version: 66.06
glider: 139
mission: 9
dive: 365
start: 5 16 111 7 0 46
data:
$ID,139
$MISSION,9
$DIVE,365
$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,-2183499
$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,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
$GPS1,064737,2047.894,-15746.904,34,1.0,34,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-75.6
$GPS2,070025,2047.852,-15746.681,11,1.2,11,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,HEADING
$TGT_LATLONG,2047.852,-15758.233
$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,-116.8,0.0,0.0,0,88,0.00,0.00,-69.53,0.000,6,0.000,0.000,425,2158,3112,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.5,-4.0,13,110,13.10,2.65,0.00,0.000,4,0.134,0.036,2868,674,3114,0,0,0,0,0,0
$GC,223,-1.19,-116.8,35.9,-17.8,38,227,0.00,2.35,0.00,0.000,6,0.000,0.020,2868,2057,3116,0,0,0,0,0,0
$GC,484,-1.19,-116.8,83.7,-15.8,62,488,0.00,2.55,0.00,0.000,4,0.000,0.035,2868,3506,3117,0,0,0,0,0,0
$GC,503,-1.19,-116.8,86.5,-13.6,63,509,0.00,2.50,0.00,0.000,6,0.000,0.031,2868,2082,3117,0,0,0,0,0,0
$GC,769,-1.19,-116.8,121.3,-13.1,88,773,0.00,2.50,0.00,0.000,4,0.000,0.040,2868,685,3117,0,0,0,0,0,0
$GC,785,-1.19,-116.8,123.6,-11.7,89,789,0.00,2.40,0.00,0.000,6,0.000,0.020,2869,2101,3117,0,0,0,0,0,0
$GC,1050,-1.19,-116.8,155.5,-13.0,113,1054,0.00,2.47,0.00,0.000,4,0.000,0.035,2868,3500,3117,0,0,0,0,0,0
$GC,1083,-1.19,-116.8,160.0,-12.3,116,1088,0.00,2.45,0.00,0.000,6,0.000,0.033,2868,2102,3117,0,0,0,0,0,0
$GC,1351,-1.19,-116.8,185.3,-9.4,141,1355,0.00,2.47,0.00,0.000,4,0.000,0.035,2868,3501,3118,0,0,0,0,0,0
$GC,1478,-1.19,-116.8,198.0,-8.7,154,1482,0.00,2.45,0.00,0.000,6,0.000,0.033,2868,2095,3118,0,0,0,0,0,0
$GC,1734,-1.19,-116.8,216.6,-8.2,167,1738,0.00,2.53,0.00,0.000,4,0.000,0.043,2868,688,3118,0,0,0,0,0,0
$GC,1762,-1.19,-116.8,219.6,-9.9,168,1767,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2101,3118,0,0,0,0,0,0
$GC,2087,-1.19,-116.8,253.4,-11.2,184,2091,0.00,2.47,0.00,0.000,4,0.000,0.039,2868,3496,3118,0,0,0,0,0,0
$GC,2097,-1.19,-116.8,254.6,-11.0,184,2101,0.00,2.45,0.00,0.000,6,0.000,0.035,2868,2101,3118,0,0,0,0,0,0
$GC,2414,-1.19,-116.8,287.7,-9.8,199,2418,0.00,2.55,0.00,0.000,4,0.000,0.047,2868,691,3117,0,0,0,0,0,0
$GC,2628,-1.19,-116.8,302.5,-5.4,207,2632,0.00,2.42,0.00,0.000,6,0.000,0.023,2868,2099,3117,0,0,0,0,0,0
$GC,2964,-1.19,-116.8,323.8,-6.8,216,2968,0.00,2.55,0.00,0.000,4,0.000,0.047,2869,688,3114,0,0,0,0,0,0
$GC,3057,-1.19,-116.8,333.0,-10.6,218,3062,0.00,2.45,0.00,0.000,6,0.000,0.025,2868,2110,3114,0,0,0,0,0,0
$GC,3381,-1.19,-116.8,361.5,-8.2,226,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2111,3113,0,0,0,0,0,0
$GC,3706,-1.19,-116.8,385.2,-7.3,234,3710,0.00,2.58,0.00,0.000,4,0.000,0.048,2868,690,3111,0,0,0,0,0,0
$GC,3799,-1.19,-116.8,392.8,-8.2,236,3803,0.00,2.45,0.00,0.000,6,0.000,0.026,2869,2101,3110,0,0,0,0,0,0
$GC,4122,-1.19,-116.8,413.6,-6.3,244,4127,0.00,2.55,0.00,0.000,4,0.000,0.048,2868,3497,3107,0,0,0,0,0,0
$GC,4340,-1.19,-116.8,428.4,-6.5,248,4345,0.00,2.50,0.00,0.000,6,0.000,0.043,2868,2102,3106,0,0,0,0,0,0
$STATE,4628,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4628,begin apogee
$GC,4635,-0.31,0.0,451.1,8.5,255,4733,0.95,0.00,94.28,0.819,6,0.081,0.000,3066,1794,2635,0,0,0,0,0,0
$STATE,4734,end apogee,CONTROL_FINISHED_OK
$STATE,4734,begin climb
$GC,4737,1.19,116.8,454.7,0.0,257,4849,1.48,2.72,99.90,0.798,4,0.053,0.061,3393,406,2157,0,0,0,0,0,0
$GC,4882,1.19,116.8,443.9,13.2,260,4887,0.00,2.47,0.00,0.000,6,0.000,0.025,3393,1798,2151,0,0,0,0,0,0
$GC,5232,1.19,116.8,396.0,14.7,269,5236,0.00,2.58,0.00,0.000,4,0.000,0.042,3394,3206,2145,0,0,0,0,0,0
$GC,5288,1.19,116.8,387.6,14.7,270,5293,0.00,2.60,0.00,0.000,6,0.000,0.049,3394,1809,2145,0,0,0,0,0,0
$GC,5602,1.19,116.8,345.7,13.0,278,5607,0.00,2.65,0.00,0.000,4,0.000,0.059,3394,389,2141,0,0,0,0,0,0
$GC,5626,1.19,116.8,342.5,13.1,278,5630,0.00,2.47,0.00,0.000,6,0.000,0.027,3394,1802,2139,0,0,0,0,0,0
$GC,5967,1.19,116.8,308.6,9.2,287,5968,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1805,2138,0,0,0,0,0,0
$GC,6275,1.19,116.8,275.7,11.6,299,6280,0.00,2.67,0.00,0.000,4,0.000,0.059,3394,389,2137,0,0,0,0,0,0
$GC,6305,1.19,116.8,272.0,12.9,300,6309,0.00,2.45,0.00,0.000,6,0.000,0.027,3394,1800,2135,0,0,0,0,0,0
$GC,6626,1.19,116.8,240.5,10.1,316,6630,0.00,2.65,0.00,0.000,4,0.000,0.058,3393,388,2135,0,0,0,0,0,0
$GC,6681,1.19,116.8,233.5,12.7,318,6685,0.00,2.47,0.00,0.000,6,0.000,0.026,3394,1799,2133,0,0,0,0,0,0
$GC,6999,1.19,116.8,201.4,9.0,333,7004,0.00,2.53,0.00,0.000,4,0.000,0.039,3394,3205,2133,0,0,0,0,0,0
$GC,7070,1.21,129.9,195.7,7.4,340,7083,0.00,2.58,8.27,0.565,6,0.000,0.043,3394,1801,2105,0,0,0,0,0,0
$GC,7345,1.25,161.0,178.0,6.6,366,7382,0.00,2.65,28.58,0.624,4,0.000,0.054,3394,395,1976,0,0,0,0,0,0
$GC,7397,1.25,161.0,173.8,8.4,371,7402,0.00,2.50,0.00,0.000,6,0.000,0.024,3394,1809,1974,0,0,0,0,0,0
$GC,7660,1.32,216.2,156.1,5.5,396,7715,0.12,2.53,48.28,0.605,4,0.064,0.032,3435,3202,1752,0,0,0,0,0,0
$GC,7732,1.32,216.2,150.0,10.2,403,7738,0.00,2.60,0.00,0.000,6,0.000,0.041,3435,1801,1752,0,0,0,0,0,0
$GC,7993,1.32,216.2,116.6,13.1,428,7997,0.00,2.62,0.00,0.000,4,0.000,0.055,3434,392,1748,0,0,0,0,0,0
$GC,8040,1.32,216.2,110.1,13.8,432,8046,0.00,2.47,0.00,0.000,6,0.000,0.023,3435,1796,1744,0,0,0,0,0,0
$GC,8302,1.32,216.2,75.5,13.3,457,8306,0.00,2.62,0.00,0.000,4,0.000,0.052,3434,392,1744,0,0,0,0,0,0
$GC,8355,1.32,216.2,67.8,14.0,462,8359,0.00,2.42,0.00,0.000,6,0.000,0.021,3435,1804,1741,0,0,0,0,0,0
$GC,8619,1.32,216.2,40.5,8.3,486,8623,0.00,2.60,0.00,0.000,4,0.000,0.055,3435,392,1741,0,0,0,0,0,0
$GC,8698,1.32,216.2,33.1,8.7,494,8702,0.00,2.42,0.00,0.000,6,0.000,0.020,3435,1803,1741,0,0,0,0,0,0
$GC,8964,1.32,216.2,12.1,8.2,539,8970,0.00,2.45,0.00,0.000,4,0.000,0.028,3435,3195,1741,0,0,0,0,0,0
$GC,9034,1.33,228.2,6.6,7.5,554,9052,0.00,2.55,10.30,0.423,6,0.000,0.038,3435,1801,1702,0,0,0,0,0,0
$STATE,9079,end climb,SURFACE_DEPTH_REACHED
$STATE,9079,begin surface coast
$FINISH,1.0,1.000144
$STATE,9125,end surface coast,CONTROL_FINISHED_OK
$STATE,9126,begin surface
$SM_CCo,9149,52.83,0.462,0,0,1289,330.17
$SM_GC,1.92,0.00,0.00,52.83,0.000,0.000,0.462,428,2149,1289,-12.46,1.39,330.17
$IRIDIUM_FIX,2038.68,-15744.09,090800,070723
$TT8_MAMPS,0.028379
$HUMID,60.67
$INTERNAL_PRESSURE,9.58675
$TCM_TEMP,19.90
$XPDR_PINGS,15
$24V_AH,23.5,29.395
$10V_AH,10.4,27.819
$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,28.575,117.050,289.600,52.825,0.000,79.263,104.693,330.625,8.250,0.000,13.615,1081.927,6029.188,401.044,1687.579,773.605,0.000,1149.096,0.000,1667.706,0.000,29.267,0.000
$DEVICE_MAMPS,134.225,60.593,819.156,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,385.474,372.878,829.539,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,31876,570
$CAP_FILE_SIZE,107413,0
$CFSIZE,260165632,239038464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160511,093530,2046.555,-15747.208,32,1.0,42,9.8