version: 66.06
glider: 139
mission: 9
dive: 372
start: 5 17 111 2 50 4
data:
$ID,139
$MISSION,9
$DIVE,372
$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,-2183618
$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,81
$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
$GPS1,024406,2039.755,-15750.571,39,1.0,39,9.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-77.5
$GPS2,024944,2039.750,-15750.541,16,1.2,16,9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,HEADING
$TGT_LATLONG,2039.750,-15802.082
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.19,-116.8,0.0,0.0,0,89,0.00,0.00,-69.38,0.000,6,0.000,0.000,429,2155,3112,0,0,0,0,0,0
$GC,93,-1.19,-116.8,3.8,-5.1,13,111,13.07,2.65,0.00,0.000,4,0.134,0.038,2868,679,3114,0,0,0,0,0,0
$GC,232,-1.19,-116.8,41.0,-19.9,38,238,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2060,3116,0,0,0,0,0,0
$GC,496,-1.19,-116.8,91.9,-18.8,63,500,0.00,2.55,0.00,0.000,4,0.000,0.032,2868,3504,3117,0,0,0,0,0,0
$GC,534,-1.19,-116.8,98.8,-15.1,66,541,0.00,2.53,0.00,0.000,6,0.000,0.034,2868,2095,3117,0,0,0,0,0,0
$GC,798,-1.19,-116.8,134.3,-13.2,91,802,0.00,2.50,0.00,0.000,4,0.000,0.033,2868,3509,3118,0,0,0,0,0,0
$GC,826,-1.19,-116.8,138.3,-12.8,93,832,0.00,2.47,0.00,0.000,6,0.000,0.032,2869,2099,3118,0,0,0,0,0,0
$GC,1089,-1.19,-116.8,168.8,-10.9,118,1094,0.00,2.47,0.00,0.000,4,0.000,0.035,2868,3501,3118,0,0,0,0,0,0
$GC,1106,-1.19,-116.8,170.6,-10.5,119,1110,0.00,2.45,0.00,0.000,6,0.000,0.033,2868,2099,3118,0,0,0,0,0,0
$GC,1371,-1.19,-116.8,196.7,-8.0,143,1376,0.00,2.53,0.00,0.000,4,0.000,0.042,2868,689,3119,0,0,0,0,0,0
$GC,1399,-1.19,-116.8,199.5,-9.0,145,1405,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2111,3119,0,0,0,0,0,0
$GC,1665,-1.19,-116.8,226.3,-10.2,159,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2111,3119,0,0,0,0,0,0
$GC,1973,-1.19,-116.8,250.9,-8.1,174,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2111,3119,0,0,0,0,0,0
$GC,2283,-1.19,-116.8,275.9,-8.7,189,2288,0.00,2.55,0.00,0.000,4,0.000,0.044,2868,692,3119,0,0,0,0,0,0
$GC,2358,-1.19,-116.8,282.7,-9.1,192,2362,0.00,2.42,0.00,0.000,6,0.000,0.022,2868,2102,3118,0,0,0,0,0,0
$GC,2677,-1.19,-116.8,308.3,-8.7,206,2681,0.00,2.55,0.00,0.000,4,0.000,0.045,2868,688,3117,0,0,0,0,0,0
$GC,2687,-1.19,-116.8,309.4,-8.8,206,2691,0.00,2.42,0.00,0.000,6,0.000,0.024,2868,2099,3117,0,0,0,0,0,0
$GC,3001,-1.19,-116.8,329.2,-5.9,214,3005,0.00,2.58,0.00,0.000,4,0.000,0.047,2868,689,3116,0,0,0,0,0,0
$GC,3016,-1.19,-116.8,330.3,-6.4,214,3020,0.00,2.45,0.00,0.000,6,0.000,0.025,2868,2106,3116,0,0,0,0,0,0
$GC,3367,-1.19,-116.8,355.9,-7.1,223,3371,0.00,2.53,0.00,0.000,4,0.000,0.047,2868,3502,3114,0,0,0,0,0,0
$GC,3386,-1.19,-116.8,357.4,-7.2,223,3390,0.00,2.50,0.00,0.000,6,0.000,0.040,2868,2101,3114,0,0,0,0,0,0
$GC,3734,-1.19,-116.8,381.9,-7.0,232,3738,0.00,2.55,0.00,0.000,4,0.000,0.045,2868,3503,3111,0,0,0,0,0,0
$GC,3749,-1.19,-116.8,383.2,-7.1,232,3753,0.00,2.53,0.00,0.000,6,0.000,0.041,2868,2096,3112,0,0,0,0,0,0
$GC,4100,-1.19,-116.8,410.5,-7.8,241,4105,0.00,2.58,0.00,0.000,4,0.000,0.052,2868,693,3109,0,0,0,0,0,0
$GC,4135,-1.19,-116.8,413.4,-8.3,241,4139,0.00,2.45,0.00,0.000,6,0.000,0.027,2868,2098,3109,0,0,0,0,0,0
$GC,4467,-1.19,-116.8,435.3,-6.2,249,4472,0.00,2.55,0.00,0.000,4,0.000,0.051,2868,3502,3107,0,0,0,0,0,0
$GC,4537,-1.19,-116.8,440.4,-7.8,250,4542,0.00,2.53,0.00,0.000,6,0.000,0.044,2868,2100,3106,0,0,0,0,0,0
$STATE,4713,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4713,begin apogee
$GC,4720,-0.31,0.0,452.2,6.6,255,4819,0.95,0.00,94.95,0.819,6,0.081,0.000,3065,1795,2635,0,0,0,0,0,0
$STATE,4819,end apogee,CONTROL_FINISHED_OK
$STATE,4819,begin climb
$GC,4822,1.19,116.8,454.0,0.0,257,4934,1.48,2.67,100.35,0.801,4,0.054,0.060,3393,405,2157,0,0,0,0,0,0
$GC,4958,1.19,116.8,441.9,12.9,260,4963,0.00,2.47,0.00,0.000,6,0.000,0.026,3393,1803,2151,0,0,0,0,0,0
$GC,5277,1.19,116.8,402.7,12.2,268,5281,0.00,2.58,0.00,0.000,4,0.000,0.044,3393,3208,2145,0,0,0,0,0,0
$GC,5305,1.19,116.8,399.1,11.9,268,5309,0.00,2.62,0.00,0.000,6,0.000,0.050,3393,1807,2146,0,0,0,0,0,0
$GC,5642,1.19,116.8,357.0,12.3,277,5646,0.00,2.65,0.00,0.000,4,0.000,0.059,3393,390,2142,0,0,0,0,0,0
$GC,5679,1.19,116.8,351.8,13.1,277,5685,0.00,2.50,0.00,0.000,6,0.000,0.027,3393,1802,2139,0,0,0,0,0,0
$GC,6010,1.19,116.8,315.8,10.8,286,6015,0.00,2.55,0.00,0.000,4,0.000,0.042,3393,3209,2138,0,0,0,0,0,0
$GC,6048,1.19,116.8,311.9,10.4,286,6054,0.00,2.62,0.00,0.000,6,0.000,0.049,3393,1801,2138,0,0,0,0,0,0
$GC,6363,1.19,116.8,279.9,11.2,299,6367,0.00,2.65,0.00,0.000,4,0.000,0.061,3392,390,2137,0,0,0,0,0,0
$GC,6383,1.19,116.8,277.4,11.0,300,6387,0.00,2.50,0.00,0.000,6,0.000,0.027,3393,1809,2135,0,0,0,0,0,0
$GC,6713,1.19,116.8,246.3,9.1,316,6717,0.00,2.65,0.00,0.000,4,0.000,0.059,3394,393,2135,0,0,0,0,0,0
$GC,6756,1.19,116.8,241.9,11.2,318,6760,0.00,2.47,0.00,0.000,6,0.000,0.027,3393,1799,2134,0,0,0,0,0,0
$GC,7085,1.19,116.8,214.5,8.8,334,7089,0.00,2.53,0.00,0.000,4,0.000,0.040,3394,3204,2134,0,0,0,0,0,0
$GC,7113,1.19,116.8,211.7,9.9,335,7118,0.00,2.58,0.00,0.000,6,0.000,0.044,3393,1795,2134,0,0,0,0,0,0
$GC,7442,1.21,131.4,186.7,7.4,359,7461,0.00,2.62,9.40,0.565,4,0.000,0.055,3393,388,2098,0,0,0,0,0,0
$GC,7502,1.21,131.4,182.0,8.6,365,7506,0.00,2.47,0.00,0.000,6,0.000,0.025,3393,1801,2096,0,0,0,0,0,0
$GC,7766,1.27,174.6,166.4,6.0,389,7812,0.00,2.58,39.05,0.611,4,0.000,0.034,3393,3211,1922,0,0,0,0,0,0
$GC,7845,1.30,204.1,161.4,6.7,397,7883,0.12,2.60,27.12,0.590,6,0.062,0.041,3434,1796,1802,0,0,0,0,0,0
$GC,8138,1.30,204.1,124.2,13.2,425,8142,0.00,2.62,0.00,0.000,4,0.000,0.054,3434,389,1796,0,0,0,0,0,0
$GC,8172,1.30,204.1,118.9,15.9,428,8176,0.00,2.47,0.00,0.000,6,0.000,0.022,3435,1813,1793,0,0,0,0,0,0
$GC,8435,1.30,204.1,89.1,8.2,452,8439,0.00,2.65,0.00,0.000,4,0.000,0.051,3434,389,1793,0,0,0,0,0,0
$GC,8495,1.30,204.1,83.6,9.0,458,8500,0.00,2.45,0.00,0.000,6,0.000,0.021,3435,1797,1790,0,0,0,0,0,0
$GC,8760,1.30,204.1,60.4,8.7,482,8764,0.00,2.47,0.00,0.000,4,0.000,0.030,3435,3206,1791,0,0,0,0,0,0
$GC,8812,1.30,204.1,55.8,8.7,487,8817,0.00,2.55,0.00,0.000,6,0.000,0.037,3435,1790,1790,0,0,0,0,0,0
$GC,9076,1.30,204.1,32.6,8.6,511,9083,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1789,1790,0,0,0,0,0,0
$GC,9343,1.31,208.3,10.9,7.8,557,9349,0.00,2.58,0.00,0.000,4,0.000,0.050,3434,392,1790,0,0,0,0,0,0
$GC,9395,1.31,208.3,6.2,9.1,568,9401,0.00,2.45,0.00,0.000,6,0.000,0.019,3435,1815,1790,0,0,0,0,0,0
$STATE,9434,end climb,SURFACE_DEPTH_REACHED
$STATE,9434,begin surface coast
$FINISH,1.0,1.016235
$STATE,9472,end surface coast,CONTROL_FINISHED_OK
$STATE,9472,begin surface
$SM_CCo,9497,64.22,0.456,0,0,1288,330.17
$SM_GC,1.85,0.00,0.00,64.22,0.000,0.000,0.456,428,2134,1288,-12.46,0.96,330.17
$IRIDIUM_FIX,2034.08,-15747.97,100800,000044
$TT8_MAMPS,0.029146
$HUMID,58.23
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,20.60
$XPDR_PINGS,5
$24V_AH,23.5,29.968
$10V_AH,10.5,28.358
$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,28.550,127.675,270.875,64.225,0.000,29.417,34.232,145.947,5.750,0.000,16.986,1082.609,6344.496,420.448,1588.994,464.904,0.000,1128.210,0.000,1571.819,0.000,29.241,0.000
$DEVICE_MAMPS,134.225,60.593,819.156,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,393.554,381.019,842.750,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,31745,582
$CAP_FILE_SIZE,101090,0
$CFSIZE,260165632,238702592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170511,053036,2039.286,-15751.508,15,1.1,32,9.7