version: 66.06
glider: 139
mission: 9
dive: 435
start: 5 24 111 17 24 24
data:
$ID,139
$MISSION,9
$DIVE,435
$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,-2185038.2
$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,69
$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
$GPS1,171704,2107.689,-15802.122,15,8.8,34,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-76.2
$GPS2,172331,2107.712,-15802.186,15,1.3,15,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.221,0.013
$KALMAN_X,47917.5,-118.3,64.4,-60857.7,-1248.4
$KALMAN_Y,-47254.4,64.0,-52.4,104806.6,-280.2
$MHEAD_RNG_PITCHd_Wd,76.7,33476,-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,17,-1.19,-116.8,0.0,0.0,0,83,0.00,0.00,-64.32,0.000,2,0.000,0.000,424,2135,2962,0,0,0,0,0,0
$GC,87,-1.19,-116.8,3.1,-3.7,12,111,13.15,0.00,-3.20,0.000,6,0.136,0.000,2867,2135,3115,0,0,0,0,0,0
$GC,305,-1.19,-116.8,46.8,-17.9,44,306,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2136,3116,0,0,0,0,0,0
$GC,559,-1.19,-116.8,83.4,-13.6,68,563,0.00,2.35,0.00,0.000,4,0.000,0.034,2867,3472,3117,0,0,0,0,0,0
$GC,621,-1.19,-116.8,90.9,-12.1,74,625,0.00,2.42,0.00,0.000,6,0.000,0.034,2867,2093,3117,0,0,0,0,0,0
$GC,887,-1.19,-116.8,120.8,-10.9,98,891,0.00,2.50,0.00,0.000,4,0.000,0.042,2867,688,3118,0,0,0,0,0,0
$GC,941,-1.19,-116.8,127.5,-11.1,103,947,0.00,2.33,0.00,0.000,6,0.000,0.020,2867,2072,3118,0,0,0,0,0,0
$GC,1204,-1.19,-116.8,153.8,-10.2,128,1208,0.00,2.53,0.00,0.000,4,0.000,0.037,2867,3502,3119,0,0,0,0,0,0
$GC,1295,-1.19,-116.8,163.9,-10.4,137,1301,0.00,2.45,0.00,0.000,6,0.000,0.035,2867,2099,3119,0,0,0,0,0,0
$GC,1558,-1.19,-116.8,191.5,-10.3,162,1563,0.00,2.55,0.00,0.000,4,0.000,0.044,2867,684,3119,0,0,0,0,0,0
$GC,1576,-1.19,-116.8,193.3,-9.9,163,1580,0.00,2.40,0.00,0.000,6,0.000,0.021,2867,2103,3119,0,0,0,0,0,0
$GC,1831,-1.19,-116.8,216.7,-8.6,178,1836,0.00,2.53,0.00,0.000,4,0.000,0.044,2867,687,3119,0,0,0,0,0,0
$GC,1937,-1.19,-116.8,226.3,-8.1,182,1944,0.00,2.42,0.00,0.000,6,0.000,0.021,2867,2092,3119,0,0,0,0,0,0
$GC,2252,-1.19,-116.8,253.9,-9.1,198,2254,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2093,3119,0,0,0,0,0,0
$GC,2563,-1.19,-116.8,282.8,-9.1,213,2564,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2093,3118,0,0,0,0,0,0
$GC,2892,-1.19,-116.8,303.3,-6.2,228,2896,0.00,2.55,0.00,0.000,4,0.000,0.046,2867,683,3117,0,0,0,0,0,0
$GC,2902,-1.19,-116.8,304.0,-6.8,228,2906,0.00,2.42,0.00,0.000,6,0.000,0.025,2867,2100,3117,0,0,0,0,0,0
$GC,3216,-1.19,-116.8,325.9,-7.0,236,3220,0.00,2.53,0.00,0.000,4,0.000,0.047,2867,3502,3116,0,0,0,0,0,0
$GC,3240,-1.19,-116.8,328.3,-9.3,236,3244,0.00,2.50,0.00,0.000,6,0.000,0.041,2867,2097,3116,0,0,0,0,0,0
$GC,3580,-1.19,-116.8,359.0,-9.1,245,3585,0.00,2.55,0.00,0.000,4,0.000,0.051,2867,693,3114,0,0,0,0,0,0
$GC,3739,-1.19,-116.8,374.8,-9.6,248,3744,0.00,2.45,0.00,0.000,6,0.000,0.027,2867,2100,3113,0,0,0,0,0,0
$GC,4085,-1.19,-116.8,401.9,-7.1,257,4090,0.00,2.58,0.00,0.000,4,0.000,0.051,2867,3504,3110,0,0,0,0,0,0
$GC,4100,-1.19,-116.8,403.1,-6.9,257,4105,0.00,2.53,0.00,0.000,6,0.000,0.044,2867,2097,3111,0,0,0,0,0,0
$GC,4451,-1.19,-116.8,427.1,-7.1,266,4455,0.00,2.58,0.00,0.000,4,0.000,0.054,2867,691,3108,0,0,0,0,0,0
$GC,4578,-1.19,-116.8,436.8,-7.8,268,4583,0.00,2.45,0.00,0.000,6,0.000,0.029,2867,2105,3107,0,0,0,0,0,0
$STATE,4785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4785,begin apogee
$GC,4793,-0.31,0.0,453.0,7.7,273,4892,1.35,0.00,95.30,0.818,6,0.082,0.000,3135,1793,2635,3,0,0,0,0,0
$STATE,4893,end apogee,CONTROL_FINISHED_OK
$STATE,4893,begin climb
$GC,4895,1.19,116.8,454.7,0.0,275,5001,1.15,0.00,101.55,0.798,6,0.037,0.000,3336,1793,2158,0,0,0,0,0,0
$GC,5313,1.19,116.8,409.3,11.8,286,5318,0.12,2.62,0.00,0.000,4,0.108,0.044,3399,3204,2147,0,0,0,0,0,0
$GC,5333,1.19,116.8,406.9,11.3,286,5338,0.00,2.62,0.00,0.000,6,0.000,0.052,3398,1804,2146,0,0,0,0,0,0
$GC,5678,1.19,116.8,371.5,9.9,295,5683,0.00,2.58,0.00,0.000,4,0.000,0.046,3399,3203,2143,0,0,0,0,0,0
$GC,5725,1.19,116.8,366.9,9.2,296,5730,0.00,2.65,0.00,0.000,6,0.000,0.053,3398,1799,2143,0,0,0,0,0,0
$GC,6049,1.19,116.8,332.8,11.0,304,6053,0.00,2.67,0.00,0.000,4,0.000,0.062,3398,386,2141,0,0,0,0,0,0
$GC,6111,1.19,116.8,324.4,13.1,305,6115,0.00,2.50,0.00,0.000,6,0.000,0.028,3398,1800,2137,0,0,0,0,0,0
$GC,6442,1.19,116.8,289.3,9.9,316,6446,0.00,2.55,0.00,0.000,4,0.000,0.043,3398,3208,2137,0,0,0,0,0,0
$GC,6564,1.21,127.6,279.3,7.5,321,6578,0.00,2.60,6.90,0.592,6,0.000,0.048,3399,1798,2115,0,0,0,0,0,0
$GC,6889,1.21,127.6,249.4,10.0,337,6893,0.00,2.55,0.00,0.000,4,0.000,0.038,3399,3206,2111,0,0,0,0,0,0
$GC,6917,1.21,127.6,246.4,9.1,338,6921,0.00,2.60,0.00,0.000,6,0.000,0.045,3399,1795,2112,0,0,0,0,0,0
$GC,7237,1.21,127.6,214.8,9.2,354,7241,0.00,2.60,0.00,0.000,4,0.000,0.058,3398,390,2112,0,0,0,0,0,0
$GC,7270,1.21,127.6,211.3,11.0,355,7275,0.00,2.47,0.00,0.000,6,0.000,0.025,3398,1807,2109,0,0,0,0,0,0
$GC,7594,1.21,127.6,178.2,9.5,380,7599,0.00,2.45,0.00,0.000,4,0.000,0.035,3399,3203,2108,0,0,0,0,0,0
$GC,7624,1.21,127.6,175.5,8.5,382,7630,0.00,2.58,0.00,0.000,6,0.000,0.042,3398,1805,2108,0,0,0,0,0,0
$GC,7887,1.21,127.6,153.8,8.9,407,7891,0.00,2.50,0.00,0.000,4,0.000,0.034,3399,3202,2108,0,0,0,0,0,0
$GC,7913,1.21,127.6,151.7,8.3,409,7917,0.00,2.53,0.00,0.000,6,0.000,0.039,3399,1799,2108,0,0,0,0,0,0
$GC,8177,1.21,127.6,131.0,8.2,433,8181,0.00,2.53,0.00,0.000,4,0.000,0.032,3399,3211,2108,0,0,0,0,0,0
$GC,8241,1.21,127.6,125.5,8.8,439,8247,0.00,2.55,0.00,0.000,6,0.000,0.040,3399,1799,2108,0,0,0,0,0,0
$GC,8505,1.23,149.0,108.0,7.0,464,8534,0.00,2.60,19.17,0.538,4,0.000,0.051,3398,399,2025,0,0,0,0,0,0
$GC,8581,1.23,149.0,100.9,10.7,472,8585,0.00,2.42,0.00,0.000,6,0.000,0.021,3399,1811,2022,0,0,0,0,0,0
$GC,8846,1.24,150.7,78.7,7.9,496,8850,0.00,2.42,0.00,0.000,4,0.000,0.030,3399,3207,2022,0,0,0,0,0,0
$GC,8889,1.24,150.7,75.0,8.2,500,8893,0.00,2.55,0.00,0.000,6,0.000,0.036,3399,1795,2022,0,0,0,0,0,0
$GC,9154,1.25,160.2,55.1,7.6,524,9174,0.00,2.53,10.85,0.459,4,0.000,0.027,3399,3207,1979,0,0,0,0,0,0
$GC,9287,1.30,202.3,46.2,6.1,538,9333,0.00,2.58,37.10,0.496,6,0.000,0.035,3399,1797,1809,0,0,0,0,0,0
$GC,9590,1.30,202.3,24.1,8.5,573,9597,0.00,2.60,0.00,0.000,4,0.000,0.051,3398,398,1804,0,0,0,0,0,0
$GC,9622,1.30,202.3,21.2,9.0,579,9628,0.00,2.42,0.00,0.000,6,0.000,0.019,3399,1800,1802,0,0,0,0,0,0
$GC,9826,1.30,202.3,6.1,8.5,616,9832,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1804,1802,0,0,0,0,0,0
$STATE,9864,end climb,SURFACE_DEPTH_REACHED
$STATE,9865,begin surface coast
$FINISH,0.9,1.022771
$STATE,9898,end surface coast,CONTROL_FINISHED_OK
$STATE,9898,begin surface
$SM_CCo,9922,63.30,0.453,0,0,1288,330.17
$SM_GC,1.78,0.00,0.00,63.30,0.000,0.000,0.453,426,2157,1288,-12.47,1.61,330.17
$IRIDIUM_FIX,2059.45,-15803.33,170800,141429
$TT8_MAMPS,0.029146
$HUMID,56.53
$INTERNAL_PRESSURE,9.62581
$TCM_TEMP,22.20
$XPDR_PINGS,14
$24V_AH,23.5,35.343
$10V_AH,10.4,33.369
$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,28.500,116.900,270.875,63.300,0.000,23.940,33.523,204.484,8.000,0.000,15.358,1168.493,6475.035,446.695,1765.101,518.834,33.356,1188.321,0.000,1745.751,0.000,31.164,0.000
$DEVICE_MAMPS,135.759,62.127,817.622,453.297,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,426.008,418.138,932.803,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355752
$DATA_FILE_SIZE,34861,629
$CAP_FILE_SIZE,103577,0
$CFSIZE,260165632,235577344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$GPS,240511,201207,2108.028,-15801.585,37,0.8,37,9.8