version: 66.06
glider: 139
mission: 9
dive: 409
start: 5 21 111 13 37 48
data:
$ID,139
$MISSION,9
$DIVE,409
$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,-2184451.8
$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,20
$R_STBD_OVSHOOT,43
$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
$GPS1,133006,2045.774,-15759.187,41,1.2,53,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-74.0
$GPS2,133655,2045.782,-15759.187,12,1.4,16,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.162,0.151
$KALMAN_X,47488.7,-201.1,36.2,-55110.2,1800.5
$KALMAN_Y,-29687.8,113.3,363.8,46161.1,-1574.6
$MHEAD_RNG_PITCHd_Wd,303.3,42061,-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,-116.8,0.0,0.0,0,83,0.00,0.00,-64.40,0.000,2,0.000,0.000,428,2110,2970,0,0,0,0,0,0
$GC,87,-1.19,-116.8,3.1,-4.0,12,111,13.15,2.50,-2.85,0.000,4,0.137,0.046,2868,3493,3114,0,0,0,0,0,0
$GC,169,-1.19,-116.8,23.2,-19.7,29,176,0.00,2.53,0.00,0.000,6,0.000,0.037,2868,2100,3115,0,0,0,0,0,0
$GC,376,-1.19,-116.8,62.3,-16.7,51,377,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2100,3116,0,0,0,0,0,0
$GC,630,-1.19,-116.8,101.9,-15.5,75,634,0.00,2.53,0.00,0.000,4,0.000,0.043,2868,685,3117,0,0,0,0,0,0
$GC,893,-1.19,-116.8,137.5,-12.6,103,899,0.00,2.40,0.00,0.000,6,0.000,0.019,2868,2100,3118,0,0,0,0,0,0
$GC,1156,-1.19,-116.8,166.2,-10.0,128,1158,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2101,3118,0,0,0,0,0,0
$GC,1410,-1.19,-116.8,193.3,-10.6,152,1414,0.00,2.50,0.00,0.000,4,0.000,0.042,2868,690,3118,0,0,0,0,0,0
$GC,1463,-1.19,-116.8,199.6,-12.9,157,1468,0.00,2.40,0.00,0.000,6,0.000,0.020,2868,2101,3119,0,0,0,0,0,0
$GC,1722,-1.19,-116.8,226.8,-9.8,170,1723,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2101,3118,0,0,0,0,0,0
$GC,2032,-1.19,-116.8,252.0,-7.3,185,2037,0.00,2.53,0.00,0.000,4,0.000,0.044,2868,691,3119,0,0,0,0,0,0
$GC,2079,-1.19,-116.8,256.1,-9.0,187,2083,0.00,2.42,0.00,0.000,6,0.000,0.022,2868,2108,3118,0,0,0,0,0,0
$GC,2406,-1.19,-116.8,284.6,-9.7,203,2407,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2109,3118,0,0,0,0,0,0
$GC,2732,-1.19,-116.8,308.5,-6.1,216,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2109,3117,0,0,0,0,0,0
$GC,3058,-1.19,-116.8,331.2,-7.5,224,3062,0.00,2.55,0.00,0.000,4,0.000,0.046,2868,684,3116,0,0,0,0,0,0
$GC,3196,-1.19,-116.8,343.4,-8.5,227,3201,0.00,2.42,0.00,0.000,6,0.000,0.025,2868,2094,3115,0,0,0,0,0,0
$GC,3522,-1.19,-116.8,367.5,-7.1,235,3523,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2095,3113,0,0,0,0,0,0
$GC,3845,-1.19,-116.8,388.6,-6.5,243,3849,0.00,2.55,0.00,0.000,4,0.000,0.049,2868,686,3110,0,0,0,0,0,0
$GC,3919,-1.19,-116.8,394.7,-8.3,244,3923,0.00,2.47,0.00,0.000,6,0.000,0.026,2868,2110,3110,0,0,0,0,0,0
$GC,4256,-1.19,-116.8,419.7,-7.5,253,4260,0.00,2.55,0.00,0.000,4,0.000,0.050,2868,690,3108,0,0,0,0,0,0
$GC,4271,-1.19,-116.8,421.0,-7.4,253,4275,0.00,2.45,0.00,0.000,6,0.000,0.027,2868,2098,3108,0,0,0,0,0,0
$GC,4585,-1.19,-116.8,445.6,-7.7,261,4589,0.00,2.58,0.00,0.000,4,0.000,0.051,2868,3499,3106,0,0,0,0,0,0
$STATE,4633,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4633,begin apogee
$GC,4644,-0.31,0.0,450.0,8.8,262,4742,0.93,0.00,94.93,0.814,6,0.084,0.000,3063,1797,2635,0,0,0,0,0,0
$STATE,4743,end apogee,CONTROL_FINISHED_OK
$STATE,4743,begin climb
$GC,4746,1.19,116.8,452.5,0.0,264,4858,1.50,2.75,100.12,0.797,4,0.056,0.060,3393,395,2157,0,0,0,0,0,0
$GC,4878,1.19,116.8,441.0,14.0,267,4882,0.00,2.50,0.00,0.000,6,0.000,0.025,3394,1800,2152,0,0,0,0,0,0
$GC,5201,1.19,116.8,398.6,13.1,275,5205,0.00,2.58,0.00,0.000,4,0.000,0.043,3394,3209,2147,0,0,0,0,0,0
$GC,5244,1.19,116.8,393.1,11.8,276,5249,0.00,2.65,0.00,0.000,6,0.000,0.050,3394,1798,2146,0,0,0,0,0,0
$GC,5574,1.19,116.8,353.1,11.9,284,5578,0.00,2.62,0.00,0.000,4,0.000,0.060,3394,394,2143,0,0,0,0,0,0
$GC,5602,1.19,116.8,349.3,12.4,284,5607,0.00,2.47,0.00,0.000,6,0.000,0.027,3394,1803,2140,0,0,0,0,0,0
$GC,5938,1.19,116.8,315.5,9.7,293,5943,0.00,2.67,0.00,0.000,4,0.000,0.060,3394,393,2140,0,0,0,0,0,0
$GC,5971,1.19,116.8,311.8,11.5,293,5976,0.00,2.50,0.00,0.000,6,0.000,0.026,3395,1808,2138,0,0,0,0,0,0
$GC,6287,1.19,116.8,280.0,9.5,305,6288,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1813,2138,0,0,0,0,0,0
$GC,6594,1.20,117.5,254.6,8.0,320,6599,0.00,2.50,0.00,0.000,4,0.000,0.041,3394,3210,2136,0,0,0,0,0,0
$GC,6669,1.21,126.8,248.7,7.6,323,6683,0.00,2.60,6.45,0.559,6,0.000,0.047,3394,1794,2116,0,0,0,0,0,0
$GC,6994,1.21,126.8,221.7,9.2,339,6999,0.00,2.58,0.00,0.000,4,0.000,0.038,3394,3207,2114,0,0,0,0,0,0
$GC,7039,1.21,126.8,217.5,9.3,341,7043,0.00,2.60,0.00,0.000,6,0.000,0.045,3394,1799,2114,0,0,0,0,0,0
$GC,7362,1.21,126.8,188.3,8.1,362,7363,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1798,2113,0,0,0,0,0,0
$GC,7616,1.22,139.3,168.6,7.4,386,7636,0.00,2.60,11.70,0.565,4,0.000,0.035,3394,3206,2067,0,0,0,0,0,0
$GC,7696,1.22,139.3,162.2,8.2,394,7703,0.00,2.62,0.00,0.000,6,0.000,0.042,3394,1797,2067,0,0,0,0,0,0
$GC,7959,1.22,139.3,140.0,9.7,419,7963,0.00,2.58,0.00,0.000,4,0.000,0.054,3394,392,2065,0,0,0,0,0,0
$GC,8022,1.22,139.3,133.1,11.6,425,8026,0.00,2.45,0.00,0.000,6,0.000,0.022,3394,1806,2062,0,0,0,0,0,0
$GC,8286,1.27,174.7,112.9,6.4,449,8324,0.00,2.70,31.98,0.555,4,0.000,0.051,3394,389,1921,0,0,0,0,0,0
$GC,8348,1.27,174.7,108.2,8.4,455,8354,0.00,2.47,0.00,0.000,6,0.000,0.021,3394,1808,1917,0,0,0,0,0,0
$GC,8611,1.30,205.8,89.1,6.6,480,8648,0.12,2.47,27.33,0.527,4,0.061,0.030,3437,3198,1795,0,0,0,0,0,0
$GC,8661,1.30,205.8,84.8,9.5,485,8666,0.00,2.58,0.00,0.000,6,0.000,0.038,3437,1799,1795,0,0,0,0,0,0
$GC,8925,1.30,205.8,59.8,9.1,509,8930,0.00,2.60,0.00,0.000,4,0.000,0.051,3437,390,1792,0,0,0,0,0,0
$GC,9004,1.30,205.8,50.9,11.7,517,9009,0.00,2.42,0.00,0.000,6,0.000,0.020,3437,1798,1788,0,0,0,0,0,0
$GC,9270,1.30,205.8,24.3,8.5,547,9277,0.00,2.47,0.00,0.000,4,0.000,0.029,3437,3195,1788,0,0,0,0,0,0
$GC,9297,1.30,205.8,22.1,8.2,552,9304,0.00,2.55,0.00,0.000,6,0.000,0.036,3437,1800,1788,0,0,0,0,0,0
$GC,9500,1.33,227.0,6.5,7.0,589,9523,0.00,0.00,18.77,0.445,6,0.000,0.000,3437,1800,1708,0,0,0,0,0,0
$STATE,9550,end climb,SURFACE_DEPTH_REACHED
$STATE,9550,begin surface coast
$FINISH,1.1,0.998872
$STATE,9594,end surface coast,CONTROL_FINISHED_OK
$STATE,9597,begin surface
$SM_CCo,9621,52.80,0.454,0,0,1288,330.17
$SM_GC,1.88,0.00,0.00,52.80,0.000,0.000,0.454,428,2148,1288,-12.46,1.36,330.17
$IRIDIUM_FIX,2036.38,-15802.50,140800,101052
$TT8_MAMPS,0.028379
$HUMID,59.21
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,20.10
$XPDR_PINGS,8
$24V_AH,23.3,33.063
$10V_AH,10.4,31.272
$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,28.625,102.600,291.275,52.800,0.000,23.407,34.153,225.136,6.500,0.000,16.113,1108.807,6352.701,392.718,1706.768,522.814,33.360,1139.799,0.000,1688.312,0.000,31.691,0.000
$DEVICE_MAMPS,136.526,59.826,813.787,454.064,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.669,403.526,877.792,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,34890,606
$CAP_FILE_SIZE,100201,0
$CFSIZE,260165632,236867584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210511,162030,2045.990,-15759.714,43,1.0,48,9.8