version: 66.06
glider: 139
mission: 9
dive: 368
start: 5 16 111 15 20 22
data:
$ID,139
$MISSION,9
$DIVE,368
$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,-2183547
$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,53
$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
$GPS1,151436,2043.919,-15748.146,13,1.0,29,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-75.1
$GPS2,152002,2043.858,-15748.103,11,1.4,11,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,HEADING
$TGT_LATLONG,2043.858,-15759.649
$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,-116.8,0.0,0.0,0,83,0.00,0.00,-64.85,0.000,2,0.000,0.000,427,2107,2966,0,0,0,0,0,0
$GC,86,-1.19,-116.8,3.0,-2.9,12,111,13.07,2.62,-3.00,0.000,4,0.133,0.052,2868,676,3114,0,0,0,0,0,0
$GC,262,-1.19,-116.8,44.1,-20.1,43,266,0.00,2.40,0.00,0.000,6,0.000,0.021,2867,2088,3116,0,0,0,0,0,0
$GC,526,-1.19,-116.8,88.0,-16.1,67,530,0.00,2.50,0.00,0.000,4,0.000,0.035,2867,3498,3116,0,0,0,0,0,0
$GC,560,-1.19,-116.8,93.4,-13.3,70,564,0.00,2.47,0.00,0.000,6,0.000,0.032,2868,2091,3117,0,0,0,0,0,0
$GC,823,-1.19,-116.8,123.5,-11.6,94,827,0.00,2.53,0.00,0.000,4,0.000,0.042,2868,689,3118,0,0,0,0,0,0
$GC,851,-1.19,-116.8,127.6,-13.6,96,858,0.00,2.42,0.00,0.000,6,0.000,0.020,2868,2097,3118,0,0,0,0,0,0
$GC,1115,-1.19,-116.8,162.5,-14.1,121,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2098,3118,0,0,0,0,0,0
$GC,1377,-1.19,-116.8,190.7,-9.0,146,1381,0.00,2.50,0.00,0.000,4,0.000,0.037,2868,3502,3119,0,0,0,0,0,0
$GC,1393,-1.19,-116.8,192.1,-8.9,147,1398,0.00,2.47,0.00,0.000,6,0.000,0.032,2867,2095,3119,0,0,0,0,0,0
$GC,1660,-1.19,-116.8,214.6,-8.4,164,1664,0.00,2.53,0.00,0.000,4,0.000,0.044,2867,692,3119,0,0,0,0,0,0
$GC,1769,-1.19,-116.8,224.2,-8.4,168,1776,0.00,2.42,0.00,0.000,6,0.000,0.021,2867,2096,3119,0,0,0,0,0,0
$GC,2085,-1.19,-116.8,250.6,-9.0,184,2089,0.00,2.53,0.00,0.000,4,0.000,0.043,2867,686,3119,0,0,0,0,0,0
$GC,2118,-1.19,-116.8,253.6,-9.6,185,2122,0.00,2.42,0.00,0.000,6,0.000,0.022,2867,2101,3119,0,0,0,0,0,0
$GC,2434,-1.19,-116.8,280.2,-7.7,200,2438,0.00,2.55,0.00,0.000,4,0.000,0.045,2867,688,3119,0,0,0,0,0,0
$GC,2513,-1.19,-116.8,287.6,-9.6,203,2517,0.00,2.40,0.00,0.000,6,0.000,0.023,2867,2099,3118,0,0,0,0,0,0
$GC,2826,-1.19,-116.8,313.4,-8.1,214,2830,0.00,2.55,0.00,0.000,4,0.000,0.045,2867,686,3117,0,0,0,0,0,0
$GC,2882,-1.19,-116.8,317.9,-7.3,215,2887,0.00,2.42,0.00,0.000,6,0.000,0.024,2867,2098,3117,0,0,0,0,0,0
$GC,3197,-1.19,-116.8,337.8,-5.6,223,3201,0.00,2.55,0.00,0.000,4,0.000,0.047,2867,690,3116,0,0,0,0,0,0
$GC,3240,-1.19,-116.8,340.4,-5.4,224,3244,0.00,2.42,0.00,0.000,6,0.000,0.025,2867,2101,3116,0,0,0,0,0,0
$GC,3568,-1.19,-116.8,359.7,-6.3,232,3570,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2101,3114,0,0,0,0,0,0
$GC,3893,-1.19,-116.8,384.8,-7.8,240,3897,0.00,2.55,0.00,0.000,4,0.000,0.049,2867,3497,3111,0,0,0,0,0,0
$GC,3918,-1.19,-116.8,386.9,-8.1,240,3923,0.00,2.50,0.00,0.000,6,0.000,0.041,2867,2104,3111,0,0,0,0,0,0
$GC,4259,-1.19,-116.8,412.0,-7.3,249,4264,0.00,2.55,0.00,0.000,4,0.000,0.047,2867,3505,3109,0,0,0,0,0,0
$GC,4463,-1.19,-116.8,428.2,-7.2,253,4467,0.00,2.53,0.00,0.000,6,0.000,0.044,2867,2091,3108,0,0,0,0,0,0
$STATE,4806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4806,begin apogee
$GC,4813,-0.31,0.0,450.3,6.0,262,4912,0.95,0.00,95.40,0.826,6,0.081,0.000,3064,1795,2635,0,0,0,0,0,0
$STATE,4913,end apogee,CONTROL_FINISHED_OK
$STATE,4913,begin climb
$GC,4915,1.19,116.8,451.4,0.0,264,5028,1.48,2.72,100.25,0.804,4,0.053,0.061,3392,407,2157,0,0,0,0,0,0
$GC,5061,1.19,116.8,435.6,14.8,267,5065,0.00,2.45,0.00,0.000,6,0.000,0.026,3393,1798,2151,0,0,0,0,0,0
$GC,5411,1.19,116.8,390.9,11.9,276,5415,0.00,2.58,0.00,0.000,4,0.000,0.044,3393,3204,2145,0,0,0,0,0,0
$GC,5458,1.19,116.8,385.8,10.2,277,5462,0.00,2.62,0.00,0.000,6,0.000,0.051,3392,1804,2145,0,0,0,0,0,0
$GC,5781,1.19,116.8,353.7,10.2,285,5782,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1804,2142,0,0,0,0,0,0
$GC,6106,1.19,116.8,317.8,10.8,293,6110,0.00,2.67,0.00,0.000,4,0.000,0.060,3392,389,2140,0,0,0,0,0,0
$GC,6144,1.19,116.8,313.3,12.2,293,6149,0.00,2.50,0.00,0.000,6,0.000,0.028,3392,1802,2137,0,0,0,0,0,0
$GC,6457,1.19,116.8,280.9,9.6,306,6462,0.00,2.65,0.00,0.000,4,0.000,0.060,3392,393,2137,0,0,0,0,0,0
$GC,6536,1.19,116.8,272.3,10.7,309,6540,0.00,2.45,0.00,0.000,6,0.000,0.027,3392,1802,2135,0,0,0,0,0,0
$GC,6851,1.19,116.8,242.8,9.2,324,6853,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1803,2135,0,0,0,0,0,0
$GC,7162,1.19,116.8,217.1,9.2,339,7166,0.00,2.65,0.00,0.000,4,0.000,0.058,3392,393,2133,0,0,0,0,0,0
$GC,7186,1.19,116.8,214.5,10.3,340,7190,0.00,2.47,0.00,0.000,6,0.000,0.026,3393,1806,2133,0,0,0,0,0,0
$GC,7519,1.21,128.3,187.2,7.5,363,7531,0.00,2.70,6.47,0.520,4,0.000,0.055,3392,399,2112,0,0,0,0,0,0
$GC,7575,1.21,128.3,181.8,10.7,369,7580,0.00,2.45,0.00,0.000,6,0.000,0.025,3393,1800,2110,0,0,0,0,0,0
$GC,7840,1.21,128.3,157.7,9.3,393,7844,0.00,2.50,0.00,0.000,4,0.000,0.035,3393,3205,2110,0,0,0,0,0,0
$GC,7855,1.21,128.3,156.2,8.7,394,7860,0.00,2.55,0.00,0.000,6,0.000,0.040,3393,1796,2110,0,0,0,0,0,0
$GC,8119,1.26,166.6,137.0,6.3,418,8159,0.00,2.67,34.90,0.587,4,0.000,0.055,3392,391,1954,0,0,0,0,0,0
$GC,8194,1.26,166.6,130.8,9.3,425,8200,0.00,2.45,0.00,0.000,6,0.000,0.023,3393,1803,1950,0,0,0,0,0,0
$GC,8458,1.29,196.5,112.9,6.6,450,8490,0.12,2.72,26.60,0.551,4,0.061,0.054,3436,389,1832,0,0,0,0,0,0
$GC,8568,1.29,196.5,100.7,11.8,461,8573,0.00,2.47,0.00,0.000,6,0.000,0.021,3436,1809,1827,0,0,0,0,0,0
$GC,8833,1.29,196.5,74.0,9.7,486,8839,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,1814,1827,0,0,0,0,0,0
$GC,9095,1.29,196.5,49.6,9.4,511,9100,0.00,2.62,0.00,0.000,4,0.000,0.049,3436,388,1827,0,0,0,0,0,0
$GC,9114,1.29,196.5,47.7,9.8,512,9121,0.00,2.47,0.00,0.000,6,0.000,0.020,3436,1808,1825,0,0,0,0,0,0
$GC,9381,1.33,223.0,26.7,6.8,541,9410,0.00,2.45,23.10,0.469,4,0.000,0.027,3436,3198,1724,0,0,0,0,0,0
$GC,9440,1.37,261.1,22.6,6.3,552,9480,0.00,2.58,33.12,0.472,6,0.000,0.036,3436,1799,1569,0,0,0,0,0,0
$STATE,9674,end climb,SURFACE_DEPTH_REACHED
$STATE,9674,begin surface coast
$FINISH,1.1,1.014058
$STATE,9714,end surface coast,CONTROL_FINISHED_OK
$STATE,9715,begin surface
$SM_CCo,9739,37.08,0.451,0,0,1288,330.17
$SM_GC,2.04,0.00,0.00,37.08,0.000,0.000,0.451,425,2117,1288,-12.48,0.48,330.17
$IRIDIUM_FIX,2036.38,-15747.09,090800,121230
$TT8_MAMPS,0.029146
$HUMID,59.52
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,20.40
$XPDR_PINGS,4
$24V_AH,23.5,29.637
$10V_AH,10.5,28.051
$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,28.475,112.300,319.850,37.075,0.000,27.589,31.897,147.606,5.500,0.000,12.002,1105.053,6446.872,403.513,1701.839,447.316,0.000,1162.867,0.000,1683.573,0.000,29.237,0.000
$DEVICE_MAMPS,133.458,60.593,826.059,450.996,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,406.328,396.206,872.800,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,31834,602
$CAP_FILE_SIZE,101066,0
$CFSIZE,260165632,238899200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160511,180436,2042.966,-15748.931,39,1.0,39,9.8