version: 66.06
glider: 139
mission: 9
dive: 412
start: 5 21 111 22 15 13
data:
$ID,139
$MISSION,9
$DIVE,412
$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,-2184502.5
$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,26
$R_STBD_OVSHOOT,42
$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
$GPS1,220706,2047.689,-15800.644,39,1.9,39,9.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-72.4
$GPS2,221421,2047.727,-15800.644,11,1.8,18,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.147,0.166
$KALMAN_X,49625.0,-200.9,-439.6,-59297.0,1560.5
$KALMAN_Y,-31574.6,-169.6,110.1,52189.5,-480.8
$MHEAD_RNG_PITCHd_Wd,308.6,38243,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,84,0.00,0.00,-65.00,0.000,2,0.000,0.000,425,2085,2983,0,0,0,0,0,0
$GC,88,-1.19,-116.8,3.1,-3.0,12,112,13.12,2.58,-2.58,0.000,4,0.134,0.056,2869,693,3115,0,0,0,0,0,0
$GC,327,-1.19,-116.8,56.2,-17.1,49,331,0.00,2.40,0.00,0.000,6,0.000,0.021,2870,2095,3117,0,0,0,0,0,0
$GC,589,-1.19,-116.8,93.9,-15.2,73,594,0.00,2.55,0.00,0.000,4,0.000,0.044,2869,688,3117,0,0,0,0,0,0
$GC,696,-1.19,-116.8,107.8,-12.0,84,700,0.00,2.42,0.00,0.000,6,0.000,0.020,2870,2106,3118,0,0,0,0,0,0
$GC,959,-1.19,-116.8,135.7,-9.9,108,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2107,3119,0,0,0,0,0,0
$GC,1212,-1.19,-116.8,159.9,-10.0,132,1216,0.00,2.50,0.00,0.000,4,0.000,0.042,2870,698,3119,0,0,0,0,0,0
$GC,1226,-1.19,-116.8,161.7,-11.0,133,1232,0.00,2.40,0.00,0.000,6,0.000,0.021,2869,2102,3120,0,0,0,0,0,0
$GC,1489,-1.19,-116.8,186.9,-9.7,158,1494,0.00,2.53,0.00,0.000,4,0.000,0.042,2870,693,3120,0,0,0,0,0,0
$GC,1617,-1.19,-116.8,200.9,-12.2,171,1621,0.00,2.40,0.00,0.000,6,0.000,0.021,2870,2110,3120,0,0,0,0,0,0
$GC,1933,-1.19,-116.8,228.8,-8.9,186,1937,0.00,2.53,0.00,0.000,4,0.000,0.044,2869,693,3120,0,0,0,0,0,0
$GC,1970,-1.19,-116.8,232.8,-10.6,187,1976,0.00,2.40,0.00,0.000,6,0.000,0.023,2869,2104,3120,0,0,0,0,0,0
$GC,2288,-1.19,-116.8,261.6,-8.5,203,2292,0.00,2.53,0.00,0.000,4,0.000,0.043,2869,3505,3119,0,0,0,0,0,0
$GC,2438,-1.19,-116.8,274.4,-8.4,209,2442,0.00,2.50,0.00,0.000,6,0.000,0.038,2870,2102,3119,0,0,0,0,0,0
$GC,2754,-1.19,-116.8,300.1,-8.4,224,2755,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2100,3118,0,0,0,0,0,0
$GC,3080,-1.19,-116.8,324.2,-6.8,232,3085,0.00,2.58,0.00,0.000,4,0.000,0.049,2869,686,3117,0,0,0,0,0,0
$GC,3196,-1.19,-116.8,333.0,-8.3,234,3201,0.00,2.45,0.00,0.000,6,0.000,0.025,2869,2102,3116,0,0,0,0,0,0
$GC,3537,-1.19,-116.8,357.2,-7.0,243,3542,0.00,2.55,0.00,0.000,4,0.000,0.048,2869,3498,3114,0,0,0,0,0,0
$GC,3589,-1.19,-116.8,361.2,-7.8,244,3594,0.00,2.53,0.00,0.000,6,0.000,0.042,2870,2095,3114,0,0,0,0,0,0
$GC,3908,-1.19,-116.8,384.0,-7.2,252,3912,0.00,2.58,0.00,0.000,4,0.000,0.051,2869,691,3112,0,0,0,0,0,0
$GC,3923,-1.19,-116.8,385.1,-7.5,252,3927,0.00,2.42,0.00,0.000,6,0.000,0.026,2869,2099,3112,0,0,0,0,0,0
$GC,4273,-1.19,-116.8,410.9,-7.5,261,4277,0.00,2.55,0.00,0.000,4,0.000,0.050,2869,3501,3110,0,0,0,0,0,0
$GC,4311,-1.19,-116.8,414.0,-8.4,261,4316,0.00,2.55,0.00,0.000,6,0.000,0.044,2869,2092,3109,0,0,0,0,0,0
$GC,4643,-1.19,-116.8,438.9,-7.4,270,4647,0.00,2.58,0.00,0.000,4,0.000,0.054,2870,693,3107,0,0,0,0,0,0
$GC,4713,-1.19,-116.8,444.6,-7.6,271,4717,0.00,2.47,0.00,0.000,6,0.000,0.028,2869,2107,3107,0,0,0,0,0,0
$STATE,4807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4807,begin apogee
$GC,4814,-0.31,0.0,451.2,6.9,274,4913,0.95,0.00,95.62,0.818,6,0.081,0.000,3066,1795,2635,0,0,0,0,0,0
$STATE,4914,end apogee,CONTROL_FINISHED_OK
$STATE,4914,begin climb
$GC,4917,1.19,116.8,452.8,0.0,276,5025,1.48,0.00,100.68,0.801,6,0.054,0.000,3394,1794,2158,0,0,0,0,0,0
$GC,5326,1.19,116.8,405.1,13.1,286,5327,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1795,2147,0,0,0,0,0,0
$GC,5650,1.19,116.8,365.1,11.5,294,5655,0.00,2.60,0.00,0.000,4,0.000,0.043,3394,3204,2143,0,0,0,0,0,0
$GC,5688,1.19,116.8,361.1,10.0,294,5694,0.00,2.62,0.00,0.000,6,0.000,0.049,3394,1804,2143,0,0,0,0,0,0
$GC,6019,1.19,116.8,326.8,10.6,303,6024,0.00,2.67,0.00,0.000,4,0.000,0.061,3394,389,2140,0,0,0,0,0,0
$GC,6043,1.19,116.8,323.8,13.0,303,6048,0.00,2.50,0.00,0.000,6,0.000,0.027,3394,1808,2139,0,0,0,0,0,0
$GC,6366,1.19,116.8,292.2,9.4,313,6370,0.00,2.53,0.00,0.000,4,0.000,0.043,3394,3203,2138,0,0,0,0,0,0
$GC,6412,1.19,116.8,287.6,9.0,315,6417,0.00,2.62,0.00,0.000,6,0.000,0.048,3393,1793,2138,0,0,0,0,0,0
$GC,6738,1.19,116.8,256.3,9.8,331,6743,0.00,2.60,0.00,0.000,4,0.000,0.041,3394,3210,2137,0,0,0,0,0,0
$GC,6762,1.19,116.8,253.6,10.2,332,6767,0.00,2.60,0.00,0.000,6,0.000,0.045,3394,1793,2137,0,0,0,0,0,0
$GC,7087,1.19,116.8,223.2,9.3,348,7089,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1793,2135,0,0,0,0,0,0
$GC,7398,1.20,122.4,198.5,7.8,363,7402,0.00,2.60,0.00,0.000,4,0.000,0.058,3394,389,2135,0,0,0,0,0,0
$GC,7462,1.20,122.4,191.9,10.2,369,7468,0.00,2.47,0.00,0.000,6,0.000,0.025,3394,1804,2133,0,0,0,0,0,0
$GC,7724,1.20,122.4,168.8,8.1,394,7728,0.00,2.50,0.00,0.000,4,0.000,0.037,3394,3205,2133,0,0,0,0,0,0
$GC,7741,1.20,122.4,167.4,8.6,395,7745,0.00,2.58,0.00,0.000,6,0.000,0.041,3394,1797,2133,0,0,0,0,0,0
$GC,8005,1.20,122.4,147.1,8.1,419,8010,0.00,2.55,0.00,0.000,4,0.000,0.035,3394,3210,2133,0,0,0,0,0,0
$GC,8060,1.23,143.5,142.5,7.1,424,8086,0.00,2.60,20.17,0.580,6,0.000,0.041,3394,1796,2048,0,0,0,0,0,0
$GC,8342,1.26,166.5,122.5,7.0,451,8369,0.00,2.67,20.77,0.556,4,0.000,0.055,3394,390,1955,0,0,0,0,0,0
$GC,8389,1.26,166.5,118.7,8.9,456,8393,0.00,2.50,0.00,0.000,6,0.000,0.022,3394,1813,1952,0,0,0,0,0,0
$GC,8652,1.28,185.6,97.9,7.1,480,8679,0.00,2.55,17.52,0.526,4,0.000,0.033,3394,3201,1878,0,0,0,0,0,0
$GC,8695,1.29,195.8,94.6,7.6,484,8711,0.08,2.60,10.70,0.493,6,0.038,0.038,3430,1799,1836,0,0,0,0,0,0
$GC,8967,1.29,195.8,68.5,9.0,510,8971,0.00,2.62,0.00,0.000,4,0.000,0.053,3430,385,1832,0,0,0,0,0,0
$GC,9064,1.29,195.8,58.8,10.0,520,9069,0.00,2.45,0.00,0.000,6,0.000,0.021,3430,1799,1828,0,0,0,0,0,0
$GC,9329,1.32,218.9,38.4,7.0,544,9351,0.00,0.00,20.12,0.478,6,0.000,0.000,3430,1804,1742,0,0,0,0,0,0
$GC,9609,1.32,218.9,16.2,8.7,585,9615,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1804,1739,0,0,0,0,0,0
$STATE,9789,end climb,SURFACE_DEPTH_REACHED
$STATE,9789,begin surface coast
$FINISH,1.2,1.022706
$STATE,9829,end surface coast,CONTROL_FINISHED_OK
$STATE,9829,begin surface
$SM_CCo,9853,56.50,0.456,0,0,1288,330.17
$SM_GC,1.76,0.00,0.00,56.50,0.000,0.000,0.456,427,2139,1288,-12.47,1.10,330.17
$IRIDIUM_FIX,2038.68,-15801.64,140800,191906
$TT8_MAMPS,0.029146
$HUMID,59.33
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,20.50
$XPDR_PINGS,9
$24V_AH,23.5,33.318
$10V_AH,10.4,31.512
$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,28.500,107.450,285.600,56.500,0.000,27.015,37.681,238.822,6.750,0.000,18.730,1148.633,6486.980,417.877,1735.360,556.029,33.358,1151.024,0.000,1722.145,0.000,31.669,0.000
$DEVICE_MAMPS,134.225,61.360,817.622,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,423.333,416.948,912.774,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,35014,625
$CAP_FILE_SIZE,101987,0
$CFSIZE,260165632,236716032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220511,010134,2048.445,-15801.013,11,2.1,30,9.8