version: 66.06
glider: 139
mission: 9
dive: 427
start: 5 23 111 18 13 19
data:
$ID,139
$MISSION,9
$DIVE,427
$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,-2184831.2
$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,18
$R_STBD_OVSHOOT,78
$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
$GPS1,180130,2101.351,-15803.541,39,1.5,44,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-72.0
$GPS2,181226,2101.394,-15803.762,15,1.3,15,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.097,0.199
$KALMAN_X,53136.7,-209.5,-158.8,-68488.4,-735.1
$KALMAN_Y,-41190.0,-103.6,147.6,87006.5,-683.2
$MHEAD_RNG_PITCHd_Wd,16.2,13183,-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,-1.19,-116.8,0.0,0.0,0,87,0.00,0.00,-69.40,0.000,6,0.000,0.000,427,2131,3113,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.5,-4.6,13,110,13.12,2.38,0.00,0.000,4,0.135,0.031,2871,3467,3115,0,0,0,0,0,0
$GC,152,-1.19,-116.8,20.5,-20.5,25,158,0.00,2.47,0.00,0.000,6,0.000,0.035,2871,2096,3116,0,0,0,0,0,0
$GC,352,-1.19,-116.8,56.6,-15.6,48,356,0.00,2.42,0.00,0.000,4,0.000,0.034,2871,3460,3116,0,0,0,0,0,0
$GC,499,-1.19,-116.8,78.6,-12.7,63,505,0.00,2.42,0.00,0.000,6,0.000,0.032,2871,2098,3117,0,0,0,0,0,0
$GC,762,-1.19,-116.8,114.0,-13.6,88,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2099,3117,0,0,0,0,0,0
$GC,1015,-1.19,-116.8,142.5,-9.0,112,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2098,3118,0,0,0,0,0,0
$GC,1269,-1.19,-116.8,167.3,-10.0,136,1274,0.00,2.40,0.00,0.000,4,0.000,0.035,2871,3463,3118,0,0,0,0,0,0
$GC,1324,-1.19,-116.8,173.0,-10.4,141,1330,0.00,2.40,0.00,0.000,6,0.000,0.035,2871,2094,3118,0,0,0,0,0,0
$GC,1588,-1.19,-116.8,194.5,-8.0,166,1592,0.00,2.53,0.00,0.000,4,0.000,0.044,2871,690,3118,0,0,0,0,0,0
$GC,1654,-1.19,-116.8,201.0,-10.3,173,1659,0.00,2.35,0.00,0.000,6,0.000,0.021,2871,2066,3118,0,0,0,0,0,0
$GC,1990,-1.19,-116.8,234.7,-9.8,189,1994,0.00,2.55,0.00,0.000,4,0.000,0.041,2871,3498,3118,0,0,0,0,0,0
$GC,2126,-1.19,-116.8,248.0,-9.5,195,2130,0.00,2.47,0.00,0.000,6,0.000,0.037,2870,2093,3118,0,0,0,0,0,0
$GC,2457,-1.19,-116.8,274.3,-7.4,211,2462,0.00,2.55,0.00,0.000,4,0.000,0.047,2870,686,3117,0,0,0,0,0,0
$GC,2514,-1.19,-116.8,279.1,-7.9,213,2518,0.00,2.40,0.00,0.000,6,0.000,0.023,2871,2097,3118,0,0,0,0,0,0
$GC,2854,-1.19,-116.8,304.7,-8.1,229,2855,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2098,3116,0,0,0,0,0,0
$GC,3179,-1.19,-116.8,331.2,-8.1,237,3183,0.00,2.55,0.00,0.000,4,0.000,0.048,2870,693,3115,0,0,0,0,0,0
$GC,3207,-1.19,-116.8,333.6,-8.6,237,3212,0.00,2.40,0.00,0.000,6,0.000,0.025,2870,2099,3115,0,0,0,0,0,0
$GC,3543,-1.19,-116.8,360.0,-8.4,246,3544,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2099,3113,0,0,0,0,0,0
$GC,3869,-1.19,-116.8,383.4,-6.9,254,3873,0.00,2.55,0.00,0.000,4,0.000,0.049,2870,3505,3111,0,0,0,0,0,0
$GC,3889,-1.19,-116.8,384.8,-6.6,254,3893,0.00,2.50,0.00,0.000,6,0.000,0.043,2871,2103,3110,0,0,0,0,0,0
$GC,4234,-1.19,-116.8,407.5,-6.6,263,4238,0.00,2.55,0.00,0.000,4,0.000,0.047,2870,3501,3108,0,0,0,0,0,0
$GC,4328,-1.19,-116.8,414.4,-7.3,265,4333,0.00,2.53,0.00,0.000,6,0.000,0.044,2870,2095,3107,0,0,0,0,0,0
$GC,4652,-1.19,-116.8,438.7,-7.6,273,4656,0.00,2.60,0.00,0.000,4,0.000,0.054,2870,688,3105,0,0,0,0,0,0
$GC,4761,-1.19,-116.8,447.0,-7.5,275,4766,0.00,2.47,0.00,0.000,6,0.000,0.029,2870,2098,3104,0,0,0,0,0,0
$STATE,4824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4824,begin apogee
$GC,4831,-0.31,0.0,451.5,6.4,277,4930,0.95,0.00,94.95,0.818,6,0.081,0.000,3067,1790,2635,0,0,0,0,0,0
$STATE,4930,end apogee,CONTROL_FINISHED_OK
$STATE,4931,begin climb
$GC,4933,1.19,116.8,452.7,0.0,279,5046,1.48,2.70,100.10,0.798,4,0.055,0.044,3395,3200,2157,0,0,0,0,0,0
$GC,5065,1.19,116.8,439.0,13.1,282,5070,0.00,2.65,0.00,0.000,6,0.000,0.051,3395,1805,2156,0,0,0,0,0,0
$GC,5388,1.19,116.8,396.3,13.0,290,5393,0.00,2.67,0.00,0.000,4,0.000,0.061,3394,393,2147,0,0,0,0,0,0
$GC,5417,1.19,116.8,392.0,15.0,290,5421,0.00,2.47,0.00,0.000,6,0.000,0.027,3395,1801,2144,0,0,0,0,0,0
$GC,5753,1.19,116.8,351.9,11.2,299,5754,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1804,2142,0,0,0,0,0,0
$GC,6078,1.19,116.8,315.8,11.3,307,6082,0.00,2.55,0.00,0.000,4,0.000,0.042,3394,3214,2140,0,0,0,0,0,0
$GC,6111,1.19,116.8,311.8,11.8,307,6116,0.00,2.62,0.00,0.000,6,0.000,0.051,3395,1800,2140,0,0,0,0,0,0
$GC,6426,1.19,116.8,275.8,11.3,319,6427,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1800,2138,0,0,0,0,0,0
$GC,6734,1.19,116.8,246.4,9.0,334,6738,0.00,2.62,0.00,0.000,4,0.000,0.058,3395,388,2137,0,0,0,0,0,0
$GC,6758,1.19,116.8,244.1,9.9,335,6762,0.00,2.47,0.00,0.000,6,0.000,0.026,3395,1805,2135,0,0,0,0,0,0
$GC,7084,1.19,116.8,216.2,8.5,351,7088,0.00,2.50,0.00,0.000,4,0.000,0.039,3395,3204,2135,0,0,0,0,0,0
$GC,7215,1.19,116.8,205.0,8.3,356,7222,0.00,2.60,0.00,0.000,6,0.000,0.045,3395,1805,2135,0,0,0,0,0,0
$GC,7540,1.19,116.8,176.7,9.5,384,7545,0.00,2.62,0.00,0.000,4,0.000,0.054,3395,389,2134,0,0,0,0,0,0
$GC,7595,1.19,116.8,171.1,9.7,389,7601,0.00,2.45,0.00,0.000,6,0.000,0.023,3395,1813,2132,0,0,0,0,0,0
$GC,7858,1.19,116.8,147.6,8.3,414,7860,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1818,2132,0,0,0,0,0,0
$GC,8110,1.19,116.8,125.3,8.9,438,8115,0.00,2.45,0.00,0.000,4,0.000,0.033,3395,3204,2132,0,0,0,0,0,0
$GC,8157,1.19,116.8,121.3,8.2,442,8164,0.00,2.55,0.00,0.000,6,0.000,0.038,3394,1803,2132,0,0,0,0,0,0
$GC,8422,1.21,131.6,101.2,7.3,467,8442,0.00,2.65,9.65,0.500,4,0.000,0.051,3395,391,2096,0,0,0,0,0,0
$GC,8453,1.21,131.6,98.2,8.4,470,8458,0.00,2.42,0.00,0.000,6,0.000,0.021,3395,1806,2095,0,0,0,0,0,0
$GC,8716,1.27,181.5,79.5,5.7,494,8766,0.00,2.53,43.47,0.536,4,0.000,0.030,3395,3192,1895,0,0,0,0,0,0
$GC,8811,1.27,181.5,72.4,8.1,504,8815,0.00,2.53,0.00,0.000,6,0.000,0.038,3395,1801,1894,0,0,0,0,0,0
$GC,9073,1.27,181.5,48.3,9.9,528,9078,0.00,2.58,0.00,0.000,4,0.000,0.051,3395,392,1891,0,0,0,0,0,0
$GC,9108,1.27,181.5,44.9,9.5,531,9112,0.00,2.42,0.00,0.000,6,0.000,0.019,3395,1803,1888,0,0,0,0,0,0
$GC,9373,1.35,240.4,28.9,5.3,557,9429,0.15,2.47,50.05,0.486,4,0.054,0.026,3446,3200,1654,0,0,0,0,0,0
$GC,9461,1.35,240.4,21.4,8.5,573,9467,0.00,2.58,0.00,0.000,6,0.000,0.037,3446,1803,1653,0,0,0,0,0,0
$STATE,9638,end climb,SURFACE_DEPTH_REACHED
$STATE,9638,begin surface coast
$FINISH,1.1,1.000817
$STATE,9667,end surface coast,CONTROL_FINISHED_OK
$STATE,9667,begin surface
$SM_CCo,9691,46.85,0.456,0,0,1288,330.17
$SM_GC,1.73,0.00,0.00,46.85,0.000,0.000,0.456,423,2132,1288,-12.48,0.90,330.17
$IRIDIUM_FIX,2052.52,-15802.06,160800,181815
$TT8_MAMPS,0.029146
$HUMID,57.44
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,21.80
$XPDR_PINGS,3
$24V_AH,23.5,34.645
$10V_AH,10.4,32.723
$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,28.575,106.675,298.225,46.850,0.000,59.117,72.167,332.118,5.250,0.000,15.499,1109.345,6460.431,393.311,1707.235,725.334,33.360,1144.534,0.000,1690.902,0.000,29.251,0.000
$DEVICE_MAMPS,134.992,60.593,818.389,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,413.139,406.233,886.978,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355796
$DATA_FILE_SIZE,34886,611
$CAP_FILE_SIZE,103563,0
$CFSIZE,260165632,235970560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230511,205646,2102.309,-15803.366,9,3.5,28,9.8