version: 66.06
glider: 139
mission: 9
dive: 387
start: 5 18 111 21 42 44
data:
$ID,139
$MISSION,9
$DIVE,387
$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,-2183989.2
$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,78
$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
$GPS1,213432,2039.390,-15753.813,12,1.8,12,9.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-74.2
$GPS2,214152,2039.413,-15753.752,11,4.4,30,9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.210,0.071
$KALMAN_X,14294.4,-3.2,-228.3,-12428.3,2666.8
$KALMAN_Y,-10623.5,-59.2,442.9,15389.7,-1956.8
$MHEAD_RNG_PITCHd_Wd,279.0,55453,-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,12,begin dive
$GC,15,-1.19,-116.8,0.0,0.0,0,83,0.00,0.00,-64.75,0.000,2,0.000,0.000,431,2123,2967,0,0,0,0,0,0
$GC,86,-1.19,-116.8,3.2,-4.2,12,111,13.10,2.65,-2.95,0.000,4,0.135,0.054,2868,679,3114,0,0,0,0,0,0
$GC,281,-1.19,-116.8,50.7,-21.9,44,286,0.00,2.38,0.00,0.000,6,0.000,0.021,2868,2061,3115,0,0,0,0,0,0
$GC,543,-1.19,-116.8,93.7,-14.4,68,547,0.00,2.47,0.00,0.000,4,0.000,0.040,2868,673,3116,0,0,0,0,0,0
$GC,553,-1.19,-116.8,95.4,-14.3,68,559,0.00,2.45,0.00,0.000,6,0.000,0.020,2868,2099,3116,0,0,0,0,0,0
$GC,817,-1.19,-116.8,126.6,-11.4,93,822,0.00,2.53,0.00,0.000,4,0.000,0.041,2868,675,3117,0,0,0,0,0,0
$GC,927,-1.19,-116.8,140.0,-11.5,104,934,0.00,2.45,0.00,0.000,6,0.000,0.021,2869,2098,3117,0,0,0,0,0,0
$GC,1192,-1.19,-116.8,170.3,-10.9,129,1197,0.00,2.53,0.00,0.000,4,0.000,0.038,2868,3508,3118,0,0,0,0,0,0
$GC,1293,-1.19,-116.8,181.3,-10.4,139,1299,0.00,2.50,0.00,0.000,6,0.000,0.035,2869,2090,3118,0,0,0,0,0,0
$GC,1555,-1.19,-116.8,203.5,-8.0,162,1560,0.00,2.50,0.00,0.000,4,0.000,0.036,2868,3498,3118,0,0,0,0,0,0
$GC,1636,-1.19,-116.8,210.6,-7.7,165,1640,0.00,2.47,0.00,0.000,6,0.000,0.033,2868,2092,3118,0,0,0,0,0,0
$GC,1952,-1.19,-116.8,235.1,-8.8,180,1956,0.00,2.53,0.00,0.000,4,0.000,0.045,2869,693,3119,0,0,0,0,0,0
$GC,2019,-1.19,-116.8,242.0,-9.6,183,2024,0.00,2.42,0.00,0.000,6,0.000,0.021,2868,2111,3118,0,0,0,0,0,0
$GC,2351,-1.19,-116.8,268.7,-6.7,199,2355,0.00,2.55,0.00,0.000,4,0.000,0.044,2868,690,3118,0,0,0,0,0,0
$GC,2366,-1.19,-116.8,269.8,-6.4,199,2372,0.00,2.42,0.00,0.000,6,0.000,0.024,2868,2101,3118,0,0,0,0,0,0
$GC,2683,-1.19,-116.8,290.7,-5.7,215,2687,0.00,2.53,0.00,0.000,4,0.000,0.044,2868,3498,3117,0,0,0,0,0,0
$GC,2768,-1.19,-116.8,296.8,-7.0,218,2775,0.00,2.53,0.00,0.000,6,0.000,0.039,2868,2101,3117,0,0,0,0,0,0
$GC,3080,-1.19,-116.8,317.3,-6.8,228,3084,0.00,2.60,0.00,0.000,4,0.000,0.048,2868,685,3115,0,0,0,0,0,0
$GC,3173,-1.19,-116.8,324.9,-8.8,230,3178,0.00,2.42,0.00,0.000,6,0.000,0.025,2868,2101,3115,0,0,0,0,0,0
$GC,3497,-1.19,-116.8,349.5,-7.3,238,3501,0.00,2.55,0.00,0.000,4,0.000,0.048,2868,684,3113,0,0,0,0,0,0
$GC,3534,-1.19,-116.8,352.7,-8.3,238,3540,0.00,2.45,0.00,0.000,6,0.000,0.025,2868,2105,3112,0,0,0,0,0,0
$GC,3866,-1.19,-116.8,376.0,-6.7,247,3870,0.00,2.55,0.00,0.000,4,0.000,0.048,2868,3503,3110,0,0,0,0,0,0
$GC,3922,-1.19,-116.8,379.9,-6.5,248,3927,0.00,2.53,0.00,0.000,6,0.000,0.041,2868,2094,3110,0,0,0,0,0,0
$GC,4242,-1.19,-116.8,403.7,-7.8,256,4243,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2094,3108,0,0,0,0,0,0
$GC,4567,-1.19,-116.8,429.0,-7.5,264,4572,0.00,2.55,0.00,0.000,4,0.000,0.048,2868,3496,3106,0,0,0,0,0,0
$GC,4602,-1.19,-116.8,431.6,-7.4,264,4606,0.00,2.50,0.00,0.000,6,0.000,0.044,2868,2100,3105,0,0,0,0,0,0
$STATE,4890,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4890,begin apogee
$GC,4897,-0.31,0.0,450.0,6.2,271,4996,0.95,0.00,94.97,0.819,6,0.082,0.000,3066,1796,2635,0,0,0,0,0,0
$STATE,4996,end apogee,CONTROL_FINISHED_OK
$STATE,4997,begin climb
$GC,4999,1.19,116.8,451.6,0.0,273,5107,1.48,0.00,100.90,0.800,6,0.054,0.000,3392,1796,2158,0,0,0,0,0,0
$GC,5408,1.19,116.8,409.2,11.3,283,5412,0.00,2.58,0.00,0.000,4,0.000,0.041,3392,3203,2147,0,0,0,0,0,0
$GC,5431,1.19,116.8,406.4,11.1,283,5436,0.00,2.62,0.00,0.000,6,0.000,0.050,3392,1807,2147,0,0,0,0,0,0
$GC,5772,1.19,116.8,367.5,11.4,292,5773,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1807,2143,0,0,0,0,0,0
$GC,6097,1.19,116.8,332.6,10.6,300,6101,0.00,2.65,0.00,0.000,4,0.000,0.061,3392,392,2141,0,0,0,0,0,0
$GC,6130,1.19,116.8,328.6,12.4,300,6135,0.00,2.47,0.00,0.000,6,0.000,0.026,3392,1804,2139,0,0,0,0,0,0
$GC,6442,1.19,116.8,296.2,10.5,308,6446,0.00,2.67,0.00,0.000,4,0.000,0.059,3392,394,2138,0,0,0,0,0,0
$GC,6474,1.19,116.8,292.4,11.7,309,6478,0.00,2.47,0.00,0.000,6,0.000,0.026,3392,1802,2136,0,0,0,0,0,0
$GC,6790,1.19,116.8,261.4,10.1,324,6791,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1803,2136,0,0,0,0,0,0
$GC,7100,1.19,116.8,232.8,8.3,339,7102,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1804,2135,0,0,0,0,0,0
$GC,7408,1.19,116.8,206.8,8.4,354,7412,0.00,2.53,0.00,0.000,4,0.000,0.040,3393,3210,2134,0,0,0,0,0,0
$GC,7431,1.20,117.2,205.2,8.0,355,7435,0.00,2.60,0.00,0.000,6,0.000,0.044,3392,1796,2134,0,0,0,0,0,0
$GC,7759,1.20,117.2,175.8,8.6,383,7763,0.00,2.60,0.00,0.000,4,0.000,0.057,3392,384,2134,0,0,0,0,0,0
$GC,7785,1.20,117.2,173.2,10.6,385,7790,0.00,2.47,0.00,0.000,6,0.000,0.024,3392,1802,2132,0,0,0,0,0,0
$GC,8050,1.23,146.0,155.3,6.7,409,8076,0.00,0.00,22.30,0.593,6,0.000,0.000,3392,1806,2038,0,0,0,0,0,0
$GC,8334,1.23,146.0,131.7,9.3,436,8338,0.00,2.62,0.00,0.000,4,0.000,0.054,3392,391,2035,0,0,0,0,0,0
$GC,8359,1.23,146.0,128.8,10.2,438,8363,0.00,2.45,0.00,0.000,6,0.000,0.023,3392,1815,2033,0,0,0,0,0,0
$GC,8623,1.27,175.9,108.7,6.7,462,8655,0.00,2.72,26.60,0.548,4,0.000,0.052,3392,391,1918,0,0,0,0,0,0
$GC,8731,1.27,175.9,98.8,9.7,473,8735,0.00,2.42,0.00,0.000,6,0.000,0.022,3392,1795,1911,0,0,0,0,0,0
$GC,9001,1.29,192.0,78.8,7.3,498,9022,0.10,2.65,14.90,0.496,4,0.072,0.051,3429,388,1850,0,0,0,0,0,0
$GC,9061,1.29,192.0,73.0,10.9,504,9066,0.00,2.47,0.00,0.000,6,0.000,0.021,3429,1811,1847,0,0,0,0,0,0
$GC,9326,1.31,212.4,52.1,7.1,528,9352,0.00,2.50,18.40,0.479,4,0.000,0.030,3429,3190,1768,0,0,0,0,0,0
$GC,9375,1.33,223.2,48.5,7.5,533,9396,0.00,2.55,11.20,0.451,6,0.000,0.036,3430,1793,1723,0,0,0,0,0,0
$GC,9652,1.33,228.6,26.8,7.8,562,9665,0.00,2.60,5.75,0.375,4,0.000,0.049,3429,384,1701,0,0,0,0,0,0
$GC,9686,1.33,228.6,23.9,8.9,568,9692,0.00,2.47,0.00,0.000,6,0.000,0.019,3429,1802,1699,0,0,0,0,0,0
$GC,9890,1.33,228.6,7.3,8.3,605,9896,0.00,2.65,0.00,0.000,4,0.000,0.049,3429,390,1699,0,0,0,0,0,0
$GC,9908,1.33,228.6,5.7,8.6,608,9915,0.00,2.45,0.00,0.000,6,0.000,0.019,3430,1806,1698,0,0,0,0,0,0
$STATE,9941,end climb,SURFACE_DEPTH_REACHED
$STATE,9941,begin surface coast
$FINISH,1.0,1.011112
$STATE,9980,end surface coast,CONTROL_FINISHED_OK
$STATE,9980,begin surface
$SM_CCo,10004,52.92,0.453,0,0,1288,330.17
$SM_GC,1.77,0.00,0.00,52.92,0.000,0.000,0.453,426,2131,1288,-12.48,0.90,330.17
$IRIDIUM_FIX,2031.77,-15753.10,110800,181810
$TT8_MAMPS,0.028379
$HUMID,58.62
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,20.90
$XPDR_PINGS,5
$24V_AH,23.5,31.208
$10V_AH,10.5,29.521
$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,28.475,117.300,295.025,52.925,0.000,27.374,36.853,231.357,5.750,0.000,31.097,1133.917,6665.165,423.534,1706.690,568.455,33.342,1163.755,0.000,1683.748,0.000,29.254,0.000
$DEVICE_MAMPS,134.992,60.593,819.156,452.530,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,419.755,414.560,900.297,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355768
$DATA_FILE_SIZE,34839,621
$CAP_FILE_SIZE,103721,0
$CFSIZE,260165632,237957120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190511,003137,2039.296,-15753.920,36,0.8,36,9.7