version: 66.06
glider: 139
mission: 9
dive: 415
start: 5 22 111 7 5 24
data:
$ID,139
$MISSION,9
$DIVE,415
$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,-2184582.2
$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,16
$R_STBD_OVSHOOT,68
$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
$GPS1,065000,2050.480,-15801.365,45,1.4,45,9.8
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-74.8
$GPS2,070431,2050.603,-15801.354,11,1.7,16,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.066,0.212
$KALMAN_X,51523.4,-91.9,-13.6,-62967.8,658.3
$KALMAN_Y,-32868.5,362.2,-110.0,58493.3,-280.3
$MHEAD_RNG_PITCHd_Wd,333.0,32861,-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,-69.18,0.000,6,0.000,0.000,430,2127,3113,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.5,-4.0,13,111,13.10,2.38,0.00,0.000,4,0.135,0.029,2867,3475,3115,0,0,0,0,0,0
$GC,359,-1.19,-116.8,56.1,-14.9,55,364,0.00,2.42,0.00,0.000,6,0.000,0.031,2868,2089,3117,0,0,0,0,0,0
$GC,622,-1.19,-116.8,92.5,-13.4,79,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2089,3117,0,0,0,0,0,0
$GC,876,-1.19,-116.8,123.9,-12.7,103,880,0.00,2.42,0.00,0.000,4,0.000,0.033,2868,3469,3118,0,0,0,0,0,0
$GC,926,-1.19,-116.8,130.0,-11.2,108,933,0.00,2.42,0.00,0.000,6,0.000,0.032,2867,2102,3118,0,0,0,0,0,0
$GC,1190,-1.19,-116.8,159.9,-10.1,133,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2101,3118,0,0,0,0,0,0
$GC,1452,-1.19,-116.8,188.6,-10.2,158,1456,0.00,2.55,0.00,0.000,4,0.000,0.044,2868,684,3118,0,0,0,0,0,0
$GC,1505,-1.19,-116.8,194.2,-10.3,163,1509,0.00,2.38,0.00,0.000,6,0.000,0.021,2868,2079,3118,0,0,0,0,0,0
$GC,1760,-1.19,-116.8,217.1,-9.1,178,1765,0.00,2.47,0.00,0.000,4,0.000,0.044,2867,689,3118,0,0,0,0,0,0
$GC,1855,-1.19,-116.8,226.2,-8.8,182,1859,0.00,2.42,0.00,0.000,6,0.000,0.021,2867,2107,3118,0,0,0,0,0,0
$GC,2180,-1.19,-116.8,252.8,-7.6,198,2184,0.00,2.50,0.00,0.000,4,0.000,0.041,2867,3500,3117,0,0,0,0,0,0
$GC,2302,-1.19,-116.8,262.0,-8.0,203,2307,0.00,2.47,0.00,0.000,6,0.000,0.035,2867,2100,3117,0,0,0,0,0,0
$GC,2624,-1.19,-116.8,285.9,-7.0,219,2628,0.00,2.53,0.00,0.000,4,0.000,0.046,2867,690,3116,0,0,0,0,0,0
$GC,2699,-1.19,-116.8,291.7,-7.6,222,2703,0.00,2.40,0.00,0.000,6,0.000,0.023,2867,2098,3116,0,0,0,0,0,0
$GC,3037,-1.19,-116.8,315.7,-7.8,234,3041,0.00,2.55,0.00,0.000,4,0.000,0.047,2867,687,3114,0,0,0,0,0,0
$GC,3052,-1.19,-116.8,317.0,-8.3,234,3056,0.00,2.45,0.00,0.000,6,0.000,0.025,2867,2106,3114,0,0,0,0,0,0
$GC,3402,-1.19,-116.8,342.8,-7.5,243,3407,0.00,2.58,0.00,0.000,4,0.000,0.048,2867,687,3113,0,0,0,0,0,0
$GC,3449,-1.19,-116.8,347.2,-9.3,244,3454,0.00,2.42,0.00,0.000,6,0.000,0.025,2867,2101,3113,0,0,0,0,0,0
$GC,3773,-1.19,-116.8,374.7,-8.5,252,3777,0.00,2.58,0.00,0.000,4,0.000,0.050,2868,686,3111,0,0,0,0,0,0
$GC,3917,-1.19,-116.8,387.5,-8.1,255,3922,0.00,2.42,0.00,0.000,6,0.000,0.026,2867,2101,3109,0,0,0,0,0,0
$GC,4236,-1.19,-116.8,407.8,-5.9,263,4241,0.00,2.58,0.00,0.000,4,0.000,0.051,2867,693,3107,0,0,0,0,0,0
$GC,4344,-1.19,-116.8,414.1,-6.3,265,4348,0.00,2.45,0.00,0.000,6,0.000,0.028,2868,2099,3107,0,0,0,0,0,0
$GC,4695,-1.19,-116.8,432.9,-5.5,274,4696,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2101,3104,0,0,0,0,0,0
$STATE,4975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4975,begin apogee
$GC,4982,-0.31,0.0,451.3,6.7,281,5080,0.95,0.00,94.43,0.824,6,0.081,0.000,3065,1789,2635,0,0,0,0,0,0
$STATE,5081,end apogee,CONTROL_FINISHED_OK
$STATE,5081,begin climb
$GC,5083,1.19,116.8,452.9,0.0,283,5189,1.52,0.00,101.05,0.805,6,0.054,0.000,3399,1789,2158,0,0,0,0,0,0
$GC,5503,1.19,116.8,403.0,12.6,294,5504,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1789,2147,0,0,0,0,0,0
$GC,5828,1.19,116.8,365.9,10.9,302,5832,0.00,2.60,0.00,0.000,4,0.000,0.061,3399,406,2143,0,0,0,0,0,0
$GC,5866,1.19,116.8,361.1,12.7,302,5871,0.00,2.47,0.00,0.000,6,0.000,0.027,3399,1802,2139,0,0,0,0,0,0
$GC,6197,1.19,116.8,322.1,11.9,311,6198,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1806,2139,0,0,0,0,0,0
$GC,6502,1.19,116.8,290.2,9.8,320,6503,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1806,2138,0,0,0,0,0,0
$GC,6813,1.19,116.8,261.6,9.6,335,6814,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1805,2137,0,0,0,0,0,0
$GC,7121,1.19,116.8,228.9,10.3,350,7126,0.00,2.53,0.00,0.000,4,0.000,0.041,3399,3205,2135,0,0,0,0,0,0
$GC,7165,1.19,116.8,224.6,9.9,352,7169,0.00,2.58,0.00,0.000,6,0.000,0.046,3399,1802,2135,0,0,0,0,0,0
$GC,7484,1.20,120.4,198.6,7.9,368,7489,0.00,2.65,0.00,0.000,4,0.000,0.059,3399,388,2135,0,0,0,0,0,0
$GC,7531,1.20,120.4,194.1,9.9,372,7538,0.00,2.50,0.00,0.000,6,0.000,0.026,3399,1800,2132,0,0,0,0,0,0
$GC,7796,1.20,120.4,171.8,8.7,397,7800,0.00,2.65,0.00,0.000,4,0.000,0.056,3399,391,2133,0,0,0,0,0,0
$GC,7816,1.20,120.4,169.7,9.5,398,7822,0.00,2.47,0.00,0.000,6,0.000,0.025,3399,1798,2132,0,0,0,0,0,0
$GC,8080,1.20,120.4,146.7,9.1,423,8084,0.00,2.50,0.00,0.000,4,0.000,0.036,3399,3201,2132,0,0,0,0,0,0
$GC,8124,1.20,120.4,142.6,9.6,427,8128,0.00,2.53,0.00,0.000,6,0.000,0.041,3399,1800,2132,0,0,0,0,0,0
$GC,8389,1.20,120.4,120.6,8.2,451,8393,0.00,2.60,0.00,0.000,4,0.000,0.054,3399,393,2132,0,0,0,0,0,0
$GC,8445,1.20,120.4,115.5,8.2,456,8451,0.00,2.45,0.00,0.000,6,0.000,0.023,3399,1793,2132,0,0,0,0,0,0
$GC,8710,1.23,145.2,96.4,6.9,481,8737,0.00,2.55,20.77,0.541,4,0.000,0.034,3399,3201,2043,0,0,0,0,0,0
$GC,8814,1.23,145.2,87.5,8.7,492,8819,0.00,2.58,0.00,0.000,6,0.000,0.039,3399,1797,2043,0,0,0,0,0,0
$GC,9081,1.24,154.5,66.4,7.6,516,9095,0.00,2.60,9.45,0.466,4,0.000,0.052,3399,389,2004,0,0,0,0,0,0
$GC,9180,1.24,154.5,58.1,8.1,526,9184,0.00,2.42,0.00,0.000,6,0.000,0.021,3399,1802,2000,0,0,0,0,0,0
$GC,9445,1.30,201.0,42.5,5.9,550,9494,0.00,2.53,40.47,0.498,4,0.000,0.030,3399,3191,1814,0,0,0,0,0,0
$GC,9545,1.35,246.5,36.0,5.9,560,9592,0.10,2.58,39.17,0.489,6,0.032,0.036,3443,1793,1628,0,0,0,0,0,0
$GC,9849,1.35,246.5,8.1,10.5,609,9856,0.00,2.60,0.00,0.000,4,0.000,0.050,3443,395,1623,0,0,0,0,0,0
$STATE,9890,end climb,SURFACE_DEPTH_REACHED
$STATE,9890,begin surface coast
$FINISH,1.1,1.022740
$STATE,9905,end surface coast,CONTROL_FINISHED_OK
$STATE,9905,begin surface
$SM_CCo,9932,43.30,0.456,0,0,1288,330.17
$SM_GC,1.73,0.00,0.00,43.30,0.000,0.000,0.456,427,2094,1288,-12.47,-0.17,330.17
$IRIDIUM_FIX,2043.29,-15803.78,150800,070736
$TT8_MAMPS,0.028379
$HUMID,59.72
$INTERNAL_PRESSURE,9.58675
$TCM_TEMP,20.40
$XPDR_PINGS,22
$24V_AH,23.5,33.593
$10V_AH,10.4,31.756
$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,28.700,101.325,305.350,43.300,0.000,85.313,110.571,410.895,10.000,0.000,16.928,1137.491,6665.772,434.468,1726.173,884.133,33.358,1161.929,0.000,1718.154,0.000,29.261,0.000
$DEVICE_MAMPS,134.992,60.593,823.758,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,420.177,415.815,905.256,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355776
$DATA_FILE_SIZE,34898,621
$CAP_FILE_SIZE,105910,0
$CFSIZE,260165632,236560384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220511,095306,2051.553,-15801.463,30,1.4,46,9.8