version: 66.06
glider: 139
mission: 9
dive: 422
start: 5 23 111 3 33 19
data:
$ID,139
$MISSION,9
$DIVE,422
$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,-2184729.8
$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,17
$R_STBD_OVSHOOT,75
$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
$GPS1,032546,2056.859,-15802.450,17,3.2,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-70.3
$GPS2,033228,2056.840,-15802.439,15,3.1,34,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.041,0.218
$KALMAN_X,54885.1,-128.9,210.9,-68396.9,519.2
$KALMAN_Y,-37392.7,109.6,-156.3,74870.5,-459.2
$MHEAD_RNG_PITCHd_Wd,339.6,21297,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,84,0.00,0.00,-65.03,0.000,2,0.000,0.000,424,2142,2978,0,0,0,0,0,0
$GC,87,-1.19,-116.8,3.1,-3.8,12,112,13.18,2.38,-2.70,0.000,4,0.137,0.044,2871,3461,3114,0,0,0,0,0,0
$GC,236,-1.19,-116.8,34.9,-17.9,41,241,0.00,2.45,0.00,0.000,6,0.000,0.035,2871,2090,3115,0,0,0,0,0,0
$GC,499,-1.19,-116.8,74.2,-15.8,65,503,0.00,2.50,0.00,0.000,4,0.000,0.043,2871,691,3115,0,0,0,0,0,0
$GC,518,-1.19,-116.8,77.8,-16.2,66,525,0.00,2.38,0.00,0.000,6,0.000,0.020,2871,2071,3116,0,0,0,0,0,0
$GC,782,-1.19,-116.8,113.5,-12.6,91,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2071,3117,0,0,0,0,0,0
$GC,1044,-1.19,-116.8,143.0,-11.2,116,1048,0.00,2.45,0.00,0.000,4,0.000,0.042,2871,691,3118,0,0,0,0,0,0
$GC,1079,-1.19,-116.8,147.4,-13.2,119,1083,0.00,2.40,0.00,0.000,6,0.000,0.021,2871,2099,3118,0,0,0,0,0,0
$GC,1344,-1.19,-116.8,176.6,-11.4,143,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2100,3118,0,0,0,0,0,0
$GC,1604,-1.19,-116.8,204.0,-9.3,166,1608,0.00,2.53,0.00,0.000,4,0.000,0.044,2871,691,3119,0,0,0,0,0,0
$GC,1625,-1.19,-116.8,206.0,-10.0,167,1629,0.00,2.40,0.00,0.000,6,0.000,0.021,2871,2106,3119,0,0,0,0,0,0
$GC,1956,-1.19,-116.8,237.1,-9.9,183,1957,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2107,3119,0,0,0,0,0,0
$GC,2264,-1.19,-116.8,267.6,-9.4,198,2268,0.00,2.55,0.00,0.000,4,0.000,0.045,2871,689,3119,0,0,0,0,0,0
$GC,2288,-1.19,-116.8,269.9,-10.0,199,2292,0.00,2.40,0.00,0.000,6,0.000,0.022,2871,2107,3118,0,0,0,0,0,0
$GC,2615,-1.19,-116.8,297.1,-7.8,215,2616,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2107,3118,0,0,0,0,0,0
$GC,2940,-1.19,-116.8,320.7,-7.1,224,2944,0.00,2.58,0.00,0.000,4,0.000,0.048,2870,685,3117,0,0,0,0,0,0
$GC,3051,-1.19,-116.8,329.7,-8.1,226,3056,0.00,2.42,0.00,0.000,6,0.000,0.025,2871,2100,3116,0,0,0,0,0,0
$GC,3397,-1.19,-116.8,353.0,-7.1,235,3401,0.00,2.58,0.00,0.000,4,0.000,0.048,2871,3502,3114,0,0,0,0,0,0
$GC,3563,-1.19,-116.8,364.8,-8.0,238,3568,0.00,2.50,0.00,0.000,6,0.000,0.043,2871,2103,3113,0,0,0,0,0,0
$GC,3899,-1.19,-116.8,388.8,-7.2,247,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2103,3111,0,0,0,0,0,0
$GC,4225,-1.19,-116.8,414.0,-7.6,255,4229,0.00,2.60,0.00,0.000,4,0.000,0.054,2871,692,3109,0,0,0,0,0,0
$GC,4276,-1.19,-116.8,418.1,-8.4,256,4281,0.00,2.45,0.00,0.000,6,0.000,0.028,2871,2101,3108,0,0,0,0,0,0
$GC,4596,-1.19,-116.8,440.1,-6.9,264,4601,0.00,2.58,0.00,0.000,4,0.000,0.054,2871,691,3106,0,0,0,0,0,0
$GC,4625,-1.19,-116.8,442.1,-7.7,264,4629,0.00,2.45,0.00,0.000,6,0.000,0.029,2871,2099,3105,0,0,0,0,0,0
$STATE,4755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4755,begin apogee
$GC,4762,-0.31,0.0,450.5,6.2,268,4861,0.95,0.00,95.15,0.820,6,0.082,0.000,3067,1791,2635,0,0,0,0,0,0
$STATE,4861,end apogee,CONTROL_FINISHED_OK
$STATE,4861,begin climb
$GC,4865,1.19,116.8,451.5,0.0,270,4977,1.48,2.65,99.90,0.799,4,0.055,0.043,3394,3200,2157,0,0,0,0,0,0
$GC,4987,1.19,116.8,439.2,12.4,272,4992,0.00,2.62,0.00,0.000,6,0.000,0.053,3393,1807,2156,0,0,0,0,0,0
$GC,5318,1.19,116.8,395.2,13.2,281,5323,0.00,2.67,0.00,0.000,4,0.000,0.062,3393,391,2146,0,0,0,0,0,0
$GC,5362,1.19,116.8,389.0,14.2,282,5366,0.00,2.53,0.00,0.000,6,0.000,0.028,3394,1803,2143,0,0,0,0,0,0
$GC,5689,1.19,116.8,348.9,11.5,290,5690,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1808,2141,0,0,0,0,0,0
$GC,6015,1.19,116.8,313.7,10.5,298,6019,0.00,2.55,0.00,0.000,4,0.000,0.042,3394,3213,2139,0,0,0,0,0,0
$GC,6034,1.19,116.8,311.4,10.8,298,6038,0.00,2.62,0.00,0.000,6,0.000,0.049,3394,1794,2139,0,0,0,0,0,0
$GC,6363,1.19,116.8,276.0,10.9,311,6364,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1795,2138,0,0,0,0,0,0
$GC,6671,1.19,116.8,246.5,9.4,326,6675,0.00,2.58,0.00,0.000,4,0.000,0.040,3394,3206,2135,0,0,0,0,0,0
$GC,6708,1.19,116.8,243.1,9.2,327,6714,0.00,2.62,0.00,0.000,6,0.000,0.048,3394,1793,2135,0,0,0,0,0,0
$GC,7025,1.19,116.8,216.3,9.0,343,7027,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1792,2134,0,0,0,0,0,0
$GC,7337,1.19,116.8,188.1,9.6,364,7342,0.00,2.53,0.00,0.000,4,0.000,0.035,3394,3207,2133,0,0,0,0,0,0
$GC,7372,1.19,116.8,184.8,9.8,367,7376,0.00,2.58,0.00,0.000,6,0.000,0.041,3394,1791,2133,0,0,0,0,0,0
$GC,7637,1.19,116.8,159.9,9.3,391,7641,0.00,2.53,0.00,0.000,4,0.000,0.033,3394,3210,2133,0,0,0,0,0,0
$GC,7663,1.19,116.8,157.5,8.6,393,7668,0.00,2.55,0.00,0.000,6,0.000,0.041,3394,1797,2133,0,0,0,0,0,0
$GC,7928,1.19,116.8,136.5,8.5,417,7932,0.00,2.50,0.00,0.000,4,0.000,0.032,3394,3210,2132,0,0,0,0,0,0
$GC,7983,1.19,116.8,131.3,8.6,422,7990,0.00,2.58,0.00,0.000,6,0.000,0.039,3394,1805,2133,0,0,0,0,0,0
$GC,8247,1.20,123.4,112.8,7.7,447,8252,0.00,2.50,0.00,0.000,4,0.000,0.031,3394,3212,2132,0,0,0,0,0,0
$GC,8360,1.22,140.5,104.2,7.2,458,8384,0.00,2.58,16.98,0.532,6,0.000,0.038,3394,1801,2061,0,0,0,0,0,0
$GC,8641,1.24,156.5,82.8,7.3,485,8663,0.00,2.67,15.15,0.505,4,0.000,0.051,3394,392,1994,0,0,0,0,0,0
$GC,8689,1.24,156.5,79.0,8.8,490,8693,0.00,2.45,0.00,0.000,6,0.000,0.019,3394,1824,1992,0,0,0,0,0,0
$GC,8955,1.27,174.7,61.0,7.2,514,8978,0.00,2.47,16.55,0.487,4,0.000,0.029,3394,3192,1922,0,0,0,0,0,0
$GC,9013,1.29,194.5,56.8,7.1,520,9037,0.10,2.53,18.48,0.486,6,0.071,0.036,3434,1795,1841,0,0,0,0,0,0
$GC,9295,1.29,194.5,29.1,9.4,546,9301,0.00,2.50,0.00,0.000,4,0.000,0.029,3434,3190,1837,0,0,0,0,0,0
$GC,9360,1.30,199.1,23.8,7.8,560,9372,0.00,2.53,4.82,0.348,6,0.000,0.033,3434,1799,1823,0,0,0,0,0,0
$GC,9569,1.30,199.1,6.3,8.9,598,9576,0.00,2.60,0.00,0.000,4,0.000,0.048,3434,391,1822,0,0,0,0,0,0
$GC,9584,1.30,200.7,5.2,7.9,600,9590,0.00,2.42,0.00,0.000,6,0.000,0.019,3435,1798,1820,0,0,0,0,0,0
$STATE,9606,end climb,SURFACE_DEPTH_REACHED
$STATE,9606,begin surface coast
$FINISH,1.0,1.009199
$STATE,9639,end surface coast,CONTROL_FINISHED_OK
$STATE,9639,begin surface
$SM_CCo,9664,65.80,0.453,0,0,1288,330.17
$SM_GC,1.72,0.00,0.00,65.80,0.000,0.000,0.453,424,2111,1288,-12.48,0.31,330.17
$IRIDIUM_FIX,2050.21,-15802.92,160800,000008
$TT8_MAMPS,0.029146
$HUMID,56.61
$INTERNAL_PRESSURE,9.62581
$TCM_TEMP,22.20
$XPDR_PINGS,16
$24V_AH,23.5,34.181
$10V_AH,10.4,32.317
$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,28.500,106.950,267.025,65.800,0.000,24.246,35.047,198.014,8.500,0.000,35.401,1111.592,6434.075,405.904,1673.267,506.909,33.360,1122.864,0.000,1639.337,0.000,29.250,0.000
$DEVICE_MAMPS,136.526,62.127,819.923,453.297,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,412.630,407.559,894.733,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355752
$DATA_FILE_SIZE,34948,610
$CAP_FILE_SIZE,99448,0
$CFSIZE,260165632,236220416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230511,061707,2057.931,-15802.745,58,0.9,58,9.8