version: 66.06
glider: 139
mission: 9
dive: 419
start: 5 22 111 18 55 43
data:
$ID,139
$MISSION,9
$DIVE,419
$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,-2184664.2
$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,40
$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
$GPS1,184831,2054.122,-15802.167,41,1.6,41,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-69.8
$GPS2,185450,2054.170,-15802.183,15,1.5,15,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.023,0.223
$KALMAN_X,53555.0,-98.0,-29.5,-66412.2,269.6
$KALMAN_Y,-34981.2,-320.8,69.4,67717.1,-399.8
$MHEAD_RNG_PITCHd_Wd,344.4,26233,-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,-116.8,0.0,0.0,0,83,0.00,0.00,-64.65,0.000,2,0.000,0.000,426,2093,2972,0,0,0,0,0,0
$GC,87,-1.18,-116.8,3.0,-3.8,12,112,13.12,2.55,-2.90,0.000,4,0.134,0.048,2874,3495,3114,0,0,0,0,0,0
$GC,214,-1.18,-116.8,30.4,-18.6,39,221,0.00,2.53,0.00,0.000,6,0.000,0.036,2874,2098,3115,0,0,0,0,0,0
$GC,477,-1.18,-116.8,75.1,-13.8,64,481,0.00,2.47,0.00,0.000,4,0.000,0.033,2874,3506,3116,0,0,0,0,0,0
$GC,512,-1.18,-116.8,80.5,-15.3,67,517,0.00,2.50,0.00,0.000,6,0.000,0.035,2874,2090,3116,0,0,0,0,0,0
$GC,777,-1.18,-116.8,115.6,-13.8,91,781,0.00,2.47,0.00,0.000,4,0.000,0.032,2874,3504,3117,0,0,0,0,0,0
$GC,803,-1.18,-116.8,119.0,-12.5,93,808,0.00,2.45,0.00,0.000,6,0.000,0.033,2874,2098,3117,0,0,0,0,0,0
$GC,1067,-1.18,-116.8,146.9,-10.4,117,1072,0.00,2.45,0.00,0.000,4,0.000,0.035,2874,3496,3118,0,0,0,0,0,0
$GC,1198,-1.18,-116.8,161.1,-9.8,130,1204,0.00,2.47,0.00,0.000,6,0.000,0.034,2874,2100,3118,0,0,0,0,0,0
$GC,1462,-1.18,-116.8,185.1,-8.5,155,1467,0.00,2.50,0.00,0.000,4,0.000,0.037,2874,3495,3119,0,0,0,0,0,0
$GC,1639,-1.18,-116.8,201.3,-9.2,172,1645,0.00,2.50,0.00,0.000,6,0.000,0.035,2874,2099,3119,0,0,0,0,0,0
$GC,1954,-1.18,-116.8,227.9,-8.6,188,1959,0.00,2.55,0.00,0.000,4,0.000,0.045,2874,687,3119,0,0,0,0,0,0
$GC,2186,-1.18,-116.8,249.1,-9.1,198,2190,0.00,2.42,0.00,0.000,6,0.000,0.023,2874,2097,3119,0,0,0,0,0,0
$GC,2511,-1.18,-116.8,275.9,-8.6,214,2515,0.00,2.55,0.00,0.000,4,0.000,0.046,2874,687,3118,0,0,0,0,0,0
$GC,2589,-1.18,-116.8,284.1,-10.1,217,2593,0.00,2.40,0.00,0.000,6,0.000,0.024,2873,2100,3117,0,0,0,0,0,0
$GC,2903,-1.18,-116.8,311.4,-8.5,229,2904,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2100,3116,0,0,0,0,0,0
$GC,3228,-1.18,-116.8,333.5,-6.1,237,3232,0.00,2.55,0.00,0.000,4,0.000,0.048,2874,694,3114,0,0,0,0,0,0
$GC,3266,-1.18,-116.8,336.0,-6.5,237,3271,0.00,2.42,0.00,0.000,6,0.000,0.025,2874,2097,3115,0,0,0,0,0,0
$GC,3598,-1.18,-116.8,354.9,-5.7,246,3602,0.00,2.55,0.00,0.000,4,0.000,0.050,2874,694,3113,0,0,0,0,0,0
$GC,3750,-1.18,-116.8,367.6,-9.3,249,3754,0.00,2.42,0.00,0.000,6,0.000,0.028,2874,2100,3111,0,0,0,0,0,0
$GC,4101,-1.18,-116.8,394.8,-7.5,258,4106,0.00,2.55,0.00,0.000,4,0.000,0.051,2873,694,3109,0,0,0,0,0,0
$GC,4121,-1.18,-116.8,396.5,-7.8,258,4125,0.00,2.42,0.00,0.000,6,0.000,0.028,2874,2099,3109,0,0,0,0,0,0
$GC,4468,-1.18,-116.8,420.6,-7.0,267,4473,0.00,2.58,0.00,0.000,4,0.000,0.052,2874,695,3107,0,0,0,0,0,0
$GC,4534,-1.18,-116.8,425.9,-8.2,268,4538,0.00,2.45,0.00,0.000,6,0.000,0.029,2874,2104,3106,0,0,0,0,0,0
$GC,4880,-1.18,-116.8,449.2,-6.6,277,4881,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2106,3104,0,0,0,0,0,0
$STATE,4917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4917,begin apogee
$GC,4924,-0.31,0.0,451.9,6.6,278,5022,0.93,0.00,94.93,0.821,6,0.082,0.000,3066,1794,2635,0,0,0,0,0,0
$STATE,5023,end apogee,CONTROL_FINISHED_OK
$STATE,5023,begin climb
$GC,5026,1.18,116.8,453.5,0.0,280,5132,1.50,0.00,101.28,0.801,6,0.055,0.000,3393,1795,2158,0,0,0,0,0,0
$GC,5445,1.18,116.8,404.6,12.8,291,5449,0.00,2.62,0.00,0.000,4,0.000,0.047,3393,3209,2147,0,0,0,0,0,0
$GC,5478,1.18,116.8,400.4,11.6,291,5482,0.00,2.65,0.00,0.000,6,0.000,0.052,3393,1807,2147,0,0,0,0,0,0
$GC,5809,1.18,116.8,360.9,12.0,299,5814,0.00,2.67,0.00,0.000,4,0.000,0.062,3393,388,2143,0,0,0,0,0,0
$GC,5833,1.18,116.8,357.7,13.1,299,5838,0.00,2.50,0.00,0.000,6,0.000,0.028,3393,1805,2140,0,0,0,0,0,0
$GC,6174,1.18,116.8,321.3,10.4,308,6178,0.00,2.67,0.00,0.000,4,0.000,0.061,3393,394,2139,0,0,0,0,0,0
$GC,6193,1.18,116.8,318.7,12.8,308,6198,0.00,2.50,0.00,0.000,6,0.000,0.028,3393,1803,2138,0,0,0,0,0,0
$GC,6520,1.18,116.8,283.4,11.1,320,6524,0.00,2.53,0.00,0.000,4,0.000,0.043,3393,3206,2137,0,0,0,0,0,0
$GC,6543,1.18,116.8,280.8,10.4,321,6548,0.00,2.62,0.00,0.000,6,0.000,0.048,3393,1792,2138,0,0,0,0,0,0
$GC,6871,1.18,116.8,247.6,9.8,337,6872,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1792,2136,0,0,0,0,0,0
$GC,7177,1.18,116.8,217.1,9.2,352,7182,0.00,2.60,0.00,0.000,4,0.000,0.058,3393,388,2135,0,0,0,0,0,0
$GC,7267,1.18,116.8,206.5,12.1,356,7271,0.00,2.50,0.00,0.000,6,0.000,0.025,3393,1809,2133,0,0,0,0,0,0
$GC,7594,1.18,116.8,176.9,9.1,383,7599,0.00,2.50,0.00,0.000,4,0.000,0.038,3393,3205,2133,0,0,0,0,0,0
$GC,7677,1.18,116.8,168.6,10.0,391,7682,0.00,2.55,0.00,0.000,6,0.000,0.042,3393,1800,2133,0,0,0,0,0,0
$GC,7938,1.18,116.8,144.5,8.6,416,7939,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1800,2132,0,0,0,0,0,0
$GC,8193,1.19,128.0,126.1,7.5,440,8205,0.00,2.53,6.38,0.479,4,0.000,0.032,3393,3204,2112,0,0,0,0,0,0
$GC,8265,1.19,128.0,120.6,8.4,447,8270,0.00,2.58,0.00,0.000,6,0.000,0.041,3393,1795,2112,0,0,0,0,0,0
$GC,8528,1.21,140.0,100.5,7.5,472,8547,0.00,2.65,11.82,0.520,4,0.000,0.052,3393,391,2062,0,0,0,0,0,0
$GC,8568,1.21,140.0,97.1,8.2,476,8572,0.00,2.45,0.00,0.000,6,0.000,0.021,3393,1815,2061,0,0,0,0,0,0
$GC,8834,1.21,140.0,76.4,8.2,500,8838,0.00,2.40,0.00,0.000,4,0.000,0.031,3393,3198,2061,0,0,0,0,0,0
$GC,8912,1.22,146.0,70.0,7.8,508,8924,0.00,2.53,6.57,0.435,6,0.000,0.037,3393,1795,2039,0,0,0,0,0,0
$GC,9179,1.24,166.2,50.0,7.1,533,9203,0.00,2.60,18.85,0.490,4,0.000,0.050,3393,389,1956,0,0,0,0,0,0
$GC,9233,1.24,166.2,46.0,8.3,538,9238,0.00,2.42,0.00,0.000,6,0.000,0.019,3393,1803,1953,0,0,0,0,0,0
$GC,9498,1.31,219.0,29.5,5.7,562,9555,0.12,2.72,45.70,0.486,4,0.061,0.057,3439,390,1739,0,0,0,0,0,0
$GC,9602,1.31,219.0,20.2,9.9,582,9609,0.00,2.45,0.00,0.000,6,0.000,0.019,3439,1794,1735,0,0,0,0,0,0
$STATE,9776,end climb,SURFACE_DEPTH_REACHED
$STATE,9776,begin surface coast
$FINISH,1.0,1.021270
$STATE,9805,end surface coast,CONTROL_FINISHED_OK
$STATE,9805,begin surface
$SM_CCo,9829,56.22,0.458,0,0,1288,330.17
$SM_GC,1.78,0.00,0.00,56.22,0.000,0.000,0.458,425,2146,1288,-12.48,1.30,330.17
$IRIDIUM_FIX,2043.29,-15800.78,150800,161659
$TT8_MAMPS,0.028379
$HUMID,56.81
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,21.80
$XPDR_PINGS,14
$24V_AH,23.5,33.932
$10V_AH,10.5,32.081
$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,28.575,112.050,285.525,56.225,0.000,23.266,32.093,199.218,8.000,0.000,15.179,1145.144,6443.938,435.372,1729.476,511.874,33.362,1167.004,0.000,1719.726,0.000,31.690,0.000
$DEVICE_MAMPS,134.225,62.127,820.690,457.899,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,418.762,410.481,900.273,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355772
$DATA_FILE_SIZE,34913,619
$CAP_FILE_SIZE,100832,0
$CFSIZE,260165632,236367872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220511,214140,2055.120,-15802.319,12,2.1,31,9.8