version: 66.06
glider: 139
mission: 9
dive: 400
start: 5 20 111 11 20 28
data:
$ID,139
$MISSION,9
$DIVE,400
$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,-2184263.8
$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,20
$R_STBD_OVSHOOT,37
$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
$GPS1,110902,2041.884,-15756.530,15,1.9,15,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-73.9
$GPS2,111936,2041.888,-15756.522,35,1.3,35,9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.213,0.060
$KALMAN_X,36088.8,-336.1,-342.6,-38580.6,2581.8
$KALMAN_Y,-23141.9,340.0,393.9,32144.9,-1630.0
$MHEAD_RNG_PITCHd_Wd,276.0,49905,-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,15,-1.19,-116.8,0.0,0.0,0,83,0.00,0.00,-64.65,0.000,2,0.000,0.000,428,2098,2984,0,0,0,0,0,0
$GC,86,-1.19,-116.8,3.2,-4.2,12,111,13.12,2.60,-2.58,0.000,4,0.135,0.054,2871,680,3114,0,0,0,0,0,0
$GC,239,-1.19,-116.8,40.8,-22.4,39,246,0.00,2.47,0.00,0.000,6,0.000,0.022,2871,2101,3115,0,0,0,0,0,0
$GC,501,-1.19,-116.8,82.5,-14.5,64,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2106,3116,0,0,0,0,0,0
$GC,755,-1.19,-116.8,116.4,-12.4,88,759,0.00,2.55,0.00,0.000,4,0.000,0.043,2871,686,3117,0,0,0,0,0,0
$GC,809,-1.19,-116.8,122.5,-10.8,93,813,0.00,2.40,0.00,0.000,6,0.000,0.020,2871,2110,3117,0,0,0,0,0,0
$GC,1077,-1.19,-116.8,152.4,-11.9,118,1081,0.00,2.55,0.00,0.000,4,0.000,0.042,2871,686,3118,0,0,0,0,0,0
$GC,1140,-1.19,-116.8,160.4,-13.2,124,1144,0.00,2.42,0.00,0.000,6,0.000,0.021,2871,2106,3118,0,0,0,0,0,0
$GC,1403,-1.19,-116.8,187.8,-9.3,148,1408,0.00,2.55,0.00,0.000,4,0.000,0.043,2871,683,3118,0,0,0,0,0,0
$GC,1458,-1.19,-116.8,193.7,-10.3,153,1464,0.00,2.42,0.00,0.000,6,0.000,0.021,2871,2109,3118,0,0,0,0,0,0
$GC,1725,-1.19,-116.8,217.3,-8.7,170,1729,0.00,2.55,0.00,0.000,4,0.000,0.042,2871,683,3118,0,0,0,0,0,0
$GC,1798,-1.19,-116.8,223.9,-9.5,173,1802,0.00,2.40,0.00,0.000,6,0.000,0.021,2871,2107,3118,0,0,0,0,0,0
$GC,2120,-1.19,-116.8,253.4,-9.1,189,2124,0.00,2.47,0.00,0.000,4,0.000,0.041,2871,3497,3118,0,0,0,0,0,0
$GC,2271,-1.19,-116.8,266.7,-8.0,195,2277,0.00,2.50,0.00,0.000,6,0.000,0.036,2871,2087,3118,0,0,0,0,0,0
$GC,2589,-1.19,-116.8,290.8,-7.4,211,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2087,3116,0,0,0,0,0,0
$GC,2914,-1.19,-116.8,315.9,-7.4,222,2918,0.00,2.55,0.00,0.000,4,0.000,0.043,2871,3502,3116,0,0,0,0,0,0
$GC,2989,-1.19,-116.8,321.8,-7.7,223,2994,0.00,2.47,0.00,0.000,6,0.000,0.039,2871,2103,3116,0,0,0,0,0,0
$GC,3326,-1.19,-116.8,344.5,-6.5,232,3327,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2102,3113,0,0,0,0,0,0
$GC,3652,-1.19,-116.8,367.7,-7.5,240,3657,0.00,2.58,0.00,0.000,4,0.000,0.051,2871,692,3111,0,0,0,0,0,0
$GC,3742,-1.19,-116.8,375.6,-8.7,242,3747,0.00,2.42,0.00,0.000,6,0.000,0.026,2871,2103,3110,0,0,0,0,0,0
$GC,4070,-1.19,-116.8,398.7,-6.6,250,4075,0.00,2.58,0.00,0.000,4,0.000,0.051,2871,692,3108,0,0,0,0,0,0
$GC,4104,-1.19,-116.8,400.9,-6.6,250,4108,0.00,2.42,0.00,0.000,6,0.000,0.027,2871,2104,3108,0,0,0,0,0,0
$GC,4436,-1.19,-116.8,419.9,-5.8,258,4440,0.00,2.53,0.00,0.000,4,0.000,0.051,2871,3500,3106,0,0,0,0,0,0
$GC,4455,-1.19,-116.8,421.2,-6.3,258,4459,0.00,2.50,0.00,0.000,6,0.000,0.043,2870,2101,3106,0,0,0,0,0,0
$GC,4805,-1.19,-116.8,442.8,-6.6,267,4810,0.00,2.60,0.00,0.000,4,0.000,0.054,2871,692,3103,0,0,0,0,0,0
$STATE,4914,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4917,begin apogee
$GC,4925,-0.31,0.0,450.3,7.6,269,5026,0.93,0.00,94.20,0.819,6,0.084,0.000,3066,1803,2634,0,0,0,0,0,0
$STATE,5027,end apogee,CONTROL_FINISHED_OK
$STATE,5027,begin climb
$GC,5030,1.19,116.8,451.5,0.0,272,5137,1.50,0.00,100.93,0.798,6,0.054,0.000,3395,1803,2157,0,0,0,0,0,0
$GC,5476,1.19,116.8,399.4,12.7,283,5480,0.00,2.65,0.00,0.000,4,0.000,0.060,3394,398,2147,0,0,0,0,0,0
$GC,5495,1.19,116.8,396.3,13.8,283,5499,0.00,2.50,0.00,0.000,6,0.000,0.025,3394,1807,2144,0,0,0,0,0,0
$GC,5840,1.19,116.8,356.7,10.9,292,5844,0.00,2.70,0.00,0.000,4,0.000,0.061,3394,395,2142,0,0,0,0,0,0
$GC,5868,1.19,116.8,353.2,12.6,292,5873,0.00,2.47,0.00,0.000,6,0.000,0.027,3395,1806,2140,0,0,0,0,0,0
$GC,6204,1.19,116.8,318.7,10.5,301,6209,0.00,2.53,0.00,0.000,4,0.000,0.042,3395,3204,2139,0,0,0,0,0,0
$GC,6233,1.19,116.8,315.5,10.5,301,6237,0.00,2.58,0.00,0.000,6,0.000,0.048,3394,1804,2139,0,0,0,0,0,0
$GC,6552,1.19,116.8,279.1,11.7,313,6553,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1804,2138,0,0,0,0,0,0
$GC,6860,1.19,116.8,247.7,9.2,328,6861,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1803,2136,0,0,0,0,0,0
$GC,7171,1.21,125.8,223.1,7.6,343,7183,0.00,2.55,5.05,0.494,4,0.000,0.040,3395,3204,2121,0,0,0,0,0,0
$GC,7219,1.21,125.8,219.2,8.5,345,7223,0.00,2.60,0.00,0.000,6,0.000,0.046,3395,1797,2121,0,0,0,0,0,0
$GC,7542,1.22,135.0,192.6,7.6,364,7561,0.00,2.65,9.80,0.572,4,0.000,0.056,3394,392,2082,0,0,0,0,0,0
$GC,7610,1.22,135.0,187.1,8.5,371,7614,0.00,2.47,0.00,0.000,6,0.000,0.025,3395,1802,2079,0,0,0,0,0,0
$GC,7875,1.24,150.0,168.5,7.3,395,7895,0.00,2.55,14.15,0.578,4,0.000,0.035,3394,3212,2022,0,0,0,0,0,0
$GC,7917,1.24,150.0,165.1,8.3,399,7921,0.00,2.60,0.00,0.000,6,0.000,0.041,3394,1795,2022,0,0,0,0,0,0
$GC,8181,1.24,150.0,143.0,8.2,423,8185,0.00,2.60,0.00,0.000,4,0.000,0.054,3394,392,2020,0,0,0,0,0,0
$GC,8208,1.24,150.0,140.2,10.5,425,8212,0.00,2.47,0.00,0.000,6,0.000,0.023,3395,1811,2018,0,0,0,0,0,0
$GC,8472,1.25,161.5,116.9,7.5,449,8492,0.00,2.53,11.07,0.515,4,0.000,0.034,3395,3200,1975,0,0,0,0,0,0
$GC,8582,1.25,165.4,108.8,7.8,460,8592,0.00,2.58,5.28,0.419,6,0.000,0.038,3394,1802,1960,0,0,0,0,0,0
$GC,8851,1.26,166.9,88.0,8.0,485,8855,0.00,2.58,0.00,0.000,4,0.000,0.051,3395,393,1958,0,0,0,0,0,0
$GC,8943,1.26,166.9,79.5,9.1,494,8949,0.00,2.45,0.00,0.000,6,0.000,0.021,3394,1797,1954,0,0,0,0,0,0
$GC,9207,1.30,204.0,62.0,6.3,519,9248,0.12,2.65,34.00,0.506,4,0.062,0.053,3438,393,1802,0,0,0,0,0,0
$GC,9298,1.30,204.0,53.8,9.8,528,9302,0.00,2.45,0.00,0.000,6,0.000,0.021,3438,1801,1797,0,0,0,0,0,0
$GC,9562,1.31,209.4,31.6,7.8,552,9574,0.00,2.47,5.50,0.372,4,0.000,0.028,3439,3206,1780,0,0,0,0,0,0
$GC,9616,1.31,209.4,27.2,8.1,561,9623,0.00,2.58,0.00,0.000,6,0.000,0.034,3438,1796,1780,0,0,0,0,0,0
$GC,9819,1.33,229.2,12.5,7.1,598,9844,0.00,2.60,18.40,0.446,4,0.000,0.049,3438,393,1699,0,0,0,0,0,0
$GC,9865,1.33,229.2,8.5,9.3,606,9872,0.00,2.47,0.00,0.000,6,0.000,0.019,3439,1806,1696,0,0,0,0,0,0
$STATE,9920,end climb,SURFACE_DEPTH_REACHED
$STATE,9920,begin surface coast
$FINISH,1.0,1.014063
$STATE,9953,end surface coast,CONTROL_FINISHED_OK
$STATE,9953,begin surface
$SM_CCo,9977,52.80,0.453,0,0,1288,330.17
$SM_GC,1.88,0.00,0.00,52.80,0.000,0.000,0.453,425,2164,1288,-12.48,1.81,330.17
$IRIDIUM_FIX,2034.08,-15755.23,130800,111144
$TT8_MAMPS,0.029146
$HUMID,59.29
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,20.70
$XPDR_PINGS,13
$24V_AH,23.5,32.294
$10V_AH,10.4,30.547
$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,28.575,116.250,298.375,52.800,0.000,48.727,76.535,296.360,7.750,0.000,35.340,1149.167,6642.238,432.689,1750.191,691.113,33.349,1180.670,0.000,1715.904,0.000,29.266,0.000
$DEVICE_MAMPS,134.992,60.593,819.156,452.530,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,420.453,413.420,905.289,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,35020,622
$CAP_FILE_SIZE,107588,0
$CFSIZE,260165632,237309952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200511,140902,2041.601,-15756.813,43,1.7,43,9.7