version: 66.06
glider: 139
mission: 9
dive: 426
start: 5 23 111 15 15 54
data:
$ID,139
$MISSION,9
$DIVE,426
$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,-2184815
$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,51
$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
$GPS1,150506,2100.291,-15803.532,73,0.9,73,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-73.6
$GPS2,151501,2100.240,-15803.609,13,1.0,18,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.079,0.207
$KALMAN_X,53810.6,-165.7,293.3,-69389.6,-638.7
$KALMAN_Y,-40785.4,-41.6,-144.0,84700.9,-917.5
$MHEAD_RNG_PITCHd_Wd,11.1,15225,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-69.12,0.000,6,0.000,0.000,424,2118,3112,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.8,-5.8,13,110,13.15,2.45,0.00,0.000,4,0.135,0.031,2869,3497,3115,0,0,0,0,0,0
$GC,246,-1.19,-116.8,39.0,-17.6,42,250,0.00,2.47,0.00,0.000,6,0.000,0.031,2869,2085,3117,0,0,0,0,0,0
$GC,508,-1.19,-116.8,79.3,-12.0,66,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2085,3117,0,0,0,0,0,0
$GC,762,-1.19,-116.8,109.0,-11.0,90,766,0.00,2.50,0.00,0.000,4,0.000,0.041,2869,693,3118,0,0,0,0,0,0
$GC,858,-1.19,-116.8,122.2,-13.4,100,863,0.00,2.35,0.00,0.000,6,0.000,0.020,2869,2092,3117,0,0,0,0,0,0
$GC,1122,-1.19,-116.8,150.5,-10.3,124,1126,0.00,2.50,0.00,0.000,4,0.000,0.042,2869,686,3118,0,0,0,0,0,0
$GC,1157,-1.19,-116.8,154.4,-11.0,127,1161,0.00,2.40,0.00,0.000,6,0.000,0.021,2869,2104,3118,0,0,0,0,0,0
$GC,1422,-1.19,-116.8,180.4,-10.1,151,1426,0.00,2.50,0.00,0.000,4,0.000,0.038,2869,3506,3119,0,0,0,0,0,0
$GC,1456,-1.19,-116.8,184.2,-9.6,154,1460,0.00,2.47,0.00,0.000,6,0.000,0.035,2869,2094,3119,0,0,0,0,0,0
$GC,1716,-1.19,-116.8,205.3,-8.1,175,1720,0.00,2.50,0.00,0.000,4,0.000,0.044,2869,695,3119,0,0,0,0,0,0
$GC,1772,-1.19,-116.8,210.9,-10.3,177,1776,0.00,2.38,0.00,0.000,6,0.000,0.021,2869,2100,3119,0,0,0,0,0,0
$GC,2087,-1.19,-116.8,238.4,-8.2,192,2092,0.00,2.50,0.00,0.000,4,0.000,0.040,2869,3502,3119,0,0,0,0,0,0
$GC,2216,-1.19,-116.8,249.2,-9.1,197,2221,0.00,2.47,0.00,0.000,6,0.000,0.036,2869,2094,3118,0,0,0,0,0,0
$GC,2533,-1.19,-116.8,274.8,-8.7,213,2537,0.00,2.55,0.00,0.000,4,0.000,0.047,2869,688,3118,0,0,0,0,0,0
$GC,2675,-1.19,-116.8,289.4,-9.0,219,2679,0.00,2.42,0.00,0.000,6,0.000,0.023,2869,2097,3117,0,0,0,0,0,0
$GC,3013,-1.19,-116.8,317.6,-8.5,231,3017,0.00,2.53,0.00,0.000,4,0.000,0.047,2869,692,3116,0,0,0,0,0,0
$GC,3045,-1.19,-116.8,320.5,-8.8,231,3049,0.00,2.45,0.00,0.000,6,0.000,0.025,2869,2107,3115,0,0,0,0,0,0
$GC,3377,-1.19,-116.8,346.7,-7.4,239,3381,0.00,2.55,0.00,0.000,4,0.000,0.048,2869,690,3114,0,0,0,0,0,0
$GC,3429,-1.19,-116.8,350.8,-7.2,240,3433,0.00,2.42,0.00,0.000,6,0.000,0.025,2869,2099,3114,0,0,0,0,0,0
$GC,3748,-1.19,-116.8,372.5,-6.7,248,3752,0.00,2.58,0.00,0.000,4,0.000,0.050,2869,690,3112,0,0,0,0,0,0
$GC,3767,-1.19,-116.8,374.2,-7.9,248,3771,0.00,2.42,0.00,0.000,6,0.000,0.026,2869,2099,3112,0,0,0,0,0,0
$GC,4112,-1.19,-116.8,399.7,-7.6,257,4117,0.00,2.53,0.00,0.000,4,0.000,0.051,2869,699,3109,0,0,0,0,0,0
$GC,4156,-1.19,-116.8,402.8,-7.6,257,4161,0.00,2.45,0.00,0.000,6,0.000,0.027,2869,2109,3109,0,0,0,0,0,0
$GC,4487,-1.19,-116.8,425.6,-6.8,266,4492,0.00,2.60,0.00,0.000,4,0.000,0.052,2869,692,3107,0,0,0,0,0,0
$GC,4531,-1.19,-116.8,428.7,-7.3,267,4535,0.00,2.45,0.00,0.000,6,0.000,0.028,2869,2107,3106,0,0,0,0,0,0
$GC,4859,-1.19,-116.8,448.4,-5.8,275,4863,0.00,2.58,0.00,0.000,4,0.000,0.054,2869,696,3105,0,0,0,0,0,0
$STATE,4885,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4885,begin apogee
$GC,4894,-0.31,0.0,450.3,6.4,275,4992,0.93,0.00,94.72,0.816,6,0.084,0.000,3062,1804,2635,0,0,0,0,0,0
$STATE,4993,end apogee,CONTROL_FINISHED_OK
$STATE,4993,begin climb
$GC,4996,1.19,116.8,451.0,0.0,278,5108,1.50,2.65,100.32,0.796,4,0.055,0.045,3394,3197,2157,0,0,0,0,0,0
$GC,5141,1.19,116.8,436.5,11.9,281,5146,0.00,2.65,0.00,0.000,6,0.000,0.054,3393,1804,2156,0,0,0,0,0,0
$GC,5492,1.19,116.8,393.3,11.9,290,5496,0.00,2.70,0.00,0.000,4,0.000,0.064,3393,389,2146,0,0,0,0,0,0
$GC,5515,1.19,116.8,390.0,13.3,290,5520,0.00,2.50,0.00,0.000,6,0.000,0.028,3393,1798,2144,0,0,0,0,0,0
$GC,5856,1.19,116.8,351.0,11.6,299,5857,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1800,2142,0,0,0,0,0,0
$GC,6181,1.19,116.8,316.1,10.8,307,6186,0.00,2.53,0.00,0.000,4,0.000,0.043,3393,3203,2139,0,0,0,0,0,0
$GC,6224,1.19,116.8,311.9,9.5,308,6229,0.00,2.60,0.00,0.000,6,0.000,0.050,3393,1800,2139,0,0,0,0,0,0
$GC,6554,1.19,116.8,280.0,10.1,320,6559,0.00,2.65,0.00,0.000,4,0.000,0.061,3393,392,2138,0,0,0,0,0,0
$GC,6577,1.19,116.8,277.7,11.7,321,6581,0.00,2.47,0.00,0.000,6,0.000,0.027,3393,1803,2136,0,0,0,0,0,0
$GC,6907,1.19,116.8,243.2,10.8,337,6912,0.00,2.65,0.00,0.000,4,0.000,0.060,3393,392,2135,0,0,0,0,0,0
$GC,6952,1.19,116.8,237.9,12.4,339,6956,0.00,2.47,0.00,0.000,6,0.000,0.026,3394,1801,2133,0,0,0,0,0,0
$GC,7283,1.19,116.8,207.3,8.8,355,7288,0.00,2.53,0.00,0.000,4,0.000,0.038,3394,3214,2134,0,0,0,0,0,0
$GC,7351,1.19,116.8,200.8,10.0,358,7355,0.00,2.58,0.00,0.000,6,0.000,0.044,3393,1799,2133,0,0,0,0,0,0
$GC,7679,1.19,116.8,171.1,8.9,388,7683,0.00,2.58,0.00,0.000,4,0.000,0.055,3393,391,2133,0,0,0,0,0,0
$GC,7732,1.19,116.8,166.1,10.3,393,7736,0.00,2.45,0.00,0.000,6,0.000,0.024,3393,1804,2131,0,0,0,0,0,0
$GC,7997,1.19,116.8,144.5,8.2,417,8001,0.00,2.47,0.00,0.000,4,0.000,0.035,3393,3202,2132,0,0,0,0,0,0
$GC,8059,1.19,116.8,139.2,8.3,423,8063,0.00,2.58,0.00,0.000,6,0.000,0.041,3393,1793,2132,0,0,0,0,0,0
$GC,8324,1.19,116.8,117.3,8.7,447,8328,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1793,2131,0,0,0,0,0,0
$GC,8585,1.20,124.7,96.7,7.7,472,8589,0.00,2.53,0.00,0.000,4,0.000,0.031,3393,3210,2132,0,0,0,0,0,0
$GC,8647,1.20,124.7,91.8,8.6,478,8651,0.00,2.55,0.00,0.000,6,0.000,0.039,3393,1792,2132,0,0,0,0,0,0
$GC,8912,1.21,132.9,71.9,7.6,502,8928,0.00,0.00,10.55,0.481,6,0.000,0.000,3394,1793,2092,0,0,0,0,0,0
$GC,9186,1.32,222.2,56.5,3.9,528,9277,0.12,2.58,76.70,0.517,4,0.061,0.028,3437,3208,1728,0,0,0,0,0,0
$GC,9362,1.32,222.2,42.6,10.3,546,9369,0.00,2.58,0.00,0.000,6,0.000,0.037,3437,1803,1726,0,0,0,0,0,0
$GC,9627,1.36,252.2,18.1,6.6,583,9662,0.00,2.67,25.42,0.465,4,0.000,0.051,3437,392,1605,0,0,0,0,0,0
$GC,9674,1.36,252.2,12.7,12.8,591,9681,0.00,2.47,0.00,0.000,6,0.000,0.018,3437,1822,1603,0,0,0,0,0,0
$STATE,9757,end climb,SURFACE_DEPTH_REACHED
$STATE,9757,begin surface coast
$FINISH,1.0,0.999149
$STATE,9788,end surface coast,CONTROL_FINISHED_OK
$STATE,9788,begin surface
$SM_CCo,9812,40.03,0.453,0,0,1288,330.17
$SM_GC,1.68,0.00,0.00,40.03,0.000,0.000,0.453,427,2130,1288,-12.47,0.85,330.17
$IRIDIUM_FIX,2052.52,-15807.20,160800,151551
$TT8_MAMPS,0.029146
$HUMID,57.28
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,21.50
$XPDR_PINGS,18
$24V_AH,23.5,34.553
$10V_AH,10.5,32.642
$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,28.650,120.825,307.725,40.025,0.000,60.913,73.816,255.335,9.000,0.000,18.583,1129.172,6494.699,400.512,1758.931,665.781,33.355,1184.583,0.000,1738.272,0.000,29.260,0.000
$DEVICE_MAMPS,134.992,63.661,816.088,452.530,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,413.255,408.845,887.770,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355752
$DATA_FILE_SIZE,34929,611
$CAP_FILE_SIZE,105766,0
$CFSIZE,260165632,236019712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230511,180130,2101.351,-15803.541,39,1.5,44,9.8