version: 66.06
glider: 139
mission: 9
dive: 404
start: 5 20 111 22 53 7
data:
$ID,139
$MISSION,9
$DIVE,404
$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,-2184365.8
$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,63
$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
$GPS1,224607,2043.039,-15757.831,8,2.0,13,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-74.8
$GPS2,225214,2043.093,-15757.806,16,1.8,16,9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.197,0.101
$KALMAN_X,40975.6,49.7,-357.4,-46063.3,2218.6
$KALMAN_Y,-26413.0,-175.4,421.6,38135.9,-1170.2
$MHEAD_RNG_PITCHd_Wd,287.4,47322,-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,16,-1.19,-116.8,0.0,0.0,0,83,0.00,0.00,-64.72,0.000,2,0.000,0.000,426,2126,2976,0,0,0,0,0,0
$GC,87,-1.19,-116.8,3.1,-3.2,12,111,13.18,2.45,-2.78,0.000,4,0.136,0.045,2872,3476,3114,0,0,0,0,0,0
$GC,361,-1.19,-116.8,60.6,-15.7,54,367,0.00,2.47,0.00,0.000,6,0.000,0.032,2872,2089,3116,0,0,0,0,0,0
$GC,623,-1.19,-116.8,96.9,-12.5,79,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2089,3117,0,0,0,0,0,0
$GC,877,-1.19,-116.8,129.8,-12.8,103,882,0.00,2.50,0.00,0.000,4,0.000,0.041,2872,683,3118,0,0,0,0,0,0
$GC,1140,-1.19,-116.8,154.8,-8.5,131,1146,0.00,2.38,0.00,0.000,6,0.000,0.020,2872,2078,3119,0,0,0,0,0,0
$GC,1403,-1.19,-116.8,176.9,-8.9,156,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2078,3119,0,0,0,0,0,0
$GC,1658,-1.19,-116.8,200.5,-8.6,180,1662,0.00,2.50,0.00,0.000,4,0.000,0.044,2872,684,3119,0,0,0,0,0,0
$GC,1701,-1.19,-116.8,205.2,-11.2,182,1705,0.00,2.40,0.00,0.000,6,0.000,0.021,2872,2101,3119,0,0,0,0,0,0
$GC,2030,-1.19,-116.8,237.8,-9.7,198,2035,0.00,2.53,0.00,0.000,4,0.000,0.044,2872,686,3119,0,0,0,0,0,0
$GC,2054,-1.19,-116.8,240.2,-10.5,199,2059,0.00,2.42,0.00,0.000,6,0.000,0.022,2872,2099,3119,0,0,0,0,0,0
$GC,2381,-1.19,-116.8,267.9,-8.0,215,2385,0.00,2.55,0.00,0.000,4,0.000,0.045,2872,684,3118,0,0,0,0,0,0
$GC,2414,-1.19,-116.8,270.8,-8.6,216,2418,0.00,2.40,0.00,0.000,6,0.000,0.023,2872,2101,3118,0,0,0,0,0,0
$GC,2731,-1.19,-116.8,297.7,-8.8,231,2735,0.00,2.53,0.00,0.000,4,0.000,0.044,2872,3498,3116,0,0,0,0,0,0
$GC,2775,-1.19,-116.8,301.6,-9.3,233,2779,0.00,2.47,0.00,0.000,6,0.000,0.039,2872,2098,3117,0,0,0,0,0,0
$GC,3103,-1.19,-116.8,322.6,-6.0,241,3107,0.00,2.55,0.00,0.000,4,0.000,0.048,2872,694,3116,0,0,0,0,0,0
$GC,3155,-1.19,-116.8,325.8,-6.2,242,3159,0.00,2.42,0.00,0.000,6,0.000,0.025,2872,2101,3115,0,0,0,0,0,0
$GC,3473,-1.19,-116.8,343.5,-5.8,250,3478,0.00,2.55,0.00,0.000,4,0.000,0.049,2872,689,3113,0,0,0,0,0,0
$GC,3588,-1.19,-116.8,351.6,-7.2,252,3592,0.00,2.45,0.00,0.000,6,0.000,0.025,2872,2104,3113,0,0,0,0,0,0
$GC,3933,-1.19,-116.8,375.6,-7.0,261,3937,0.00,2.53,0.00,0.000,4,0.000,0.048,2872,3499,3111,0,0,0,0,0,0
$GC,3980,-1.19,-116.8,379.3,-8.1,262,3984,0.00,2.50,0.00,0.000,6,0.000,0.042,2872,2099,3111,0,0,0,0,0,0
$GC,4303,-1.19,-116.8,403.0,-7.2,270,4308,0.00,2.58,0.00,0.000,4,0.000,0.052,2872,685,3108,0,0,0,0,0,0
$GC,4329,-1.19,-116.8,404.9,-7.7,270,4333,0.00,2.47,0.00,0.000,6,0.000,0.027,2872,2107,3108,0,0,0,0,0,0
$GC,4670,-1.19,-116.8,427.1,-6.2,279,4674,0.00,2.55,0.00,0.000,4,0.000,0.051,2872,3497,3106,0,0,0,0,0,0
$GC,4750,-1.19,-116.8,431.7,-5.7,280,4754,0.00,2.53,0.00,0.000,6,0.000,0.044,2872,2093,3106,0,0,0,0,0,0
$GC,5082,-1.19,-116.8,448.8,-5.2,288,5086,0.00,2.58,0.00,0.000,4,0.000,0.054,2872,687,3103,0,0,0,0,0,0
$STATE,5103,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5103,begin apogee
$GC,5111,-0.31,0.0,450.2,6.1,288,5209,0.90,0.00,94.60,0.823,6,0.084,0.000,3061,1809,2635,0,0,0,0,0,0
$STATE,5210,end apogee,CONTROL_FINISHED_OK
$STATE,5210,begin climb
$GC,5213,1.19,116.8,450.5,0.0,291,5325,1.50,2.58,100.68,0.802,4,0.054,0.044,3394,3195,2157,0,0,0,0,0,0
$GC,5358,1.19,116.8,435.5,13.2,294,5363,0.00,2.65,0.00,0.000,6,0.000,0.052,3394,1802,2155,0,0,0,0,0,0
$GC,5709,1.19,116.8,388.0,12.9,303,5710,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1801,2146,0,0,0,0,0,0
$GC,6033,1.19,116.8,350.4,11.2,311,6038,0.00,2.60,0.00,0.000,4,0.000,0.044,3394,3206,2142,0,0,0,0,0,0
$GC,6052,1.19,116.8,348.3,11.0,311,6057,0.00,2.62,0.00,0.000,6,0.000,0.048,3394,1799,2143,0,0,0,0,0,0
$GC,6397,1.19,116.8,313.4,9.4,320,6402,0.00,2.65,0.00,0.000,4,0.000,0.069,3393,394,2140,0,0,0,0,0,0
$GC,6419,1.19,116.8,311.4,9.9,320,6423,0.00,2.47,0.00,0.000,6,0.000,0.027,3394,1800,2138,0,0,0,0,0,0
$GC,6748,1.20,121.4,285.8,7.8,333,6752,0.00,2.55,0.00,0.000,4,0.000,0.042,3394,3210,2138,0,0,0,0,0,0
$GC,6775,1.20,121.4,283.1,8.8,334,6780,0.00,2.60,0.00,0.000,6,0.000,0.047,3394,1797,2138,0,0,0,0,0,0
$GC,7096,1.20,121.4,253.9,8.7,350,7097,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1797,2137,0,0,0,0,0,0
$GC,7406,1.21,129.5,228.7,7.7,365,7418,0.00,0.00,8.40,0.584,6,0.000,0.000,3394,1797,2106,0,0,0,0,0,0
$GC,7740,1.21,129.5,200.1,8.6,381,7745,0.00,2.53,0.00,0.000,4,0.000,0.037,3394,3203,2104,0,0,0,0,0,0
$GC,7767,1.21,129.5,197.8,8.7,383,7771,0.00,2.60,0.00,0.000,6,0.000,0.043,3394,1791,2104,0,0,0,0,0,0
$GC,8031,1.21,129.5,173.1,9.1,407,8035,0.00,2.60,0.00,0.000,4,0.000,0.056,3393,390,2103,0,0,0,0,0,0
$GC,8050,1.21,129.5,171.0,9.6,408,8057,0.00,2.47,0.00,0.000,6,0.000,0.023,3394,1800,2101,0,0,0,0,0,0
$GC,8315,1.21,129.5,149.4,8.2,433,8319,0.00,2.62,0.00,0.000,4,0.000,0.054,3393,386,2101,0,0,0,0,0,0
$GC,8360,1.21,129.5,145.3,8.9,437,8364,0.00,2.45,0.00,0.000,6,0.000,0.023,3394,1802,2101,0,0,0,0,0,0
$GC,8625,1.23,142.3,124.2,7.4,461,8644,0.00,2.53,12.23,0.531,4,0.000,0.033,3394,3197,2054,0,0,0,0,0,0
$GC,8666,1.24,156.5,121.0,7.4,465,8686,0.00,2.55,13.90,0.532,6,0.000,0.038,3394,1798,1996,0,0,0,0,0,0
$GC,8941,1.25,158.0,99.7,8.0,491,8946,0.00,2.58,0.00,0.000,4,0.000,0.052,3393,393,1993,0,0,0,0,0,0
$GC,9068,1.25,158.7,89.2,8.0,504,9072,0.00,2.45,0.00,0.000,6,0.000,0.021,3394,1805,1990,0,0,0,0,0,0
$GC,9333,1.31,208.7,72.4,5.7,528,9385,0.12,2.55,45.33,0.524,4,0.062,0.031,3437,3203,1783,0,0,0,0,0,0
$GC,9423,1.31,208.7,65.0,9.6,537,9428,0.00,2.58,0.00,0.000,6,0.000,0.038,3437,1801,1783,0,0,0,0,0,0
$GC,9688,1.31,208.7,39.8,8.9,561,9692,0.00,2.60,0.00,0.000,4,0.000,0.051,3437,391,1780,0,0,0,0,0,0
$GC,9724,1.31,208.7,35.8,11.3,564,9731,0.00,2.45,0.00,0.000,6,0.000,0.020,3437,1799,1777,0,0,0,0,0,0
$GC,9990,1.32,220.5,14.8,7.5,607,10009,0.00,2.67,10.55,0.426,4,0.000,0.050,3437,395,1735,0,0,0,0,0,0
$GC,10068,1.32,220.5,8.0,9.4,623,10074,0.00,2.42,0.00,0.000,6,0.000,0.019,3437,1793,1732,0,0,0,0,0,0
$STATE,10123,end climb,SURFACE_DEPTH_REACHED
$STATE,10123,begin surface coast
$FINISH,1.1,1.022472
$STATE,10162,end surface coast,CONTROL_FINISHED_OK
$STATE,10162,begin surface
$SM_CCo,10186,58.22,0.457,0,0,1288,330.17
$SM_GC,1.88,0.00,0.00,58.22,0.000,0.000,0.457,430,2140,1288,-12.45,1.13,330.17
$IRIDIUM_FIX,2034.08,-15755.23,130800,202049
$TT8_MAMPS,0.029146
$HUMID,59.33
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,20.00
$XPDR_PINGS,13
$24V_AH,23.4,32.629
$10V_AH,10.5,30.868
$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,28.625,121.150,285.675,58.225,0.000,22.588,33.055,188.371,7.750,0.000,16.102,1190.208,6690.559,402.759,1827.182,503.158,33.355,1197.109,0.000,1805.584,0.000,29.244,0.000
$DEVICE_MAMPS,135.759,69.030,822.991,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,433.672,418.714,925.281,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,34916,640
$CAP_FILE_SIZE,107301,0
$CFSIZE,260165632,237109248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210511,014507,2043.457,-15758.040,36,0.9,36,9.7