version: 66.06
glider: 139
mission: 9
dive: 369
start: 5 16 111 18 10 34
data:
$ID,139
$MISSION,9
$DIVE,369
$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,-2183559.5
$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,17
$R_STBD_OVSHOOT,61
$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
$GPS1,180436,2042.966,-15748.931,39,1.0,39,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-75.1
$GPS2,181014,2042.936,-15748.920,11,1.5,11,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,HEADING
$TGT_LATLONG,2042.936,-15800.466
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.19,-116.8,0.0,0.0,0,90,0.00,0.00,-68.95,0.000,6,0.000,0.000,425,2119,3113,0,0,0,0,0,0
$GC,93,-1.19,-116.8,4.0,-6.0,13,112,13.18,2.40,0.00,0.000,4,0.136,0.029,2870,3481,3114,0,0,0,0,0,0
$GC,360,-1.19,-116.8,60.3,-17.4,54,365,0.00,2.47,0.00,0.000,6,0.000,0.035,2870,2092,3117,0,0,0,0,0,0
$GC,625,-1.19,-116.8,106.5,-16.2,78,629,0.00,2.45,0.00,0.000,4,0.000,0.031,2870,3481,3118,0,0,0,0,0,0
$GC,660,-1.19,-116.8,111.9,-13.4,81,665,0.00,2.42,0.00,0.000,6,0.000,0.031,2870,2092,3118,0,0,0,0,0,0
$GC,925,-1.19,-116.8,141.3,-11.5,105,929,0.00,2.53,0.00,0.000,4,0.000,0.043,2870,688,3118,0,0,0,0,0,0
$GC,970,-1.19,-116.8,147.2,-10.9,109,976,0.00,2.38,0.00,0.000,6,0.000,0.020,2870,2088,3118,0,0,0,0,0,0
$GC,1234,-1.19,-116.8,174.1,-10.2,134,1238,0.00,2.50,0.00,0.000,4,0.000,0.041,2870,688,3119,0,0,0,0,0,0
$GC,1263,-1.19,-116.8,177.3,-11.1,136,1270,0.00,2.42,0.00,0.000,6,0.000,0.021,2870,2098,3119,0,0,0,0,0,0
$GC,1529,-1.19,-116.8,200.8,-7.7,161,1533,0.00,2.50,0.00,0.000,4,0.000,0.042,2870,695,3119,0,0,0,0,0,0
$GC,1599,-1.19,-116.8,207.7,-9.4,164,1603,0.00,2.40,0.00,0.000,6,0.000,0.021,2870,2102,3119,0,0,0,0,0,0
$GC,1923,-1.19,-116.8,236.1,-9.0,180,1928,0.00,2.53,0.00,0.000,4,0.000,0.044,2870,695,3119,0,0,0,0,0,0
$GC,2041,-1.19,-116.8,247.3,-10.2,185,2046,0.00,2.40,0.00,0.000,6,0.000,0.021,2870,2098,3119,0,0,0,0,0,0
$GC,2368,-1.19,-116.8,272.8,-7.0,201,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2100,3119,0,0,0,0,0,0
$GC,2676,-1.19,-116.8,294.8,-6.2,216,2681,0.00,2.53,0.00,0.000,4,0.000,0.045,2870,695,3117,0,0,0,0,0,0
$GC,2751,-1.19,-116.8,299.1,-6.0,219,2755,0.00,2.42,0.00,0.000,6,0.000,0.024,2870,2110,3117,0,0,0,0,0,0
$GC,3067,-1.19,-116.8,318.6,-7.4,228,3072,0.00,2.55,0.00,0.000,4,0.000,0.047,2870,689,3116,0,0,0,0,0,0
$GC,3206,-1.19,-116.8,332.6,-10.4,231,3210,0.00,2.45,0.00,0.000,6,0.000,0.025,2870,2101,3115,0,0,0,0,0,0
$GC,3530,-1.19,-116.8,357.4,-6.9,239,3531,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2102,3113,0,0,0,0,0,0
$GC,3855,-1.19,-116.8,384.3,-8.9,247,3860,0.00,2.55,0.00,0.000,4,0.000,0.049,2870,3499,3111,0,0,0,0,0,0
$GC,3993,-1.19,-116.8,395.7,-7.8,250,3998,0.00,2.53,0.00,0.000,6,0.000,0.042,2869,2099,3111,0,0,0,0,0,0
$GC,4322,-1.19,-116.8,417.0,-5.9,258,4323,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2098,3108,0,0,0,0,0,0
$GC,4646,-1.19,-116.8,437.3,-6.4,266,4651,0.00,2.55,0.00,0.000,4,0.000,0.048,2870,3507,3106,0,0,0,0,0,0
$GC,4661,-1.19,-116.8,438.3,-6.2,266,4666,0.00,2.53,0.00,0.000,6,0.000,0.044,2870,2100,3105,0,0,0,0,0,0
$STATE,4846,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4846,begin apogee
$GC,4853,-0.31,0.0,450.7,6.6,271,4951,0.95,0.00,95.10,0.821,6,0.081,0.000,3068,1794,2635,0,0,0,0,0,0
$STATE,4952,end apogee,CONTROL_FINISHED_OK
$STATE,4952,begin climb
$GC,4955,1.19,116.8,452.2,0.0,273,5068,1.48,2.65,100.78,0.801,4,0.053,0.060,3395,408,2157,0,0,0,0,0,0
$GC,5078,1.19,116.8,441.7,12.4,275,5083,0.00,2.50,0.00,0.000,6,0.000,0.027,3395,1807,2153,0,0,0,0,0,0
$GC,5409,1.19,116.8,398.4,13.3,284,5410,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1812,2146,0,0,0,0,0,0
$GC,5734,1.19,116.8,360.8,10.8,292,5735,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1812,2143,0,0,0,0,0,0
$GC,6059,1.19,116.8,324.9,11.0,300,6060,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1812,2141,0,0,0,0,0,0
$GC,6366,1.19,116.8,291.5,11.0,309,6370,0.00,2.67,0.00,0.000,4,0.000,0.060,3395,398,2140,0,0,0,0,0,0
$GC,6426,1.19,116.8,284.5,11.4,311,6431,0.00,2.47,0.00,0.000,6,0.000,0.028,3395,1800,2136,0,0,0,0,0,0
$GC,6743,1.19,116.8,255.4,8.1,327,6744,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1802,2136,0,0,0,0,0,0
$GC,7051,1.19,116.8,228.0,8.7,342,7055,0.00,2.62,0.00,0.000,4,0.000,0.058,3395,403,2135,0,0,0,0,0,0
$GC,7134,1.19,116.8,219.8,10.1,345,7140,0.00,2.45,0.00,0.000,6,0.000,0.026,3395,1802,2134,0,0,0,0,0,0
$GC,7452,1.22,134.0,194.4,7.2,364,7471,0.00,2.70,11.82,0.595,4,0.000,0.057,3395,405,2087,0,0,0,0,0,0
$GC,7520,1.22,134.0,188.6,9.7,371,7525,0.00,2.45,0.00,0.000,6,0.000,0.025,3395,1808,2085,0,0,0,0,0,0
$GC,7785,1.22,134.0,167.0,8.8,395,7789,0.00,2.65,0.00,0.000,4,0.000,0.054,3395,398,2084,0,0,0,0,0,0
$GC,7800,1.22,134.0,165.3,9.1,396,7804,0.00,2.47,0.00,0.000,6,0.000,0.025,3394,1813,2084,0,0,0,0,0,0
$GC,8063,1.22,134.0,143.4,8.1,420,8068,0.00,2.62,0.00,0.000,4,0.000,0.054,3395,399,2084,0,0,0,0,0,0
$GC,8108,1.22,134.0,139.0,10.0,424,8112,0.00,2.42,0.00,0.000,6,0.000,0.024,3395,1798,2083,0,0,0,0,0,0
$GC,8371,1.26,169.2,119.6,6.4,448,8408,0.00,0.00,31.58,0.567,6,0.000,0.000,3395,1799,1945,0,0,0,0,0,0
$GC,8664,1.28,184.1,95.9,7.3,476,8683,0.00,2.62,13.88,0.510,4,0.000,0.052,3395,398,1883,0,0,0,0,0,0
$GC,8742,1.28,184.1,89.7,8.9,484,8747,0.00,2.45,0.00,0.000,6,0.000,0.021,3395,1803,1879,0,0,0,0,0,0
$GC,9008,1.31,214.1,70.3,6.6,508,9042,0.12,2.55,26.73,0.509,4,0.061,0.030,3440,3202,1761,0,0,0,0,0,0
$GC,9059,1.31,214.1,66.0,8.5,513,9063,0.00,2.55,0.00,0.000,6,0.000,0.037,3439,1807,1761,0,0,0,0,0,0
$GC,9323,1.31,214.1,42.6,8.6,537,9327,0.00,2.60,0.00,0.000,4,0.000,0.052,3439,395,1759,0,0,0,0,0,0
$GC,9340,1.31,214.1,41.0,8.9,538,9345,0.00,2.45,0.00,0.000,6,0.000,0.020,3439,1817,1757,0,0,0,0,0,0
$GC,9605,1.31,214.1,20.6,8.2,572,9610,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,1823,1757,0,0,0,0,0,0
$GC,9808,1.31,214.1,3.3,8.7,609,9814,0.00,2.65,0.00,0.000,4,0.000,0.047,3439,394,1757,0,0,0,0,0,0
$STATE,9819,end climb,SURFACE_DEPTH_REACHED
$STATE,9819,begin surface coast
$FINISH,1.6,1.022719
$STATE,9825,end surface coast,CONTROL_FINISHED_OK
$STATE,9825,begin surface
$SM_CCo,9852,60.45,0.457,0,0,1288,330.17
$SM_GC,1.95,0.00,0.00,60.45,0.000,0.000,0.457,429,2108,1288,-12.46,0.23,330.17
$IRIDIUM_FIX,2038.68,-15747.09,090800,151516
$TT8_MAMPS,0.029146
$HUMID,58.82
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,20.70
$XPDR_PINGS,6
$24V_AH,23.5,29.716
$10V_AH,10.5,28.129
$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,28.600,101.600,279.875,60.450,0.000,22.132,36.601,158.832,6.000,0.000,11.696,1130.782,6532.012,407.206,1705.514,476.977,0.000,1142.170,0.000,1695.784,0.000,29.244,0.000
$DEVICE_MAMPS,135.759,59.826,821.457,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,414.320,404.863,887.789,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,34970,612
$CAP_FILE_SIZE,98862,0
$CFSIZE,260165632,238845952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160511,205706,2041.995,-15749.543,40,1.0,40,9.8