version: 66.06
glider: 139
mission: 9
dive: 403
start: 5 20 111 20 4 16
data:
$ID,139
$MISSION,9
$DIVE,403
$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,-2184349
$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,16
$R_STBD_OVSHOOT,45
$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
$GPS1,195555,2042.325,-15757.490,10,2.0,15,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-76.4
$GPS2,200324,2042.384,-15757.473,28,0.9,45,9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.168,0.144
$KALMAN_X,39753.0,5.8,-391.0,-44186.0,1750.0
$KALMAN_Y,-25734.6,-111.9,-23.3,36527.9,-788.8
$MHEAD_RNG_PITCHd_Wd,300.9,48709,-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,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,82,0.00,0.00,-64.15,0.000,2,0.000,0.000,430,2105,2970,0,0,0,0,0,0
$GC,86,-1.19,-116.8,3.2,-4.2,12,111,13.12,2.53,-2.88,0.000,4,0.136,0.046,2870,3496,3115,0,0,0,0,0,0
$GC,360,-1.19,-116.8,62.3,-17.2,54,366,0.00,2.53,0.00,0.000,6,0.000,0.035,2870,2090,3116,0,0,0,0,0,0
$GC,622,-1.19,-116.8,98.6,-11.5,79,626,0.00,2.53,0.00,0.000,4,0.000,0.042,2869,686,3117,0,0,0,0,0,0
$GC,696,-1.19,-116.8,109.5,-15.1,86,702,0.00,2.42,0.00,0.000,6,0.000,0.021,2870,2094,3117,0,0,0,0,0,0
$GC,960,-1.19,-116.8,139.0,-11.6,111,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2095,3118,0,0,0,0,0,0
$GC,1222,-1.19,-116.8,165.8,-8.5,136,1226,0.00,2.53,0.00,0.000,4,0.000,0.042,2869,686,3119,0,0,0,0,0,0
$GC,1311,-1.19,-116.8,174.5,-10.4,145,1315,0.00,2.42,0.00,0.000,6,0.000,0.021,2869,2106,3119,0,0,0,0,0,0
$GC,1583,-1.19,-116.8,201.9,-9.3,169,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2107,3119,0,0,0,0,0,0
$GC,1892,-1.19,-116.8,231.0,-9.7,184,1893,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2107,3119,0,0,0,0,0,0
$GC,2202,-1.19,-116.8,258.1,-7.9,199,2207,0.00,2.55,0.00,0.000,4,0.000,0.045,2870,688,3119,0,0,0,0,0,0
$GC,2325,-1.19,-116.8,269.2,-9.2,204,2329,0.00,2.42,0.00,0.000,6,0.000,0.023,2869,2098,3119,0,0,0,0,0,0
$GC,2646,-1.19,-116.8,295.8,-7.9,220,2647,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2099,3118,0,0,0,0,0,0
$GC,2951,-1.19,-116.8,317.9,-7.0,229,2956,0.00,2.55,0.00,0.000,4,0.000,0.047,2869,688,3116,0,0,0,0,0,0
$GC,3003,-1.19,-116.8,321.7,-7.7,230,3007,0.00,2.42,0.00,0.000,6,0.000,0.025,2870,2101,3116,0,0,0,0,0,0
$GC,3321,-1.19,-116.8,344.5,-7.3,238,3326,0.00,2.55,0.00,0.000,4,0.000,0.049,2869,684,3115,0,0,0,0,0,0
$GC,3336,-1.19,-116.8,345.9,-7.9,238,3341,0.00,2.45,0.00,0.000,6,0.000,0.025,2869,2099,3115,0,0,0,0,0,0
$GC,3686,-1.19,-116.8,374.1,-8.0,247,3690,0.00,2.58,0.00,0.000,4,0.000,0.048,2869,3498,3112,0,0,0,0,0,0
$GC,3700,-1.19,-116.8,375.3,-7.8,247,3705,0.00,2.50,0.00,0.000,6,0.000,0.042,2870,2101,3112,0,0,0,0,0,0
$GC,4052,-1.19,-116.8,401.4,-7.1,256,4053,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2099,3110,0,0,0,0,0,0
$GC,4375,-1.19,-116.8,425.4,-7.6,264,4377,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2099,3107,0,0,0,0,0,0
$GC,4702,-1.19,-116.8,449.4,-7.2,272,4706,0.00,2.55,0.00,0.000,4,0.000,0.049,2870,3496,3106,0,0,0,0,0,0
$STATE,4709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4709,begin apogee
$GC,4719,-0.31,0.0,450.1,7.1,272,4817,0.93,0.00,94.78,0.820,6,0.083,0.000,3064,1796,2635,0,0,0,0,0,0
$STATE,4818,end apogee,CONTROL_FINISHED_OK
$STATE,4818,begin climb
$GC,4821,1.19,116.8,452.1,0.0,274,4933,1.50,2.75,99.93,0.798,4,0.054,0.061,3395,396,2157,0,0,0,0,0,0
$GC,4957,1.19,116.8,438.4,15.3,277,4962,0.00,2.50,0.00,0.000,6,0.000,0.026,3395,1799,2152,0,0,0,0,0,0
$GC,5276,1.19,116.8,394.9,13.8,285,5280,0.00,2.58,0.00,0.000,4,0.000,0.044,3396,3206,2145,0,0,0,0,0,0
$GC,5319,1.19,116.8,389.0,13.1,286,5324,0.00,2.62,0.00,0.000,6,0.000,0.051,3395,1798,2146,0,0,0,0,0,0
$GC,5648,1.19,116.8,347.5,11.9,294,5650,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1798,2142,0,0,0,0,0,0
$GC,5972,1.19,116.8,313.2,10.4,302,5973,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1798,2141,0,0,0,0,0,0
$GC,6280,1.19,116.8,283.5,9.6,313,6285,0.00,2.58,0.00,0.000,4,0.000,0.042,3396,3212,2139,0,0,0,0,0,0
$GC,6300,1.19,116.8,281.3,10.1,314,6305,0.00,2.62,0.00,0.000,6,0.000,0.047,3396,1797,2139,0,0,0,0,0,0
$GC,6630,1.19,116.8,250.0,9.5,330,6634,0.00,2.60,0.00,0.000,4,0.000,0.060,3395,394,2137,0,0,0,0,0,0
$GC,6659,1.19,116.8,247.1,10.1,331,6664,0.00,2.47,0.00,0.000,6,0.000,0.026,3396,1802,2135,0,0,0,0,0,0
$GC,6981,1.19,116.8,219.4,8.2,347,6982,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1806,2134,0,0,0,0,0,0
$GC,7292,1.19,116.8,190.4,10.1,366,7293,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1806,2134,0,0,0,0,0,0
$GC,7546,1.19,116.8,166.1,9.3,390,7551,0.00,2.47,0.00,0.000,4,0.000,0.037,3395,3204,2134,0,0,0,0,0,0
$GC,7563,1.19,116.8,164.6,9.3,391,7568,0.00,2.55,0.00,0.000,6,0.000,0.043,3395,1801,2134,0,0,0,0,0,0
$GC,7828,1.20,119.2,143.8,7.9,415,7833,0.00,2.62,0.00,0.000,4,0.000,0.058,3396,389,2134,0,0,0,0,0,0
$GC,7890,1.20,119.2,138.0,9.3,421,7895,0.00,2.47,0.00,0.000,6,0.000,0.024,3395,1814,2132,0,0,0,0,0,0
$GC,8155,1.23,143.4,116.9,6.9,445,8183,0.00,2.53,19.52,0.554,4,0.000,0.034,3396,3198,2049,0,0,0,0,0,0
$GC,8214,1.25,163.6,112.7,7.1,451,8242,0.00,2.58,19.12,0.544,6,0.000,0.038,3396,1792,1967,0,0,0,0,0,0
$GC,8497,1.32,214.8,94.2,5.7,478,8551,0.12,2.62,44.50,0.545,4,0.062,0.057,3437,391,1757,0,0,0,0,0,0
$GC,8637,1.32,214.8,80.4,11.6,493,8641,0.00,2.45,0.00,0.000,6,0.000,0.021,3437,1797,1751,0,0,0,0,0,0
$GC,8903,1.32,214.8,55.0,8.9,517,8907,0.00,2.50,0.00,0.000,4,0.000,0.030,3437,3210,1751,0,0,0,0,0,0
$GC,8928,1.32,214.8,52.7,8.1,519,8933,0.00,2.55,0.00,0.000,6,0.000,0.037,3437,1798,1750,0,0,0,0,0,0
$GC,9193,1.32,221.6,31.9,7.7,543,9205,0.00,2.55,6.05,0.387,4,0.000,0.050,3437,391,1730,0,0,0,0,0,0
$GC,9284,1.32,221.6,23.5,9.1,561,9291,0.00,2.45,0.00,0.000,6,0.000,0.020,3437,1801,1727,0,0,0,0,0,0
$GC,9488,1.32,221.6,6.7,8.3,598,9494,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,1806,1726,0,0,0,0,0,0
$STATE,9537,end climb,SURFACE_DEPTH_REACHED
$STATE,9537,begin surface coast
$FINISH,1.0,1.019048
$STATE,9576,end surface coast,CONTROL_FINISHED_OK
$STATE,9576,begin surface
$SM_CCo,9600,57.90,0.456,0,0,1288,330.17
$SM_GC,1.89,0.00,0.00,57.90,0.000,0.000,0.456,427,2125,1288,-12.47,0.71,330.17
$IRIDIUM_FIX,2036.38,-15757.37,130800,171747
$TT8_MAMPS,0.029146
$HUMID,58.66
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,20.40
$XPDR_PINGS,5
$24V_AH,23.5,32.548
$10V_AH,10.5,30.787
$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,28.575,92.225,283.900,57.900,0.000,29.792,42.869,217.006,5.750,0.000,46.061,1104.137,6395.450,395.865,1688.001,523.529,33.357,1107.699,0.000,1637.396,0.000,29.252,0.000
$DEVICE_MAMPS,135.759,61.360,819.923,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,415.886,406.522,899.800,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,35001,614
$CAP_FILE_SIZE,95911,0
$CFSIZE,260165632,237170688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200511,224607,2043.039,-15757.831,8,2.0,13,9.7