version: 66.06
glider: 139
mission: 9
dive: 405
start: 5 21 111 1 52 43
data:
$ID,139
$MISSION,9
$DIVE,405
$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,-2184381.2
$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,20
$R_STBD_OVSHOOT,68
$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
$GPS1,014507,2043.457,-15758.040,36,0.9,36,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-75.4
$GPS2,015150,2043.501,-15758.030,14,1.2,14,9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.148,0.165
$KALMAN_X,42250.3,19.8,209.8,-48266.1,1552.6
$KALMAN_Y,-26777.6,-39.7,289.5,39250.4,-1143.8
$MHEAD_RNG_PITCHd_Wd,308.4,46516,-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,-116.8,0.0,0.0,0,82,0.00,0.00,-64.18,0.000,2,0.000,0.000,430,2141,2965,0,0,0,0,0,0
$GC,86,-1.19,-116.8,3.1,-2.9,12,111,13.15,2.42,-3.03,0.000,4,0.136,0.046,2870,3468,3114,0,0,0,0,0,0
$GC,360,-1.19,-116.8,61.0,-15.9,54,366,0.00,2.45,0.00,0.000,6,0.000,0.032,2870,2098,3116,0,0,0,0,0,0
$GC,622,-1.19,-116.8,97.0,-12.6,79,626,0.00,2.42,0.00,0.000,4,0.000,0.032,2870,3471,3117,0,0,0,0,0,0
$GC,632,-1.19,-116.8,98.5,-12.5,79,638,0.00,2.40,0.00,0.000,6,0.000,0.031,2870,2095,3117,0,0,0,0,0,0
$GC,896,-1.19,-116.8,130.3,-12.2,104,900,0.00,2.50,0.00,0.000,4,0.000,0.043,2870,693,3118,0,0,0,0,0,0
$GC,1163,-1.19,-116.8,160.2,-10.1,132,1170,0.00,2.38,0.00,0.000,6,0.000,0.020,2870,2072,3119,0,0,0,0,0,0
$GC,1428,-1.19,-116.8,188.0,-8.8,157,1432,0.00,2.47,0.00,0.000,4,0.000,0.042,2869,692,3119,0,0,0,0,0,0
$GC,1472,-1.19,-116.8,192.4,-9.4,161,1476,0.00,2.40,0.00,0.000,6,0.000,0.021,2870,2101,3119,0,0,0,0,0,0
$GC,1743,-1.19,-116.8,215.4,-7.9,178,1747,0.00,2.50,0.00,0.000,4,0.000,0.039,2870,3502,3119,0,0,0,0,0,0
$GC,1804,-1.19,-116.8,220.4,-8.1,180,1811,0.00,2.50,0.00,0.000,6,0.000,0.035,2870,2098,3119,0,0,0,0,0,0
$GC,2120,-1.19,-116.8,250.8,-9.9,196,2124,0.00,2.55,0.00,0.000,4,0.000,0.046,2870,687,3119,0,0,0,0,0,0
$GC,2175,-1.19,-116.8,257.0,-10.6,198,2179,0.00,2.40,0.00,0.000,6,0.000,0.021,2870,2098,3119,0,0,0,0,0,0
$GC,2494,-1.19,-116.8,281.1,-6.6,213,2498,0.00,2.53,0.00,0.000,4,0.000,0.045,2870,693,3118,0,0,0,0,0,0
$GC,2564,-1.19,-116.8,286.4,-6.9,216,2568,0.00,2.42,0.00,0.000,6,0.000,0.023,2870,2107,3118,0,0,0,0,0,0
$GC,2886,-1.19,-116.8,311.5,-8.6,229,2891,0.00,2.53,0.00,0.000,4,0.000,0.044,2870,3502,3116,0,0,0,0,0,0
$GC,2896,-1.19,-116.8,312.3,-8.8,229,2901,0.00,2.47,0.00,0.000,6,0.000,0.038,2870,2102,3117,0,0,0,0,0,0
$GC,3215,-1.19,-116.8,337.9,-8.0,237,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2101,3116,0,0,0,0,0,0
$GC,3542,-1.19,-116.8,362.7,-7.5,245,3543,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2101,3114,0,0,0,0,0,0
$GC,3865,-1.19,-116.8,385.8,-7.4,253,3870,0.00,2.58,0.00,0.000,4,0.000,0.051,2869,692,3111,0,0,0,0,0,0
$GC,3898,-1.19,-116.8,388.6,-8.0,253,3903,0.00,2.45,0.00,0.000,6,0.000,0.027,2869,2100,3111,0,0,0,0,0,0
$GC,4230,-1.19,-116.8,411.7,-6.7,261,4234,0.00,2.58,0.00,0.000,4,0.000,0.050,2870,3506,3109,0,0,0,0,0,0
$GC,4250,-1.19,-116.8,413.2,-7.6,261,4254,0.00,2.53,0.00,0.000,6,0.000,0.042,2869,2100,3109,0,0,0,0,0,0
$GC,4595,-1.19,-116.8,432.0,-5.2,270,4596,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2098,3107,0,0,0,0,0,0
$STATE,4919,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4919,begin apogee
$GC,4927,-0.31,0.0,450.2,5.8,278,5025,0.95,0.00,95.40,0.815,6,0.081,0.000,3067,1794,2635,0,0,0,0,0,0
$STATE,5026,end apogee,CONTROL_FINISHED_OK
$STATE,5026,begin climb
$GC,5029,1.19,116.8,451.7,0.0,280,5141,1.48,2.65,100.30,0.798,4,0.054,0.043,3395,3205,2157,0,0,0,0,0,0
$GC,5199,1.19,116.8,434.9,12.1,283,5205,0.00,2.65,0.00,0.000,6,0.000,0.053,3394,1811,2154,0,0,0,0,0,0
$GC,5531,1.19,116.8,393.2,12.2,292,5535,0.00,2.67,0.00,0.000,4,0.000,0.060,3394,390,2146,0,0,0,0,0,0
$GC,5568,1.19,116.8,387.8,14.1,292,5574,0.00,2.50,0.00,0.000,6,0.000,0.026,3394,1800,2143,0,0,0,0,0,0
$GC,5900,1.19,116.8,347.3,12.2,301,5904,0.00,2.55,0.00,0.000,4,0.000,0.043,3395,3204,2141,0,0,0,0,0,0
$GC,5928,1.19,116.8,343.9,11.7,301,5932,0.00,2.62,0.00,0.000,6,0.000,0.048,3394,1794,2141,0,0,0,0,0,0
$GC,6264,1.19,116.8,306.4,11.2,310,6265,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1794,2138,0,0,0,0,0,0
$GC,6574,1.19,116.8,274.2,9.9,323,6578,0.00,2.60,0.00,0.000,4,0.000,0.041,3395,3214,2138,0,0,0,0,0,0
$GC,6643,1.19,116.8,267.3,9.6,326,6647,0.00,2.62,0.00,0.000,6,0.000,0.048,3395,1797,2138,0,0,0,0,0,0
$GC,6968,1.19,116.8,239.7,8.3,342,6972,0.00,2.58,0.00,0.000,4,0.000,0.039,3395,3211,2136,0,0,0,0,0,0
$GC,6992,1.21,127.8,237.7,7.5,343,7004,0.00,2.58,7.12,0.568,6,0.000,0.045,3394,1798,2112,0,0,0,0,0,0
$GC,7322,1.21,127.8,210.1,8.4,359,7323,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1799,2110,0,0,0,0,0,0
$GC,7635,1.21,130.5,185.3,7.9,382,7640,0.00,2.55,0.00,0.000,4,0.000,0.035,3395,3213,2110,0,0,0,0,0,0
$GC,7718,1.22,133.5,178.7,7.9,390,7733,0.00,2.60,6.25,0.500,6,0.000,0.042,3395,1804,2090,0,0,0,0,0,0
$GC,7988,1.22,133.5,155.7,8.8,416,7992,0.00,2.60,0.00,0.000,4,0.000,0.054,3394,392,2088,0,0,0,0,0,0
$GC,8070,1.22,133.5,147.7,10.7,424,8077,0.00,2.47,0.00,0.000,6,0.000,0.022,3394,1802,2085,0,0,0,0,0,0
$GC,8336,1.25,161.2,127.3,6.8,449,8366,0.00,2.53,25.27,0.563,4,0.000,0.033,3395,3201,1977,0,0,0,0,0,0
$GC,8403,1.30,199.9,122.8,6.2,456,8447,0.08,2.60,34.42,0.561,6,0.038,0.041,3431,1803,1820,0,0,0,0,0,0
$GC,8701,1.30,199.9,94.3,9.5,485,8705,0.00,2.62,0.00,0.000,4,0.000,0.053,3430,391,1815,0,0,0,0,0,0
$GC,8838,1.30,199.9,76.0,14.4,499,8842,0.00,2.42,0.00,0.000,6,0.000,0.021,3430,1800,1809,0,0,0,0,0,0
$GC,9102,1.30,199.9,46.9,9.6,523,9107,0.00,2.45,0.00,0.000,4,0.000,0.030,3430,3207,1809,0,0,0,0,0,0
$GC,9136,1.30,199.9,43.5,8.8,526,9141,0.00,2.58,0.00,0.000,6,0.000,0.038,3430,1791,1809,0,0,0,0,0,0
$GC,9401,1.34,237.4,24.8,6.3,557,9441,0.00,2.65,31.50,0.476,4,0.000,0.051,3430,396,1665,0,0,0,0,0,0
$GC,9518,1.34,237.4,15.3,8.7,581,9524,0.00,2.45,0.00,0.000,6,0.000,0.019,3431,1802,1661,0,0,0,0,0,0
$STATE,9677,end climb,SURFACE_DEPTH_REACHED
$STATE,9677,begin surface coast
$FINISH,1.1,1.009346
$STATE,9716,end surface coast,CONTROL_FINISHED_OK
$STATE,9716,begin surface
$SM_CCo,9740,49.53,0.455,0,0,1289,330.17
$SM_GC,1.77,0.00,0.00,49.53,0.000,0.000,0.455,429,2144,1289,-12.46,1.24,330.17
$IRIDIUM_FIX,2036.38,-15759.50,130800,222243
$TT8_MAMPS,0.029146
$HUMID,59.45
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,20.30
$XPDR_PINGS,10
$24V_AH,23.5,32.713
$10V_AH,10.4,30.947
$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,28.500,107.050,300.275,49.525,0.000,25.901,43.682,207.837,7.000,0.000,14.814,1117.284,6437.012,401.979,1712.214,525.050,33.363,1150.302,0.000,1696.422,0.000,29.248,0.000
$DEVICE_MAMPS,135.759,59.826,815.321,454.831,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,416.748,409.130,897.776,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,34916,617
$CAP_FILE_SIZE,99324,0
$CFSIZE,260165632,237068288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210511,043707,2043.908,-15758.189,34,1.0,34,9.7