version: 66.06
glider: 139
mission: 9
dive: 371
start: 5 17 111 0 0 4
data:
$ID,139
$MISSION,9
$DIVE,371
$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,-2183600.2
$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,19
$R_STBD_OVSHOOT,66
$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
$GPS1,235356,2040.713,-15749.956,15,1.3,15,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-74.7
$GPS2,235944,2040.705,-15749.934,16,1.3,16,9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,HEADING
$TGT_LATLONG,2040.705,-15801.477
$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,260.3,20000,-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,16,-1.19,-116.8,0.0,0.0,0,88,0.00,0.00,-69.95,0.000,6,0.000,0.000,425,2127,3112,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.5,-3.9,13,109,13.12,2.40,0.00,0.000,4,0.135,0.031,2868,3480,3114,0,0,0,0,0,0
$GC,361,-1.19,-116.8,60.5,-18.4,55,365,0.00,2.47,0.00,0.000,6,0.000,0.034,2868,2086,3117,0,0,0,0,0,0
$GC,625,-1.19,-116.8,103.2,-14.2,79,630,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2086,3118,0,0,0,0,0,0
$GC,886,-1.19,-116.8,137.8,-13.2,104,891,0.00,2.42,0.00,0.000,4,0.000,0.032,2868,3471,3119,0,0,0,0,0,0
$GC,903,-1.19,-116.8,139.8,-13.3,105,908,0.00,2.40,0.00,0.000,6,0.000,0.032,2868,2098,3119,0,0,0,0,0,0
$GC,1169,-1.19,-116.8,169.9,-10.1,130,1174,0.00,2.42,0.00,0.000,4,0.000,0.034,2868,3472,3119,0,0,0,0,0,0
$GC,1241,-1.19,-116.8,177.0,-10.0,137,1245,0.00,2.40,0.00,0.000,6,0.000,0.033,2868,2099,3119,0,0,0,0,0,0
$GC,1505,-1.19,-116.8,204.5,-10.5,159,1509,0.00,2.53,0.00,0.000,4,0.000,0.043,2868,692,3119,0,0,0,0,0,0
$GC,1602,-1.19,-116.8,216.1,-11.0,163,1606,0.00,2.35,0.00,0.000,6,0.000,0.021,2868,2073,3119,0,0,0,0,0,0
$GC,1926,-1.19,-116.8,244.9,-7.9,179,1927,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2074,3119,0,0,0,0,0,0
$GC,2232,-1.19,-116.8,268.3,-7.1,194,2236,0.00,2.45,0.00,0.000,4,0.000,0.044,2868,694,3119,0,0,0,0,0,0
$GC,2283,-1.19,-116.8,272.6,-8.6,196,2288,0.00,2.40,0.00,0.000,6,0.000,0.022,2868,2098,3119,0,0,0,0,0,0
$GC,2603,-1.19,-116.8,298.3,-8.7,212,2608,0.00,2.53,0.00,0.000,4,0.000,0.043,2868,3500,3118,0,0,0,0,0,0
$GC,2647,-1.19,-116.8,302.1,-9.2,214,2652,0.00,2.50,0.00,0.000,6,0.000,0.038,2868,2096,3118,0,0,0,0,0,0
$GC,2975,-1.19,-116.8,328.7,-7.6,222,2980,0.00,2.55,0.00,0.000,4,0.000,0.048,2868,692,3117,0,0,0,0,0,0
$GC,3045,-1.19,-116.8,333.9,-7.5,223,3050,0.00,2.40,0.00,0.000,6,0.000,0.025,2868,2098,3116,0,0,0,0,0,0
$GC,3387,-1.19,-116.8,355.5,-6.6,232,3391,0.00,2.55,0.00,0.000,4,0.000,0.046,2868,3503,3115,0,0,0,0,0,0
$GC,3435,-1.19,-116.8,358.9,-7.4,233,3440,0.00,2.53,0.00,0.000,6,0.000,0.040,2868,2094,3114,0,0,0,0,0,0
$GC,3758,-1.19,-116.8,383.7,-8.3,241,3760,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2093,3113,0,0,0,0,0,0
$GC,4083,-1.19,-116.8,405.7,-6.2,249,4085,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2093,3110,0,0,0,0,0,0
$GC,4409,-1.19,-116.8,421.4,-4.6,257,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2093,3108,0,0,0,0,0,0
$GC,4736,-1.19,-116.8,441.1,-6.9,265,4740,0.00,2.55,0.00,0.000,4,0.000,0.048,2868,3503,3106,0,0,0,0,0,0
$STATE,4845,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4847,begin apogee
$GC,4857,-0.31,0.0,450.3,8.7,267,4958,0.93,0.00,94.65,0.821,6,0.083,0.000,3063,1801,2634,0,0,0,0,0,0
$STATE,4959,end apogee,CONTROL_FINISHED_OK
$STATE,4959,begin climb
$GC,4962,1.19,116.8,453.4,0.0,270,5074,1.50,2.67,100.18,0.802,4,0.054,0.060,3396,402,2157,0,0,0,0,0,0
$GC,5094,1.19,116.8,443.0,12.3,273,5098,0.00,2.50,0.00,0.000,6,0.000,0.026,3396,1799,2152,0,0,0,0,0,0
$GC,5417,1.19,116.8,401.8,13.4,281,5421,0.00,2.58,0.00,0.000,4,0.000,0.044,3396,3204,2146,0,0,0,0,0,0
$GC,5454,1.19,116.8,396.3,13.5,281,5460,0.00,2.65,0.00,0.000,6,0.000,0.050,3396,1795,2146,0,0,0,0,0,0
$GC,5786,1.19,116.8,353.7,12.1,290,5787,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1795,2142,0,0,0,0,0,0
$GC,6111,1.19,116.8,317.1,11.0,298,6115,0.00,2.65,0.00,0.000,4,0.000,0.060,3396,387,2140,0,0,0,0,0,0
$GC,6144,1.19,116.8,312.7,13.2,298,6148,0.00,2.50,0.00,0.000,6,0.000,0.026,3396,1801,2138,0,0,0,0,0,0
$GC,6458,1.19,116.8,280.0,10.8,310,6459,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1803,2137,0,0,0,0,0,0
$GC,6769,1.19,116.8,248.3,10.1,325,6773,0.00,2.65,0.00,0.000,4,0.000,0.058,3396,392,2136,0,0,0,0,0,0
$GC,6789,1.19,116.8,246.1,10.4,326,6793,0.00,2.47,0.00,0.000,6,0.000,0.026,3396,1804,2135,0,0,0,0,0,0
$GC,7118,1.19,116.8,214.4,8.1,342,7123,0.00,2.50,0.00,0.000,4,0.000,0.041,3397,3206,2134,0,0,0,0,0,0
$GC,7170,1.19,116.8,210.5,8.1,344,7174,0.00,2.60,0.00,0.000,6,0.000,0.044,3396,1795,2135,0,0,0,0,0,0
$GC,7497,1.24,150.4,187.4,6.5,368,7529,0.00,2.70,25.90,0.630,4,0.000,0.057,3396,395,2021,0,0,0,0,0,0
$GC,7593,1.24,150.4,179.4,9.1,378,7598,0.00,2.47,0.00,0.000,6,0.000,0.024,3396,1802,2016,0,0,0,0,0,0
$GC,7856,1.24,150.4,156.5,8.6,402,7861,0.00,2.50,0.00,0.000,4,0.000,0.035,3396,3209,2015,0,0,0,0,0,0
$GC,7893,1.24,150.4,153.2,8.3,405,7899,0.00,2.58,0.00,0.000,6,0.000,0.042,3396,1797,2015,0,0,0,0,0,0
$GC,8157,1.28,183.6,134.1,6.5,430,8194,0.00,2.67,29.33,0.578,4,0.000,0.054,3396,398,1885,0,0,0,0,0,0
$GC,8245,1.28,183.6,127.6,8.5,439,8250,0.00,2.47,0.00,0.000,6,0.000,0.022,3397,1806,1880,0,0,0,0,0,0
$GC,8510,1.28,189.0,108.0,7.8,463,8520,0.00,2.65,5.28,0.418,4,0.000,0.052,3396,392,1864,0,0,0,0,0,0
$GC,8560,1.28,189.0,103.5,8.6,468,8564,0.00,2.45,0.00,0.000,6,0.000,0.021,3397,1808,1861,0,0,0,0,0,0
$GC,8823,1.32,219.0,85.5,6.6,492,8860,0.12,2.67,27.35,0.522,4,0.061,0.050,3440,391,1741,0,0,0,0,0,0
$GC,8902,1.32,219.0,77.8,12.0,500,8906,0.00,2.45,0.00,0.000,6,0.000,0.021,3440,1801,1737,0,0,0,0,0,0
$GC,9166,1.32,219.0,48.6,10.2,524,9170,0.00,2.45,0.00,0.000,4,0.000,0.028,3440,3198,1737,0,0,0,0,0,0
$GC,9200,1.32,219.0,45.0,10.2,527,9205,0.00,2.55,0.00,0.000,6,0.000,0.037,3440,1795,1737,0,0,0,0,0,0
$GC,9466,1.32,219.0,18.6,9.0,562,9473,0.00,2.60,0.00,0.000,4,0.000,0.051,3440,392,1737,0,0,0,0,0,0
$GC,9506,1.32,219.0,14.7,10.3,570,9512,0.00,2.45,0.00,0.000,6,0.000,0.019,3440,1801,1735,0,0,0,0,0,0
$STATE,9641,end climb,SURFACE_DEPTH_REACHED
$STATE,9641,begin surface coast
$FINISH,1.1,1.022479
$STATE,9682,end surface coast,CONTROL_FINISHED_OK
$STATE,9683,begin surface
$SM_CCo,9706,56.92,0.456,0,0,1288,330.17
$SM_GC,1.89,0.00,0.00,56.92,0.000,0.000,0.456,429,2154,1288,-12.46,1.53,330.17
$IRIDIUM_FIX,2036.38,-15750.10,090800,212127
$TT8_MAMPS,0.029146
$HUMID,58.97
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,20.70
$XPDR_PINGS,1
$24V_AH,23.5,29.890
$10V_AH,10.5,28.284
$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,28.575,106.925,282.675,56.925,0.000,29.123,38.646,154.004,4.750,0.000,17.020,1105.732,6459.118,396.897,1678.561,473.173,0.000,1129.160,0.000,1656.473,0.000,29.254,0.000
$DEVICE_MAMPS,134.992,59.826,821.457,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.373,393.533,854.745,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,35028,602
$CAP_FILE_SIZE,98750,0
$CFSIZE,260165632,238747648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170511,024406,2039.755,-15750.571,39,1.0,39,9.7