version: 66.06
glider: 139
mission: 9
dive: 428
start: 5 23 111 21 8 8
data:
$ID,139
$MISSION,9
$DIVE,428
$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,-2184865.8
$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,19
$R_STBD_OVSHOOT,71
$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
$GPS1,205646,2102.309,-15803.366,9,3.5,28,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-74.3
$GPS2,210716,2102.427,-15803.492,13,3.5,32,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.014,0.221
$KALMAN_X,52783.6,-233.9,-405.6,-67401.2,193.1
$KALMAN_Y,-41705.7,-61.3,311.0,89233.6,-956.5
$MHEAD_RNG_PITCHd_Wd,353.7,11213,-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,12,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,88,0.00,0.00,-69.75,0.000,3,0.000,0.000,422,2135,3112,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.4,-3.9,13,110,13.15,2.38,0.00,0.000,4,0.136,0.031,2868,3475,3114,0,0,0,0,0,0
$GC,220,-1.19,-116.8,34.6,-20.0,39,227,0.00,2.47,0.00,0.000,6,0.000,0.035,2868,2097,3116,0,0,0,0,0,0
$GC,482,-1.19,-116.8,80.7,-14.6,64,487,0.00,2.40,0.00,0.000,4,0.000,0.031,2868,3472,3117,0,0,0,0,0,0
$GC,682,-1.19,-116.8,107.6,-11.7,85,686,0.00,2.42,0.00,0.000,6,0.000,0.032,2868,2085,3117,0,0,0,0,0,0
$GC,947,-1.19,-116.8,141.3,-13.5,109,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2085,3117,0,0,0,0,0,0
$GC,1209,-1.19,-116.8,171.9,-11.6,134,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2085,3118,0,0,0,0,0,0
$GC,1465,-1.19,-116.8,200.2,-10.8,158,1469,0.00,2.50,0.00,0.000,4,0.000,0.044,2869,692,3118,0,0,0,0,0,0
$GC,1497,-1.19,-116.8,203.9,-11.0,159,1501,0.00,2.33,0.00,0.000,6,0.000,0.021,2868,2071,3118,0,0,0,0,0,0
$GC,1813,-1.19,-116.8,234.8,-9.2,174,1817,0.00,2.53,0.00,0.000,4,0.000,0.040,2868,3496,3118,0,0,0,0,0,0
$GC,1963,-1.19,-116.8,249.4,-10.2,180,1970,0.00,2.50,0.00,0.000,6,0.000,0.037,2868,2105,3118,0,0,0,0,0,0
$GC,2279,-1.19,-116.8,277.2,-8.5,196,2283,0.00,2.58,0.00,0.000,4,0.000,0.046,2868,683,3117,0,0,0,0,0,0
$GC,2301,-1.19,-116.8,278.7,-8.0,197,2305,0.00,2.42,0.00,0.000,6,0.000,0.023,2868,2108,3117,0,0,0,0,0,0
$GC,2630,-1.19,-116.8,303.1,-6.5,212,2635,0.00,2.55,0.00,0.000,4,0.000,0.046,2868,683,3117,0,0,0,0,0,0
$GC,2674,-1.19,-116.8,306.0,-7.3,213,2679,0.00,2.42,0.00,0.000,6,0.000,0.024,2868,2102,3116,0,0,0,0,0,0
$GC,3002,-1.19,-116.8,330.4,-7.4,221,3007,0.00,2.53,0.00,0.000,4,0.000,0.046,2868,3503,3115,0,0,0,0,0,0
$GC,3046,-1.19,-116.8,333.6,-7.4,222,3050,0.00,2.50,0.00,0.000,6,0.000,0.041,2868,2099,3115,0,0,0,0,0,0
$GC,3374,-1.19,-116.8,354.2,-6.1,230,3378,0.00,2.58,0.00,0.000,4,0.000,0.051,2868,692,3114,0,0,0,0,0,0
$GC,3430,-1.19,-116.8,358.8,-8.1,231,3434,0.00,2.42,0.00,0.000,6,0.000,0.026,2868,2100,3113,0,0,0,0,0,0
$GC,3745,-1.19,-116.8,381.0,-6.7,239,3749,0.00,2.55,0.00,0.000,4,0.000,0.051,2868,693,3111,0,0,0,0,0,0
$GC,3931,-1.19,-116.8,395.3,-7.8,243,3935,0.00,2.45,0.00,0.000,6,0.000,0.028,2868,2107,3110,0,0,0,0,0,0
$GC,4254,-1.19,-116.8,414.1,-5.7,251,4259,0.00,2.60,0.00,0.000,4,0.000,0.052,2868,692,3108,0,0,0,0,0,0
$GC,4311,-1.19,-116.8,418.2,-7.4,252,4315,0.00,2.42,0.00,0.000,6,0.000,0.028,2868,2097,3107,0,0,0,0,0,0
$GC,4626,-1.19,-116.8,442.5,-8.3,260,4630,0.00,2.60,0.00,0.000,4,0.000,0.054,2868,692,3105,0,0,0,0,0,0
$STATE,4697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4697,begin apogee
$GC,4706,-0.31,0.0,450.1,9.7,261,4804,0.93,0.00,94.62,0.818,6,0.084,0.000,3062,1807,2635,0,0,0,0,0,0
$STATE,4805,end apogee,CONTROL_FINISHED_OK
$STATE,4805,begin climb
$GC,4808,1.19,116.8,453.9,0.0,264,4920,1.52,2.60,101.25,0.799,4,0.054,0.044,3397,3205,2157,0,0,0,0,0,0
$GC,4933,1.19,116.8,445.6,9.6,267,4937,0.00,2.65,0.00,0.000,6,0.000,0.051,3396,1802,2157,0,0,0,0,0,0
$GC,5251,1.19,116.8,406.4,12.2,275,5256,0.00,2.70,0.00,0.000,4,0.000,0.063,3396,388,2147,0,0,0,0,0,0
$GC,5322,1.19,116.8,396.7,12.9,276,5326,0.00,2.50,0.00,0.000,6,0.000,0.028,3396,1803,2143,0,0,0,0,0,0
$GC,5663,1.19,116.8,355.1,12.6,285,5667,0.00,2.70,0.00,0.000,4,0.000,0.062,3396,392,2141,0,0,0,0,0,0
$GC,5719,1.19,116.8,347.4,13.2,286,5723,0.00,2.50,0.00,0.000,6,0.000,0.028,3396,1800,2139,0,0,0,0,0,0
$GC,6033,1.19,116.8,312.5,10.8,294,6037,0.00,2.55,0.00,0.000,4,0.000,0.044,3396,3204,2138,0,0,0,0,0,0
$GC,6061,1.19,116.8,309.6,9.9,294,6065,0.00,2.60,0.00,0.000,6,0.000,0.050,3396,1800,2138,0,0,0,0,0,0
$GC,6381,1.19,116.8,277.3,10.5,307,6385,0.00,2.58,0.00,0.000,4,0.000,0.043,3396,3205,2137,0,0,0,0,0,0
$GC,6425,1.19,116.8,272.7,10.3,309,6430,0.00,2.60,0.00,0.000,6,0.000,0.049,3396,1798,2137,0,0,0,0,0,0
$GC,6756,1.19,116.8,240.2,8.9,325,6757,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1798,2135,0,0,0,0,0,0
$GC,7065,1.19,116.8,212.5,8.5,340,7069,0.00,2.58,0.00,0.000,4,0.000,0.038,3397,3214,2134,0,0,0,0,0,0
$GC,7139,1.19,116.8,205.9,8.2,343,7143,0.00,2.60,0.00,0.000,6,0.000,0.044,3396,1790,2134,0,0,0,0,0,0
$GC,7468,1.19,116.8,177.3,8.3,371,7472,0.00,2.58,0.00,0.000,4,0.000,0.054,3396,393,2133,0,0,0,0,0,0
$GC,7494,1.19,116.8,174.6,10.5,373,7498,0.00,2.45,0.00,0.000,6,0.000,0.023,3396,1820,2131,0,0,0,0,0,0
$GC,7758,1.19,116.8,149.5,10.0,397,7763,0.00,2.62,0.00,0.000,4,0.000,0.052,3396,392,2132,0,0,0,0,0,0
$GC,7792,1.19,116.8,146.2,9.7,400,7797,0.00,2.40,0.00,0.000,6,0.000,0.022,3396,1798,2130,0,0,0,0,0,0
$GC,8056,1.22,138.1,126.5,7.0,424,8078,0.00,2.70,14.98,0.542,4,0.000,0.051,3396,392,2070,0,0,0,0,0,0
$GC,8098,1.22,138.1,122.9,8.6,428,8104,0.00,2.47,0.00,0.000,6,0.000,0.021,3396,1803,2068,0,0,0,0,0,0
$GC,8362,1.22,140.3,102.3,7.9,453,8366,0.00,2.42,0.00,0.000,4,0.000,0.030,3397,3199,2068,0,0,0,0,0,0
$GC,8463,1.26,166.5,94.6,6.8,463,8496,0.00,2.53,25.73,0.535,6,0.000,0.036,3397,1799,1955,0,0,0,0,0,0
$GC,8751,1.27,179.3,71.0,7.4,491,8772,0.00,2.65,12.10,0.479,4,0.000,0.051,3396,394,1902,0,0,0,0,0,0
$GC,8831,1.27,179.3,63.6,9.5,499,8837,0.00,2.45,0.00,0.000,6,0.000,0.020,3396,1802,1898,0,0,0,0,0,0
$GC,9093,1.31,208.3,42.5,6.7,524,9127,0.10,2.72,25.75,0.485,4,0.072,0.051,3435,394,1783,0,0,0,0,0,0
$GC,9135,1.31,208.3,39.2,8.1,528,9140,0.00,2.42,0.00,0.000,6,0.000,0.019,3436,1812,1781,0,0,0,0,0,0
$GC,9400,1.31,208.3,15.3,8.9,567,9406,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,1818,1781,0,0,0,0,0,0
$STATE,9530,end climb,SURFACE_DEPTH_REACHED
$STATE,9530,begin surface coast
$FINISH,1.3,1.022874
$STATE,9561,end surface coast,CONTROL_FINISHED_OK
$STATE,9561,begin surface
$SM_CCo,9585,61.33,0.456,0,0,1288,330.17
$SM_GC,1.81,0.00,0.00,61.33,0.000,0.000,0.456,425,2135,1288,-12.48,0.99,330.17
$IRIDIUM_FIX,2054.83,-15804.20,160800,212128
$TT8_MAMPS,0.028379
$HUMID,56.93
$INTERNAL_PRESSURE,9.62581
$TCM_TEMP,21.80
$XPDR_PINGS,17
$24V_AH,23.5,34.734
$10V_AH,10.4,32.803
$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,28.475,116.150,274.425,61.325,0.000,50.581,71.287,293.899,8.750,0.000,33.731,1124.335,6264.127,429.032,1789.574,669.884,33.359,1189.402,0.000,1748.457,0.000,29.251,0.000
$DEVICE_MAMPS,135.759,62.894,817.622,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,403.128,391.294,862.796,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355752
$DATA_FILE_SIZE,31819,596
$CAP_FILE_SIZE,106316,0
$CFSIZE,260165632,235925504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230511,235007,2103.050,-15803.375,33,1.1,33,9.8