version: 66.06
glider: 139
mission: 9
dive: 420
start: 5 22 111 21 53 19
data:
$ID,139
$MISSION,9
$DIVE,420
$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,-2184679.2
$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,16
$R_STBD_OVSHOOT,80
$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
$GPS1,214140,2055.120,-15802.319,12,2.1,31,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-73.6
$GPS2,215226,2055.180,-15802.292,14,1.7,14,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.067,0.210
$KALMAN_X,53973.6,-217.9,-267.4,-66662.1,781.6
$KALMAN_Y,-35667.4,-272.5,75.8,70224.9,-554.5
$MHEAD_RNG_PITCHd_Wd,332.5,24364,-16.9,-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,-1.20,-116.0,0.0,0.0,0,88,0.00,0.00,-69.20,0.000,6,0.000,0.000,425,2147,3109,0,0,0,0,0,0
$GC,92,-1.20,-116.8,3.4,-4.3,13,110,13.10,2.33,0.00,0.000,4,0.133,0.031,2868,3461,3111,0,0,0,0,0,0
$GC,342,-1.20,-116.8,56.1,-15.9,52,346,0.00,2.42,0.00,0.000,6,0.000,0.032,2868,2090,3114,0,0,0,0,0,0
$GC,603,-1.20,-116.8,95.0,-13.3,76,607,0.00,2.40,0.00,0.000,4,0.000,0.033,2868,3458,3114,0,0,0,0,0,0
$GC,693,-1.20,-116.8,105.3,-9.7,85,698,0.00,2.40,0.00,0.000,6,0.000,0.031,2868,2097,3115,0,0,0,0,0,0
$GC,958,-1.20,-116.8,133.1,-11.4,109,962,0.00,2.40,0.00,0.000,4,0.000,0.035,2868,3464,3115,0,0,0,0,0,0
$GC,1020,-1.20,-116.8,141.0,-11.6,115,1024,0.00,2.40,0.00,0.000,6,0.000,0.033,2868,2091,3115,0,0,0,0,0,0
$GC,1285,-1.20,-116.8,168.7,-11.3,139,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2091,3115,0,0,0,0,0,0
$GC,1546,-1.20,-116.8,197.1,-9.3,164,1550,0.00,2.42,0.00,0.000,4,0.000,0.036,2868,3457,3115,0,0,0,0,0,0
$GC,1639,-1.20,-116.8,205.9,-9.0,170,1643,0.00,2.40,0.00,0.000,6,0.000,0.035,2868,2100,3116,0,0,0,0,0,0
$GC,1964,-1.20,-116.8,233.1,-8.4,186,1968,0.00,2.53,0.00,0.000,4,0.000,0.046,2868,691,3115,0,0,0,0,0,0
$GC,2111,-1.20,-116.8,248.0,-9.9,192,2115,0.00,2.33,0.00,0.000,6,0.000,0.023,2868,2056,3115,0,0,0,0,0,0
$GC,2428,-1.20,-116.8,273.7,-7.9,207,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2056,3114,0,0,0,0,0,0
$GC,2737,-1.20,-116.8,299.2,-7.8,222,2741,0.00,2.60,0.00,0.000,4,0.000,0.044,2868,3504,3113,0,0,0,0,0,0
$GC,2758,-1.20,-116.8,300.9,-7.7,223,2763,0.00,2.47,0.00,0.000,6,0.000,0.039,2868,2102,3113,0,0,0,0,0,0
$GC,3104,-1.20,-116.8,324.4,-6.5,232,3108,0.00,2.58,0.00,0.000,4,0.000,0.048,2868,682,3111,0,0,0,0,0,0
$GC,3236,-1.20,-116.8,334.9,-8.0,234,3242,0.00,2.45,0.00,0.000,6,0.000,0.025,2868,2100,3111,0,0,0,0,0,0
$GC,3568,-1.20,-116.8,359.8,-7.7,243,3572,0.00,2.53,0.00,0.000,4,0.000,0.048,2868,3491,3108,0,0,0,0,0,0
$GC,3634,-1.20,-116.8,365.6,-8.7,244,3638,0.00,2.53,0.00,0.000,6,0.000,0.043,2868,2093,3108,0,0,0,0,0,0
$GC,3984,-1.20,-116.8,392.9,-7.5,253,3988,0.00,2.58,0.00,0.000,4,0.000,0.051,2868,690,3105,0,0,0,0,0,0
$GC,4049,-1.20,-116.8,398.3,-8.2,254,4054,0.00,2.45,0.00,0.000,6,0.000,0.028,2868,2098,3105,0,0,0,0,0,0
$GC,4397,-1.20,-116.8,422.6,-6.9,263,4399,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2100,3103,0,0,0,0,0,0
$GC,4720,-1.20,-116.8,445.9,-6.7,271,4721,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2100,3101,0,0,0,0,0,0
$STATE,4798,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4798,begin apogee
$GC,4805,-0.31,0.0,451.0,6.5,273,4903,0.95,0.00,93.90,0.820,6,0.083,0.000,3064,1789,2635,0,0,0,0,0,0
$STATE,4903,end apogee,CONTROL_FINISHED_OK
$STATE,4903,begin climb
$GC,4906,1.20,116.8,452.0,0.0,275,5018,1.50,2.67,100.10,0.801,4,0.056,0.045,3395,3203,2157,0,0,0,0,0,0
$GC,5024,1.20,116.8,441.5,11.3,277,5029,0.00,2.65,0.00,0.000,6,0.000,0.051,3395,1801,2157,0,0,0,0,0,0
$GC,5356,1.20,116.8,402.7,11.5,285,5360,0.00,2.62,0.00,0.000,4,0.000,0.046,3395,3207,2147,0,0,0,0,0,0
$GC,5390,1.20,116.8,398.7,11.6,285,5394,0.00,2.65,0.00,0.000,6,0.000,0.054,3395,1801,2147,0,0,0,0,0,0
$GC,5722,1.20,116.8,362.2,10.0,293,5726,0.00,2.65,0.00,0.000,4,0.000,0.062,3395,392,2143,0,0,0,0,0,0
$GC,5755,1.20,116.8,358.2,12.3,293,5759,0.00,2.50,0.00,0.000,6,0.000,0.028,3395,1799,2140,0,0,0,0,0,0
$GC,6086,1.20,116.8,322.5,11.2,301,6090,0.00,2.55,0.00,0.000,4,0.000,0.044,3395,3203,2139,0,0,0,0,0,0
$GC,6124,1.20,116.8,318.2,12.0,301,6130,0.00,2.62,0.00,0.000,6,0.000,0.048,3395,1795,2139,0,0,0,0,0,0
$GC,6438,1.20,116.8,286.6,8.5,313,6442,0.00,2.60,0.00,0.000,4,0.000,0.042,3395,3207,2138,0,0,0,0,0,0
$GC,6471,1.20,116.8,283.4,9.5,314,6475,0.00,2.60,0.00,0.000,6,0.000,0.048,3395,1798,2138,0,0,0,0,0,0
$GC,6788,1.20,116.8,250.3,11.0,329,6793,0.00,2.58,0.00,0.000,4,0.000,0.039,3395,3208,2136,0,0,0,0,0,0
$GC,6822,1.20,116.8,246.4,10.4,330,6826,0.00,2.62,0.00,0.000,6,0.000,0.048,3395,1796,2136,0,0,0,0,0,0
$GC,7138,1.20,116.8,216.1,9.3,345,7143,0.00,2.60,0.00,0.000,4,0.000,0.057,3395,388,2135,0,0,0,0,0,0
$GC,7205,1.20,116.8,208.8,10.7,348,7209,0.00,2.47,0.00,0.000,6,0.000,0.025,3395,1804,2132,0,0,0,0,0,0
$GC,7530,1.20,116.8,179.8,8.5,374,7535,0.00,2.62,0.00,0.000,4,0.000,0.055,3395,392,2133,0,0,0,0,0,0
$GC,7555,1.20,116.8,177.4,10.7,376,7559,0.00,2.45,0.00,0.000,6,0.000,0.024,3395,1804,2132,0,0,0,0,0,0
$GC,7818,1.20,116.8,157.2,8.4,400,7822,0.00,2.62,0.00,0.000,4,0.000,0.054,3395,387,2132,0,0,0,0,0,0
$GC,7846,1.20,116.8,154.4,9.2,402,7853,0.00,2.45,0.00,0.000,6,0.000,0.023,3395,1797,2132,0,0,0,0,0,0
$GC,8111,1.20,116.8,134.1,8.4,427,8116,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1799,2132,0,0,0,0,0,0
$GC,8372,1.20,116.8,111.6,8.3,452,8376,0.00,2.47,0.00,0.000,4,0.000,0.033,3395,3200,2132,0,0,0,0,0,0
$GC,8470,1.20,119.2,102.9,7.9,462,8474,0.00,2.53,0.00,0.000,6,0.000,0.038,3395,1794,2132,0,0,0,0,0,0
$GC,8733,1.26,166.2,82.5,5.9,486,8780,0.00,2.60,38.75,0.538,4,0.000,0.031,3395,3203,1957,0,0,0,0,0,0
$GC,8802,1.31,203.7,78.4,6.3,493,8842,0.12,2.58,33.28,0.528,6,0.061,0.037,3438,1797,1803,0,0,0,0,0,0
$GC,9097,1.31,203.7,46.8,12.2,521,9098,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,1798,1799,0,0,0,0,0,0
$GC,9356,1.31,203.7,21.0,8.6,554,9363,0.00,2.60,0.00,0.000,4,0.000,0.050,3438,394,1797,0,0,0,0,0,0
$GC,9442,1.31,203.7,12.8,9.3,573,9449,0.00,2.42,0.00,0.000,6,0.000,0.019,3438,1797,1793,0,0,0,0,0,0
$STATE,9556,end climb,SURFACE_DEPTH_REACHED
$STATE,9556,begin surface coast
$FINISH,1.0,1.021471
$STATE,9595,end surface coast,CONTROL_FINISHED_OK
$STATE,9595,begin surface
$SM_CCo,9619,62.78,0.460,0,0,1288,330.17
$SM_GC,1.81,0.00,0.00,62.78,0.000,0.000,0.460,426,2112,1288,-12.47,0.28,330.17
$IRIDIUM_FIX,2047.91,-15813.20,150800,212131
$TT8_MAMPS,0.028379
$HUMID,57.95
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,21.70
$XPDR_PINGS,11
$24V_AH,23.5,34.022
$10V_AH,10.4,32.161
$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,28.500,106.975,266.025,62.775,0.000,52.162,76.514,320.933,7.250,0.000,14.127,1108.258,6417.912,395.278,1699.027,708.949,33.364,1129.023,0.000,1680.343,0.000,29.262,0.000
$DEVICE_MAMPS,133.458,62.127,819.923,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.358,395.524,870.253,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355752
$DATA_FILE_SIZE,34951,601
$CAP_FILE_SIZE,102917,0
$CFSIZE,260165632,236314624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230511,003625,2055.903,-15802.311,64,0.8,64,9.8