version: 66.06
glider: 139
mission: 9
dive: 361
start: 5 15 111 21 38 25
data:
$ID,139
$MISSION,9
$DIVE,361
$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,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,270
$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,-2183437.5
$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,17
$R_STBD_OVSHOOT,83
$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
$GPS1,213152,2050.056,-15745.393,10,3.4,29,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-76.3
$GPS2,213806,2050.005,-15745.319,31,1.6,31,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,HEADING
$TGT_LATLONG,2050.005,-15756.874
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.082,0.206
$KALMAN_X,-197895.0,373.7,194.6,208192.4,10278.9
$KALMAN_Y,-90001.3,-266.9,-292.7,57028.9,-11190.3
$MHEAD_RNG_PITCHd_Wd,260.2,20000,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-69.60,0.000,6,0.000,0.000,430,2142,3112,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.3,-4.0,13,110,13.10,2.35,0.00,0.000,4,0.136,0.031,2867,3467,3114,0,0,0,0,0,0
$GC,358,-1.19,-116.8,59.4,-15.4,55,363,0.00,2.45,0.00,0.000,6,0.000,0.035,2867,2084,3117,0,0,0,0,0,0
$GC,621,-1.19,-116.8,99.5,-14.5,79,628,0.00,2.42,0.00,0.000,4,0.000,0.034,2867,3454,3117,0,0,0,0,0,0
$GC,711,-1.19,-116.8,112.5,-13.3,88,717,0.00,2.40,0.00,0.000,6,0.000,0.031,2868,2099,3117,0,0,0,0,0,0
$GC,975,-1.19,-116.8,142.3,-9.9,113,980,0.00,2.40,0.00,0.000,4,0.000,0.033,2867,3460,3118,0,0,0,0,0,0
$GC,1119,-1.19,-116.8,158.0,-9.3,128,1123,0.00,2.38,0.00,0.000,6,0.000,0.031,2867,2097,3118,0,0,0,0,0,0
$GC,1380,-1.19,-116.8,181.8,-8.2,152,1384,0.00,2.38,0.00,0.000,4,0.000,0.035,2867,3454,3119,0,0,0,0,0,0
$GC,1399,-1.19,-116.8,183.6,-8.9,153,1404,0.00,2.40,0.00,0.000,6,0.000,0.034,2868,2093,3119,0,0,0,0,0,0
$GC,1658,-1.19,-116.8,209.5,-10.9,174,1662,0.00,2.53,0.00,0.000,4,0.000,0.044,2867,689,3119,0,0,0,0,0,0
$GC,1690,-1.19,-116.8,213.6,-12.6,175,1694,0.00,2.33,0.00,0.000,6,0.000,0.021,2867,2057,3119,0,0,0,0,0,0
$GC,2007,-1.19,-116.8,245.5,-10.8,190,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2058,3119,0,0,0,0,0,0
$GC,2317,-1.19,-116.8,272.2,-7.8,205,2321,0.00,2.58,0.00,0.000,4,0.000,0.041,2867,3500,3118,0,0,0,0,0,0
$GC,2341,-1.19,-116.8,274.6,-9.3,206,2345,0.00,2.47,0.00,0.000,6,0.000,0.036,2867,2102,3118,0,0,0,0,0,0
$GC,2686,-1.19,-116.8,304.7,-8.9,222,2690,0.00,2.55,0.00,0.000,4,0.000,0.046,2867,692,3117,0,0,0,0,0,0
$GC,2748,-1.19,-116.8,310.5,-10.1,223,2752,0.00,2.42,0.00,0.000,6,0.000,0.024,2867,2104,3117,0,0,0,0,0,0
$GC,3098,-1.19,-116.8,338.7,-8.1,232,3102,0.00,2.55,0.00,0.000,4,0.000,0.046,2867,692,3116,0,0,0,0,0,0
$GC,3169,-1.19,-116.8,344.2,-8.0,233,3173,0.00,2.42,0.00,0.000,6,0.000,0.025,2867,2106,3115,0,0,0,0,0,0
$GC,3510,-1.19,-116.8,365.2,-6.0,242,3514,0.00,2.53,0.00,0.000,4,0.000,0.047,2867,3497,3114,0,0,0,0,0,0
$GC,3654,-1.19,-116.8,375.5,-8.8,245,3658,0.00,2.50,0.00,0.000,6,0.000,0.041,2867,2101,3113,0,0,0,0,0,0
$GC,3973,-1.19,-116.8,398.4,-7.2,253,3977,0.00,2.58,0.00,0.000,4,0.000,0.051,2867,694,3111,0,0,0,0,0,0
$GC,3996,-1.19,-116.8,400.3,-7.9,253,4001,0.00,2.42,0.00,0.000,6,0.000,0.027,2867,2098,3111,0,0,0,0,0,0
$GC,4337,-1.19,-116.8,425.7,-7.2,262,4342,0.00,2.58,0.00,0.000,4,0.000,0.051,2867,690,3109,0,0,0,0,0,0
$GC,4352,-1.19,-116.8,426.8,-6.8,262,4357,0.00,2.45,0.00,0.000,6,0.000,0.028,2867,2098,3109,0,0,0,0,0,0
$GC,4703,-1.19,-116.8,446.0,-4.9,271,4704,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2099,3106,0,0,0,0,0,0
$STATE,4823,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4823,begin apogee
$GC,4830,-0.31,0.0,451.5,4.6,274,4928,0.95,0.00,94.68,0.827,6,0.082,0.000,3064,1788,2635,0,0,0,0,0,0
$STATE,4928,end apogee,CONTROL_FINISHED_OK
$STATE,4929,begin climb
$GC,4931,1.19,116.8,451.6,0.0,276,5039,1.50,0.00,99.72,0.803,6,0.054,0.000,3396,1788,2158,0,0,0,0,0,0
$GC,5384,1.19,116.8,395.9,12.5,287,5389,0.00,2.60,0.00,0.000,4,0.000,0.061,3395,404,2146,0,0,0,0,0,0
$GC,5408,1.19,116.8,392.1,15.4,287,5412,0.00,2.47,0.00,0.000,6,0.000,0.027,3396,1808,2143,0,0,0,0,0,0
$GC,5749,1.19,116.8,350.3,11.6,296,5753,0.00,2.55,0.00,0.000,4,0.000,0.044,3396,3207,2141,0,0,0,0,0,0
$GC,5772,1.19,116.8,347.6,9.7,296,5777,0.00,2.60,0.00,0.000,6,0.000,0.048,3396,1799,2141,0,0,0,0,0,0
$GC,6113,1.19,116.8,311.4,11.3,305,6114,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1799,2139,0,0,0,0,0,0
$GC,6422,1.19,116.8,275.1,11.6,317,6426,0.00,2.65,0.00,0.000,4,0.000,0.061,3396,391,2138,0,0,0,0,0,0
$GC,6468,1.19,116.8,269.6,12.8,319,6472,0.00,2.47,0.00,0.000,6,0.000,0.027,3396,1804,2135,0,0,0,0,0,0
$GC,6800,1.19,116.8,237.2,8.6,335,6804,0.00,2.53,0.00,0.000,4,0.000,0.042,3396,3202,2134,0,0,0,0,0,0
$GC,6845,1.19,116.8,233.6,8.3,337,6849,0.00,2.60,0.00,0.000,6,0.000,0.046,3396,1795,2134,0,0,0,0,0,0
$GC,7176,1.19,116.8,205.9,8.7,353,7180,0.00,2.62,0.00,0.000,4,0.000,0.058,3396,388,2134,0,0,0,0,0,0
$GC,7268,1.19,116.8,196.9,9.2,359,7274,0.00,2.47,0.00,0.000,6,0.000,0.025,3396,1802,2131,0,0,0,0,0,0
$GC,7531,1.21,125.7,176.7,7.6,384,7542,0.00,2.70,4.07,0.415,4,0.000,0.055,3396,389,2122,0,0,0,0,0,0
$GC,7558,1.21,125.7,174.2,9.0,386,7564,0.00,2.50,0.00,0.000,6,0.000,0.025,3395,1804,2121,0,0,0,0,0,0
$GC,7822,1.23,146.4,153.7,7.1,411,7850,0.00,2.58,19.67,0.590,4,0.000,0.036,3396,3201,2038,0,0,0,0,0,0
$GC,7927,1.31,209.2,147.4,5.1,422,7992,0.12,2.58,55.50,0.601,6,0.063,0.040,3437,1797,1781,0,0,0,0,0,0
$GC,8246,1.31,209.2,111.1,13.0,453,8251,0.00,2.62,0.00,0.000,4,0.000,0.054,3436,391,1776,0,0,0,0,0,0
$GC,8320,1.31,209.2,100.7,13.5,460,8327,0.00,2.47,0.00,0.000,6,0.000,0.022,3437,1799,1772,0,0,0,0,0,0
$GC,8585,1.31,209.2,71.9,10.3,485,8591,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,1799,1772,0,0,0,0,0,0
$GC,8847,1.31,209.2,47.6,8.4,510,8852,0.00,2.60,0.00,0.000,4,0.000,0.051,3436,393,1772,0,0,0,0,0,0
$GC,8955,1.31,209.2,35.6,10.3,521,8962,0.00,2.42,0.00,0.000,6,0.000,0.021,3437,1795,1769,0,0,0,0,0,0
$GC,9219,1.31,209.2,12.3,8.9,565,9226,0.00,2.60,0.00,0.000,4,0.000,0.049,3436,398,1769,0,0,0,0,0,0
$GC,9297,1.31,209.2,5.0,9.1,582,9303,0.00,2.42,0.00,0.000,6,0.000,0.019,3437,1800,1769,0,0,0,0,0,0
$STATE,9319,end climb,SURFACE_DEPTH_REACHED
$STATE,9319,begin surface coast
$FINISH,1.1,1.018630
$STATE,9352,end surface coast,CONTROL_FINISHED_OK
$STATE,9352,begin surface
$SM_CCo,9376,60.85,0.463,0,0,1289,330.17
$SM_GC,1.68,0.00,0.00,60.85,0.000,0.000,0.463,427,2122,1289,-12.47,0.62,330.17
$IRIDIUM_FIX,2045.60,-15746.22,080800,181844
$TT8_MAMPS,0.029146
$HUMID,60.08
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,20.20
$XPDR_PINGS,8
$24V_AH,23.5,29.078
$10V_AH,10.4,27.545
$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,28.550,106.150,273.650,60.850,0.000,27.364,37.297,166.897,6.500,0.000,31.501,1099.989,6139.199,405.454,1702.571,465.085,0.000,1141.059,0.000,1668.282,0.000,29.248,0.000
$DEVICE_MAMPS,135.759,60.593,826.826,462.501,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,400.460,384.441,857.753,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,31794,592
$CAP_FILE_SIZE,97647,0
$CFSIZE,260165632,239230976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160511,001706,2049.583,-15745.801,39,1.4,44,9.8