version: 66.06
glider: 139
mission: 9
dive: 326
start: 5 12 111 18 34 13
data:
$ID,139
$MISSION,9
$DIVE,326
$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,-2182679.8
$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
$GPS1,182736,2055.845,-15750.550,39,1.0,44,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-75.3
$GPS2,183320,2055.782,-15750.488,13,1.7,13,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.105,0.195
$KALMAN_X,-210231.1,-382.9,112.2,210769.0,1582.7
$KALMAN_Y,-30679.8,-1017.7,212.6,3761.7,-2655.4
$MHEAD_RNG_PITCHd_Wd,321.8,30663,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.19,-116.8,0.0,0.0,0,90,0.00,0.00,-69.68,0.000,2,0.000,0.000,428,2113,3105,0,0,0,0,0,0
$GC,93,-1.19,-116.8,3.4,-4.6,13,112,13.10,2.45,0.00,0.000,4,0.135,0.029,2866,3495,3107,0,0,0,0,0,0
$GC,325,-1.19,-116.8,49.7,-16.1,51,330,0.00,2.47,0.00,0.000,6,0.000,0.031,2866,2092,3109,0,0,0,0,0,0
$GC,588,-1.19,-116.8,91.8,-16.4,75,592,0.00,2.53,0.00,0.000,4,0.000,0.044,2866,693,3110,0,0,0,0,0,0
$GC,614,-1.19,-116.8,96.3,-18.1,77,618,0.00,2.38,0.00,0.000,6,0.000,0.020,2866,2094,3110,0,0,0,0,0,0
$GC,879,-1.19,-116.8,128.3,-12.3,101,883,0.00,2.50,0.00,0.000,4,0.000,0.042,2866,690,3111,0,0,0,0,0,0
$GC,941,-1.19,-116.8,136.1,-12.9,107,945,0.00,2.42,0.00,0.000,6,0.000,0.021,2867,2107,3111,0,0,0,0,0,0
$GC,1204,-1.19,-116.8,168.2,-10.9,131,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2111,3112,0,0,0,0,0,0
$GC,1458,-1.19,-116.8,192.9,-9.1,155,1463,0.00,2.55,0.00,0.000,4,0.000,0.042,2866,686,3112,0,0,0,0,0,0
$GC,1554,-1.19,-116.8,202.5,-9.1,164,1558,0.00,2.42,0.00,0.000,6,0.000,0.021,2866,2104,3112,0,0,0,0,0,0
$GC,1874,-1.19,-116.8,232.2,-8.6,180,1879,0.00,2.53,0.00,0.000,4,0.000,0.044,2866,690,3112,0,0,0,0,0,0
$GC,1948,-1.19,-116.8,238.4,-8.2,183,1952,0.00,2.42,0.00,0.000,6,0.000,0.023,2867,2101,3112,0,0,0,0,0,0
$GC,2270,-1.19,-116.8,264.6,-8.4,199,2274,0.00,2.55,0.00,0.000,4,0.000,0.045,2866,684,3112,0,0,0,0,0,0
$GC,2284,-1.19,-116.8,266.2,-9.3,199,2289,0.00,2.45,0.00,0.000,6,0.000,0.024,2866,2107,3112,0,0,0,0,0,0
$GC,2601,-1.19,-116.8,296.2,-9.3,215,2605,0.00,2.53,0.00,0.000,4,0.000,0.045,2866,3498,3111,0,0,0,0,0,0
$GC,2738,-1.19,-116.8,310.6,-10.2,219,2743,0.00,2.47,0.00,0.000,6,0.000,0.040,2866,2104,3111,0,0,0,0,0,0
$GC,3063,-1.19,-116.8,335.4,-6.9,227,3067,0.00,2.50,0.00,0.000,4,0.000,0.044,2866,3497,3110,0,0,0,0,0,0
$GC,3110,-1.19,-116.8,338.4,-5.8,228,3114,0.00,2.50,0.00,0.000,6,0.000,0.041,2866,2090,3109,0,0,0,0,0,0
$GC,3433,-1.19,-116.8,358.4,-6.5,236,3437,0.00,2.53,0.00,0.000,4,0.000,0.046,2866,3494,3107,0,0,0,0,0,0
$GC,3466,-1.19,-116.8,361.2,-8.0,236,3470,0.00,2.53,0.00,0.000,6,0.000,0.042,2866,2092,3107,0,0,0,0,0,0
$GC,3797,-1.19,-116.8,388.2,-8.2,244,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2092,3105,0,0,0,0,0,0
$GC,4123,-1.19,-116.8,412.9,-7.1,252,4127,0.00,2.58,0.00,0.000,4,0.000,0.054,2866,691,3103,0,0,0,0,0,0
$GC,4156,-1.19,-116.8,415.5,-7.5,252,4161,0.00,2.47,0.00,0.000,6,0.000,0.028,2866,2103,3103,0,0,0,0,0,0
$GC,4488,-1.19,-116.8,436.5,-5.9,260,4492,0.00,2.58,0.00,0.000,4,0.000,0.054,2866,3501,3101,0,0,0,0,0,0
$GC,4526,-1.19,-116.8,438.9,-6.6,260,4531,0.00,2.55,0.00,0.000,6,0.000,0.046,2866,2095,3100,0,0,0,0,0,0
$STATE,4732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4733,begin apogee
$GC,4740,-0.31,0.0,452.5,6.5,266,4837,0.98,0.00,93.93,0.822,6,0.083,0.000,3068,1793,2635,0,0,0,0,0,0
$STATE,4838,end apogee,CONTROL_FINISHED_OK
$STATE,4838,begin climb
$GC,4841,1.19,116.8,454.0,0.0,268,4953,1.48,2.72,100.40,0.802,4,0.055,0.063,3393,409,2156,0,0,0,0,0,0
$GC,4963,1.19,116.8,443.6,11.4,270,4969,0.00,2.47,0.00,0.000,6,0.000,0.027,3393,1807,2153,0,0,0,0,0,0
$GC,5294,1.19,116.8,403.9,12.5,279,5299,0.00,2.58,0.00,0.000,4,0.000,0.046,3394,3207,2146,0,0,0,0,0,0
$GC,5346,1.19,116.8,397.2,12.5,280,5351,0.00,2.65,0.00,0.000,6,0.000,0.053,3394,1807,2146,0,0,0,0,0,0
$GC,5665,1.19,116.8,356.9,12.5,288,5669,0.00,2.60,0.00,0.000,4,0.000,0.047,3394,3206,2142,0,0,0,0,0,0
$GC,5693,1.19,116.8,353.5,11.7,288,5697,0.00,2.65,0.00,0.000,6,0.000,0.051,3394,1797,2141,0,0,0,0,0,0
$GC,6029,1.19,116.8,318.2,10.0,297,6033,0.00,2.62,0.00,0.000,4,0.000,0.060,3393,390,2139,0,0,0,0,0,0
$GC,6043,1.19,116.8,316.6,9.7,297,6048,0.00,2.47,0.00,0.000,6,0.000,0.028,3394,1804,2138,0,0,0,0,0,0
$GC,6376,1.19,116.8,281.5,10.4,309,6380,0.00,2.53,0.00,0.000,4,0.000,0.044,3394,3200,2137,0,0,0,0,0,0
$GC,6427,1.19,116.8,276.2,10.0,311,6432,0.00,2.60,0.00,0.000,6,0.000,0.048,3393,1800,2137,0,0,0,0,0,0
$GC,6749,1.19,116.8,245.7,9.4,327,6753,0.00,2.55,0.00,0.000,4,0.000,0.041,3394,3202,2135,0,0,0,0,0,0
$GC,6818,1.19,116.8,238.4,10.6,330,6823,0.00,2.58,0.00,0.000,6,0.000,0.049,3394,1800,2135,0,0,0,0,0,0
$GC,7144,1.19,116.8,205.6,9.9,346,7148,0.00,2.62,0.00,0.000,4,0.000,0.058,3394,392,2134,0,0,0,0,0,0
$GC,7158,1.19,116.8,204.0,10.2,346,7165,0.00,2.50,0.00,0.000,6,0.000,0.025,3394,1808,2133,0,0,0,0,0,0
$GC,7483,1.19,116.8,174.0,8.7,375,7487,0.00,2.62,0.00,0.000,4,0.000,0.055,3393,392,2133,0,0,0,0,0,0
$GC,7526,1.19,116.8,169.5,10.3,379,7531,0.00,2.45,0.00,0.000,6,0.000,0.024,3394,1797,2131,0,0,0,0,0,0
$GC,7791,1.19,116.8,148.8,8.2,403,7795,0.00,2.60,0.00,0.000,4,0.000,0.052,3394,388,2132,0,0,0,0,0,0
$GC,7856,1.19,116.8,142.4,10.5,409,7861,0.00,2.45,0.00,0.000,6,0.000,0.023,3394,1802,2131,0,0,0,0,0,0
$GC,8117,1.19,116.8,116.8,10.1,434,8121,0.00,2.45,0.00,0.000,4,0.000,0.034,3394,3205,2131,0,0,0,0,0,0
$GC,8161,1.19,116.8,112.4,10.5,438,8166,0.00,2.53,0.00,0.000,6,0.000,0.040,3394,1801,2131,0,0,0,0,0,0
$GC,8424,1.19,116.8,89.5,8.5,462,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1801,2131,0,0,0,0,0,0
$GC,8679,1.26,170.1,71.4,5.6,486,8726,0.00,2.65,42.00,0.530,4,0.000,0.049,3394,388,1940,0,0,0,0,0,0
$GC,8741,1.28,183.0,67.3,7.4,492,8758,0.00,2.50,11.93,0.479,6,0.000,0.021,3394,1811,1889,0,0,0,0,0,0
$GC,9013,1.29,193.2,47.3,7.6,518,9034,0.10,2.65,9.98,0.451,4,0.071,0.049,3433,389,1845,0,0,0,0,0,0
$GC,9083,1.29,193.2,39.2,11.2,525,9090,0.00,2.45,0.00,0.000,6,0.000,0.020,3433,1791,1842,0,0,0,0,0,0
$GC,9350,1.29,193.2,13.8,9.1,565,9356,0.00,2.50,0.00,0.000,4,0.000,0.028,3433,3202,1842,0,0,0,0,0,0
$GC,9381,1.29,193.2,11.0,9.0,571,9387,0.00,2.55,0.00,0.000,6,0.000,0.035,3433,1802,1842,0,0,0,0,0,0
$STATE,9473,end climb,SURFACE_DEPTH_REACHED
$STATE,9473,begin surface coast
$FINISH,1.0,1.020460
$STATE,9515,end surface coast,CONTROL_FINISHED_OK
$STATE,9515,begin surface
$SM_CCo,9538,68.32,0.459,0,0,1289,330.17
$SM_GC,1.73,0.00,0.00,68.32,0.000,0.000,0.459,425,2142,1289,-12.48,1.19,330.17
$IRIDIUM_FIX,2047.91,-15750.49,050800,151548
$TT8_MAMPS,0.028379
$HUMID,56.06
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.5,26.564
$10V_AH,10.5,25.274
$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,28.525,122.500,258.225,68.325,0.000,30.642,37.663,155.223,4.750,0.000,13.426,1109.588,6292.162,405.593,1679.789,466.025,33.357,1139.608,0.000,1661.633,0.000,32.154,0.000
$DEVICE_MAMPS,134.992,62.894,822.224,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,402.962,393.705,875.266,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,31763,595
$CAP_FILE_SIZE,101325,0
$CFSIZE,260165632,240672768
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120511,211513,2055.173,-15750.893,9,1.8,14,9.8