version: 66.06
glider: 139
mission: 9
dive: 362
start: 5 16 111 0 23 16
data:
$ID,139
$MISSION,9
$DIVE,362
$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,-2183452
$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,19
$R_STBD_OVSHOOT,70
$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
$GPS1,001706,2049.583,-15745.801,39,1.4,44,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-75.2
$GPS2,002256,2049.562,-15745.713,13,1.4,13,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,HEADING
$TGT_LATLONG,2049.562,-15757.268
$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,16,-1.19,-116.8,0.0,0.0,0,83,0.00,0.00,-64.80,0.000,2,0.000,0.000,427,2123,2973,0,0,0,0,0,0
$GC,86,-1.19,-116.8,3.2,-3.8,12,111,13.12,2.65,-2.88,0.000,4,0.136,0.054,2869,682,3114,0,0,0,0,0,0
$GC,244,-1.19,-116.8,39.0,-19.7,41,249,0.00,2.40,0.00,0.000,6,0.000,0.021,2870,2072,3116,0,0,0,0,0,0
$GC,507,-1.19,-116.8,84.3,-17.0,65,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2073,3117,0,0,0,0,0,0
$GC,762,-1.19,-116.8,121.6,-11.1,89,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2073,3118,0,0,0,0,0,0
$GC,1017,-1.19,-116.8,145.4,-8.3,113,1021,0.00,2.53,0.00,0.000,4,0.000,0.036,2870,3501,3119,0,0,0,0,0,0
$GC,1151,-1.19,-116.8,158.4,-11.3,127,1155,0.00,2.47,0.00,0.000,6,0.000,0.031,2869,2091,3119,0,0,0,0,0,0
$GC,1413,-1.19,-116.8,186.1,-10.6,151,1417,0.00,2.53,0.00,0.000,4,0.000,0.043,2869,685,3120,0,0,0,0,0,0
$GC,1439,-1.19,-116.8,189.1,-12.6,153,1443,0.00,2.42,0.00,0.000,6,0.000,0.021,2869,2107,3119,0,0,0,0,0,0
$GC,1700,-1.19,-116.8,210.4,-7.7,171,1704,0.00,2.55,0.00,0.000,4,0.000,0.045,2869,690,3119,0,0,0,0,0,0
$GC,1798,-1.19,-116.8,220.4,-9.6,175,1802,0.00,2.38,0.00,0.000,6,0.000,0.021,2869,2100,3119,0,0,0,0,0,0
$GC,2121,-1.19,-116.8,248.6,-8.1,191,2125,0.00,2.50,0.00,0.000,4,0.000,0.041,2869,3495,3119,0,0,0,0,0,0
$GC,2218,-1.19,-116.8,257.6,-8.5,195,2222,0.00,2.47,0.00,0.000,6,0.000,0.036,2869,2093,3119,0,0,0,0,0,0
$GC,2539,-1.19,-116.8,284.8,-8.6,211,2543,0.00,2.53,0.00,0.000,4,0.000,0.046,2869,688,3118,0,0,0,0,0,0
$GC,2655,-1.19,-116.8,295.0,-8.2,216,2659,0.00,2.40,0.00,0.000,6,0.000,0.023,2869,2095,3118,0,0,0,0,0,0
$GC,2976,-1.19,-116.8,315.7,-6.4,226,2981,0.00,2.55,0.00,0.000,4,0.000,0.047,2869,685,3117,0,0,0,0,0,0
$GC,3024,-1.19,-116.8,319.0,-7.0,227,3028,0.00,2.45,0.00,0.000,6,0.000,0.025,2869,2100,3116,0,0,0,0,0,0
$GC,3347,-1.19,-116.8,343.8,-7.8,235,3351,0.00,2.53,0.00,0.000,4,0.000,0.046,2869,3501,3115,0,0,0,0,0,0
$GC,3616,-1.19,-116.8,364.7,-6.1,240,3622,0.00,2.50,0.00,0.000,6,0.000,0.040,2869,2099,3114,0,0,0,0,0,0
$GC,3948,-1.19,-116.8,385.5,-6.1,249,3952,0.00,2.55,0.00,0.000,4,0.000,0.047,2869,3500,3111,0,0,0,0,0,0
$GC,4097,-1.19,-116.8,396.6,-7.6,252,4102,0.00,2.53,0.00,0.000,6,0.000,0.043,2869,2102,3111,0,0,0,0,0,0
$GC,4411,-1.19,-116.8,419.2,-7.0,260,4416,0.00,2.55,0.00,0.000,4,0.000,0.048,2869,3503,3108,0,0,0,0,0,0
$GC,4539,-1.19,-116.8,428.5,-8.0,262,4544,0.00,2.53,0.00,0.000,6,0.000,0.044,2869,2092,3108,0,0,0,0,0,0
$GC,4871,-1.19,-116.8,448.6,-5.8,270,4875,0.00,2.60,0.00,0.000,4,0.000,0.054,2869,685,3106,0,0,0,0,0,0
$GC,4891,-1.19,-116.8,449.8,-6.1,270,4894,0.00,2.10,0.00,0.000,3,0.000,0.028,2869,1892,3105,0,0,0,0,0,0
$STATE,4895,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4895,begin apogee
$GC,4902,-0.31,0.0,450.1,6.2,270,5000,0.93,0.00,94.95,0.830,6,0.081,0.000,3063,1783,2635,0,0,0,0,0,0
$STATE,5001,end apogee,CONTROL_FINISHED_OK
$STATE,5001,begin climb
$GC,5004,1.19,116.8,450.8,0.0,273,5109,1.50,0.00,100.70,0.807,6,0.054,0.000,3395,1784,2158,0,0,0,0,0,0
$GC,5414,1.19,116.8,405.6,11.4,283,5415,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1784,2147,0,0,0,0,0,0
$GC,5737,1.19,116.8,369.6,11.2,291,5741,0.00,2.60,0.00,0.000,4,0.000,0.044,3395,3203,2143,0,0,0,0,0,0
$GC,5811,1.19,116.8,360.8,11.8,292,5816,0.00,2.60,0.00,0.000,6,0.000,0.051,3395,1814,2143,0,0,0,0,0,0
$GC,6148,1.19,116.8,323.8,10.8,301,6152,0.00,2.58,0.00,0.000,4,0.000,0.045,3395,3210,2139,0,0,0,0,0,0
$GC,6171,1.19,116.8,321.2,11.0,301,6176,0.00,2.62,0.00,0.000,6,0.000,0.049,3395,1801,2140,0,0,0,0,0,0
$GC,6493,1.19,116.8,287.9,9.8,312,6497,0.00,2.62,0.00,0.000,4,0.000,0.060,3394,393,2138,0,0,0,0,0,0
$GC,6515,1.19,116.8,285.8,10.6,313,6519,0.00,2.47,0.00,0.000,6,0.000,0.027,3395,1799,2135,0,0,0,0,0,0
$GC,6846,1.25,162.4,261.8,5.9,329,6890,0.00,2.72,37.25,0.709,4,0.000,0.058,3394,394,1971,0,0,0,0,0,0
$GC,6935,1.25,162.4,255.3,9.1,332,6941,0.00,2.53,0.00,0.000,6,0.000,0.027,3395,1798,1966,0,0,0,0,0,0
$GC,7250,1.25,162.4,229.2,8.9,348,7251,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1799,1965,0,0,0,0,0,0
$GC,7561,1.25,162.4,199.7,9.5,363,7565,0.00,2.62,0.00,0.000,4,0.000,0.057,3394,394,1964,0,0,0,0,0,0
$GC,7613,1.25,162.4,193.3,13.2,368,7617,0.00,2.47,0.00,0.000,6,0.000,0.025,3394,1807,1961,0,0,0,0,0,0
$GC,7876,1.25,162.4,163.6,9.3,392,7880,0.00,2.47,0.00,0.000,4,0.000,0.036,3395,3200,1961,0,0,0,0,0,0
$GC,7920,1.25,162.4,159.8,8.1,396,7924,0.00,2.58,0.00,0.000,6,0.000,0.044,3395,1803,1961,0,0,0,0,0,0
$GC,8183,1.25,162.4,138.9,8.1,420,8187,0.00,2.62,0.00,0.000,4,0.000,0.055,3394,385,1961,0,0,0,0,0,0
$GC,8211,1.25,162.4,136.3,9.0,422,8218,0.00,2.47,0.00,0.000,6,0.000,0.024,3395,1794,1959,0,0,0,0,0,0
$GC,8476,1.31,212.7,118.8,5.7,447,8525,0.12,0.00,42.70,0.575,6,0.063,0.000,3437,1796,1767,0,0,0,0,0,0
$GC,8780,1.31,212.7,88.3,9.8,476,8784,0.00,2.62,0.00,0.000,4,0.000,0.051,3436,388,1763,0,0,0,0,0,0
$GC,8833,1.31,212.7,82.7,11.1,481,8838,0.00,2.47,0.00,0.000,6,0.000,0.021,3437,1808,1760,0,0,0,0,0,0
$GC,9098,1.31,212.7,58.3,8.2,505,9102,0.00,2.62,0.00,0.000,4,0.000,0.050,3436,390,1760,0,0,0,0,0,0
$GC,9126,1.31,212.7,55.4,9.6,507,9133,0.00,2.47,0.00,0.000,6,0.000,0.021,3436,1805,1759,0,0,0,0,0,0
$GC,9390,1.31,212.7,35.2,8.9,532,9396,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,1809,1759,0,0,0,0,0,0
$GC,9653,1.31,212.7,11.5,8.3,576,9660,0.00,2.65,0.00,0.000,4,0.000,0.049,3436,387,1759,0,0,0,0,0,0
$STATE,9750,end climb,SURFACE_DEPTH_REACHED
$STATE,9750,begin surface coast
$FINISH,1.4,1.022679
$STATE,9766,end surface coast,CONTROL_FINISHED_OK
$STATE,9766,begin surface
$SM_CCo,9792,60.80,0.463,0,0,1288,330.17
$SM_GC,1.89,0.00,0.00,60.80,0.000,0.000,0.463,425,2102,1288,-12.48,0.06,330.17
$IRIDIUM_FIX,2043.29,-15744.09,080800,212133
$TT8_MAMPS,0.029146
$HUMID,59.52
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,20.60
$XPDR_PINGS,12
$24V_AH,23.5,29.160
$10V_AH,10.4,27.623
$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,28.500,106.700,275.600,60.800,0.000,27.194,35.148,164.683,7.500,0.000,13.828,1134.353,6405.005,425.698,1765.770,474.719,0.000,1169.955,0.000,1746.560,0.000,29.243,0.000
$DEVICE_MAMPS,135.759,59.826,829.894,462.501,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.436,394.796,867.769,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,34822,601
$CAP_FILE_SIZE,100507,0
$CFSIZE,260165632,239169536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160511,030837,2049.045,-15746.450,28,1.5,28,9.8