version: 66.06
glider: 139
mission: 9
dive: 425
start: 5 23 111 12 21 8
data:
$ID,139
$MISSION,9
$DIVE,425
$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,-2184795.8
$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,21
$R_STBD_OVSHOOT,86
$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
$GPS1,120837,2059.512,-15803.106,39,2.0,39,9.8
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-73.2
$GPS2,122016,2059.543,-15803.121,14,2.3,33,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.033,0.219
$KALMAN_X,54520.6,-63.8,-24.8,-69044.3,509.3
$KALMAN_Y,-39869.5,132.8,-68.8,82242.0,-1203.6
$MHEAD_RNG_PITCHd_Wd,341.7,16383,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.19,-116.8,0.0,0.0,0,89,0.00,0.00,-69.62,0.000,6,0.000,0.000,428,2147,3113,0,0,0,0,0,0
$GC,93,-1.19,-116.8,3.5,-4.8,13,112,13.07,2.33,0.00,0.000,4,0.133,0.030,2868,3461,3115,0,0,0,0,0,0
$GC,215,-1.19,-116.8,33.9,-21.0,37,219,0.00,2.42,0.00,0.000,6,0.000,0.033,2868,2086,3116,0,0,0,0,0,0
$GC,477,-1.19,-116.8,78.0,-15.8,61,482,0.00,2.40,0.00,0.000,4,0.000,0.030,2868,3453,3117,0,0,0,0,0,0
$GC,575,-1.19,-116.8,91.3,-12.4,71,579,0.00,2.40,0.00,0.000,6,0.000,0.032,2868,2098,3118,0,0,0,0,0,0
$GC,840,-1.19,-116.8,125.1,-13.9,95,844,0.00,2.53,0.00,0.000,4,0.000,0.042,2868,693,3118,0,0,0,0,0,0
$GC,1018,-1.19,-116.8,147.9,-13.5,114,1023,0.00,2.30,0.00,0.000,6,0.000,0.020,2868,2056,3118,0,0,0,0,0,0
$GC,1282,-1.19,-116.8,175.2,-10.2,138,1286,0.00,2.45,0.00,0.000,4,0.000,0.041,2868,687,3118,0,0,0,0,0,0
$GC,1299,-1.19,-116.8,177.0,-10.0,139,1303,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2108,3118,0,0,0,0,0,0
$GC,1562,-1.19,-116.8,202.8,-9.1,162,1566,0.00,2.55,0.00,0.000,4,0.000,0.043,2868,685,3118,0,0,0,0,0,0
$GC,1617,-1.19,-116.8,208.6,-10.5,164,1622,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2100,3118,0,0,0,0,0,0
$GC,1935,-1.19,-116.8,237.6,-9.0,179,1936,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2101,3119,0,0,0,0,0,0
$GC,2242,-1.19,-116.8,262.0,-8.3,194,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2101,3118,0,0,0,0,0,0
$GC,2553,-1.19,-116.8,287.1,-6.7,209,2558,0.00,2.55,0.00,0.000,4,0.000,0.046,2867,689,3118,0,0,0,0,0,0
$GC,2730,-1.19,-116.8,301.4,-8.5,216,2737,0.00,2.45,0.00,0.000,6,0.000,0.025,2868,2092,3116,0,0,0,0,0,0
$GC,3062,-1.19,-116.8,325.7,-7.9,225,3066,0.00,2.53,0.00,0.000,4,0.000,0.048,2868,688,3115,0,0,0,0,0,0
$GC,3114,-1.19,-116.8,330.2,-8.2,226,3118,0.00,2.42,0.00,0.000,6,0.000,0.025,2868,2100,3115,0,0,0,0,0,0
$GC,3432,-1.19,-116.8,354.2,-7.5,234,3437,0.00,2.55,0.00,0.000,4,0.000,0.049,2868,691,3114,0,0,0,0,0,0
$GC,3470,-1.19,-116.8,357.5,-8.6,234,3475,0.00,2.42,0.00,0.000,6,0.000,0.026,2868,2097,3113,0,0,0,0,0,0
$GC,3803,-1.19,-116.8,382.7,-7.6,243,3807,0.00,2.58,0.00,0.000,4,0.000,0.051,2868,689,3111,0,0,0,0,0,0
$GC,3900,-1.19,-116.8,391.9,-9.0,245,3904,0.00,2.45,0.00,0.000,6,0.000,0.028,2868,2105,3111,0,0,0,0,0,0
$GC,4219,-1.19,-116.8,416.4,-7.7,253,4221,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2107,3108,0,0,0,0,0,0
$GC,4544,-1.19,-116.8,439.3,-6.7,261,4548,0.00,2.58,0.00,0.000,4,0.000,0.054,2868,3501,3106,0,0,0,0,0,0
$GC,4568,-1.19,-116.8,441.1,-7.1,261,4572,0.00,2.53,0.00,0.000,6,0.000,0.045,2868,2102,3105,0,0,0,0,0,0
$STATE,4702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4703,begin apogee
$GC,4710,-0.31,0.0,450.2,6.7,265,4808,0.95,0.00,94.95,0.817,6,0.081,0.000,3065,1794,2635,0,0,0,0,0,0
$STATE,4809,end apogee,CONTROL_FINISHED_OK
$STATE,4809,begin climb
$GC,4812,1.19,116.8,451.7,0.0,267,4920,1.50,0.00,100.50,0.795,6,0.055,0.000,3396,1794,2158,0,0,0,0,0,0
$GC,5261,1.19,116.8,400.3,12.3,278,5266,0.00,2.62,0.00,0.000,4,0.000,0.044,3396,3206,2146,0,0,0,0,0,0
$GC,5305,1.19,116.8,395.5,10.5,279,5309,0.00,2.65,0.00,0.000,6,0.000,0.051,3396,1803,2147,0,0,0,0,0,0
$GC,5633,1.19,116.8,361.1,10.5,287,5637,0.00,2.65,0.00,0.000,4,0.000,0.063,3395,394,2143,0,0,0,0,0,0
$GC,5661,1.19,116.8,357.5,12.4,287,5665,0.00,2.50,0.00,0.000,6,0.000,0.028,3396,1800,2140,0,0,0,0,0,0
$GC,5997,1.19,116.8,322.8,10.4,296,6001,0.00,2.53,0.00,0.000,4,0.000,0.042,3396,3204,2139,0,0,0,0,0,0
$GC,6016,1.19,116.8,320.6,11.0,296,6021,0.00,2.60,0.00,0.000,6,0.000,0.048,3396,1799,2139,0,0,0,0,0,0
$GC,6344,1.19,116.8,287.5,9.6,307,6348,0.00,2.65,0.00,0.000,4,0.000,0.061,3395,389,2137,0,0,0,0,0,0
$GC,6381,1.19,116.8,283.0,12.0,308,6388,0.00,2.53,0.00,0.000,6,0.000,0.028,3396,1800,2134,0,0,0,0,0,0
$GC,6697,1.19,116.8,251.5,10.6,324,6702,0.00,2.67,0.00,0.000,4,0.000,0.059,3395,388,2134,0,0,0,0,0,0
$GC,6712,1.19,116.8,249.5,11.3,324,6718,0.00,2.53,0.00,0.000,6,0.000,0.025,3396,1810,2134,0,0,0,0,0,0
$GC,7027,1.19,116.8,218.6,9.6,340,7032,0.00,2.50,0.00,0.000,4,0.000,0.038,3396,3210,2134,0,0,0,0,0,0
$GC,7133,1.19,116.8,208.2,9.4,344,7140,0.00,2.62,0.00,0.000,6,0.000,0.044,3396,1798,2133,0,0,0,0,0,0
$GC,7457,1.20,125.0,179.9,7.6,370,7462,0.00,2.60,0.00,0.000,4,0.000,0.055,3395,389,2133,0,0,0,0,0,0
$GC,7494,1.20,125.0,176.7,8.0,373,7500,0.00,2.45,0.00,0.000,6,0.000,0.024,3396,1800,2131,0,0,0,0,0,0
$GC,7755,1.20,125.0,156.0,8.9,398,7760,0.00,2.47,0.00,0.000,4,0.000,0.034,3396,3202,2131,0,0,0,0,0,0
$GC,7827,1.20,125.0,150.0,8.7,405,7831,0.00,2.53,0.00,0.000,6,0.000,0.040,3396,1799,2131,0,0,0,0,0,0
$GC,8091,1.20,125.0,126.3,8.7,429,8096,0.00,2.58,0.00,0.000,4,0.000,0.052,3395,388,2131,0,0,0,0,0,0
$GC,8157,1.20,125.0,119.4,9.2,435,8162,0.00,2.45,0.00,0.000,6,0.000,0.021,3395,1806,2130,0,0,0,0,0,0
$GC,8420,1.20,125.0,99.1,8.8,460,8424,0.00,2.45,0.00,0.000,4,0.000,0.031,3396,3204,2131,0,0,0,0,0,0
$GC,8450,1.21,125.3,96.5,8.0,462,8456,0.00,2.55,0.00,0.000,6,0.000,0.038,3395,1803,2131,0,0,0,0,0,0
$GC,8715,1.25,161.5,80.0,6.4,487,8755,0.00,2.65,34.95,0.532,4,0.000,0.051,3396,387,1974,0,0,0,0,0,0
$GC,8855,1.25,161.5,69.0,8.6,502,8859,0.00,2.42,0.00,0.000,6,0.000,0.020,3396,1803,1968,0,0,0,0,0,0
$GC,9120,1.31,208.4,49.9,5.9,526,9166,0.12,2.50,40.12,0.502,4,0.061,0.028,3440,3205,1784,0,0,0,0,0,0
$GC,9231,1.31,208.4,40.1,9.2,538,9235,0.00,2.55,0.00,0.000,6,0.000,0.035,3440,1799,1784,0,0,0,0,0,0
$GC,9497,1.31,208.4,16.5,8.6,576,9503,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1799,1781,0,0,0,0,0,0
$STATE,9616,end climb,SURFACE_DEPTH_REACHED
$STATE,9616,begin surface coast
$FINISH,1.1,1.022930
$STATE,9641,end surface coast,CONTROL_FINISHED_OK
$STATE,9641,begin surface
$SM_CCo,9665,60.62,0.456,0,0,1288,330.17
$SM_GC,1.76,0.00,0.00,60.62,0.000,0.000,0.456,424,2118,1288,-12.48,0.51,330.17
$IRIDIUM_FIX,2052.52,-15804.20,160800,121216
$TT8_MAMPS,0.029146
$HUMID,57.20
$INTERNAL_PRESSURE,9.62581
$TCM_TEMP,22.00
$XPDR_PINGS,16
$24V_AH,23.5,34.465
$10V_AH,10.4,32.559
$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,28.550,111.550,270.525,60.625,0.000,54.972,74.881,332.543,8.500,0.000,34.301,1118.990,6404.620,395.250,1749.248,757.215,33.358,1149.788,0.000,1711.045,0.000,29.252,0.000
$DEVICE_MAMPS,133.458,62.894,816.855,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.589,399.592,870.078,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355796
$DATA_FILE_SIZE,34976,602
$CAP_FILE_SIZE,105508,0
$CFSIZE,260165632,236068864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230511,150506,2100.291,-15803.532,73,0.9,73,9.8