version: 66.06
glider: 139
mission: 9
dive: 411
start: 5 21 111 19 21 13
data:
$ID,139
$MISSION,9
$DIVE,411
$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,-2184483
$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,17
$R_STBD_OVSHOOT,69
$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
$GPS1,191326,2046.782,-15800.091,14,1.6,14,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-72.2
$GPS2,192020,2046.777,-15800.104,13,1.6,13,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.115,0.189
$KALMAN_X,49065.5,-185.6,-236.2,-58021.1,1138.9
$KALMAN_Y,-30790.9,-211.5,-268.8,50064.0,-312.7
$MHEAD_RNG_PITCHd_Wd,318.9,40067,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.19,-116.8,0.0,0.0,0,89,0.00,0.00,-68.85,0.000,6,0.000,0.000,430,2144,3113,0,0,0,0,0,0
$GC,93,-1.19,-116.8,3.9,-4.6,13,112,13.07,2.35,0.00,0.000,4,0.134,0.029,2866,3479,3115,0,0,0,0,0,0
$GC,247,-1.19,-116.8,40.8,-17.5,41,252,0.00,2.47,0.00,0.000,6,0.000,0.036,2866,2093,3117,0,0,0,0,0,0
$GC,510,-1.19,-116.8,83.1,-14.7,65,514,0.00,2.55,0.00,0.000,4,0.000,0.044,2866,683,3118,0,0,0,0,0,0
$GC,609,-1.19,-116.8,98.2,-14.7,75,613,0.00,2.38,0.00,0.000,6,0.000,0.020,2866,2077,3118,0,0,0,0,0,0
$GC,875,-1.19,-116.8,127.2,-11.7,99,879,0.00,2.50,0.00,0.000,4,0.000,0.042,2866,686,3118,0,0,0,0,0,0
$GC,901,-1.19,-116.8,130.8,-12.5,101,905,0.00,2.42,0.00,0.000,6,0.000,0.021,2866,2104,3119,0,0,0,0,0,0
$GC,1166,-1.19,-116.8,158.2,-10.3,125,1170,0.00,2.47,0.00,0.000,4,0.000,0.037,2866,3497,3119,0,0,0,0,0,0
$GC,1182,-1.19,-116.8,160.1,-9.9,126,1187,0.00,2.45,0.00,0.000,6,0.000,0.033,2866,2096,3120,0,0,0,0,0,0
$GC,1445,-1.19,-116.8,188.9,-11.1,150,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2096,3120,0,0,0,0,0,0
$GC,1704,-1.19,-116.8,214.6,-9.7,168,1709,0.00,2.53,0.00,0.000,4,0.000,0.044,2866,694,3120,0,0,0,0,0,0
$GC,1962,-1.19,-116.8,240.4,-8.9,179,1967,0.00,2.40,0.00,0.000,6,0.000,0.021,2866,2099,3120,0,0,0,0,0,0
$GC,2284,-1.19,-116.8,262.8,-6.4,195,2288,0.00,2.53,0.00,0.000,4,0.000,0.042,2866,3501,3120,0,0,0,0,0,0
$GC,2377,-1.19,-116.8,269.9,-8.1,199,2381,0.00,2.47,0.00,0.000,6,0.000,0.037,2867,2097,3119,0,0,0,0,0,0
$GC,2704,-1.19,-116.8,292.5,-7.6,215,2708,0.00,2.55,0.00,0.000,4,0.000,0.047,2866,691,3118,0,0,0,0,0,0
$GC,2718,-1.19,-116.8,293.9,-7.8,215,2724,0.00,2.42,0.00,0.000,6,0.000,0.024,2866,2098,3118,0,0,0,0,0,0
$GC,3052,-1.19,-116.8,319.2,-7.5,226,3056,0.00,2.55,0.00,0.000,4,0.000,0.047,2866,690,3117,0,0,0,0,0,0
$GC,3251,-1.19,-116.8,334.7,-7.2,230,3255,0.00,2.42,0.00,0.000,6,0.000,0.025,2866,2103,3116,0,0,0,0,0,0
$GC,3601,-1.19,-116.8,359.3,-7.4,239,3605,0.00,2.55,0.00,0.000,4,0.000,0.048,2866,3501,3115,0,0,0,0,0,0
$GC,3620,-1.19,-116.8,360.8,-7.9,239,3625,0.00,2.50,0.00,0.000,6,0.000,0.041,2866,2100,3114,0,0,0,0,0,0
$GC,3966,-1.19,-116.8,385.4,-7.1,248,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2100,3112,0,0,0,0,0,0
$GC,4292,-1.19,-116.8,409.1,-7.8,256,4297,0.00,2.53,0.00,0.000,4,0.000,0.048,2866,3496,3109,0,0,0,0,0,0
$GC,4307,-1.19,-116.8,410.6,-8.0,256,4312,0.00,2.53,0.00,0.000,6,0.000,0.044,2866,2101,3109,0,0,0,0,0,0
$GC,4658,-1.19,-116.8,437.2,-6.8,265,4662,0.00,2.53,0.00,0.000,4,0.000,0.048,2866,3496,3107,0,0,0,0,0,0
$GC,4739,-1.19,-116.8,443.5,-7.3,266,4744,0.00,2.55,0.00,0.000,6,0.000,0.044,2866,2091,3107,0,0,0,0,0,0
$STATE,4866,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4866,begin apogee
$GC,4874,-0.31,0.0,452.3,6.7,269,4972,0.98,0.00,95.20,0.822,6,0.081,0.000,3068,1786,2635,0,0,0,0,0,0
$STATE,4973,end apogee,CONTROL_FINISHED_OK
$STATE,4973,begin climb
$GC,4976,1.19,116.8,454.5,0.0,271,5088,1.48,2.67,100.20,0.802,4,0.053,0.061,3395,401,2157,0,0,0,0,0,0
$GC,5108,1.19,116.8,443.5,13.3,274,5112,0.00,2.47,0.00,0.000,6,0.000,0.025,3396,1801,2153,0,0,0,0,0,0
$GC,5431,1.19,116.8,404.5,12.5,282,5435,0.00,2.67,0.00,0.000,4,0.000,0.060,3395,401,2146,0,0,0,0,0,0
$GC,5450,1.19,116.8,401.7,13.6,282,5454,0.00,2.47,0.00,0.000,6,0.000,0.026,3396,1802,2144,0,0,0,0,0,0
$GC,5796,1.19,116.8,360.1,11.3,291,5800,0.00,2.55,0.00,0.000,4,0.000,0.042,3396,3207,2142,0,0,0,0,0,0
$GC,5861,1.19,116.8,353.0,10.3,292,5865,0.00,2.62,0.00,0.000,6,0.000,0.050,3395,1805,2142,0,0,0,0,0,0
$GC,6206,1.19,116.8,314.9,10.8,301,6210,0.00,2.65,0.00,0.000,4,0.000,0.061,3395,390,2140,0,0,0,0,0,0
$GC,6263,1.19,116.8,308.7,10.6,302,6267,0.00,2.50,0.00,0.000,6,0.000,0.027,3396,1805,2138,0,0,0,0,0,0
$GC,6581,1.19,116.8,277.6,9.7,315,6585,0.00,2.53,0.00,0.000,4,0.000,0.042,3396,3203,2138,0,0,0,0,0,0
$GC,6609,1.19,116.8,274.6,10.3,316,6614,0.00,2.62,0.00,0.000,6,0.000,0.048,3396,1794,2138,0,0,0,0,0,0
$GC,6930,1.19,116.8,244.6,9.1,332,6934,0.00,2.55,0.00,0.000,4,0.000,0.040,3396,3203,2136,0,0,0,0,0,0
$GC,6985,1.19,116.8,239.2,8.7,334,6989,0.00,2.60,0.00,0.000,6,0.000,0.046,3395,1797,2136,0,0,0,0,0,0
$GC,7303,1.19,116.8,208.9,9.7,349,7304,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1797,2135,0,0,0,0,0,0
$GC,7616,1.19,116.8,181.9,9.3,374,7620,0.00,2.60,0.00,0.000,4,0.000,0.058,3395,393,2134,0,0,0,0,0,0
$GC,7669,1.19,116.8,176.4,10.6,379,7674,0.00,2.45,0.00,0.000,6,0.000,0.025,3396,1805,2133,0,0,0,0,0,0
$GC,7934,1.21,126.9,154.4,7.6,403,7944,0.00,2.55,5.57,0.472,4,0.000,0.036,3394,3201,2117,0,0,0,0,0,0
$GC,7965,1.21,128.7,151.8,7.9,406,7969,0.00,2.58,0.00,0.000,6,0.000,0.042,3395,1800,2117,0,0,0,0,0,0
$GC,8228,1.22,139.3,131.5,7.5,430,8249,0.00,2.58,12.62,0.551,4,0.000,0.035,3396,3207,2066,0,0,0,0,0,0
$GC,8280,1.23,146.7,127.6,7.7,435,8293,0.00,2.58,8.30,0.505,6,0.000,0.041,3396,1797,2036,0,0,0,0,0,0
$GC,8549,1.23,146.7,105.0,8.6,460,8553,0.00,2.60,0.00,0.000,4,0.000,0.054,3396,385,2032,0,0,0,0,0,0
$GC,8577,1.23,146.7,102.2,10.1,462,8583,0.00,2.47,0.00,0.000,6,0.000,0.022,3396,1798,2030,0,0,0,0,0,0
$GC,8842,1.28,189.6,84.2,6.1,487,8888,0.00,2.58,37.20,0.537,4,0.000,0.031,3396,3200,1862,0,0,0,0,0,0
$GC,8908,1.30,203.7,79.8,7.4,494,8929,0.10,2.58,13.85,0.496,6,0.071,0.038,3433,1799,1803,0,0,0,0,0,0
$GC,9184,1.30,203.7,54.1,9.9,520,9188,0.00,2.60,0.00,0.000,4,0.000,0.053,3433,389,1799,0,0,0,0,0,0
$GC,9282,1.30,203.7,42.3,10.4,530,9289,0.00,2.45,0.00,0.000,6,0.000,0.020,3433,1794,1795,0,0,0,0,0,0
$GC,9546,1.31,209.8,21.7,7.7,565,9558,0.00,0.00,5.75,0.377,6,0.000,0.000,3433,1798,1778,0,0,0,0,0,0
$GC,9756,1.32,222.3,4.7,7.5,603,9774,0.00,2.50,12.12,0.430,4,0.000,0.028,3433,3201,1727,0,0,0,0,0,0
$STATE,9779,end climb,SURFACE_DEPTH_REACHED
$STATE,9779,begin surface coast
$FINISH,2.3,1.022694
$STATE,9793,end surface coast,CONTROL_FINISHED_OK
$STATE,9794,begin surface
$SM_CCo,9819,54.78,0.459,0,0,1288,330.17
$SM_GC,1.87,0.00,0.00,54.78,0.000,0.000,0.459,426,2085,1288,-12.47,-0.42,330.17
$IRIDIUM_FIX,2038.68,-15759.50,140800,161608
$TT8_MAMPS,0.029146
$HUMID,59.68
$INTERNAL_PRESSURE,9.58675
$TCM_TEMP,20.20
$XPDR_PINGS,10
$24V_AH,23.5,33.234
$10V_AH,10.4,31.431
$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,28.575,121.250,290.825,54.775,0.000,25.767,34.058,230.434,7.000,0.000,13.697,1150.438,6397.892,409.985,1781.050,550.389,33.365,1190.643,0.000,1761.849,0.000,29.242,0.000
$DEVICE_MAMPS,134.225,61.360,822.224,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,413.131,403.036,880.272,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,34896,610
$CAP_FILE_SIZE,107019,0
$CFSIZE,260165632,236761088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210511,220706,2047.689,-15800.644,39,1.9,39,9.8