version: 66.06
glider: 139
mission: 9
dive: 406
start: 5 21 111 4 44 54
data:
$ID,139
$MISSION,9
$DIVE,406
$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,-2184397
$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,76
$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
$GPS1,043707,2043.908,-15758.189,34,1.0,34,9.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-77.5
$GPS2,044401,2043.924,-15758.128,9,1.0,14,9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.116,0.189
$KALMAN_X,43740.5,-71.3,298.7,-49925.1,1082.6
$KALMAN_Y,-27504.7,182.2,-267.0,41100.6,-678.9
$MHEAD_RNG_PITCHd_Wd,318.8,45717,-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,-64.30,0.000,2,0.000,0.000,428,2142,2984,0,0,0,0,0,0
$GC,86,-1.19,-116.8,3.5,-4.8,12,111,13.12,2.38,-2.55,0.000,4,0.135,0.047,2870,3457,3115,0,0,0,0,0,0
$GC,340,-1.19,-116.8,56.1,-17.8,52,345,0.00,2.40,0.00,0.000,6,0.000,0.033,2869,2093,3116,0,0,0,0,0,0
$GC,601,-1.19,-116.8,96.5,-12.6,76,606,0.00,2.40,0.00,0.000,4,0.000,0.032,2869,3463,3118,0,0,0,0,0,0
$GC,626,-1.19,-116.8,99.5,-12.5,78,631,0.00,2.40,0.00,0.000,6,0.000,0.031,2869,2098,3117,0,0,0,0,0,0
$GC,896,-1.19,-116.8,131.7,-11.3,103,900,0.00,2.53,0.00,0.000,4,0.000,0.041,2869,693,3118,0,0,0,0,0,0
$GC,1129,-1.19,-116.8,160.4,-11.0,128,1134,0.00,2.33,0.00,0.000,6,0.000,0.019,2870,2072,3119,0,0,0,0,0,0
$GC,1398,-1.19,-116.8,188.1,-9.7,153,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2073,3120,0,0,0,0,0,0
$GC,1666,-1.19,-116.8,213.1,-8.2,172,1671,0.00,2.53,0.00,0.000,4,0.000,0.038,2869,3499,3120,0,0,0,0,0,0
$GC,1681,-1.19,-116.8,214.5,-8.8,172,1687,0.00,2.50,0.00,0.000,6,0.000,0.035,2870,2100,3120,0,0,0,0,0,0
$GC,1998,-1.19,-116.8,243.5,-9.4,188,2002,0.00,2.55,0.00,0.000,4,0.000,0.045,2869,687,3120,0,0,0,0,0,0
$GC,2041,-1.19,-116.8,247.8,-9.8,190,2045,0.00,2.42,0.00,0.000,6,0.000,0.021,2870,2107,3119,0,0,0,0,0,0
$GC,2370,-1.19,-116.8,274.3,-8.2,206,2374,0.00,2.53,0.00,0.000,4,0.000,0.044,2869,693,3119,0,0,0,0,0,0
$GC,2414,-1.19,-116.8,278.1,-8.7,208,2419,0.00,2.42,0.00,0.000,6,0.000,0.023,2870,2105,3119,0,0,0,0,0,0
$GC,2766,-1.19,-116.8,306.2,-7.8,223,2770,0.00,2.50,0.00,0.000,4,0.000,0.044,2869,3498,3117,0,0,0,0,0,0
$GC,2864,-1.19,-116.8,313.5,-6.5,225,2868,0.00,2.50,0.00,0.000,6,0.000,0.038,2869,2098,3117,0,0,0,0,0,0
$GC,3183,-1.19,-116.8,335.5,-7.2,233,3187,0.00,2.55,0.00,0.000,4,0.000,0.048,2869,693,3116,0,0,0,0,0,0
$GC,3197,-1.19,-116.8,336.7,-7.4,233,3202,0.00,2.42,0.00,0.000,6,0.000,0.025,2869,2099,3116,0,0,0,0,0,0
$GC,3549,-1.19,-116.8,361.1,-7.0,242,3553,0.00,2.58,0.00,0.000,4,0.000,0.049,2869,687,3114,0,0,0,0,0,0
$GC,3577,-1.19,-116.8,363.5,-8.2,242,3581,0.00,2.45,0.00,0.000,6,0.000,0.026,2869,2100,3114,0,0,0,0,0,0
$GC,3913,-1.19,-116.8,385.4,-6.2,251,3917,0.00,2.55,0.00,0.000,4,0.000,0.050,2869,693,3111,0,0,0,0,0,0
$GC,4007,-1.19,-116.8,391.6,-6.9,253,4011,0.00,2.45,0.00,0.000,6,0.000,0.027,2869,2101,3111,0,0,0,0,0,0
$GC,4330,-1.19,-116.8,412.7,-6.4,261,4331,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2103,3109,0,0,0,0,0,0
$GC,4655,-1.19,-116.8,434.7,-6.7,269,4660,0.00,2.58,0.00,0.000,4,0.000,0.052,2869,694,3106,0,0,0,0,0,0
$GC,4757,-1.19,-116.8,442.8,-8.6,271,4762,0.00,2.45,0.00,0.000,6,0.000,0.028,2869,2099,3106,0,0,0,0,0,0
$STATE,4865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4865,begin apogee
$GC,4872,-0.31,0.0,450.2,6.9,274,4971,0.95,0.00,95.10,0.818,6,0.083,0.000,3066,1790,2635,0,0,0,0,0,0
$STATE,4972,end apogee,CONTROL_FINISHED_OK
$STATE,4972,begin climb
$GC,4975,1.19,116.8,451.8,0.0,276,5080,1.50,0.00,100.68,0.798,6,0.053,0.000,3396,1790,2158,0,0,0,0,0,0
$GC,5394,1.19,116.8,402.8,12.7,287,5398,0.00,2.60,0.00,0.000,4,0.000,0.060,3395,404,2147,0,0,0,0,0,0
$GC,5456,1.19,116.8,394.3,13.0,288,5461,0.00,2.47,0.00,0.000,6,0.000,0.027,3395,1802,2143,0,0,0,0,0,0
$GC,5806,1.19,116.8,355.0,10.9,297,5807,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1803,2142,0,0,0,0,0,0
$GC,6131,1.19,116.8,318.1,11.3,305,6135,0.00,2.65,0.00,0.000,4,0.000,0.061,3395,403,2139,0,0,0,0,0,0
$GC,6155,1.19,116.8,315.0,13.1,305,6159,0.00,2.45,0.00,0.000,6,0.000,0.027,3395,1803,2138,0,0,0,0,0,0
$GC,6478,1.19,116.8,279.3,10.7,318,6482,0.00,2.55,0.00,0.000,4,0.000,0.043,3396,3211,2138,0,0,0,0,0,0
$GC,6521,1.19,116.8,274.8,10.4,320,6525,0.00,2.60,0.00,0.000,6,0.000,0.048,3396,1808,2137,0,0,0,0,0,0
$GC,6851,1.19,116.8,243.3,8.5,336,6855,0.00,2.65,0.00,0.000,4,0.000,0.058,3395,392,2136,0,0,0,0,0,0
$GC,6865,1.19,116.8,241.8,8.4,336,6872,0.00,2.50,0.00,0.000,6,0.000,0.027,3395,1801,2134,0,0,0,0,0,0
$GC,7181,1.20,120.7,217.5,7.8,352,7185,0.00,2.65,0.00,0.000,4,0.000,0.058,3396,391,2135,0,0,0,0,0,0
$GC,7196,1.20,120.7,216.1,8.2,352,7203,0.00,2.50,0.00,0.000,6,0.000,0.025,3396,1803,2134,0,0,0,0,0,0
$GC,7515,1.20,123.5,189.9,7.9,374,7520,0.00,2.50,0.00,0.000,4,0.000,0.038,3396,3202,2134,0,0,0,0,0,0
$GC,7562,1.21,129.8,186.2,7.7,378,7578,0.00,2.60,8.40,0.555,6,0.000,0.042,3396,1796,2105,0,0,0,0,0,0
$GC,7833,1.22,139.4,165.1,7.6,404,7852,0.00,2.62,9.93,0.555,4,0.000,0.055,3395,391,2064,0,0,0,0,0,0
$GC,7872,1.22,139.4,161.7,9.7,408,7876,0.00,2.47,0.00,0.000,6,0.000,0.024,3396,1800,2063,0,0,0,0,0,0
$GC,8135,1.22,139.4,138.6,10.1,432,8139,0.00,2.62,0.00,0.000,4,0.000,0.054,3395,389,2062,0,0,0,0,0,0
$GC,8191,1.22,139.4,131.5,12.2,437,8196,0.00,2.47,0.00,0.000,6,0.000,0.024,3396,1803,2060,0,0,0,0,0,0
$GC,8455,1.24,150.2,108.3,7.5,462,8470,0.00,0.00,10.32,0.509,6,0.000,0.000,3396,1807,2021,0,0,0,0,0,0
$GC,8729,1.25,158.7,89.4,7.6,488,8743,0.00,2.67,8.85,0.477,4,0.000,0.052,3395,389,1987,0,0,0,0,0,0
$GC,8878,1.25,158.7,75.4,9.6,504,8885,0.00,2.47,0.00,0.000,6,0.000,0.021,3396,1805,1984,0,0,0,0,0,0
$GC,9143,1.29,191.7,57.1,6.5,529,9182,0.00,2.47,29.62,0.502,4,0.000,0.029,3396,3200,1852,0,0,0,0,0,0
$GC,9195,1.31,209.3,53.3,7.2,534,9219,0.12,2.55,16.73,0.481,6,0.060,0.036,3440,1795,1780,0,0,0,0,0,0
$GC,9482,1.32,217.4,27.0,7.6,564,9496,0.00,2.60,7.85,0.413,4,0.000,0.049,3440,391,1747,0,0,0,0,0,0
$GC,9593,1.32,217.4,18.2,8.7,588,9600,0.00,2.45,0.00,0.000,6,0.000,0.020,3440,1800,1742,0,0,0,0,0,0
$STATE,9777,end climb,SURFACE_DEPTH_REACHED
$STATE,9777,begin surface coast
$FINISH,1.1,1.004472
$STATE,9816,end surface coast,CONTROL_FINISHED_OK
$STATE,9816,begin surface
$SM_CCo,9840,57.42,0.457,0,0,1288,330.17
$SM_GC,1.92,0.00,0.00,57.42,0.000,0.000,0.457,425,2153,1288,-12.48,1.47,330.17
$IRIDIUM_FIX,2036.38,-15754.37,140800,010100
$TT8_MAMPS,0.029146
$HUMID,60.00
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,20.30
$XPDR_PINGS,16
$24V_AH,23.5,32.795
$10V_AH,10.4,31.027
$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,28.650,111.575,287.475,57.425,0.000,29.481,34.354,223.097,8.500,0.000,15.110,1152.956,6437.131,429.741,1757.375,536.428,33.357,1179.143,0.000,1736.407,0.000,29.257,0.000
$DEVICE_MAMPS,134.992,60.593,817.622,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,425.348,416.978,920.097,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,34906,629
$CAP_FILE_SIZE,102741,0
$CFSIZE,260165632,237015040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210511,073044,2044.728,-15758.463,12,1.9,12,9.7