version: 66.06
glider: 139
mission: 9
dive: 429
start: 5 24 111 0 6 25
data:
$ID,139
$MISSION,9
$DIVE,429
$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,-2184881
$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,20
$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
$GPS1,235007,2103.050,-15803.375,33,1.1,33,9.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-76.3
$GPS2,000532,2103.044,-15803.392,14,1.5,14,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.031,0.220
$KALMAN_X,52209.1,-151.0,105.6,-67245.5,-21.6
$KALMAN_Y,-42760.0,41.7,-80.2,91724.1,-1096.2
$MHEAD_RNG_PITCHd_Wd,358.1,10062,-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,-116.8,0.0,0.0,0,83,0.00,0.00,-64.38,0.000,2,0.000,0.000,424,2137,3002,0,0,0,0,0,0
$GC,86,-1.19,-116.8,3.5,-5.5,12,110,13.12,2.42,-2.17,0.000,4,0.134,0.048,2871,3465,3114,0,0,0,0,0,0
$GC,237,-1.19,-116.8,36.2,-17.9,41,243,0.00,2.45,0.00,0.000,6,0.000,0.035,2871,2100,3115,0,0,0,0,0,0
$GC,499,-1.19,-116.8,78.1,-14.1,66,500,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2101,3116,0,0,0,0,0,0
$GC,753,-1.19,-116.8,111.0,-12.6,90,757,0.00,2.40,0.00,0.000,4,0.000,0.035,2871,3463,3116,0,0,0,0,0,0
$GC,788,-1.19,-116.8,114.8,-12.0,93,792,0.00,2.38,0.00,0.000,6,0.000,0.031,2871,2098,3116,0,0,0,0,0,0
$GC,1051,-1.19,-116.8,145.7,-11.9,117,1055,0.00,2.53,0.00,0.000,4,0.000,0.043,2870,693,3117,0,0,0,0,0,0
$GC,1088,-1.19,-116.8,151.1,-14.3,120,1094,0.00,2.35,0.00,0.000,6,0.000,0.020,2871,2064,3117,0,0,0,0,0,0
$GC,1353,-1.19,-116.8,180.4,-10.7,145,1357,0.00,2.45,0.00,0.000,4,0.000,0.042,2871,692,3117,0,0,0,0,0,0
$GC,1408,-1.19,-116.8,187.2,-11.4,150,1414,0.00,2.42,0.00,0.000,6,0.000,0.021,2871,2100,3117,0,0,0,0,0,0
$GC,1676,-1.19,-116.8,211.5,-9.2,170,1680,0.00,2.53,0.00,0.000,4,0.000,0.039,2871,3502,3117,0,0,0,0,0,0
$GC,1713,-1.19,-116.8,215.0,-9.6,171,1719,0.00,2.45,0.00,0.000,6,0.000,0.035,2871,2101,3117,0,0,0,0,0,0
$GC,2030,-1.19,-116.8,244.8,-9.4,187,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2100,3117,0,0,0,0,0,0
$GC,2339,-1.19,-116.8,266.7,-6.5,202,2340,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2100,3116,0,0,0,0,0,0
$GC,2651,-1.19,-116.8,291.2,-7.4,217,2655,0.00,2.55,0.00,0.000,4,0.000,0.047,2871,692,3116,0,0,0,0,0,0
$GC,2702,-1.19,-116.8,294.6,-6.1,219,2706,0.00,2.40,0.00,0.000,6,0.000,0.024,2870,2097,3116,0,0,0,0,0,0
$GC,3020,-1.19,-116.8,316.2,-7.4,230,3024,0.00,2.53,0.00,0.000,4,0.000,0.048,2870,693,3115,0,0,0,0,0,0
$GC,3075,-1.19,-116.8,321.0,-8.6,231,3079,0.00,2.42,0.00,0.000,6,0.000,0.025,2871,2099,3115,0,0,0,0,0,0
$GC,3389,-1.19,-116.8,345.7,-7.7,239,3390,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2099,3112,0,0,0,0,0,0
$GC,3714,-1.19,-116.8,370.0,-7.4,247,3719,0.00,2.60,0.00,0.000,4,0.000,0.051,2870,689,3110,0,0,0,0,0,0
$GC,3843,-1.19,-116.8,380.1,-7.7,249,3847,0.00,2.45,0.00,0.000,6,0.000,0.028,2870,2105,3109,0,0,0,0,0,0
$GC,4175,-1.19,-116.8,400.4,-5.5,257,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2108,3107,0,0,0,0,0,0
$GC,4499,-1.19,-116.8,418.6,-6.0,265,4503,0.00,2.60,0.00,0.000,4,0.000,0.053,2871,693,3104,0,0,0,0,0,0
$GC,4518,-1.19,-116.8,420.0,-6.7,265,4523,0.00,2.42,0.00,0.000,6,0.000,0.028,2871,2099,3104,0,0,0,0,0,0
$GC,4870,-1.19,-116.8,441.7,-5.6,274,4874,0.00,2.60,0.00,0.000,4,0.000,0.054,2870,690,3102,0,0,0,0,0,0
$GC,4903,-1.19,-116.8,443.8,-6.6,274,4908,0.00,2.45,0.00,0.000,6,0.000,0.029,2870,2104,3101,0,0,0,0,0,0
$STATE,5028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5029,begin apogee
$GC,5036,-0.31,0.0,450.8,5.5,277,5134,0.95,0.00,94.43,0.824,6,0.083,0.000,3067,1794,2635,0,0,0,0,0,0
$STATE,5135,end apogee,CONTROL_FINISHED_OK
$STATE,5135,begin climb
$GC,5137,1.19,116.8,451.9,0.0,279,5247,1.52,2.67,101.07,0.802,4,0.054,0.046,3400,3206,2158,0,0,0,0,0,0
$GC,5263,1.19,116.8,439.8,12.6,282,5268,0.00,2.67,0.00,0.000,6,0.000,0.054,3400,1808,2157,0,0,0,0,0,0
$GC,5600,1.19,116.8,397.2,12.5,291,5604,0.00,2.70,0.00,0.000,4,0.000,0.063,3400,392,2147,0,0,0,0,0,0
$GC,5620,1.19,116.8,394.3,13.6,291,5625,0.00,2.50,0.00,0.000,6,0.000,0.028,3400,1805,2144,0,0,0,0,0,0
$GC,5965,1.19,116.8,351.0,12.0,300,5970,0.00,2.70,0.00,0.000,4,0.000,0.062,3400,389,2142,0,0,0,0,0,0
$GC,5994,1.19,116.8,347.4,13.5,300,5999,0.00,2.50,0.00,0.000,6,0.000,0.028,3400,1804,2140,0,0,0,0,0,0
$GC,6330,1.19,116.8,310.8,10.7,309,6331,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,1807,2139,0,0,0,0,0,0
$GC,6639,1.19,116.8,276.4,11.0,321,6644,0.00,2.55,0.00,0.000,4,0.000,0.042,3401,3212,2138,0,0,0,0,0,0
$GC,6668,1.19,116.8,272.8,11.9,322,6672,0.00,2.62,0.00,0.000,6,0.000,0.048,3400,1792,2138,0,0,0,0,0,0
$GC,6988,1.19,116.8,234.9,11.1,338,6992,0.00,2.58,0.00,0.000,4,0.000,0.038,3401,3205,2136,0,0,0,0,0,0
$GC,7039,1.19,116.8,229.7,9.7,340,7043,0.00,2.60,0.00,0.000,6,0.000,0.046,3400,1795,2136,0,0,0,0,0,0
$GC,7360,1.19,116.8,200.8,8.7,356,7364,0.00,2.55,0.00,0.000,4,0.000,0.038,3401,3204,2134,0,0,0,0,0,0
$GC,7440,1.19,116.8,193.6,9.5,364,7444,0.00,2.58,0.00,0.000,6,0.000,0.044,3401,1794,2134,0,0,0,0,0,0
$GC,7703,1.19,116.8,168.6,9.6,388,7704,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,1794,2134,0,0,0,0,0,0
$GC,7955,1.19,116.8,143.4,9.9,412,7960,0.00,2.58,0.00,0.000,4,0.000,0.053,3400,394,2134,0,0,0,0,0,0
$GC,8009,1.19,116.8,137.9,10.9,417,8013,0.00,2.45,0.00,0.000,6,0.000,0.022,3401,1808,2131,0,0,0,0,0,0
$GC,8273,1.23,143.7,118.5,6.8,441,8300,0.00,2.70,19.65,0.559,4,0.000,0.051,3400,400,2048,0,0,0,0,0,0
$GC,8318,1.23,143.7,114.3,10.3,446,8325,0.00,2.45,0.00,0.000,6,0.000,0.021,3400,1794,2045,0,0,0,0,0,0
$GC,8583,1.23,149.2,91.3,7.8,471,8596,0.00,2.55,5.82,0.431,4,0.000,0.030,3401,3212,2026,0,0,0,0,0,0
$GC,8660,1.23,149.6,85.2,8.0,479,8666,0.00,2.58,0.00,0.000,6,0.000,0.038,3400,1799,2026,0,0,0,0,0,0
$GC,8923,1.24,154.0,62.2,7.8,504,8935,0.00,2.58,5.97,0.403,4,0.000,0.048,3400,392,2006,0,0,0,0,0,0
$GC,9054,1.25,163.7,51.4,7.6,518,9069,0.00,2.40,9.82,0.454,6,0.000,0.020,3401,1810,1967,0,0,0,0,0,0
$GC,9327,1.30,206.4,34.5,6.1,543,9367,0.00,0.00,37.65,0.489,6,0.000,0.000,3401,1810,1793,0,0,0,0,0,0
$GC,9626,1.30,206.4,13.0,8.1,592,9631,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,1810,1789,0,0,0,0,0,0
$STATE,9768,end climb,SURFACE_DEPTH_REACHED
$STATE,9768,begin surface coast
$FINISH,1.1,1.022902
$STATE,9805,end surface coast,CONTROL_FINISHED_OK
$STATE,9805,begin surface
$SM_CCo,9829,62.20,0.456,0,0,1288,330.17
$SM_GC,1.76,0.00,0.00,62.20,0.000,0.000,0.456,425,2113,1288,-12.48,0.34,330.17
$IRIDIUM_FIX,2054.83,-15802.06,170800,000056
$TT8_MAMPS,0.029146
$HUMID,57.48
$INTERNAL_PRESSURE,9.62581
$TCM_TEMP,22.00
$XPDR_PINGS,19
$24V_AH,23.5,34.828
$10V_AH,10.4,32.887
$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,28.250,101.900,274.425,62.200,0.000,118.353,241.700,234.526,9.250,0.000,14.480,1129.665,6743.894,418.070,1660.485,864.742,33.363,1113.290,0.000,1647.375,0.000,31.210,0.000
$DEVICE_MAMPS,134.225,62.894,823.758,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,422.566,414.754,930.335,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355796
$DATA_FILE_SIZE,34908,624
$CAP_FILE_SIZE,100682,0
$CFSIZE,260165632,235876352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240511,025300,2103.819,-15803.286,59,1.2,64,9.8