version: 66.06
glider: 139
mission: 9
dive: 408
start: 5 21 111 10 40 43
data:
$ID,139
$MISSION,9
$DIVE,408
$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,-2184435
$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,64
$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
$GPS1,102907,2045.527,-15758.779,42,1.1,42,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-71.9
$GPS2,103950,2045.517,-15758.762,17,1.6,17,9.8
$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,46470.7,-202.5,-411.0,-52910.4,2204.8
$KALMAN_Y,-29127.8,316.8,238.0,45036.4,-1065.5
$MHEAD_RNG_PITCHd_Wd,287.3,42640,-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,-64.40,0.000,2,0.000,0.000,426,2133,2972,0,0,0,0,0,0
$GC,86,-1.19,-116.8,3.1,-3.8,12,110,13.12,2.42,-2.90,0.000,4,0.135,0.046,2870,3473,3114,0,0,0,0,0,0
$GC,297,-1.19,-116.8,48.3,-19.0,48,301,0.00,2.42,0.00,0.000,6,0.000,0.035,2870,2093,3115,0,0,0,0,0,0
$GC,558,-1.19,-116.8,92.3,-15.4,72,563,0.00,2.53,0.00,0.000,4,0.000,0.041,2870,687,3116,0,0,0,0,0,0
$GC,568,-1.19,-116.8,94.0,-14.8,72,575,0.00,2.40,0.00,0.000,6,0.000,0.020,2871,2082,3116,0,0,0,0,0,0
$GC,835,-1.19,-116.8,124.8,-11.1,97,839,0.00,2.47,0.00,0.000,4,0.000,0.042,2870,690,3117,0,0,0,0,0,0
$GC,861,-1.19,-116.8,128.3,-11.9,99,865,0.00,2.40,0.00,0.000,6,0.000,0.021,2870,2096,3117,0,0,0,0,0,0
$GC,1125,-1.19,-116.8,155.1,-8.4,123,1130,0.00,2.53,0.00,0.000,4,0.000,0.041,2870,688,3118,0,0,0,0,0,0
$GC,1200,-1.19,-116.8,162.7,-10.2,130,1207,0.00,2.42,0.00,0.000,6,0.000,0.020,2870,2099,3118,0,0,0,0,0,0
$GC,1465,-1.19,-116.8,186.1,-8.8,155,1469,0.00,2.53,0.00,0.000,4,0.000,0.038,2870,3504,3118,0,0,0,0,0,0
$GC,1527,-1.19,-116.8,191.9,-9.0,161,1532,0.00,2.47,0.00,0.000,6,0.000,0.034,2870,2089,3117,0,0,0,0,0,0
$GC,1785,-1.19,-116.8,214.8,-9.0,177,1789,0.00,2.50,0.00,0.000,4,0.000,0.036,2870,3498,3118,0,0,0,0,0,0
$GC,1799,-1.19,-116.8,216.3,-8.5,177,1805,0.00,2.47,0.00,0.000,6,0.000,0.035,2870,2099,3118,0,0,0,0,0,0
$GC,2117,-1.19,-116.8,241.2,-8.1,193,2122,0.00,2.55,0.00,0.000,4,0.000,0.045,2870,688,3117,0,0,0,0,0,0
$GC,2191,-1.19,-116.8,248.3,-8.1,196,2196,0.00,2.40,0.00,0.000,6,0.000,0.021,2870,2098,3117,0,0,0,0,0,0
$GC,2512,-1.19,-116.8,276.7,-9.8,212,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2098,3116,0,0,0,0,0,0
$GC,2841,-1.19,-116.8,304.5,-7.5,227,2846,0.00,2.55,0.00,0.000,4,0.000,0.046,2870,686,3115,0,0,0,0,0,0
$GC,2893,-1.19,-116.8,308.7,-8.2,228,2897,0.00,2.40,0.00,0.000,6,0.000,0.024,2870,2097,3115,0,0,0,0,0,0
$GC,3212,-1.19,-116.8,332.7,-7.2,236,3216,0.00,2.55,0.00,0.000,4,0.000,0.048,2870,689,3113,0,0,0,0,0,0
$GC,3317,-1.19,-116.8,340.1,-7.6,238,3321,0.00,2.42,0.00,0.000,6,0.000,0.025,2870,2098,3112,0,0,0,0,0,0
$GC,3633,-1.19,-116.8,363.6,-7.8,246,3637,0.00,2.55,0.00,0.000,4,0.000,0.048,2870,3498,3110,0,0,0,0,0,0
$GC,3657,-1.19,-116.8,365.7,-7.8,246,3662,0.00,2.50,0.00,0.000,6,0.000,0.041,2869,2104,3110,0,0,0,0,0,0
$GC,3998,-1.19,-116.8,391.4,-7.6,255,4003,0.00,2.58,0.00,0.000,4,0.000,0.051,2870,685,3108,0,0,0,0,0,0
$GC,4082,-1.19,-116.8,398.6,-7.9,256,4088,0.00,2.47,0.00,0.000,6,0.000,0.026,2870,2107,3107,0,0,0,0,0,0
$GC,4414,-1.19,-116.8,418.4,-6.0,265,4418,0.00,2.60,0.00,0.000,4,0.000,0.051,2869,685,3106,0,0,0,0,0,0
$GC,4489,-1.19,-116.8,423.4,-7.0,266,4493,0.00,2.47,0.00,0.000,6,0.000,0.027,2869,2107,3105,0,0,0,0,0,0
$GC,4825,-1.19,-116.8,445.9,-6.9,275,4830,0.00,2.55,0.00,0.000,4,0.000,0.051,2870,3498,3103,0,0,0,0,0,0
$STATE,4879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4879,begin apogee
$GC,4889,-0.31,0.0,450.2,7.4,276,4987,0.93,0.00,94.30,0.817,6,0.083,0.000,3064,1799,2634,0,0,0,0,0,0
$STATE,4988,end apogee,CONTROL_FINISHED_OK
$STATE,4988,begin climb
$GC,4991,1.19,116.8,452.0,0.0,278,5103,1.50,2.70,99.90,0.801,4,0.054,0.061,3395,398,2156,0,0,0,0,0,0
$GC,5131,1.19,116.8,438.0,15.5,281,5136,0.00,2.50,0.00,0.000,6,0.000,0.026,3396,1798,2151,0,0,0,0,0,0
$GC,5445,1.19,116.8,400.7,11.5,289,5446,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1802,2145,0,0,0,0,0,0
$GC,5771,1.19,116.8,366.3,10.3,297,5775,0.00,2.67,0.00,0.000,4,0.000,0.060,3396,394,2142,0,0,0,0,0,0
$GC,5799,1.19,116.8,362.6,12.5,297,5804,0.00,2.47,0.00,0.000,6,0.000,0.027,3396,1802,2139,0,0,0,0,0,0
$GC,6135,1.19,116.8,325.0,11.5,306,6139,0.00,2.55,0.00,0.000,4,0.000,0.042,3396,3213,2139,0,0,0,0,0,0
$GC,6150,1.19,116.8,323.3,11.3,306,6154,0.00,2.62,0.00,0.000,6,0.000,0.047,3396,1798,2139,0,0,0,0,0,0
$GC,6482,1.19,116.8,286.4,10.9,317,6483,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1798,2137,0,0,0,0,0,0
$GC,6790,1.19,116.8,256.4,9.0,332,6791,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1798,2136,0,0,0,0,0,0
$GC,7101,1.19,116.8,227.5,8.5,347,7106,0.00,2.58,0.00,0.000,4,0.000,0.040,3396,3213,2135,0,0,0,0,0,0
$GC,7171,1.21,127.0,221.9,7.6,350,7183,0.00,2.60,6.00,0.535,6,0.000,0.046,3396,1799,2117,0,0,0,0,0,0
$GC,7503,1.21,127.0,195.6,8.6,368,7504,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1799,2115,0,0,0,0,0,0
$GC,7755,1.21,133.1,174.4,7.7,392,7767,0.00,2.62,6.78,0.526,4,0.000,0.035,3396,3210,2092,0,0,0,0,0,0
$GC,7801,1.21,133.1,170.7,8.3,396,7807,0.00,2.62,0.00,0.000,6,0.000,0.043,3396,1801,2092,0,0,0,0,0,0
$GC,8066,1.22,136.3,151.5,7.9,421,8077,0.00,2.62,4.43,0.420,4,0.000,0.056,3396,390,2078,0,0,0,0,0,0
$GC,8108,1.22,136.3,147.6,9.5,425,8112,0.00,2.45,0.00,0.000,6,0.000,0.023,3396,1808,2076,0,0,0,0,0,0
$GC,8373,1.22,136.3,127.2,8.3,449,8377,0.00,2.62,0.00,0.000,4,0.000,0.053,3396,392,2075,0,0,0,0,0,0
$GC,8399,1.22,136.3,124.5,10.0,451,8403,0.00,2.45,0.00,0.000,6,0.000,0.022,3396,1802,2075,0,0,0,0,0,0
$GC,8664,1.22,136.3,103.0,8.0,475,8668,0.00,2.60,0.00,0.000,4,0.000,0.051,3396,392,2075,0,0,0,0,0,0
$GC,8698,1.22,136.3,100.0,8.2,478,8702,0.00,2.42,0.00,0.000,6,0.000,0.022,3396,1805,2074,0,0,0,0,0,0
$GC,8961,1.26,172.7,84.6,6.4,502,9001,0.00,2.58,32.38,0.531,4,0.000,0.031,3396,3205,1929,0,0,0,0,0,0
$GC,9017,1.28,190.1,80.6,7.2,508,9040,0.00,2.58,16.48,0.502,6,0.000,0.037,3396,1801,1859,0,0,0,0,0,0
$GC,9303,1.31,206.8,58.8,7.3,535,9325,0.10,2.62,15.10,0.478,4,0.072,0.051,3433,394,1790,0,0,0,0,0,0
$GC,9412,1.31,206.8,48.0,9.4,546,9419,0.00,2.45,0.00,0.000,6,0.000,0.021,3434,1798,1785,0,0,0,0,0,0
$GC,9678,1.32,221.3,26.4,7.4,575,9697,0.00,2.62,13.18,0.446,4,0.000,0.051,3433,393,1732,0,0,0,0,0,0
$GC,9734,1.32,221.3,21.5,10.1,586,9741,0.00,2.45,0.00,0.000,6,0.000,0.019,3434,1796,1728,0,0,0,0,0,0
$GC,9938,1.32,221.3,3.2,10.2,623,9945,0.00,2.62,0.00,0.000,4,0.000,0.051,3433,397,1728,0,0,0,0,0,0
$STATE,9950,end climb,SURFACE_DEPTH_REACHED
$STATE,9950,begin surface coast
$FINISH,1.0,1.022870
$STATE,9985,end surface coast,CONTROL_FINISHED_OK
$STATE,9985,begin surface
$SM_CCo,10012,57.85,0.456,0,0,1288,330.17
$SM_GC,1.86,0.00,0.00,57.85,0.000,0.000,0.456,429,2107,1288,-12.46,0.20,330.17
$IRIDIUM_FIX,2036.38,-15757.37,140800,101054
$TT8_MAMPS,0.029146
$HUMID,58.58
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,20.60
$XPDR_PINGS,12
$24V_AH,23.5,32.980
$10V_AH,10.4,31.194
$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,28.550,127.375,288.525,57.850,0.000,56.054,74.416,309.383,7.500,0.000,17.386,1172.018,6641.312,409.306,1767.900,723.340,33.356,1189.008,0.000,1750.933,0.000,29.256,0.000
$DEVICE_MAMPS,134.992,60.593,816.855,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,428.392,421.086,920.290,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,34967,633
$CAP_FILE_SIZE,110632,0
$CFSIZE,260165632,236908544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210511,133006,2045.774,-15759.187,41,1.2,53,9.8