version: 66.06
glider: 139
mission: 9
dive: 370
start: 5 16 111 21 10 50
data:
$ID,139
$MISSION,9
$DIVE,370
$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,-2183582.5
$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,21
$R_STBD_OVSHOOT,51
$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
$GPS1,205706,2041.995,-15749.543,40,1.0,40,9.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-74.2
$GPS2,211031,2041.929,-15749.502,16,1.2,22,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,HEADING
$TGT_LATLONG,2041.929,-15801.046
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.19,-116.8,0.0,0.0,0,90,0.00,0.00,-69.18,0.000,6,0.000,0.000,428,2111,3112,0,0,0,0,0,0
$GC,93,-1.19,-116.8,3.6,-4.9,13,111,13.07,2.55,0.00,0.000,4,0.133,0.038,2869,684,3115,0,0,0,0,0,0
$GC,278,-1.19,-116.8,51.3,-21.3,44,284,0.00,2.42,0.00,0.000,6,0.000,0.020,2869,2091,3116,0,0,0,0,0,0
$GC,540,-1.19,-116.8,96.4,-15.2,69,544,0.00,2.47,0.00,0.000,4,0.000,0.032,2869,3508,3116,0,0,0,0,0,0
$GC,556,-1.19,-116.8,98.7,-14.2,70,560,0.00,2.50,0.00,0.000,6,0.000,0.033,2869,2096,3117,0,0,0,0,0,0
$GC,819,-1.19,-116.8,131.1,-13.0,94,824,0.00,2.53,0.00,0.000,4,0.000,0.042,2869,690,3117,0,0,0,0,0,0
$GC,854,-1.19,-116.8,136.1,-14.7,97,858,0.00,2.38,0.00,0.000,6,0.000,0.020,2869,2101,3116,0,0,0,0,0,0
$GC,1120,-1.19,-116.8,165.7,-10.4,121,1125,0.00,2.53,0.00,0.000,4,0.000,0.041,2869,689,3117,0,0,0,0,0,0
$GC,1139,-1.19,-116.8,168.6,-11.6,122,1146,0.00,2.42,0.00,0.000,6,0.000,0.021,2869,2098,3117,0,0,0,0,0,0
$GC,1404,-1.19,-116.8,193.6,-9.6,147,1408,0.00,2.50,0.00,0.000,4,0.000,0.042,2869,691,3117,0,0,0,0,0,0
$GC,1573,-1.19,-116.8,210.3,-8.9,158,1578,0.00,2.40,0.00,0.000,6,0.000,0.021,2869,2099,3117,0,0,0,0,0,0
$GC,1891,-1.19,-116.8,240.3,-9.6,173,1896,0.00,2.53,0.00,0.000,4,0.000,0.043,2869,691,3117,0,0,0,0,0,0
$GC,1920,-1.19,-116.8,243.6,-10.6,174,1924,0.00,2.40,0.00,0.000,6,0.000,0.021,2869,2098,3117,0,0,0,0,0,0
$GC,2240,-1.19,-116.8,275.7,-8.6,190,2244,0.00,2.53,0.00,0.000,4,0.000,0.044,2869,690,3116,0,0,0,0,0,0
$GC,2273,-1.19,-116.8,278.5,-7.9,191,2277,0.00,2.42,0.00,0.000,6,0.000,0.023,2869,2103,3117,0,0,0,0,0,0
$GC,2589,-1.19,-116.8,299.7,-6.4,206,2594,0.00,2.53,0.00,0.000,4,0.000,0.045,2869,691,3116,0,0,0,0,0,0
$GC,2618,-1.19,-116.8,302.2,-8.7,207,2622,0.00,2.42,0.00,0.000,6,0.000,0.024,2869,2098,3115,0,0,0,0,0,0
$GC,2959,-1.19,-116.8,330.1,-7.8,216,2963,0.00,2.53,0.00,0.000,4,0.000,0.047,2869,690,3114,0,0,0,0,0,0
$GC,3075,-1.19,-116.8,339.7,-8.2,218,3080,0.00,2.42,0.00,0.000,6,0.000,0.025,2869,2099,3113,0,0,0,0,0,0
$GC,3416,-1.19,-116.8,364.9,-7.3,227,3420,0.00,2.55,0.00,0.000,4,0.000,0.048,2869,3501,3111,0,0,0,0,0,0
$GC,3495,-1.19,-116.8,370.6,-6.7,228,3499,0.00,2.50,0.00,0.000,6,0.000,0.041,2869,2099,3111,0,0,0,0,0,0
$GC,3827,-1.19,-116.8,390.2,-6.1,236,3828,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2098,3108,0,0,0,0,0,0
$GC,4151,-1.19,-116.8,410.4,-6.3,244,4156,0.00,2.55,0.00,0.000,4,0.000,0.048,2869,3500,3106,0,0,0,0,0,0
$GC,4217,-1.19,-116.8,415.5,-7.5,245,4221,0.00,2.53,0.00,0.000,6,0.000,0.044,2869,2099,3105,0,0,0,0,0,0
$GC,4563,-1.19,-116.8,439.5,-7.0,254,4567,0.00,2.60,0.00,0.000,4,0.000,0.054,2869,687,3103,0,0,0,0,0,0
$GC,4577,-1.19,-116.8,440.8,-7.1,254,4582,0.00,2.47,0.00,0.000,6,0.000,0.028,2868,2106,3103,0,0,0,0,0,0
$STATE,4721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4721,begin apogee
$GC,4729,-0.31,0.0,450.5,6.6,258,4827,0.95,0.00,94.60,0.818,6,0.081,0.000,3066,1793,2635,0,0,0,0,0,0
$STATE,4828,end apogee,CONTROL_FINISHED_OK
$STATE,4828,begin climb
$GC,4831,1.19,116.8,451.7,0.0,260,4936,1.50,0.00,101.53,0.796,6,0.053,0.000,3396,1793,2158,0,0,0,0,0,0
$GC,5249,1.19,116.8,403.1,12.1,271,5254,0.00,2.62,0.00,0.000,4,0.000,0.060,3395,406,2147,0,0,0,0,0,0
$GC,5269,1.19,116.8,400.4,13.7,271,5273,0.00,2.47,0.00,0.000,6,0.000,0.026,3396,1807,2145,0,0,0,0,0,0
$GC,5614,1.19,116.8,356.9,13.2,280,5618,0.00,2.55,0.00,0.000,4,0.000,0.044,3396,3210,2143,0,0,0,0,0,0
$GC,5642,1.19,116.8,353.4,11.8,280,5647,0.00,2.62,0.00,0.000,6,0.000,0.048,3396,1802,2143,0,0,0,0,0,0
$GC,5979,1.19,116.8,318.3,10.0,289,5983,0.00,2.65,0.00,0.000,4,0.000,0.060,3396,393,2140,0,0,0,0,0,0
$GC,6016,1.19,116.8,314.1,11.2,289,6022,0.00,2.47,0.00,0.000,6,0.000,0.027,3396,1799,2138,0,0,0,0,0,0
$GC,6329,1.19,116.8,288.4,8.5,300,6333,0.00,2.65,0.00,0.000,4,0.000,0.059,3396,392,2137,0,0,0,0,0,0
$GC,6358,1.19,116.8,285.5,10.5,301,6362,0.00,2.47,0.00,0.000,6,0.000,0.027,3396,1800,2136,0,0,0,0,0,0
$GC,6679,1.19,116.8,251.8,10.8,317,6681,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1803,2136,0,0,0,0,0,0
$GC,6988,1.19,116.8,222.6,8.4,332,6989,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1803,2135,0,0,0,0,0,0
$GC,7300,1.19,116.8,195.7,9.1,349,7304,0.00,2.53,0.00,0.000,4,0.000,0.039,3396,3206,2134,0,0,0,0,0,0
$GC,7319,1.19,116.8,193.7,9.3,350,7325,0.00,2.60,0.00,0.000,6,0.000,0.043,3396,1802,2135,0,0,0,0,0,0
$GC,7583,1.19,116.8,170.4,8.9,375,7588,0.00,2.60,0.00,0.000,4,0.000,0.055,3396,388,2134,0,0,0,0,0,0
$GC,7645,1.19,116.8,164.0,9.5,381,7650,0.00,2.47,0.00,0.000,6,0.000,0.024,3396,1805,2132,0,0,0,0,0,0
$GC,7910,1.21,129.5,145.5,7.4,405,7922,0.00,2.53,7.62,0.508,4,0.000,0.035,3396,3212,2107,0,0,0,0,0,0
$GC,7979,1.22,135.0,139.9,7.8,412,7995,0.00,2.60,6.88,0.489,6,0.000,0.041,3396,1804,2084,0,0,0,0,0,0
$GC,8250,1.24,152.8,118.4,7.2,438,8269,0.00,0.00,16.42,0.545,6,0.000,0.000,3396,1804,2012,0,0,0,0,0,0
$GC,8527,1.31,210.3,100.8,5.4,464,8585,0.12,2.70,50.50,0.549,4,0.063,0.052,3437,393,1777,0,0,0,0,0,0
$GC,8657,1.31,210.3,89.9,10.6,478,8661,0.00,2.47,0.00,0.000,6,0.000,0.021,3437,1807,1770,0,0,0,0,0,0
$GC,8921,1.31,210.3,65.3,9.5,502,8926,0.00,2.62,0.00,0.000,4,0.000,0.050,3437,391,1770,0,0,0,0,0,0
$GC,8947,1.31,210.3,62.5,10.9,504,8951,0.00,2.45,0.00,0.000,6,0.000,0.021,3438,1815,1768,0,0,0,0,0,0
$GC,9212,1.31,210.3,37.9,9.2,528,9218,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,1820,1768,0,0,0,0,0,0
$GC,9479,1.31,210.3,14.5,8.5,569,9485,0.00,2.65,0.00,0.000,4,0.000,0.048,3437,393,1768,0,0,0,0,0,0
$GC,9510,1.31,210.3,11.5,9.8,575,9516,0.00,2.42,0.00,0.000,6,0.000,0.019,3438,1799,1766,0,0,0,0,0,0
$STATE,9608,end climb,SURFACE_DEPTH_REACHED
$STATE,9608,begin surface coast
$FINISH,1.0,1.009413
$STATE,9648,end surface coast,CONTROL_FINISHED_OK
$STATE,9648,begin surface
$SM_CCo,9672,59.55,0.456,0,0,1289,330.17
$SM_GC,1.65,0.00,0.00,59.55,0.000,0.000,0.456,426,2126,1289,-12.48,0.74,330.17
$IRIDIUM_FIX,2036.38,-15749.23,090800,212138
$TT8_MAMPS,0.029146
$HUMID,59.09
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,20.40
$XPDR_PINGS,4
$24V_AH,23.5,29.810
$10V_AH,10.4,28.208
$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,28.525,111.875,277.550,59.550,0.000,86.705,109.913,340.085,5.500,0.000,22.177,1102.516,6581.302,440.544,1613.890,799.616,0.000,1121.548,0.000,1590.118,0.000,29.264,0.000
$DEVICE_MAMPS,133.458,59.826,818.389,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,405.859,390.141,854.617,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,31748,600
$CAP_FILE_SIZE,104273,0
$CFSIZE,260165632,238796800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160511,235356,2040.713,-15749.956,15,1.3,15,9.7