version: 66.06
glider: 139
mission: 9
dive: 407
start: 5 21 111 7 42 46
data:
$ID,139
$MISSION,9
$DIVE,407
$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,-2184416.8
$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,17
$R_STBD_OVSHOOT,82
$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
$GPS1,073044,2044.728,-15758.463,12,1.9,12,9.7
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-73.7
$GPS2,074154,2044.740,-15758.442,14,1.9,18,9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.151,0.162
$KALMAN_X,45126.5,-170.8,-238.0,-51218.7,1491.0
$KALMAN_Y,-28280.0,348.2,-264.5,43219.2,-377.8
$MHEAD_RNG_PITCHd_Wd,307.2,44142,-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,16,-1.19,-116.8,0.0,0.0,0,87,0.00,0.00,-69.07,0.000,6,0.000,0.000,425,2155,3112,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.4,-3.3,13,110,13.20,2.35,0.00,0.000,4,0.137,0.033,2869,3467,3114,0,0,0,0,0,0
$GC,177,-1.19,-116.8,27.1,-19.6,31,183,0.00,2.47,0.00,0.000,6,0.000,0.033,2868,2092,3116,0,0,0,0,0,0
$GC,377,-1.19,-116.8,62.6,-18.5,51,379,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2092,3116,0,0,0,0,0,0
$GC,632,-1.19,-116.8,99.8,-12.7,75,637,0.00,2.42,0.00,0.000,4,0.000,0.032,2869,3463,3117,0,0,0,0,0,0
$GC,662,-1.19,-116.8,103.8,-12.2,78,666,0.00,2.42,0.00,0.000,6,0.000,0.032,2869,2090,3117,0,0,0,0,0,0
$GC,925,-1.19,-116.8,133.3,-10.2,102,929,0.00,2.53,0.00,0.000,4,0.000,0.042,2869,687,3117,0,0,0,0,0,0
$GC,1007,-1.19,-116.8,141.3,-9.3,110,1014,0.00,2.35,0.00,0.000,6,0.000,0.019,2869,2054,3117,0,0,0,0,0,0
$GC,1273,-1.19,-116.8,165.6,-9.5,135,1277,0.00,2.45,0.00,0.000,4,0.000,0.043,2869,689,3117,0,0,0,0,0,0
$GC,1383,-1.19,-116.8,177.7,-10.2,146,1390,0.00,2.42,0.00,0.000,6,0.000,0.021,2869,2098,3118,0,0,0,0,0,0
$GC,1648,-1.19,-116.8,205.0,-11.6,169,1652,0.00,2.50,0.00,0.000,4,0.000,0.038,2869,3497,3118,0,0,0,0,0,0
$GC,1770,-1.19,-116.8,216.6,-7.8,174,1774,0.00,2.47,0.00,0.000,6,0.000,0.035,2869,2100,3117,0,0,0,0,0,0
$GC,2090,-1.19,-116.8,241.9,-7.1,190,2095,0.00,2.58,0.00,0.000,4,0.000,0.045,2869,686,3118,0,0,0,0,0,0
$GC,2233,-1.19,-116.8,253.7,-8.4,196,2238,0.00,2.40,0.00,0.000,6,0.000,0.022,2869,2105,3117,0,0,0,0,0,0
$GC,2556,-1.19,-116.8,281.0,-9.0,212,2561,0.00,2.50,0.00,0.000,4,0.000,0.043,2869,3502,3116,0,0,0,0,0,0
$GC,2682,-1.19,-116.8,293.5,-9.8,217,2687,0.00,2.50,0.00,0.000,6,0.000,0.038,2869,2100,3116,0,0,0,0,0,0
$GC,3015,-1.19,-116.8,319.2,-7.0,227,3019,0.00,2.53,0.00,0.000,4,0.000,0.048,2869,693,3114,0,0,0,0,0,0
$GC,3039,-1.19,-116.8,320.8,-6.7,227,3043,0.00,2.42,0.00,0.000,6,0.000,0.025,2869,2098,3114,0,0,0,0,0,0
$GC,3380,-1.19,-116.8,344.9,-7.4,236,3384,0.00,2.55,0.00,0.000,4,0.000,0.047,2869,3498,3113,0,0,0,0,0,0
$GC,3413,-1.19,-116.8,347.8,-8.5,236,3417,0.00,2.53,0.00,0.000,6,0.000,0.041,2869,2093,3112,0,0,0,0,0,0
$GC,3744,-1.19,-116.8,374.5,-8.0,244,3749,0.00,2.58,0.00,0.000,4,0.000,0.051,2869,685,3110,0,0,0,0,0,0
$GC,3935,-1.19,-116.8,388.3,-6.4,248,3939,0.00,2.45,0.00,0.000,6,0.000,0.027,2869,2098,3109,0,0,0,0,0,0
$GC,4254,-1.19,-116.8,409.9,-7.0,256,4258,0.00,2.55,0.00,0.000,4,0.000,0.051,2869,691,3107,0,0,0,0,0,0
$GC,4273,-1.19,-116.8,411.7,-8.8,256,4277,0.00,2.45,0.00,0.000,6,0.000,0.028,2869,2106,3107,0,0,0,0,0,0
$GC,4619,-1.19,-116.8,436.1,-7.1,265,4620,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2109,3104,0,0,0,0,0,0
$STATE,4818,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4818,begin apogee
$GC,4825,-0.31,0.0,450.2,6.9,270,4923,0.95,0.00,94.65,0.818,6,0.082,0.000,3066,1794,2635,0,0,0,0,0,0
$STATE,4924,end apogee,CONTROL_FINISHED_OK
$STATE,4924,begin climb
$GC,4927,1.19,116.8,451.8,0.0,272,5039,1.48,2.72,100.38,0.797,4,0.054,0.061,3394,403,2157,0,0,0,0,0,0
$GC,5055,1.19,116.8,439.0,14.5,275,5060,0.00,2.50,0.00,0.000,6,0.000,0.025,3394,1804,2153,0,0,0,0,0,0
$GC,5383,1.19,116.8,393.1,13.5,283,5388,0.00,2.55,0.00,0.000,4,0.000,0.043,3394,3203,2146,0,0,0,0,0,0
$GC,5402,1.19,116.8,390.6,12.9,283,5407,0.00,2.62,0.00,0.000,6,0.000,0.048,3394,1801,2146,0,0,0,0,0,0
$GC,5748,1.19,116.8,349.0,11.1,292,5752,0.00,2.65,0.00,0.000,4,0.000,0.060,3394,393,2143,0,0,0,0,0,0
$GC,5832,1.19,116.8,339.9,11.4,293,5837,0.00,2.47,0.00,0.000,6,0.000,0.027,3394,1799,2139,0,0,0,0,0,0
$GC,6163,1.19,116.8,311.0,9.1,302,6167,0.00,2.55,0.00,0.000,4,0.000,0.043,3394,3204,2138,0,0,0,0,0,0
$GC,6191,1.19,116.8,308.2,9.6,302,6195,0.00,2.60,0.00,0.000,6,0.000,0.049,3394,1794,2138,0,0,0,0,0,0
$GC,6511,1.19,116.8,276.9,9.6,316,6515,0.00,2.58,0.00,0.000,4,0.000,0.042,3394,3210,2137,0,0,0,0,0,0
$GC,6532,1.19,116.8,274.8,10.4,317,6536,0.00,2.60,0.00,0.000,6,0.000,0.044,3394,1791,2137,0,0,0,0,0,0
$GC,6863,1.19,116.8,244.5,9.2,333,6864,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1791,2135,0,0,0,0,0,0
$GC,7171,1.21,130.6,220.7,7.4,348,7187,0.00,2.62,9.05,0.588,4,0.000,0.057,3394,389,2101,0,0,0,0,0,0
$GC,7234,1.21,130.6,214.0,10.8,350,7241,0.00,2.50,0.00,0.000,6,0.000,0.026,3394,1798,2099,0,0,0,0,0,0
$GC,7555,1.21,130.6,185.9,8.0,374,7559,0.00,2.50,0.00,0.000,4,0.000,0.038,3394,3204,2099,0,0,0,0,0,0
$GC,7609,1.21,130.6,181.3,9.6,379,7613,0.00,2.60,0.00,0.000,6,0.000,0.044,3394,1794,2099,0,0,0,0,0,0
$GC,7873,1.21,130.6,157.5,8.8,403,7877,0.00,2.58,0.00,0.000,4,0.000,0.056,3394,392,2099,0,0,0,0,0,0
$GC,7907,1.21,130.6,153.8,10.7,406,7911,0.00,2.45,0.00,0.000,6,0.000,0.024,3394,1804,2097,0,0,0,0,0,0
$GC,8170,1.24,152.3,131.4,7.0,430,8200,0.00,2.67,19.55,0.568,4,0.000,0.053,3393,392,2013,0,0,0,0,0,0
$GC,8222,1.24,152.3,127.6,8.6,435,8226,0.00,2.47,0.00,0.000,6,0.000,0.023,3395,1803,2010,0,0,0,0,0,0
$GC,8487,1.28,190.0,110.7,6.3,459,8528,0.10,2.72,33.55,0.558,4,0.073,0.054,3430,399,1860,0,0,0,0,0,0
$GC,8588,1.28,190.0,99.3,12.0,470,8593,0.00,2.45,0.00,0.000,6,0.000,0.022,3430,1798,1854,0,0,0,0,0,0
$GC,8852,1.28,190.0,74.0,8.8,494,8857,0.00,2.50,0.00,0.000,4,0.000,0.031,3430,3212,1854,0,0,0,0,0,0
$GC,8889,1.28,190.0,70.5,8.1,497,8896,0.00,2.60,0.00,0.000,6,0.000,0.038,3430,1796,1854,0,0,0,0,0,0
$GC,9154,1.29,190.9,50.6,8.0,522,9158,0.00,2.60,0.00,0.000,4,0.000,0.052,3430,389,1854,0,0,0,0,0,0
$GC,9180,1.29,190.9,48.0,9.4,524,9184,0.00,2.45,0.00,0.000,6,0.000,0.021,3429,1807,1852,0,0,0,0,0,0
$GC,9445,1.29,197.4,26.9,7.7,551,9458,0.00,0.00,6.88,0.401,6,0.000,0.000,3431,1813,1829,0,0,0,0,0,0
$GC,9653,1.34,235.0,13.1,6.3,589,9693,0.00,0.00,33.00,0.466,6,0.000,0.000,3431,1813,1676,0,0,0,0,0,0
$STATE,9787,end climb,SURFACE_DEPTH_REACHED
$STATE,9787,begin surface coast
$FINISH,1.0,1.010518
$STATE,9824,end surface coast,CONTROL_FINISHED_OK
$STATE,9824,begin surface
$SM_CCo,9849,49.70,0.454,0,0,1288,330.17
$SM_GC,1.85,0.00,0.00,49.70,0.000,0.000,0.454,427,2133,1288,-12.47,0.93,330.17
$IRIDIUM_FIX,2036.38,-15759.50,140800,070736
$TT8_MAMPS,0.029146
$HUMID,59.41
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,20.60
$XPDR_PINGS,18
$24V_AH,23.5,32.889
$10V_AH,10.4,31.110
$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,28.550,117.025,297.050,49.700,0.000,55.593,81.377,333.246,9.000,0.000,19.006,1151.841,6467.255,404.866,1789.457,755.937,33.360,1194.897,0.000,1774.920,0.000,29.259,0.000
$DEVICE_MAMPS,136.526,60.593,818.389,454.064,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,419.290,416.229,910.275,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355800
$DATA_FILE_SIZE,34849,620
$CAP_FILE_SIZE,108247,0
$CFSIZE,260165632,236961792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210511,102907,2045.527,-15758.779,42,1.1,42,9.8