version: 66.06
glider: 139
mission: 9
dive: 413
start: 5 22 111 1 9 11
data:
$ID,139
$MISSION,9
$DIVE,413
$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,-2184528.5
$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,72
$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
$GPS1,010134,2048.445,-15801.013,11,2.1,30,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-70.8
$GPS2,010819,2048.481,-15801.032,14,1.3,25,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.121,0.185
$KALMAN_X,50169.0,-189.5,-32.4,-60934.1,1315.2
$KALMAN_Y,-32385.9,-20.2,308.3,54050.5,-1112.6
$MHEAD_RNG_PITCHd_Wd,317.0,36810,-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,-1.20,-116.7,0.0,0.0,0,82,0.00,0.00,-64.30,0.000,2,0.000,0.000,427,2139,2965,0,0,0,0,0,0
$GC,86,-1.20,-116.8,3.2,-4.0,12,111,13.12,2.40,-3.03,0.000,4,0.135,0.045,2869,3466,3115,0,0,0,0,0,0
$GC,314,-1.20,-116.8,53.1,-16.6,50,318,0.00,2.42,0.00,0.000,6,0.000,0.034,2869,2091,3116,0,0,0,0,0,0
$GC,576,-1.20,-116.8,92.8,-13.5,74,580,0.00,2.50,0.00,0.000,4,0.000,0.044,2869,692,3117,0,0,0,0,0,0
$GC,620,-1.20,-116.8,99.9,-16.7,78,625,0.00,2.35,0.00,0.000,6,0.000,0.021,2869,2067,3117,0,0,0,0,0,0
$GC,890,-1.20,-116.8,132.8,-11.2,103,894,0.00,2.47,0.00,0.000,4,0.000,0.041,2869,687,3118,0,0,0,0,0,0
$GC,905,-1.20,-116.8,135.0,-11.3,104,909,0.00,2.42,0.00,0.000,6,0.000,0.020,2869,2109,3119,0,0,0,0,0,0
$GC,1166,-1.20,-116.8,163.6,-11.0,128,1170,0.00,2.55,0.00,0.000,4,0.000,0.043,2869,688,3119,0,0,0,0,0,0
$GC,1194,-1.20,-116.8,167.2,-12.7,130,1200,0.00,2.42,0.00,0.000,6,0.000,0.021,2869,2095,3119,0,0,0,0,0,0
$GC,1458,-1.20,-116.8,197.2,-9.8,155,1462,0.00,2.53,0.00,0.000,4,0.000,0.042,2869,687,3119,0,0,0,0,0,0
$GC,1474,-1.20,-116.8,198.8,-9.5,156,1478,0.00,2.42,0.00,0.000,6,0.000,0.021,2869,2105,3119,0,0,0,0,0,0
$GC,1739,-1.20,-116.8,224.8,-9.4,169,1740,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2106,3119,0,0,0,0,0,0
$GC,2048,-1.20,-116.8,250.1,-7.7,184,2052,0.00,2.55,0.00,0.000,4,0.000,0.045,2869,687,3119,0,0,0,0,0,0
$GC,2131,-1.20,-116.8,258.1,-9.8,187,2136,0.00,2.42,0.00,0.000,6,0.000,0.022,2869,2107,3119,0,0,0,0,0,0
$GC,2448,-1.20,-116.8,289.3,-9.8,203,2452,0.00,2.50,0.00,0.000,4,0.000,0.044,2869,3503,3118,0,0,0,0,0,0
$GC,2486,-1.20,-116.8,292.6,-8.0,204,2492,0.00,2.53,0.00,0.000,6,0.000,0.038,2869,2095,3118,0,0,0,0,0,0
$GC,2799,-1.20,-116.8,313.2,-6.2,215,2803,0.00,2.53,0.00,0.000,4,0.000,0.048,2869,690,3117,0,0,0,0,0,0
$GC,2880,-1.20,-116.8,319.5,-8.1,216,2885,0.00,2.42,0.00,0.000,6,0.000,0.024,2869,2098,3116,0,0,0,0,0,0
$GC,3216,-1.20,-116.8,343.6,-6.8,225,3221,0.00,2.55,0.00,0.000,4,0.000,0.048,2869,691,3115,0,0,0,0,0,0
$GC,3254,-1.20,-116.8,346.4,-7.5,225,3260,0.00,2.45,0.00,0.000,6,0.000,0.025,2869,2106,3116,0,0,0,0,0,0
$GC,3586,-1.20,-116.8,370.4,-7.1,234,3591,0.00,2.53,0.00,0.000,4,0.000,0.048,2869,3502,3114,0,0,0,0,0,0
$GC,3610,-1.20,-116.8,372.3,-7.9,234,3615,0.00,2.50,0.00,0.000,6,0.000,0.042,2869,2102,3113,0,0,0,0,0,0
$GC,3951,-1.20,-116.8,396.2,-6.7,243,3956,0.00,2.55,0.00,0.000,4,0.000,0.046,2869,3500,3111,0,0,0,0,0,0
$GC,3976,-1.20,-116.8,398.0,-7.6,243,3980,0.00,2.53,0.00,0.000,6,0.000,0.043,2869,2100,3111,0,0,0,0,0,0
$GC,4317,-1.20,-116.8,420.7,-6.6,252,4322,0.00,2.60,0.00,0.000,4,0.000,0.054,2868,688,3108,0,0,0,0,0,0
$GC,4332,-1.20,-116.8,421.9,-7.0,252,4336,0.00,2.45,0.00,0.000,6,0.000,0.028,2869,2095,3108,0,0,0,0,0,0
$GC,4649,-1.20,-116.8,441.9,-6.4,260,4653,0.00,2.58,0.00,0.000,4,0.000,0.053,2869,693,3106,0,0,0,0,0,0
$STATE,4758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4760,begin apogee
$GC,4768,-0.31,0.0,450.2,6.9,262,4870,0.93,0.00,95.43,0.818,6,0.084,0.000,3064,1809,2634,0,0,0,0,0,0
$STATE,4871,end apogee,CONTROL_FINISHED_OK
$STATE,4871,begin climb
$GC,4875,1.20,116.8,451.4,0.0,265,4987,1.50,2.58,100.20,0.798,4,0.053,0.044,3397,3193,2157,0,0,0,0,0,0
$GC,5003,1.20,116.8,439.9,12.0,268,5007,0.00,2.65,0.00,0.000,6,0.000,0.051,3396,1800,2157,0,0,0,0,0,0
$GC,5331,1.20,116.8,399.0,12.2,276,5335,0.00,2.65,0.00,0.000,4,0.000,0.061,3396,392,2147,0,0,0,0,0,0
$GC,5364,1.20,116.8,394.1,14.8,276,5368,0.00,2.50,0.00,0.000,6,0.000,0.027,3396,1800,2144,0,0,0,0,0,0
$GC,5695,1.20,116.8,351.5,12.9,284,5700,0.00,2.58,0.00,0.000,4,0.000,0.044,3397,3210,2142,0,0,0,0,0,0
$GC,5728,1.20,116.8,347.1,12.5,284,5733,0.00,2.65,0.00,0.000,6,0.000,0.050,3395,1798,2142,0,0,0,0,0,0
$GC,6059,1.20,116.8,307.0,11.8,292,6064,0.00,2.65,0.00,0.000,4,0.000,0.061,3396,392,2139,0,0,0,0,0,0
$GC,6088,1.20,116.8,303.3,13.2,292,6092,0.00,2.50,0.00,0.000,6,0.000,0.027,3396,1803,2137,0,0,0,0,0,0
$GC,6409,1.20,116.8,270.5,8.5,307,6414,0.00,2.55,0.00,0.000,4,0.000,0.043,3397,3211,2138,0,0,0,0,0,0
$GC,6447,1.20,116.8,267.2,8.3,308,6453,0.00,2.65,0.00,0.000,6,0.000,0.047,3397,1799,2138,0,0,0,0,0,0
$GC,6763,1.20,116.8,239.6,9.9,324,6767,0.00,2.58,0.00,0.000,4,0.000,0.039,3397,3214,2136,0,0,0,0,0,0
$GC,6841,1.20,116.8,231.6,10.2,327,6845,0.00,2.62,0.00,0.000,6,0.000,0.046,3396,1796,2136,0,0,0,0,0,0
$GC,7157,1.20,116.8,203.8,9.1,342,7158,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1796,2135,0,0,0,0,0,0
$GC,7475,1.20,120.3,178.4,7.9,369,7476,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1796,2135,0,0,0,0,0,0
$GC,7730,1.20,120.4,158.8,8.0,393,7734,0.00,2.55,0.00,0.000,4,0.000,0.035,3396,3213,2134,0,0,0,0,0,0
$GC,7749,1.20,120.4,156.9,8.5,394,7756,0.00,2.60,0.00,0.000,6,0.000,0.040,3396,1799,2135,0,0,0,0,0,0
$GC,8014,1.23,146.7,137.8,6.8,419,8040,0.00,0.00,22.83,0.573,6,0.000,0.000,3397,1799,2036,0,0,0,0,0,0
$GC,8298,1.23,146.7,116.6,8.1,446,8302,0.00,2.53,0.00,0.000,4,0.000,0.032,3397,3212,2033,0,0,0,0,0,0
$GC,8362,1.23,146.7,111.0,8.7,452,8369,0.00,2.62,0.00,0.000,6,0.000,0.041,3397,1795,2033,0,0,0,0,0,0
$GC,8627,1.27,175.1,92.1,6.7,477,8658,0.00,2.58,25.33,0.528,4,0.000,0.031,3397,3211,1920,0,0,0,0,0,0
$GC,8670,1.30,198.9,88.8,6.9,481,8699,0.10,2.60,21.80,0.518,6,0.071,0.038,3434,1799,1824,0,0,0,0,0,0
$GC,8954,1.30,198.9,63.0,8.8,508,8959,0.00,2.60,0.00,0.000,4,0.000,0.056,3433,392,1819,0,0,0,0,0,0
$GC,9016,1.30,198.9,57.1,10.0,514,9020,0.00,2.45,0.00,0.000,6,0.000,0.019,3434,1813,1816,0,0,0,0,0,0
$GC,9283,1.33,226.0,35.0,6.8,538,9314,0.00,2.70,23.35,0.473,4,0.000,0.048,3433,398,1711,0,0,0,0,0,0
$GC,9348,1.33,226.0,29.5,9.0,545,9354,0.00,2.45,0.00,0.000,6,0.000,0.019,3434,1803,1707,0,0,0,0,0,0
$GC,9552,1.35,245.9,14.5,7.1,582,9575,0.00,0.00,17.77,0.446,6,0.000,0.000,3434,1809,1631,0,0,0,0,0,0
$STATE,9662,end climb,SURFACE_DEPTH_REACHED
$STATE,9662,begin surface coast
$FINISH,1.1,1.022718
$STATE,9692,end surface coast,CONTROL_FINISHED_OK
$STATE,9692,begin surface
$SM_CCo,9716,43.58,0.451,0,0,1288,330.17
$SM_GC,1.79,0.00,0.00,43.58,0.000,0.000,0.451,431,2158,1288,-12.45,1.61,330.17
$IRIDIUM_FIX,2040.99,-15801.64,140800,222249
$TT8_MAMPS,0.029146
$HUMID,58.97
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,20.70
$XPDR_PINGS,12
$24V_AH,23.5,33.401
$10V_AH,10.4,31.590
$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,28.550,121.425,306.700,43.575,0.000,22.404,31.974,215.696,7.500,0.000,25.228,1115.034,6409.714,409.361,1692.461,538.278,33.353,1162.843,0.000,1673.944,0.000,29.263,0.000
$DEVICE_MAMPS,134.992,61.360,817.622,450.996,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.987,404.929,882.779,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,34931,607
$CAP_FILE_SIZE,103907,0
$CFSIZE,260165632,236662784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220511,035306,2049.327,-15801.281,20,0.8,35,9.8