version: 66.06
glider: 139
mission: 9
dive: 410
start: 5 21 111 16 28 42
data:
$ID,139
$MISSION,9
$DIVE,410
$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,-2184468.5
$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,69
$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
$GPS1,162030,2045.990,-15759.714,43,1.0,48,9.8
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-75.8
$GPS2,162749,2046.002,-15759.681,10,1.3,15,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.100,0.198
$KALMAN_X,48268.6,-199.4,196.8,-56908.4,1017.4
$KALMAN_Y,-30272.7,-103.1,-121.1,47855.0,-1119.4
$MHEAD_RNG_PITCHd_Wd,323.2,41564,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.19,-116.8,0.0,0.0,0,85,0.00,0.00,-64.60,0.000,2,0.000,0.000,427,2152,2969,0,0,0,0,0,0
$GC,89,-1.19,-116.8,3.1,-2.9,12,113,13.07,2.40,-2.90,0.000,4,0.133,0.047,2869,3468,3114,0,0,0,0,0,0
$GC,365,-1.19,-116.8,56.6,-14.6,55,371,0.00,2.47,0.00,0.000,6,0.000,0.036,2870,2096,3116,0,0,0,0,0,0
$GC,626,-1.19,-116.8,99.6,-14.6,80,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2096,3117,0,0,0,0,0,0
$GC,881,-1.19,-116.8,128.2,-10.6,104,885,0.00,2.53,0.00,0.000,4,0.000,0.043,2869,681,3118,0,0,0,0,0,0
$GC,979,-1.19,-116.8,138.4,-11.0,114,983,0.00,2.38,0.00,0.000,6,0.000,0.020,2869,2074,3118,0,0,0,0,0,0
$GC,1240,-1.19,-116.8,165.0,-10.2,138,1244,0.00,2.50,0.00,0.000,4,0.000,0.037,2869,3496,3118,0,0,0,0,0,0
$GC,1274,-1.19,-116.8,168.6,-10.6,141,1279,0.00,2.47,0.00,0.000,6,0.000,0.032,2869,2092,3119,0,0,0,0,0,0
$GC,1540,-1.19,-116.8,198.3,-12.1,165,1545,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2092,3119,0,0,0,0,0,0
$GC,1805,-1.19,-116.8,226.0,-9.6,179,1809,0.00,2.50,0.00,0.000,4,0.000,0.044,2868,689,3119,0,0,0,0,0,0
$GC,1850,-1.19,-116.8,230.8,-10.9,181,1854,0.00,2.40,0.00,0.000,6,0.000,0.021,2869,2097,3118,0,0,0,0,0,0
$GC,2186,-1.19,-116.8,257.0,-7.9,197,2190,0.00,2.50,0.00,0.000,4,0.000,0.041,2869,3504,3118,0,0,0,0,0,0
$GC,2223,-1.19,-116.8,260.7,-8.6,198,2230,0.00,2.50,0.00,0.000,6,0.000,0.035,2869,2105,3118,0,0,0,0,0,0
$GC,2539,-1.19,-116.8,287.4,-7.5,214,2544,0.00,2.58,0.00,0.000,4,0.000,0.046,2869,681,3117,0,0,0,0,0,0
$GC,2656,-1.19,-116.8,296.2,-7.6,219,2661,0.00,2.45,0.00,0.000,6,0.000,0.023,2869,2105,3117,0,0,0,0,0,0
$GC,3004,-1.19,-116.8,322.1,-7.4,229,3008,0.00,2.55,0.00,0.000,4,0.000,0.047,2869,683,3116,0,0,0,0,0,0
$GC,3175,-1.19,-116.8,337.1,-8.4,232,3180,0.00,2.45,0.00,0.000,6,0.000,0.025,2869,2099,3115,0,0,0,0,0,0
$GC,3507,-1.19,-116.8,359.2,-6.0,240,3512,0.00,2.58,0.00,0.000,4,0.000,0.048,2869,3499,3113,0,0,0,0,0,0
$GC,3523,-1.19,-116.8,360.1,-5.6,240,3527,0.00,2.53,0.00,0.000,6,0.000,0.041,2869,2097,3113,0,0,0,0,0,0
$GC,3873,-1.19,-116.8,379.9,-5.7,249,3878,0.00,2.55,0.00,0.000,4,0.000,0.051,2869,691,3110,0,0,0,0,0,0
$GC,3972,-1.19,-116.8,387.0,-7.4,251,3976,0.00,2.45,0.00,0.000,6,0.000,0.027,2869,2100,3110,0,0,0,0,0,0
$GC,4297,-1.19,-116.8,405.6,-5.5,259,4298,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2101,3107,0,0,0,0,0,0
$GC,4620,-1.19,-116.8,426.4,-6.6,267,4624,0.00,2.58,0.00,0.000,4,0.000,0.051,2869,3504,3106,0,0,0,0,0,0
$GC,4681,-1.19,-116.8,431.3,-7.2,268,4686,0.00,2.53,0.00,0.000,6,0.000,0.044,2869,2099,3105,0,0,0,0,0,0
$STATE,4947,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4947,begin apogee
$GC,4954,-0.31,0.0,450.6,6.9,275,5053,0.95,0.00,95.07,0.821,6,0.081,0.000,3067,1793,2635,0,0,0,0,0,0
$STATE,5054,end apogee,CONTROL_FINISHED_OK
$STATE,5054,begin climb
$GC,5057,1.19,116.8,452.5,0.0,277,5169,1.48,2.72,100.43,0.801,4,0.053,0.061,3394,406,2157,0,0,0,0,0,0
$GC,5203,1.19,116.8,439.2,13.7,280,5207,0.00,2.47,0.00,0.000,6,0.000,0.025,3394,1799,2151,0,0,0,0,0,0
$GC,5552,1.19,116.8,399.5,11.4,289,5557,0.00,2.58,0.00,0.000,4,0.000,0.044,3394,3204,2145,0,0,0,0,0,0
$GC,5595,1.19,116.8,393.9,13.4,290,5600,0.00,2.62,0.00,0.000,6,0.000,0.051,3394,1810,2145,0,0,0,0,0,0
$GC,5924,1.19,116.8,352.0,12.7,298,5928,0.00,2.65,0.00,0.000,4,0.000,0.061,3394,393,2142,0,0,0,0,0,0
$GC,5961,1.19,116.8,346.4,14.7,298,5967,0.00,2.47,0.00,0.000,6,0.000,0.027,3394,1801,2138,0,0,0,0,0,0
$GC,6292,1.19,116.8,306.2,11.7,307,6294,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1802,2138,0,0,0,0,0,0
$GC,6601,1.19,116.8,274.0,9.7,320,6602,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1802,2137,0,0,0,0,0,0
$GC,6913,1.19,116.8,244.3,9.2,335,6917,0.00,2.55,0.00,0.000,4,0.000,0.042,3394,3213,2136,0,0,0,0,0,0
$GC,6927,1.19,116.8,242.5,9.2,335,6933,0.00,2.62,0.00,0.000,6,0.000,0.045,3394,1791,2136,0,0,0,0,0,0
$GC,7245,1.22,141.2,218.2,6.9,351,7270,0.00,2.65,18.42,0.643,4,0.000,0.038,3394,3201,2058,0,0,0,0,0,0
$GC,7309,1.23,145.0,213.3,7.8,353,7321,0.00,2.60,5.15,0.489,6,0.000,0.045,3394,1799,2043,0,0,0,0,0,0
$GC,7642,1.23,145.0,183.5,9.7,377,7646,0.00,2.60,0.00,0.000,4,0.000,0.057,3394,393,2039,0,0,0,0,0,0
$GC,7685,1.23,145.0,178.7,11.2,381,7690,0.00,2.45,0.00,0.000,6,0.000,0.025,3394,1802,2036,0,0,0,0,0,0
$GC,7950,1.23,145.0,153.6,9.4,405,7955,0.00,2.65,0.00,0.000,4,0.000,0.055,3394,392,2036,0,0,0,0,0,0
$GC,7966,1.23,145.0,151.6,10.6,406,7970,0.00,2.47,0.00,0.000,6,0.000,0.024,3394,1813,2036,0,0,0,0,0,0
$GC,8229,1.25,165.2,129.9,7.1,430,8252,0.00,2.50,18.10,0.564,4,0.000,0.035,3394,3197,1960,0,0,0,0,0,0
$GC,8309,1.26,173.6,124.0,7.6,438,8324,0.00,2.60,8.75,0.503,6,0.000,0.042,3394,1802,1926,0,0,0,0,0,0
$GC,8579,1.26,173.6,100.9,8.7,464,8584,0.00,2.60,0.00,0.000,4,0.000,0.054,3394,390,1924,0,0,0,0,0,0
$GC,8695,1.26,173.6,89.5,9.4,476,8699,0.00,2.45,0.00,0.000,6,0.000,0.021,3394,1800,1920,0,0,0,0,0,0
$GC,8960,1.31,208.6,72.6,6.4,500,9000,0.12,2.72,30.70,0.519,4,0.062,0.052,3437,394,1783,0,0,0,0,0,0
$GC,9043,1.31,208.6,65.3,10.7,508,9047,0.00,2.45,0.00,0.000,6,0.000,0.021,3437,1803,1779,0,0,0,0,0,0
$GC,9309,1.31,208.6,39.3,9.5,532,9315,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,1808,1780,0,0,0,0,0,0
$GC,9574,1.32,215.5,17.2,7.7,571,9587,0.00,2.45,6.85,0.394,4,0.000,0.027,3437,3201,1755,0,0,0,0,0,0
$GC,9599,1.36,251.8,15.7,6.4,575,9639,0.00,2.58,32.08,0.469,6,0.000,0.035,3437,1796,1607,0,0,0,0,0,0
$STATE,9737,end climb,SURFACE_DEPTH_REACHED
$STATE,9738,begin surface coast
$FINISH,1.3,1.022710
$STATE,9765,end surface coast,CONTROL_FINISHED_OK
$STATE,9765,begin surface
$SM_CCo,9789,40.05,0.454,0,0,1287,330.17
$SM_GC,1.79,0.00,0.00,40.05,0.000,0.000,0.454,431,2145,1287,-12.45,1.27,330.17
$IRIDIUM_FIX,2036.38,-15757.37,140800,131345
$TT8_MAMPS,0.029146
$HUMID,59.41
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,19.90
$XPDR_PINGS,13
$24V_AH,23.5,33.150
$10V_AH,10.4,31.352
$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,28.575,107.425,315.550,40.050,0.000,24.233,32.977,255.231,7.750,0.000,16.083,1120.625,6427.101,402.693,1740.285,580.110,33.357,1173.154,0.000,1728.454,0.000,29.255,0.000
$DEVICE_MAMPS,133.458,61.360,820.690,454.064,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,408.774,399.357,877.780,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,34838,605
$CAP_FILE_SIZE,102915,0
$CFSIZE,260165632,236814336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210511,191326,2046.782,-15800.091,14,1.6,14,9.8