version: 66.06
glider: 139
mission: 9
dive: 421
start: 5 23 111 0 43 31
data:
$ID,139
$MISSION,9
$DIVE,421
$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,-2184693.5
$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,19
$R_STBD_OVSHOOT,56
$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
$GPS1,003625,2055.903,-15802.311,64,0.8,64,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-73.9
$GPS2,004238,2055.881,-15802.256,13,1.7,13,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.088,0.203
$KALMAN_X,54547.3,-223.5,-22.7,-67415.1,1011.0
$KALMAN_Y,-36684.7,-91.1,-157.5,72593.9,-682.5
$MHEAD_RNG_PITCHd_Wd,326.8,23066,-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,-1.20,-116.6,0.0,0.0,0,83,0.00,0.00,-64.47,0.000,2,0.000,0.000,426,2114,2962,0,0,0,0,0,0
$GC,86,-1.20,-116.8,3.1,-3.6,12,111,13.12,2.50,-3.12,0.000,4,0.135,0.048,2868,3481,3115,0,0,0,0,0,0
$GC,192,-1.20,-116.8,27.3,-19.3,34,198,0.00,2.47,0.00,0.000,6,0.000,0.033,2868,2101,3116,0,0,0,0,0,0
$GC,392,-1.20,-116.8,60.2,-14.9,54,397,0.00,2.55,0.00,0.000,4,0.000,0.042,2868,688,3117,0,0,0,0,0,0
$GC,445,-1.20,-116.8,68.9,-17.3,59,449,0.00,2.38,0.00,0.000,6,0.000,0.021,2868,2090,3117,0,0,0,0,0,0
$GC,711,-1.20,-116.8,106.9,-12.2,83,715,0.00,2.50,0.00,0.000,4,0.000,0.035,2868,3502,3118,0,0,0,0,0,0
$GC,726,-1.20,-116.8,109.2,-11.4,84,731,0.00,2.45,0.00,0.000,6,0.000,0.031,2868,2089,3118,0,0,0,0,0,0
$GC,989,-1.20,-116.8,137.3,-12.1,108,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2088,3119,0,0,0,0,0,0
$GC,1243,-1.20,-116.8,168.1,-10.5,132,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2088,3120,0,0,0,0,0,0
$GC,1497,-1.20,-116.8,196.2,-9.9,156,1502,0.00,2.50,0.00,0.000,4,0.000,0.043,2868,686,3120,0,0,0,0,0,0
$GC,1569,-1.20,-116.8,204.5,-10.7,161,1573,0.00,2.42,0.00,0.000,6,0.000,0.021,2868,2112,3120,0,0,0,0,0,0
$GC,1895,-1.20,-116.8,236.0,-8.6,177,1900,0.00,2.55,0.00,0.000,4,0.000,0.044,2868,693,3120,0,0,0,0,0,0
$GC,1909,-1.20,-116.8,237.5,-8.8,177,1915,0.00,2.40,0.00,0.000,6,0.000,0.022,2868,2099,3120,0,0,0,0,0,0
$GC,2227,-1.20,-116.8,262.6,-7.2,193,2231,0.00,2.53,0.00,0.000,4,0.000,0.044,2868,694,3120,0,0,0,0,0,0
$GC,2317,-1.20,-116.8,270.4,-8.5,197,2322,0.00,2.40,0.00,0.000,6,0.000,0.023,2868,2104,3119,0,0,0,0,0,0
$GC,2649,-1.20,-116.8,295.2,-7.9,213,2653,0.00,2.50,0.00,0.000,4,0.000,0.044,2868,3497,3119,0,0,0,0,0,0
$GC,2770,-1.20,-116.8,305.2,-8.0,217,2775,0.00,2.50,0.00,0.000,6,0.000,0.038,2868,2099,3118,0,0,0,0,0,0
$GC,3107,-1.20,-116.8,331.5,-7.5,226,3108,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2099,3117,0,0,0,0,0,0
$GC,3432,-1.20,-116.8,354.3,-6.9,234,3436,0.00,2.58,0.00,0.000,4,0.000,0.050,2868,692,3116,0,0,0,0,0,0
$GC,3475,-1.20,-116.8,357.5,-7.8,235,3479,0.00,2.45,0.00,0.000,6,0.000,0.026,2868,2098,3115,0,0,0,0,0,0
$GC,3805,-1.20,-116.8,381.9,-8.2,243,3810,0.00,2.55,0.00,0.000,4,0.000,0.048,2868,3504,3113,0,0,0,0,0,0
$GC,3866,-1.20,-116.8,387.7,-8.8,244,3870,0.00,2.55,0.00,0.000,6,0.000,0.043,2868,2093,3113,0,0,0,0,0,0
$GC,4216,-1.20,-116.8,415.3,-8.0,253,4220,0.00,2.58,0.00,0.000,4,0.000,0.052,2868,688,3110,0,0,0,0,0,0
$GC,4245,-1.20,-116.8,417.4,-7.3,253,4249,0.00,2.47,0.00,0.000,6,0.000,0.028,2868,2107,3110,0,0,0,0,0,0
$GC,4582,-1.20,-116.8,442.3,-7.6,262,4583,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2108,3108,0,0,0,0,0,0
$STATE,4700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4700,begin apogee
$GC,4707,-0.31,0.0,451.6,7.6,265,4806,0.95,0.00,95.32,0.815,6,0.083,0.000,3064,1795,2635,0,0,0,0,0,0
$STATE,4807,end apogee,CONTROL_FINISHED_OK
$STATE,4807,begin climb
$GC,4809,1.20,116.8,453.8,0.0,267,4921,1.50,2.65,100.32,0.796,4,0.055,0.044,3395,3200,2157,0,0,0,0,0,0
$GC,4938,1.20,116.8,443.2,11.3,270,4942,0.00,2.65,0.00,0.000,6,0.000,0.054,3395,1804,2157,0,0,0,0,0,0
$GC,5266,1.20,116.8,399.5,13.6,278,5270,0.00,2.67,0.00,0.000,4,0.000,0.063,3395,389,2147,0,0,0,0,0,0
$GC,5285,1.20,116.8,396.7,13.9,278,5289,0.00,2.47,0.00,0.000,6,0.000,0.027,3395,1800,2145,0,0,0,0,0,0
$GC,5630,1.20,116.8,354.5,11.7,287,5634,0.00,2.58,0.00,0.000,4,0.000,0.044,3395,3211,2143,0,0,0,0,0,0
$GC,5668,1.20,116.8,350.0,11.5,287,5673,0.00,2.65,0.00,0.000,6,0.000,0.050,3395,1793,2143,0,0,0,0,0,0
$GC,5999,1.20,116.8,313.3,11.2,296,6000,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1793,2140,0,0,0,0,0,0
$GC,6306,1.20,116.8,279.4,10.1,308,6311,0.00,2.58,0.00,0.000,4,0.000,0.041,3395,3203,2139,0,0,0,0,0,0
$GC,6358,1.20,116.8,273.8,11.2,310,6362,0.00,2.62,0.00,0.000,6,0.000,0.047,3395,1790,2139,0,0,0,0,0,0
$GC,6678,1.20,116.8,238.0,11.6,326,6682,0.00,2.60,0.00,0.000,4,0.000,0.057,3395,392,2137,0,0,0,0,0,0
$GC,6701,1.20,116.8,235.4,11.9,327,6705,0.00,2.45,0.00,0.000,6,0.000,0.025,3395,1801,2135,0,0,0,0,0,0
$GC,7031,1.20,116.8,201.9,8.7,343,7035,0.00,2.53,0.00,0.000,4,0.000,0.038,3396,3213,2135,0,0,0,0,0,0
$GC,7055,1.20,116.8,199.7,8.4,344,7059,0.00,2.60,0.00,0.000,6,0.000,0.043,3395,1796,2135,0,0,0,0,0,0
$GC,7390,1.20,116.8,173.4,8.3,375,7394,0.00,2.53,0.00,0.000,4,0.000,0.035,3395,3207,2134,0,0,0,0,0,0
$GC,7405,1.20,116.8,171.9,9.0,376,7410,0.00,2.58,0.00,0.000,6,0.000,0.039,3395,1795,2134,0,0,0,0,0,0
$GC,7669,1.20,116.8,148.5,8.1,400,7673,0.00,2.53,0.00,0.000,4,0.000,0.034,3396,3206,2134,0,0,0,0,0,0
$GC,7724,1.20,119.1,143.9,7.9,405,7730,0.00,2.58,0.00,0.000,6,0.000,0.041,3395,1796,2134,0,0,0,0,0,0
$GC,7988,1.20,119.1,124.1,8.7,430,7992,0.00,2.55,0.00,0.000,4,0.000,0.052,3395,391,2134,0,0,0,0,0,0
$GC,8043,1.20,119.1,119.0,9.2,435,8048,0.00,2.45,0.00,0.000,6,0.000,0.021,3395,1814,2132,0,0,0,0,0,0
$GC,8306,1.22,137.0,100.6,7.2,460,8326,0.00,2.45,14.15,0.517,4,0.000,0.030,3396,3204,2076,0,0,0,0,0,0
$GC,8386,1.25,161.2,94.5,6.9,468,8414,0.00,2.58,22.55,0.529,6,0.000,0.038,3395,1803,1977,0,0,0,0,0,0
$GC,8672,1.28,182.7,74.2,7.0,495,8702,0.00,2.62,19.23,0.505,4,0.000,0.049,3395,388,1887,0,0,0,0,0,0
$GC,8723,1.28,182.7,70.4,9.2,500,8727,0.00,2.42,0.00,0.000,6,0.000,0.020,3395,1802,1885,0,0,0,0,0,0
$GC,8988,1.28,182.7,49.4,8.5,524,8992,0.00,2.45,0.00,0.000,4,0.000,0.028,3395,3203,1885,0,0,0,0,0,0
$GC,9031,1.28,182.7,45.5,8.9,528,9035,0.00,2.53,0.00,0.000,6,0.000,0.038,3395,1799,1884,0,0,0,0,0,0
$GC,9296,1.33,221.9,25.7,6.2,558,9336,0.12,2.62,34.03,0.476,4,0.061,0.058,3441,391,1728,0,0,0,0,0,0
$GC,9385,1.33,221.9,17.0,11.7,575,9392,0.00,2.45,0.00,0.000,6,0.000,0.018,3441,1801,1723,0,0,0,0,0,0
$STATE,9546,end climb,SURFACE_DEPTH_REACHED
$STATE,9546,begin surface coast
$FINISH,1.0,1.004099
$STATE,9581,end surface coast,CONTROL_FINISHED_OK
$STATE,9581,begin surface
$SM_CCo,9605,53.70,0.454,0,0,1289,330.17
$SM_GC,1.81,0.00,0.00,53.70,0.000,0.000,0.454,424,2142,1289,-12.48,1.19,330.17
$IRIDIUM_FIX,2045.60,-15800.78,150800,212121
$TT8_MAMPS,0.029146
$HUMID,57.48
$INTERNAL_PRESSURE,9.62581
$TCM_TEMP,22.20
$XPDR_PINGS,11
$24V_AH,23.5,34.102
$10V_AH,10.4,32.239
$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,28.675,117.225,285.600,53.700,0.000,26.280,34.891,189.709,7.250,0.000,13.514,1122.028,6345.227,400.630,1663.482,501.845,33.366,1129.139,0.000,1648.577,0.000,29.251,0.000
$DEVICE_MAMPS,134.992,62.894,814.554,454.064,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,412.460,404.272,889.667,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,34840,610
$CAP_FILE_SIZE,101276,0
$CFSIZE,260165632,236269568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230511,032546,2056.859,-15802.450,17,3.2,36,9.8