version: 66.06
glider: 139
mission: 9
dive: 417
start: 5 22 111 13 1 26
data:
$ID,139
$MISSION,9
$DIVE,417
$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,-2184629.8
$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,16
$R_STBD_OVSHOOT,59
$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
$GPS1,125257,2052.191,-15801.711,41,4.3,60,9.8
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-71.8
$GPS2,130034,2052.200,-15801.704,13,4.9,32,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.101,0.198
$KALMAN_X,52815.8,68.1,-81.8,-64956.0,1109.9
$KALMAN_Y,-34411.9,166.4,65.1,63022.2,-1257.6
$MHEAD_RNG_PITCHd_Wd,323.2,29886,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-69.72,0.000,2,0.000,0.000,429,2123,3106,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.2,-3.5,13,110,13.15,2.42,0.00,0.000,4,0.137,0.032,2868,3481,3109,0,0,0,0,0,0
$GC,359,-1.19,-116.8,59.5,-16.2,55,363,0.00,2.45,0.00,0.000,6,0.000,0.031,2868,2085,3110,0,0,0,0,0,0
$GC,622,-1.19,-116.8,95.4,-12.5,79,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2085,3111,0,0,0,0,0,0
$GC,877,-1.19,-116.8,126.3,-12.1,103,882,0.00,2.45,0.00,0.000,4,0.000,0.035,2868,3478,3112,0,0,0,0,0,0
$GC,1003,-1.19,-116.8,141.7,-11.1,116,1007,0.00,2.42,0.00,0.000,6,0.000,0.033,2868,2100,3112,0,0,0,0,0,0
$GC,1266,-1.19,-116.8,170.3,-12.7,140,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2101,3112,0,0,0,0,0,0
$GC,1519,-1.19,-116.8,196.5,-10.2,164,1523,0.00,2.55,0.00,0.000,4,0.000,0.043,2868,691,3113,0,0,0,0,0,0
$GC,1529,-1.19,-116.8,197.7,-10.3,164,1535,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2085,3113,0,0,0,0,0,0
$GC,1783,-1.19,-116.8,219.9,-8.9,178,1788,0.00,2.47,0.00,0.000,4,0.000,0.044,2868,698,3113,0,0,0,0,0,0
$GC,1855,-1.19,-116.8,226.6,-9.7,181,1859,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2100,3112,0,0,0,0,0,0
$GC,2186,-1.19,-116.8,254.5,-7.5,197,2191,0.00,2.53,0.00,0.000,4,0.000,0.044,2868,695,3112,0,0,0,0,0,0
$GC,2420,-1.19,-116.8,275.9,-8.2,207,2424,0.00,2.42,0.00,0.000,6,0.000,0.023,2868,2108,3112,0,0,0,0,0,0
$GC,2743,-1.19,-116.8,300.8,-7.2,223,2747,0.00,2.53,0.00,0.000,4,0.000,0.045,2868,692,3111,0,0,0,0,0,0
$GC,2805,-1.19,-116.8,306.2,-9.8,224,2810,0.00,2.42,0.00,0.000,6,0.000,0.024,2868,2097,3111,0,0,0,0,0,0
$GC,3155,-1.19,-116.8,331.6,-6.6,233,3160,0.00,2.53,0.00,0.000,4,0.000,0.048,2868,691,3110,0,0,0,0,0,0
$GC,3170,-1.19,-116.8,332.7,-6.9,233,3174,0.00,2.42,0.00,0.000,6,0.000,0.025,2868,2105,3110,0,0,0,0,0,0
$GC,3520,-1.19,-116.8,357.5,-7.2,242,3525,0.00,2.55,0.00,0.000,4,0.000,0.048,2868,689,3108,0,0,0,0,0,0
$GC,3614,-1.19,-116.8,364.5,-7.8,244,3618,0.00,2.45,0.00,0.000,6,0.000,0.025,2868,2100,3107,0,0,0,0,0,0
$GC,3937,-1.19,-116.8,386.8,-6.9,252,3941,0.00,2.55,0.00,0.000,4,0.000,0.048,2868,3506,3105,0,0,0,0,0,0
$GC,4044,-1.19,-116.8,394.7,-6.8,254,4049,0.00,2.53,0.00,0.000,6,0.000,0.042,2868,2105,3104,0,0,0,0,0,0
$GC,4395,-1.19,-116.8,416.7,-6.1,263,4399,0.00,2.55,0.00,0.000,4,0.000,0.047,2868,3504,3102,0,0,0,0,0,0
$GC,4410,-1.19,-116.8,417.8,-6.0,263,4414,0.00,2.53,0.00,0.000,6,0.000,0.042,2868,2100,3102,0,0,0,0,0,0
$GC,4760,-1.19,-116.8,437.3,-5.5,272,4761,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2098,3099,0,0,0,0,0,0
$STATE,4960,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4960,begin apogee
$GC,4967,-0.31,0.0,450.4,6.6,277,5064,0.95,0.00,93.55,0.821,6,0.081,0.000,3065,1795,2635,0,0,0,0,0,0
$STATE,5065,end apogee,CONTROL_FINISHED_OK
$STATE,5065,begin climb
$GC,5068,1.19,116.8,452.1,0.0,279,5180,1.48,2.65,99.97,0.801,4,0.054,0.042,3392,3201,2157,0,0,0,0,0,0
$GC,5213,1.19,116.8,439.3,11.3,282,5218,0.00,2.65,0.00,0.000,6,0.000,0.051,3391,1807,2156,0,0,0,0,0,0
$GC,5563,1.19,116.8,396.0,11.9,291,5564,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1806,2146,0,0,0,0,0,0
$GC,5888,1.19,116.8,359.9,11.1,299,5892,0.00,2.60,0.00,0.000,4,0.000,0.044,3392,3211,2143,0,0,0,0,0,0
$GC,5921,1.19,116.8,355.9,12.0,299,5926,0.00,2.62,0.00,0.000,6,0.000,0.050,3392,1799,2143,0,0,0,0,0,0
$GC,6253,1.19,116.8,317.9,11.2,307,6254,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1799,2140,0,0,0,0,0,0
$GC,6561,1.19,116.8,287.0,9.8,317,6566,0.00,2.58,0.00,0.000,4,0.000,0.041,3392,3204,2139,0,0,0,0,0,0
$GC,6590,1.19,116.8,284.1,8.6,318,6595,0.00,2.60,0.00,0.000,6,0.000,0.048,3392,1796,2139,0,0,0,0,0,0
$GC,6910,1.19,116.8,255.1,9.0,334,6915,0.00,2.60,0.00,0.000,4,0.000,0.059,3392,392,2137,0,0,0,0,0,0
$GC,6932,1.19,116.8,253.0,10.6,335,6936,0.00,2.47,0.00,0.000,6,0.000,0.025,3392,1804,2135,0,0,0,0,0,0
$GC,7263,1.19,116.8,222.4,9.5,351,7268,0.00,2.67,0.00,0.000,4,0.000,0.058,3392,388,2135,0,0,0,0,0,0
$GC,7287,1.19,116.8,219.4,11.4,352,7291,0.00,2.47,0.00,0.000,6,0.000,0.025,3392,1802,2134,0,0,0,0,0,0
$GC,7616,1.19,116.8,190.3,9.0,373,7621,0.00,2.47,0.00,0.000,4,0.000,0.037,3392,3204,2133,0,0,0,0,0,0
$GC,7690,1.19,116.8,183.9,8.2,380,7697,0.00,2.60,0.00,0.000,6,0.000,0.045,3392,1801,2134,0,0,0,0,0,0
$GC,7955,1.21,134.5,165.4,7.2,405,7975,0.00,2.58,12.23,0.566,4,0.000,0.035,3392,3196,2086,0,0,0,0,0,0
$GC,8064,1.21,134.5,156.2,8.5,416,8071,0.00,2.60,0.00,0.000,6,0.000,0.044,3391,1800,2086,0,0,0,0,0,0
$GC,8327,1.21,134.5,132.9,8.9,441,8331,0.00,2.62,0.00,0.000,4,0.000,0.055,3392,387,2084,0,0,0,0,0,0
$GC,8372,1.21,134.5,128.5,9.9,445,8376,0.00,2.45,0.00,0.000,6,0.000,0.023,3392,1801,2082,0,0,0,0,0,0
$GC,8637,1.29,197.0,111.3,5.2,469,8694,0.12,0.00,54.75,0.561,6,0.063,0.000,3433,1805,1831,0,0,0,0,0,0
$GC,8949,1.29,197.0,78.8,11.5,499,8953,0.00,2.65,0.00,0.000,4,0.000,0.054,3433,388,1825,0,0,0,0,0,0
$GC,9009,1.29,197.0,71.2,12.4,505,9014,0.00,2.47,0.00,0.000,6,0.000,0.021,3433,1808,1821,0,0,0,0,0,0
$GC,9274,1.29,197.0,45.7,9.1,529,9279,0.00,2.65,0.00,0.000,4,0.000,0.051,3432,388,1821,0,0,0,0,0,0
$GC,9300,1.29,197.0,43.0,10.4,531,9304,0.00,2.45,0.00,0.000,6,0.000,0.021,3433,1810,1821,0,0,0,0,0,0
$GC,9565,1.29,197.0,21.6,8.1,564,9572,0.00,2.65,0.00,0.000,4,0.000,0.051,3432,397,1821,0,0,0,0,0,0
$GC,9609,1.29,197.0,17.5,9.9,573,9616,0.00,2.42,0.00,0.000,6,0.000,0.020,3433,1802,1820,0,0,0,0,0,0
$STATE,9800,end climb,SURFACE_DEPTH_REACHED
$STATE,9800,begin surface coast
$FINISH,1.1,1.022877
$STATE,9844,end surface coast,CONTROL_FINISHED_OK
$STATE,9844,begin surface
$SM_CCo,9868,68.30,0.457,0,0,1288,330.17
$SM_GC,1.79,0.00,0.00,68.30,0.000,0.000,0.457,426,2143,1288,-12.47,1.22,330.17
$IRIDIUM_FIX,2045.60,-15825.62,150800,101052
$TT8_MAMPS,0.028379
$HUMID,58.97
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,20.70
$XPDR_PINGS,17
$24V_AH,23.5,33.758
$10V_AH,10.4,31.920
$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,28.475,107.125,260.500,68.300,0.000,25.677,33.003,255.199,8.750,0.000,33.456,1144.767,6515.209,396.346,1782.505,553.946,33.363,1148.085,0.000,1742.875,0.000,29.262,0.000
$DEVICE_MAMPS,136.526,59.059,820.690,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,417.543,408.319,892.771,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355776
$DATA_FILE_SIZE,34844,616
$CAP_FILE_SIZE,102220,0
$CFSIZE,260165632,236466176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220511,154825,2052.995,-15802.056,43,1.6,43,9.8