764,-1.19,-116.8,223.4,-10.4,173,1769,0.00,2.53,0.00,0.000,4,0.000,0.044,2868,693,3118,0,0,0,0,0,0
$GC,1861,-1.19,-116.8,233.6,-10.3,177,1866,0.00,2.38,0.00,0.000,6,0.000,0.021,2868,2101,3118,0,0,0,0,0,0
$GC,2185,-1.19,-116.8,260.5,-7.9,193,2186,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2102,3118,0,0,0,0,0,0
$GC,2491,-1.19,-116.8,286.3,-7.7,208,2495,0.00,2.50,0.00,0.000,4,0.000,0.043,2868,3500,3117,0,0,0,0,0,0
$GC,2694,-1.19,-116.8,302.4,-7.6,216,2699,0.00,2.47,0.00,0.000,6,0.000,0.039,2868,2100,3117,0,0,0,0,0,0
$GC,3040,-1.19,-116.8,324.2,-6.3,225,3044,0.00,2.55,0.00,0.000,4,0.000,0.044,2867,3502,3115,0,0,0,0,0,0
$GC,3163,-1.19,-116.8,332.6,-6.2,227,3168,0.00,2.50,0.00,0.000,6,0.000,0.040,2867,2093,3114,0,0,0,0,0,0
$GC,3501,-1.19,-116.8,354.6,-6.5,236,3505,0.00,2.55,0.00,0.000,4,0.000,0.051,2868,685,3112,0,0,0,0,0,0
$GC,3545,-1.19,-116.8,357.7,-6.8,237,3549,0.00,2.45,0.00,0.000,6,0.000,0.026,2868,2096,3112,0,0,0,0,0,0
$GC,3873,-1.19,-116.8,378.5,-6.5,245,3877,0.00,2.55,0.00,0.000,4,0.000,0.051,2868,690,3110,0,0,0,0,0,0
$GC,3892,-1.19,-116.8,380.0,-6.9,245,3897,0.00,2.45,0.00,0.000,6,0.000,0.028,2868,2116,3109,0,0,0,0,0,0
$GC,4243,-1.19,-116.8,409.4,-9.5,254,4247,0.00,2.60,0.00,0.000,4,0.000,0.053,2868,691,3107,0,0,0,0,0,0
$GC,4286,-1.19,-116.8,414.2,-11.5,255,4290,0.00,2.47,0.00,0.000,6,0.000,0.028,2868,2108,3107,0,0,0,0,0,0
$GC,4614,-1.19,-116.8,439.9,-6.7,263,4623,0.00,2.58,0.00,0.000,4,0.000,0.054,2868,696,3104,0,0,0,0,0,0
$STATE,4626,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4626,begin apogee
$GC,4635,-0.31,0.0,440.9,6.6,263,4733,0.93,0.00,94.53,0.805,6,0.084,0.000,3062,1806,2635,0,0,0,0,0,0
$STATE,4734,end apogee,CONTROL_FINISHED_OK
$STATE,4734,begin climb
$GC,4737,1.19,116.8,442.9,0.0,265,4849,1.50,2.62,99.80,0.788,4,0.055,0.044,3395,3193,2157,0,0,0,0,0,0
$GC,4882,1.19,116.8,430.6,11.2,268,4887,0.00,2.65,0.00,0.000,6,0.000,0.054,3394,1804,2155,0,0,0,0,0,0
$GC,5233,1.19,116.8,394.0,11.1,277,5237,0.00,2.67,0.00,0.000,4,0.000,0.063,3394,393,2147,0,0,0,0,0,0
$GC,5280,1.19,116.8,387.6,12.8,278,5284,0.00,2.47,0.00,0.000,6,0.000,0.028,3394,1798,2142,0,0,0,0,0,0
$GC,5603,1.19,116.8,347.0,13.4,286,5604,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1800,2142,0,0,0,0,0,0
$GC,5928,1.19,116.8,306.7,12.2,294,5929,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1800,2139,0,0,0,0,0,0
$GC,6237,1.19,116.8,272.7,10.0,307,6242,0.00,2.65,0.00,0.000,4,0.000,0.061,3394,392,2137,0,0,0,0,0,0
$GC,6261,1.19,116.8,269.8,11.4,308,6265,0.00,2.50,0.00,0.000,6,0.000,0.027,3395,1808,2136,0,0,0,0,0,0
$GC,6586,1.19,116.8,240.1,10.3,324,6590,0.00,2.53,0.00,0.000,4,0.000,0.041,3395,3209,2135,0,0,0,0,0,0
$GC,6683,1.19,116.8,230.0,9.9,328,6687,0.00,2.60,0.00,0.000,6,0.000,0.046,3394,1799,2135,0,0,0,0,0,0
$GC,7003,1.19,116.8,199.3,9.0,344,7008,0.00,2.62,0.00,0.000,4,0.000,0.057,3395,389,2134,0,0,0,0,0,0
$GC,7056,1.19,116.8,193.8,11.0,349,7061,0.00,2.45,0.00,0.000,6,0.000,0.024,3395,1808,2131,0,0,0,0,0,0
$GC,7321,1.19,116.8,170.1,8.0,373,7325,0.00,2.47,0.00,0.000,4,0.000,0.035,3395,3204,2132,0,0,0,0,0,0
$GC,7358,1.19,116.8,166.7,8.1,376,7365,0.00,2.58,0.00,0.000,6,0.000,0.042,3395,1805,2132,0,0,0,0,0,0
$GC,7623,1.19,116.8,142.9,9.7,401,7627,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1805,2132,0,0,0,0,0,0
$GC,7884,1.19,116.8,119.7,9.0,426,7889,0.00,2.47,0.00,0.000,4,0.000,0.033,3395,3206,2132,0,0,0,0,0,0
$GC,7927,1.19,116.8,115.9,8.5,430,7931,0.00,2.55,0.00,0.000,6,0.000,0.040,3395,1801,2132,0,0,0,0,0,0
$GC,8190,1.21,128.9,95.1,7.5,454,8204,0.00,2.65,6.85,0.458,4,0.000,0.051,3395,393,2109,0,0,0,0,0,0
$GC,8239,1.21,128.9,90.9,9.4,459,8244,0.00,2.40,0.00,0.000,6,0.000,0.021,3395,1803,2106,0,0,0,0,0,0
$GC,8505,1.22,140.2,71.1,7.5,483,8525,0.00,2.50,11.38,0.482,4,0.000,0.031,3395,3196,2062,0,0,0,0,0,0
$GC,8621,1.23,142.2,62.6,7.9,495,8627,0.00,2.55,0.00,0.000,6,0.000,0.039,3395,1803,2062,0,0,0,0,0,0
$GC,8886,1.30,205.0,46.9,5.1,520,8946,0.12,0.00,56.25,0.501,6,0.061,0.000,3439,1803,1799,0,0,0,0,0,0
$GC,9202,1.30,205.0,20.0,8.0,560,9209,0.00,2.50,0.00,0.000,4,0.000,0.030,3440,3195,1793,0,0,0,0,0,0
$GC,9229,1.30,205.0,17.6,9.0,565,9235,0.00,2.55,0.00,0.000,6,0.000,0.035,3439,1799,1793,0,0,0,0,0,0
$STATE,9374,end climb,SURFACE_DEPTH_REACHED
$STATE,9376,begin surface coast
$FINISH,1.0,1.023122
$STATE,9404,end surface coast,CONTROL_FINISHED_OK
$STATE,9404,begin surface
$SM_CCo,9428,61.47,0.454,0,0,1288,330.17
$SM_GC,1.68,0.00,0.00,61.47,0.000,0.000,0.454,428,2120,1288,-12.46,0.57,330.17
$IRIDIUM_FIX,2059.45,-15803.33,170800,111111
$TT8_MAMPS,0.028379
$HUMID,58.15
$INTERNAL_PRESSURE,9.62581
$TCM_TEMP,21.80
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,440.3,7.4
$24V_AH,23.5,35.184
$10V_AH,10.4,33.207
$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,28.575,110.675,268.800,61.475,0.000,94.278,103.017,390.126,10.000,0.000,34.410,1110.562,6253.915,391.092,1757.795,846.649,33.358,1150.752,0.000,1711.976,0.000,32.159,0.000
$DEVICE_MAMPS,135.759,62.894,805.350,454.064,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,404.365,396.628,885.278,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355796
$DATA_FILE_SIZE,31829,597
$CAP_FILE_SIZE,108214,0
$CFSIZE,260165632,235675648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240511,142121,2106.854,-15802.494,43,5.5,62,9.8