version: 66.06
glider: 139
mission: 9
dive: 366
start: 5 16 111 9 41 34
data:
$ID,139
$MISSION,9
$DIVE,366
$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,-2183513.2
$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,18
$R_STBD_OVSHOOT,76
$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
$GPS1,093530,2046.555,-15747.208,32,1.0,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-76.6
$GPS2,094114,2046.471,-15747.104,13,1.3,13,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,HEADING
$TGT_LATLONG,2046.471,-15758.655
$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,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,83,0.00,0.00,-64.70,0.000,2,0.000,0.000,428,2147,2966,0,0,0,0,0,0
$GC,86,-1.19,-116.8,3.1,-3.8,12,111,13.15,2.38,-3.03,0.000,4,0.136,0.046,2870,3463,3115,0,0,0,0,0,0
$GC,360,-1.19,-116.8,59.6,-18.9,55,367,0.00,2.45,0.00,0.000,6,0.000,0.035,2870,2100,3117,0,0,0,0,0,0
$GC,623,-1.19,-116.8,106.3,-16.3,80,628,0.00,2.40,0.00,0.000,4,0.000,0.032,2870,3467,3118,0,0,0,0,0,0
$GC,658,-1.19,-116.8,111.9,-15.5,83,663,0.00,2.42,0.00,0.000,6,0.000,0.032,2870,2094,3118,0,0,0,0,0,0
$GC,923,-1.19,-116.8,143.2,-10.2,107,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2094,3119,0,0,0,0,0,0
$GC,1185,-1.19,-116.8,165.6,-5.9,132,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2094,3119,0,0,0,0,0,0
$GC,1439,-1.19,-116.8,187.1,-9.5,156,1444,0.00,2.40,0.00,0.000,4,0.000,0.035,2870,3464,3120,0,0,0,0,0,0
$GC,1456,-1.19,-116.8,188.6,-9.3,157,1460,0.00,2.40,0.00,0.000,6,0.000,0.035,2871,2101,3120,0,0,0,0,0,0
$GC,1725,-1.19,-116.8,215.3,-10.5,175,1729,0.00,2.53,0.00,0.000,4,0.000,0.044,2870,688,3120,0,0,0,0,0,0
$GC,1842,-1.19,-116.8,230.1,-13.0,180,1846,0.00,2.35,0.00,0.000,6,0.000,0.021,2870,2067,3120,0,0,0,0,0,0
$GC,2167,-1.19,-116.8,253.7,-5.5,196,2171,0.00,2.47,0.00,0.000,4,0.000,0.043,2870,685,3119,0,0,0,0,0,0
$GC,2205,-1.19,-116.8,256.0,-6.2,197,2210,0.00,2.42,0.00,0.000,6,0.000,0.022,2870,2101,3120,0,0,0,0,0,0
$GC,2522,-1.19,-116.8,278.0,-7.4,213,2526,0.00,2.53,0.00,0.000,4,0.000,0.045,2870,685,3119,0,0,0,0,0,0
$GC,2733,-1.19,-116.8,299.4,-11.0,222,2738,0.00,2.42,0.00,0.000,6,0.000,0.023,2870,2099,3119,0,0,0,0,0,0
$GC,3070,-1.19,-116.8,326.7,-7.6,231,3074,0.00,2.58,0.00,0.000,4,0.000,0.048,2870,692,3117,0,0,0,0,0,0
$GC,3211,-1.19,-116.8,337.1,-6.6,234,3215,0.00,2.45,0.00,0.000,6,0.000,0.025,2870,2108,3117,0,0,0,0,0,0
$GC,3534,-1.19,-116.8,357.4,-6.8,242,3539,0.00,2.58,0.00,0.000,4,0.000,0.048,2870,690,3116,0,0,0,0,0,0
$GC,3549,-1.19,-116.8,358.6,-7.0,242,3554,0.00,2.42,0.00,0.000,6,0.000,0.026,2870,2104,3115,0,0,0,0,0,0
$GC,3899,-1.19,-116.8,384.3,-7.3,251,3904,0.00,2.53,0.00,0.000,4,0.000,0.049,2870,3497,3113,0,0,0,0,0,0
$GC,4082,-1.19,-116.8,396.4,-6.7,255,4086,0.00,2.53,0.00,0.000,6,0.000,0.042,2870,2098,3111,0,0,0,0,0,0
$GC,4410,-1.19,-116.8,417.7,-6.8,263,4414,0.00,2.55,0.00,0.000,4,0.000,0.047,2870,3496,3109,0,0,0,0,0,0
$GC,4538,-1.19,-116.8,427.3,-7.7,265,4542,0.00,2.53,0.00,0.000,6,0.000,0.044,2870,2100,3108,0,0,0,0,0,0
$STATE,4866,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4867,begin apogee
$GC,4874,-0.31,0.0,453.4,9.1,273,4972,0.95,0.00,95.10,0.827,6,0.081,0.000,3067,1795,2635,0,0,0,0,0,0
$STATE,4973,end apogee,CONTROL_FINISHED_OK
$STATE,4973,begin climb
$GC,4976,1.19,116.8,456.1,0.0,275,5088,1.48,2.70,100.18,0.806,4,0.054,0.062,3393,403,2157,0,0,0,0,0,0
$GC,5150,1.19,116.8,438.6,14.9,279,5155,0.00,2.50,0.00,0.000,6,0.000,0.026,3394,1803,2149,0,0,0,0,0,0
$GC,5478,1.19,116.8,396.2,11.9,287,5482,0.00,2.58,0.00,0.000,4,0.000,0.043,3394,3214,2144,0,0,0,0,0,0
$GC,5502,1.19,116.8,393.5,10.3,287,5506,0.00,2.65,0.00,0.000,6,0.000,0.050,3394,1804,2144,0,0,0,0,0,0
$GC,5843,1.19,116.8,359.5,9.4,296,5847,0.00,2.60,0.00,0.000,4,0.000,0.044,3393,3213,2141,0,0,0,0,0,0
$GC,5899,1.19,116.8,353.9,9.8,297,5903,0.00,2.65,0.00,0.000,6,0.000,0.050,3394,1797,2141,0,0,0,0,0,0
$GC,6212,1.19,116.8,319.3,11.2,305,6217,0.00,2.65,0.00,0.000,4,0.000,0.061,3393,390,2139,0,0,0,0,0,0
$GC,6256,1.19,116.8,313.3,14.0,306,6260,0.00,2.50,0.00,0.000,6,0.000,0.027,3393,1805,2137,0,0,0,0,0,0
$GC,6588,1.19,116.8,270.0,11.5,319,6592,0.00,2.65,0.00,0.000,4,0.000,0.060,3393,393,2136,0,0,0,0,0,0
$GC,6621,1.19,116.8,265.9,12.1,320,6625,0.00,2.47,0.00,0.000,6,0.000,0.027,3393,1800,2135,0,0,0,0,0,0
$GC,6939,1.19,116.8,233.6,10.9,335,6944,0.00,2.65,0.00,0.000,4,0.000,0.058,3393,392,2134,0,0,0,0,0,0
$GC,6954,1.19,116.8,231.6,10.5,335,6959,0.00,2.47,0.00,0.000,6,0.000,0.026,3394,1806,2134,0,0,0,0,0,0
$GC,7271,1.19,116.8,199.8,12.4,351,7276,0.00,2.67,0.00,0.000,4,0.000,0.058,3393,391,2133,0,0,0,0,0,0
$GC,7299,1.19,116.8,196.0,12.7,353,7305,0.00,2.45,0.00,0.000,6,0.000,0.026,3394,1798,2132,0,0,0,0,0,0
$GC,7562,1.26,168.9,176.0,5.6,378,7610,0.00,2.55,41.92,0.635,4,0.000,0.035,3394,3201,1945,0,0,0,0,0,0
$GC,7636,1.28,188.1,171.3,7.1,385,7661,0.10,2.58,17.95,0.596,6,0.074,0.044,3428,1801,1868,0,0,0,0,0,0
$GC,7915,1.28,188.1,140.8,10.2,412,7919,0.00,2.67,0.00,0.000,4,0.000,0.058,3428,388,1862,0,0,0,0,0,0
$GC,7968,1.28,188.1,135.0,11.0,417,7972,0.00,2.45,0.00,0.000,6,0.000,0.023,3428,1802,1859,0,0,0,0,0,0
$GC,8233,1.28,188.1,113.4,8.1,441,8237,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1805,1859,0,0,0,0,0,0
$GC,8494,1.28,188.1,91.0,8.9,466,8498,0.00,2.65,0.00,0.000,4,0.000,0.052,3428,385,1859,0,0,0,0,0,0
$GC,8576,1.28,188.1,82.6,10.3,474,8583,0.00,2.47,0.00,0.000,6,0.000,0.021,3429,1802,1856,0,0,0,0,0,0
$GC,8841,1.28,189.3,63.6,8.0,499,8845,0.00,2.42,0.00,0.000,4,0.000,0.028,3429,3204,1856,0,0,0,0,0,0
$GC,8910,1.28,189.3,57.7,8.6,506,8914,0.00,2.53,0.00,0.000,6,0.000,0.038,3429,1798,1856,0,0,0,0,0,0
$GC,9174,1.28,189.3,36.2,8.1,530,9179,0.00,2.58,0.00,0.000,4,0.000,0.051,3428,391,1856,0,0,0,0,0,0
$GC,9208,1.28,189.3,32.9,9.6,533,9213,0.00,2.40,0.00,0.000,6,0.000,0.019,3429,1808,1856,0,0,0,0,0,0
$GC,9475,1.30,200.3,12.5,7.5,578,9493,0.00,2.45,10.50,0.426,4,0.000,0.028,3428,3190,1818,0,0,0,0,0,0
$GC,9522,1.35,245.0,9.6,6.0,587,9568,0.00,2.53,39.08,0.464,6,0.000,0.035,3429,1804,1635,0,0,0,0,0,0
$STATE,9610,end climb,SURFACE_DEPTH_REACHED
$STATE,9610,begin surface coast
$FINISH,0.9,1.011933
$STATE,9646,end surface coast,CONTROL_FINISHED_OK
$STATE,9646,begin surface
$SM_CCo,9670,44.65,0.453,0,0,1288,330.17
$SM_GC,1.62,0.00,0.00,44.65,0.000,0.000,0.453,425,2130,1288,-12.48,0.82,330.17
$IRIDIUM_FIX,2038.68,-15749.23,090800,070742
$TT8_MAMPS,0.029146
$HUMID,58.26
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,20.80
$XPDR_PINGS,11
$24V_AH,23.5,29.476
$10V_AH,10.4,27.899
$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,28.575,116.850,304.725,44.650,0.000,27.800,34.356,155.977,7.250,0.000,13.519,1146.664,6195.949,404.931,1847.583,465.369,0.000,1213.708,0.000,1822.985,0.000,29.237,0.000
$DEVICE_MAMPS,135.759,62.127,826.826,453.297,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,411.128,400.340,900.302,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,34957,609
$CAP_FILE_SIZE,105845,0
$CFSIZE,260165632,238989312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160511,122454,2045.092,-15747.521,29,1.4,46,9.8