version: 66.06
glider: 139
mission: 9
dive: 430
start: 5 24 111 3 4 13
data:
$ID,139
$MISSION,9
$DIVE,430
$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,-2184896.2
$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,20
$R_STBD_OVSHOOT,60
$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
$GPS1,025300,2103.819,-15803.286,59,1.2,64,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-69.7
$GPS2,030320,2103.779,-15803.371,14,1.3,14,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.124,0.184
$KALMAN_X,51468.1,31.6,354.1,-66898.1,-996.2
$KALMAN_Y,-43677.1,147.7,-374.5,94187.6,-601.3
$MHEAD_RNG_PITCHd_Wd,24.1,8733,-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,-69.53,0.000,6,0.000,0.000,424,2113,3112,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.4,-4.0,13,109,13.12,2.42,0.00,0.000,4,0.135,0.030,2868,3484,3115,0,0,0,0,0,0
$GC,265,-1.19,-116.8,43.2,-20.2,44,269,0.00,2.47,0.00,0.000,6,0.000,0.035,2868,2088,3117,0,0,0,0,0,0
$GC,527,-1.19,-116.8,80.4,-10.9,68,532,0.00,2.47,0.00,0.000,4,0.000,0.041,2867,690,3117,0,0,0,0,0,0
$GC,580,-1.19,-116.8,87.2,-13.5,73,585,0.00,2.35,0.00,0.000,6,0.000,0.020,2868,2079,3117,0,0,0,0,0,0
$GC,845,-1.19,-116.8,118.4,-12.8,97,849,0.00,2.50,0.00,0.000,4,0.000,0.035,2868,3500,3117,0,0,0,0,0,0
$GC,879,-1.19,-116.8,123.1,-12.6,100,883,0.00,2.45,0.00,0.000,6,0.000,0.032,2868,2098,3118,0,0,0,0,0,0
$GC,1142,-1.19,-116.8,152.6,-10.0,124,1146,0.00,2.47,0.00,0.000,4,0.000,0.034,2868,3509,3119,0,0,0,0,0,0
$GC,1159,-1.19,-116.8,154.4,-10.2,125,1163,0.00,2.47,0.00,0.000,6,0.000,0.033,2867,2101,3118,0,0,0,0,0,0
$GC,1424,-1.19,-116.8,180.5,-9.4,149,1428,0.00,2.55,0.00,0.000,4,0.000,0.044,2868,693,3119,0,0,0,0,0,0
$GC,1450,-1.19,-116.8,183.2,-9.5,151,1454,0.00,2.38,0.00,0.000,6,0.000,0.021,2868,2101,3119,0,0,0,0,0,0
$GC,1713,-1.19,-116.8,209.3,-10.5,172,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2102,3119,0,0,0,0,0,0
$GC,2024,-1.19,-116.8,240.1,-9.9,187,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2102,3119,0,0,0,0,0,0
$GC,2332,-1.19,-116.8,268.1,-8.6,202,2333,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2103,3118,0,0,0,0,0,0
$GC,2642,-1.19,-116.8,292.9,-7.7,217,2646,0.00,2.53,0.00,0.000,4,0.000,0.045,2867,687,3117,0,0,0,0,0,0
$GC,2663,-1.19,-116.8,294.5,-7.2,218,2667,0.00,2.40,0.00,0.000,6,0.000,0.024,2868,2097,3118,0,0,0,0,0,0
$GC,2989,-1.19,-116.8,317.6,-7.2,228,2994,0.00,2.53,0.00,0.000,4,0.000,0.045,2867,3497,3116,0,0,0,0,0,0
$GC,3128,-1.19,-116.8,327.8,-6.6,231,3132,0.00,2.47,0.00,0.000,6,0.000,0.041,2868,2101,3115,0,0,0,0,0,0
$GC,3452,-1.19,-116.8,350.2,-7.5,239,3456,0.00,2.55,0.00,0.000,4,0.000,0.050,2867,693,3114,0,0,0,0,0,0
$GC,3480,-1.19,-116.8,352.7,-9.1,239,3484,0.00,2.42,0.00,0.000,6,0.000,0.026,2867,2097,3114,0,0,0,0,0,0
$GC,3816,-1.19,-116.8,378.7,-7.9,248,3820,0.00,2.55,0.00,0.000,4,0.000,0.051,2868,690,3111,0,0,0,0,0,0
$GC,3888,-1.19,-116.8,385.0,-9.2,249,3892,0.00,2.47,0.00,0.000,6,0.000,0.028,2867,2109,3111,0,0,0,0,0,0
$GC,4228,-1.19,-116.8,414.0,-8.0,258,4233,0.00,2.55,0.00,0.000,4,0.000,0.051,2867,3507,3108,0,0,0,0,0,0
$GC,4248,-1.19,-116.8,415.6,-7.4,258,4253,0.00,2.53,0.00,0.000,6,0.000,0.044,2867,2101,3108,0,0,0,0,0,0
$GC,4595,-1.19,-116.8,443.3,-8.3,267,4596,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2098,3106,0,0,0,0,0,0
$STATE,4712,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4713,begin apogee
$GC,4720,-0.31,0.0,452.1,7.4,270,4818,0.95,0.00,95.03,0.817,6,0.082,0.000,3065,1794,2635,0,0,0,0,0,0
$STATE,4819,end apogee,CONTROL_FINISHED_OK
$STATE,4819,begin climb
$GC,4822,1.19,116.8,453.5,0.0,272,4927,1.50,0.00,100.82,0.797,6,0.056,0.000,3395,1794,2158,0,0,0,0,0,0
$GC,5232,1.19,116.8,405.2,12.7,282,5236,0.00,2.62,0.00,0.000,4,0.000,0.044,3395,3206,2147,0,0,0,0,0,0
$GC,5298,1.19,116.8,397.2,11.7,283,5302,0.00,2.65,0.00,0.000,6,0.000,0.053,3395,1805,2147,0,0,0,0,0,0
$GC,5643,1.19,116.8,356.3,12.4,292,5648,0.00,2.67,0.00,0.000,4,0.000,0.063,3395,393,2143,0,0,0,0,0,0
$GC,5681,1.19,116.8,351.0,13.6,292,5686,0.00,2.47,0.00,0.000,6,0.000,0.028,3395,1798,2140,0,0,0,0,0,0
$GC,6012,1.19,116.8,315.4,10.7,301,6017,0.00,2.67,0.00,0.000,4,0.000,0.061,3395,386,2138,0,0,0,0,0,0
$GC,6059,1.19,116.8,309.8,12.0,302,6064,0.00,2.50,0.00,0.000,6,0.000,0.028,3395,1807,2138,0,0,0,0,0,0
$GC,6387,1.19,116.8,274.5,11.3,315,6391,0.00,2.50,0.00,0.000,4,0.000,0.041,3395,3205,2137,0,0,0,0,0,0
$GC,6407,1.19,116.8,272.1,11.7,316,6412,0.00,2.62,0.00,0.000,6,0.000,0.048,3395,1794,2137,0,0,0,0,0,0
$GC,6737,1.19,116.8,236.4,10.5,332,6741,0.00,2.58,0.00,0.000,4,0.000,0.040,3395,3207,2135,0,0,0,0,0,0
$GC,6829,1.19,116.8,226.6,10.2,336,6833,0.00,2.60,0.00,0.000,6,0.000,0.047,3395,1791,2135,0,0,0,0,0,0
$GC,7156,1.19,116.8,194.7,8.7,354,7160,0.00,2.60,0.00,0.000,4,0.000,0.058,3395,388,2134,0,0,0,0,0,0
$GC,7180,1.19,116.8,192.5,9.9,356,7184,0.00,2.47,0.00,0.000,6,0.000,0.025,3395,1805,2132,0,0,0,0,0,0
$GC,7443,1.19,116.8,170.6,8.2,380,7448,0.00,2.50,0.00,0.000,4,0.000,0.036,3395,3208,2133,0,0,0,0,0,0
$GC,7515,1.20,124.9,164.7,7.7,387,7519,0.00,2.58,0.00,0.000,6,0.000,0.042,3395,1800,2133,0,0,0,0,0,0
$GC,7780,1.20,124.9,143.6,8.1,411,7784,0.00,2.60,0.00,0.000,4,0.000,0.054,3395,390,2132,0,0,0,0,0,0
$GC,7862,1.20,124.9,135.3,9.7,419,7867,0.00,2.42,0.00,0.000,6,0.000,0.022,3395,1803,2130,0,0,0,0,0,0
$GC,8125,1.21,125.3,115.2,8.0,444,8131,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1807,2131,0,0,0,0,0,0
$GC,8388,1.21,125.3,90.1,9.5,469,8393,0.00,2.42,0.00,0.000,4,0.000,0.031,3396,3203,2131,0,0,0,0,0,0
$GC,8444,1.21,129.8,84.9,7.8,474,8459,0.00,2.55,7.88,0.464,6,0.000,0.037,3396,1799,2104,0,0,0,0,0,0
$GC,8716,1.21,129.8,62.1,8.9,500,8720,0.00,2.47,0.00,0.000,4,0.000,0.031,3395,3201,2104,0,0,0,0,0,0
$GC,8751,1.21,129.8,58.9,10.1,503,8755,0.00,2.53,0.00,0.000,6,0.000,0.035,3395,1798,2104,0,0,0,0,0,0
$GC,9017,1.32,216.7,44.3,4.0,527,9095,0.12,0.00,75.05,0.505,6,0.062,0.000,3440,1797,1751,0,0,0,0,0,0
$GC,9355,1.32,216.7,13.9,10.5,573,9361,0.00,2.53,0.00,0.000,4,0.000,0.029,3440,3198,1745,0,0,0,0,0,0
$GC,9399,1.32,216.7,9.9,9.6,582,9405,0.00,2.58,0.00,0.000,6,0.000,0.039,3440,1802,1744,0,0,0,0,0,0
$STATE,9459,end climb,SURFACE_DEPTH_REACHED
$STATE,9460,begin surface coast
$FINISH,1.0,1.000760
$STATE,9487,end surface coast,CONTROL_FINISHED_OK
$STATE,9488,begin surface
$SM_CCo,9512,56.03,0.458,0,0,1288,330.17
$SM_GC,1.72,0.00,0.00,56.03,0.000,0.000,0.458,426,2154,1288,-12.47,1.50,330.17
$IRIDIUM_FIX,2057.14,-15804.20,170800,030343
$TT8_MAMPS,0.029146
$HUMID,57.83
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,21.70
$XPDR_PINGS,16
$24V_AH,23.5,34.917
$10V_AH,10.4,32.967
$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,28.550,106.750,278.775,56.025,0.000,58.892,67.234,303.147,8.500,0.000,14.556,1100.043,6358.049,423.624,1616.269,691.771,33.365,1107.109,0.000,1611.942,0.000,29.249,0.000
$DEVICE_MAMPS,134.992,62.894,816.855,457.899,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,405.133,401.269,874.847,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355752
$DATA_FILE_SIZE,34888,598
$CAP_FILE_SIZE,99871,0
$CFSIZE,260165632,235827200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240511,054452,2104.622,-15803.057,11,2.5,30,9.8