version: 66.06
glider: 139
mission: 9
dive: 364
start: 5 16 111 4 0 51
data:
$ID,139
$MISSION,9
$DIVE,364
$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,-2183484.8
$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,24
$R_STBD_OVSHOOT,89
$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
$GPS1,035550,2048.871,-15746.296,11,1.5,11,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-74.8
$GPS2,040031,2048.872,-15746.233,14,1.5,14,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,HEADING
$TGT_LATLONG,2048.872,-15757.786
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,83,0.00,0.00,-64.55,0.000,2,0.000,0.000,425,2155,2994,0,0,0,0,0,0
$GC,86,-1.19,-116.8,3.2,-4.2,12,111,13.07,2.67,-2.40,0.000,4,0.133,0.048,2868,684,3114,0,0,0,0,0,0
$GC,227,-1.19,-116.8,35.6,-18.2,39,231,0.00,2.35,0.00,0.000,6,0.000,0.019,2868,2056,3114,0,0,0,0,0,0
$GC,489,-1.19,-116.8,82.4,-14.7,63,494,0.00,2.53,0.00,0.000,4,0.000,0.033,2868,3496,3115,0,0,0,0,0,0
$GC,506,-1.19,-116.8,84.9,-14.8,64,510,0.00,2.47,0.00,0.000,6,0.000,0.031,2868,2092,3115,0,0,0,0,0,0
$GC,769,-1.19,-116.8,122.6,-11.7,88,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2092,3115,0,0,0,0,0,0
$GC,1022,-1.19,-116.8,148.7,-10.9,112,1027,0.00,2.50,0.00,0.000,4,0.000,0.041,2868,693,3115,0,0,0,0,0,0
$GC,1046,-1.19,-116.8,151.6,-12.2,114,1051,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2102,3115,0,0,0,0,0,0
$GC,1309,-1.19,-116.8,176.8,-10.0,138,1314,0.00,2.47,0.00,0.000,4,0.000,0.036,2868,3497,3115,0,0,0,0,0,0
$GC,1453,-1.19,-116.8,191.7,-10.4,153,1457,0.00,2.45,0.00,0.000,6,0.000,0.033,2868,2091,3115,0,0,0,0,0,0
$GC,1720,-1.19,-116.8,214.9,-8.4,170,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2091,3115,0,0,0,0,0,0
$GC,2031,-1.19,-116.8,238.1,-7.4,185,2035,0.00,2.53,0.00,0.000,4,0.000,0.044,2867,684,3114,0,0,0,0,0,0
$GC,2064,-1.19,-116.8,241.1,-8.5,186,2068,0.00,2.42,0.00,0.000,6,0.000,0.022,2868,2104,3114,0,0,0,0,0,0
$GC,2381,-1.19,-116.8,269.5,-9.5,201,2385,0.00,2.50,0.00,0.000,4,0.000,0.044,2868,695,3113,0,0,0,0,0,0
$GC,2551,-1.19,-116.8,285.1,-8.4,208,2555,0.00,2.42,0.00,0.000,6,0.000,0.023,2868,2108,3112,0,0,0,0,0,0
$GC,2887,-1.19,-116.8,310.7,-8.0,221,2891,0.00,2.55,0.00,0.000,4,0.000,0.045,2868,692,3110,0,0,0,0,0,0
$GC,2943,-1.19,-116.8,315.6,-7.4,222,2948,0.00,2.42,0.00,0.000,6,0.000,0.025,2868,2098,3110,0,0,0,0,0,0
$GC,3258,-1.19,-116.8,335.1,-6.3,230,3259,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2098,3108,0,0,0,0,0,0
$GC,3582,-1.19,-116.8,356.9,-6.7,238,3587,0.00,2.53,0.00,0.000,4,0.000,0.048,2868,693,3105,0,0,0,0,0,0
$GC,3736,-1.19,-116.8,368.6,-7.9,241,3740,0.00,2.42,0.00,0.000,6,0.000,0.026,2868,2098,3105,0,0,0,0,0,0
$GC,4086,-1.19,-116.8,394.7,-7.7,250,4090,0.00,2.55,0.00,0.000,4,0.000,0.049,2867,3498,3102,0,0,0,0,0,0
$GC,4290,-1.19,-116.8,410.4,-8.0,254,4295,0.00,2.53,0.00,0.000,6,0.000,0.043,2868,2101,3101,0,0,0,0,0,0
$GC,4636,-1.19,-116.8,430.8,-5.5,263,4640,0.00,2.55,0.00,0.000,4,0.000,0.048,2868,3507,3098,0,0,0,0,0,0
$GC,4650,-1.19,-116.8,431.7,-5.3,263,4655,0.00,2.53,0.00,0.000,6,0.000,0.042,2868,2099,3098,0,0,0,0,0,0
$STATE,4958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4958,begin apogee
$GC,4966,-0.31,0.0,450.0,6.1,271,5062,0.95,0.00,92.57,0.823,6,0.082,0.000,3065,1793,2635,0,0,0,0,0,0
$STATE,5063,end apogee,CONTROL_FINISHED_OK
$STATE,5063,begin climb
$GC,5065,1.19,116.8,451.7,0.0,273,5178,1.50,2.72,100.00,0.802,4,0.055,0.061,3396,404,2156,0,0,0,0,0,0
$GC,5197,1.19,116.8,440.5,12.4,276,5201,0.00,2.47,0.00,0.000,6,0.000,0.026,3397,1802,2152,0,0,0,0,0,0
$GC,5520,1.19,116.8,402.9,11.4,284,5524,0.00,2.58,0.00,0.000,4,0.000,0.044,3397,3206,2145,0,0,0,0,0,0
$GC,5581,1.19,116.8,396.6,9.9,285,5585,0.00,2.62,0.00,0.000,6,0.000,0.051,3397,1803,2145,0,0,0,0,0,0
$GC,5931,1.19,116.8,359.6,10.0,294,5935,0.00,2.67,0.00,0.000,4,0.000,0.061,3396,387,2140,0,0,0,0,0,0
$GC,5950,1.19,116.8,357.4,11.1,294,5954,0.00,2.50,0.00,0.000,6,0.000,0.027,3397,1803,2139,0,0,0,0,0,0
$GC,6295,1.19,116.8,324.2,9.5,303,6300,0.00,2.65,0.00,0.000,4,0.000,0.060,3396,392,2138,0,0,0,0,0,0
$GC,6328,1.19,116.8,319.8,13.4,303,6333,0.00,2.47,0.00,0.000,6,0.000,0.028,3397,1798,2136,0,0,0,0,0,0
$GC,6642,1.19,116.8,284.9,11.1,313,6647,0.00,2.65,0.00,0.000,4,0.000,0.059,3396,388,2136,0,0,0,0,0,0
$GC,6672,1.19,116.8,280.8,13.4,314,6676,0.00,2.50,0.00,0.000,6,0.000,0.027,3397,1804,2134,0,0,0,0,0,0
$GC,6992,1.19,116.8,250.7,8.3,330,6997,0.00,2.67,0.00,0.000,4,0.000,0.059,3397,390,2134,0,0,0,0,0,0
$GC,7082,1.19,116.8,241.2,11.8,334,7086,0.00,2.47,0.00,0.000,6,0.000,0.027,3397,1799,2132,0,0,0,0,0,0
$GC,7411,1.19,116.8,203.4,11.4,350,7416,0.00,2.53,0.00,0.000,4,0.000,0.039,3397,3211,2132,0,0,0,0,0,0
$GC,7476,1.19,116.8,197.4,8.8,354,7482,0.00,2.62,0.00,0.000,6,0.000,0.044,3397,1797,2132,0,0,0,0,0,0
$GC,7741,1.21,125.6,178.6,7.6,379,7751,0.00,2.62,3.97,0.411,4,0.000,0.057,3397,384,2122,0,0,0,0,0,0
$GC,7765,1.21,128.0,176.4,7.9,381,7772,0.00,2.45,0.00,0.000,6,0.000,0.025,3397,1801,2120,0,0,0,0,0,0
$GC,8029,1.22,141.2,155.3,7.4,406,8051,0.00,2.72,15.25,0.584,4,0.000,0.054,3396,391,2058,0,0,0,0,0,0
$GC,8077,1.22,141.2,151.1,9.9,411,8082,0.00,2.47,0.00,0.000,6,0.000,0.023,3397,1805,2055,0,0,0,0,0,0
$GC,8342,1.27,174.0,128.4,6.5,435,8378,0.00,0.00,29.80,0.577,6,0.000,0.000,3397,1809,1924,0,0,0,0,0,0
$GC,8634,1.30,201.8,107.3,6.7,463,8666,0.10,2.72,24.52,0.548,4,0.073,0.052,3433,394,1811,0,0,0,0,0,0
$GC,8715,1.30,201.8,99.7,11.2,471,8721,0.00,2.45,0.00,0.000,6,0.000,0.021,3434,1800,1807,0,0,0,0,0,0
$GC,8977,1.30,201.8,73.6,9.7,496,8979,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1803,1807,0,0,0,0,0,0
$GC,9233,1.31,214.6,51.6,7.4,520,9254,0.00,2.67,11.77,0.466,4,0.000,0.050,3434,394,1759,0,0,0,0,0,0
$GC,9268,1.33,223.6,48.6,7.6,523,9285,0.00,2.47,9.10,0.445,6,0.000,0.021,3434,1808,1722,0,0,0,0,0,0
$GC,9541,1.33,228.4,27.9,7.8,551,9554,0.00,2.67,5.30,0.370,4,0.000,0.050,3433,392,1704,0,0,0,0,0,0
$GC,9620,1.33,228.4,20.6,9.7,568,9626,0.00,2.45,0.00,0.000,6,0.000,0.019,3434,1801,1701,0,0,0,0,0,0
$STATE,9816,end climb,SURFACE_DEPTH_REACHED
$STATE,9816,begin surface coast
$FINISH,1.1,0.997632
$STATE,9855,end surface coast,CONTROL_FINISHED_OK
$STATE,9855,begin surface
$SM_CCo,9879,52.42,0.458,0,0,1288,330.17
$SM_GC,1.89,0.00,0.00,52.42,0.000,0.000,0.458,425,2158,1288,-12.48,1.64,330.17
$IRIDIUM_FIX,2040.99,-15744.09,090800,030302
$TT8_MAMPS,0.029146
$HUMID,59.45
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,20.70
$XPDR_PINGS,9
$24V_AH,23.5,29.299
$10V_AH,10.4,27.740
$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,28.500,112.700,292.300,52.425,0.000,27.512,33.003,114.464,6.750,0.000,14.321,1140.817,6491.919,412.673,1764.182,416.174,0.000,1180.125,0.000,1744.693,0.000,29.255,0.000
$DEVICE_MAMPS,133.458,60.593,822.991,457.899,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,413.424,401.757,880.259,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,35041,611
$CAP_FILE_SIZE,102910,0
$CFSIZE,260165632,239087616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160511,064737,2047.894,-15746.904,34,1.0,34,9.8