version: 66.06
glider: 139
mission: 9
dive: 418
start: 5 22 111 16 0 18
data:
$ID,139
$MISSION,9
$DIVE,418
$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,-2184648.2
$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,18
$R_STBD_OVSHOOT,85
$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
$GPS1,154825,2052.995,-15802.056,43,1.6,43,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-72.0
$GPS2,155925,2053.033,-15802.046,12,1.1,17,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.030,0.222
$KALMAN_X,53127.1,21.5,181.5,-66075.7,338.3
$KALMAN_Y,-34691.0,-137.3,-25.6,65231.5,-753.3
$MHEAD_RNG_PITCHd_Wd,342.4,28337,-16.6,-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,-1.18,-116.8,0.0,0.0,0,88,0.00,0.00,-69.35,0.000,3,0.000,0.000,426,2143,3112,0,0,0,0,0,0
$GC,92,-1.18,-116.8,3.5,-4.4,13,111,13.23,2.33,0.00,0.000,4,0.137,0.028,2873,3461,3114,0,0,0,0,0,0
$GC,353,-1.18,-116.8,59.8,-17.7,53,360,0.00,2.45,0.00,0.000,6,0.000,0.033,2874,2091,3116,0,0,0,0,0,0
$GC,614,-1.18,-116.8,97.4,-13.4,78,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2091,3117,0,0,0,0,0,0
$GC,869,-1.18,-116.8,130.6,-12.5,102,873,0.00,2.40,0.00,0.000,4,0.000,0.035,2874,3456,3117,0,0,0,0,0,0
$GC,888,-1.18,-116.8,133.1,-12.2,103,894,0.00,2.38,0.00,0.000,6,0.000,0.034,2874,2094,3118,0,0,0,0,0,0
$GC,1151,-1.18,-116.8,159.9,-9.9,128,1156,0.00,2.50,0.00,0.000,4,0.000,0.043,2873,691,3118,0,0,0,0,0,0
$GC,1164,-1.18,-116.8,161.1,-9.9,129,1168,0.00,2.30,0.00,0.000,6,0.000,0.021,2874,2054,3118,0,0,0,0,0,0
$GC,1430,-1.18,-116.8,186.8,-9.2,153,1434,0.00,2.55,0.00,0.000,4,0.000,0.038,2874,3497,3118,0,0,0,0,0,0
$GC,1511,-1.18,-116.8,194.4,-9.3,161,1515,0.00,2.45,0.00,0.000,6,0.000,0.032,2874,2093,3118,0,0,0,0,0,0
$GC,1766,-1.18,-116.8,215.2,-8.2,176,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2093,3118,0,0,0,0,0,0
$GC,2077,-1.18,-116.8,238.9,-7.1,191,2082,0.00,2.53,0.00,0.000,4,0.000,0.045,2873,693,3118,0,0,0,0,0,0
$GC,2316,-1.18,-116.8,259.2,-9.3,201,2321,0.00,2.40,0.00,0.000,6,0.000,0.023,2874,2105,3117,0,0,0,0,0,0
$GC,2634,-1.18,-116.8,284.4,-7.5,216,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2106,3117,0,0,0,0,0,0
$GC,2940,-1.18,-116.8,307.2,-7.4,229,2941,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2106,3116,0,0,0,0,0,0
$GC,3265,-1.18,-116.8,330.9,-6.9,237,3266,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2106,3114,0,0,0,0,0,0
$GC,3592,-1.18,-116.8,351.7,-5.8,245,3596,0.00,2.58,0.00,0.000,4,0.000,0.049,2874,690,3112,0,0,0,0,0,0
$GC,3814,-1.18,-116.8,369.9,-8.1,249,3820,0.00,2.42,0.00,0.000,6,0.000,0.027,2874,2095,3111,0,0,0,0,0,0
$GC,4146,-1.18,-116.8,396.5,-8.1,258,4150,0.00,2.55,0.00,0.000,4,0.000,0.051,2874,690,3108,0,0,0,0,0,0
$GC,4253,-1.18,-116.8,406.2,-8.0,260,4257,0.00,2.45,0.00,0.000,6,0.000,0.028,2873,2100,3108,0,0,0,0,0,0
$GC,4603,-1.18,-116.8,429.9,-6.3,269,4608,0.00,2.58,0.00,0.000,4,0.000,0.052,2873,697,3105,0,0,0,0,0,0
$GC,4618,-1.18,-116.8,431.0,-5.9,269,4622,0.00,2.42,0.00,0.000,6,0.000,0.028,2874,2100,3105,0,0,0,0,0,0
$GC,4968,-1.18,-116.8,448.1,-4.3,278,4969,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2102,3103,0,0,0,0,0,0
$STATE,5005,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5005,begin apogee
$GC,5013,-0.31,0.0,450.0,4.4,279,5111,0.93,0.00,94.53,0.818,6,0.082,0.000,3065,1790,2635,0,0,0,0,0,0
$STATE,5111,end apogee,CONTROL_FINISHED_OK
$STATE,5112,begin climb
$GC,5114,1.18,116.8,450.5,0.0,281,5222,1.50,0.00,100.55,0.798,6,0.055,0.000,3392,1789,2158,0,0,0,0,0,0
$GC,5534,1.18,116.8,402.4,12.1,292,5538,0.00,2.65,0.00,0.000,4,0.000,0.044,3392,3212,2147,0,0,0,0,0,0
$GC,5562,1.18,116.8,399.0,11.4,292,5567,0.00,2.62,0.00,0.000,6,0.000,0.051,3392,1810,2147,0,0,0,0,0,0
$GC,5898,1.18,116.8,362.4,10.3,301,5899,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1810,2144,0,0,0,0,0,0
$GC,6224,1.18,116.8,327.6,11.1,309,6228,0.00,2.65,0.00,0.000,4,0.000,0.061,3391,392,2140,0,0,0,0,0,0
$GC,6271,1.18,116.8,321.4,12.8,310,6275,0.00,2.50,0.00,0.000,6,0.000,0.028,3392,1801,2138,0,0,0,0,0,0
$GC,6597,1.18,116.8,287.9,9.7,321,6601,0.00,2.53,0.00,0.000,4,0.000,0.042,3392,3207,2137,0,0,0,0,0,0
$GC,6617,1.18,116.8,285.6,10.8,322,6622,0.00,2.60,0.00,0.000,6,0.000,0.048,3392,1800,2137,0,0,0,0,0,0
$GC,6947,1.18,116.8,252.8,9.8,338,6951,0.00,2.58,0.00,0.000,4,0.000,0.040,3392,3210,2136,0,0,0,0,0,0
$GC,6984,1.18,116.8,249.4,8.4,339,6989,0.00,2.62,0.00,0.000,6,0.000,0.048,3392,1796,2136,0,0,0,0,0,0
$GC,7301,1.18,116.8,221.5,9.2,355,7305,0.00,2.62,0.00,0.000,4,0.000,0.058,3392,388,2135,0,0,0,0,0,0
$GC,7361,1.18,116.8,215.1,10.9,357,7367,0.00,2.47,0.00,0.000,6,0.000,0.025,3392,1805,2133,0,0,0,0,0,0
$GC,7681,1.18,116.8,185.0,9.1,380,7685,0.00,2.50,0.00,0.000,4,0.000,0.038,3392,3204,2133,0,0,0,0,0,0
$GC,7792,1.19,121.8,176.1,7.8,391,7798,0.00,2.55,0.00,0.000,6,0.000,0.042,3392,1797,2133,0,0,0,0,0,0
$GC,8056,1.19,121.8,155.3,8.0,416,8057,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1797,2132,0,0,0,0,0,0
$GC,8308,1.22,148.3,136.2,6.8,440,8337,0.00,2.58,24.00,0.580,4,0.000,0.031,3392,3206,2029,0,0,0,0,0,0
$GC,8416,1.24,168.8,128.4,7.1,451,8443,0.00,2.58,19.27,0.560,6,0.000,0.039,3392,1794,1945,0,0,0,0,0,0
$GC,8698,1.24,168.8,104.6,8.6,478,8703,0.00,2.58,0.00,0.000,4,0.000,0.052,3392,391,1940,0,0,0,0,0,0
$GC,8734,1.24,168.8,101.4,10.4,481,8738,0.00,2.45,0.00,0.000,6,0.000,0.021,3392,1806,1938,0,0,0,0,0,0
$GC,8998,1.24,168.8,79.5,8.1,505,9003,0.00,2.45,0.00,0.000,4,0.000,0.031,3392,3200,1938,0,0,0,0,0,0
$GC,9026,1.26,179.8,76.9,7.5,507,9043,0.00,2.58,9.85,0.473,6,0.000,0.036,3392,1793,1901,0,0,0,0,0,0
$GC,9298,1.27,187.4,54.5,7.7,533,9308,0.00,0.00,7.80,0.435,6,0.000,0.000,3392,1794,1871,0,0,0,0,0,0
$GC,9565,1.32,233.1,36.6,6.0,558,9613,0.15,2.62,40.45,0.487,4,0.054,0.051,3442,388,1683,0,0,0,0,0,0
$GC,9625,1.32,233.1,31.9,8.3,564,9629,0.00,2.45,0.00,0.000,6,0.000,0.019,3442,1809,1680,0,0,0,0,0,0
$GC,9892,1.32,233.1,3.6,10.2,611,9899,0.00,2.67,0.00,0.000,4,0.000,0.051,3442,391,1678,0,0,0,0,0,0
$STATE,9904,end climb,SURFACE_DEPTH_REACHED
$STATE,9904,begin surface coast
$FINISH,1.0,1.010223
$STATE,9935,end surface coast,CONTROL_FINISHED_OK
$STATE,9935,begin surface
$SM_CCo,9962,50.10,0.455,0,0,1288,330.17
$SM_GC,1.72,0.00,0.00,50.10,0.000,0.000,0.455,426,2092,1288,-12.47,-0.23,330.17
$IRIDIUM_FIX,2045.60,-15800.78,150800,161612
$TT8_MAMPS,0.029146
$HUMID,57.32
$INTERNAL_PRESSURE,9.62581
$TCM_TEMP,21.90
$XPDR_PINGS,15
$24V_AH,23.5,33.851
$10V_AH,10.4,32.002
$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,28.650,96.650,296.450,50.100,0.000,53.461,72.007,340.125,8.250,0.000,17.806,1132.956,6668.707,409.414,1745.236,717.178,33.352,1146.627,0.000,1723.968,0.000,29.255,0.000
$DEVICE_MAMPS,136.526,61.360,818.389,454.831,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,419.525,407.653,892.773,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355760
$DATA_FILE_SIZE,34909,620
$CAP_FILE_SIZE,103182,0
$CFSIZE,260165632,236412928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220511,184831,2054.122,-15802.167,41,1.6,41,9.8