version: 66.06
glider: 139
mission: 9
dive: 373
start: 5 17 111 5 36 40
data:
$ID,139
$MISSION,9
$DIVE,373
$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,-2183631.8
$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,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
$GPS1,053036,2039.286,-15751.508,15,1.1,32,9.7
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-74.6
$GPS2,053620,2039.303,-15751.477,12,1.8,12,9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,HEADING
$TGT_LATLONG,2039.303,-15803.018
$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,18,-1.19,-116.8,0.0,0.0,0,85,0.00,0.00,-64.78,0.000,2,0.000,0.000,428,2132,2976,0,0,0,0,0,0
$GC,88,-1.19,-116.8,3.1,-3.7,12,113,13.10,2.65,-2.80,0.000,4,0.134,0.051,2869,688,3114,0,0,0,0,0,0
$GC,290,-1.19,-116.8,49.6,-20.8,46,295,0.00,2.33,0.00,0.000,6,0.000,0.020,2869,2061,3116,0,0,0,0,0,0
$GC,552,-1.19,-116.8,97.0,-15.2,70,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2064,3117,0,0,0,0,0,0
$GC,806,-1.19,-116.8,127.4,-12.1,94,811,0.00,2.55,0.00,0.000,4,0.000,0.035,2869,3497,3117,0,0,0,0,0,0
$GC,841,-1.19,-116.8,131.4,-12.2,97,846,0.00,2.47,0.00,0.000,6,0.000,0.033,2869,2084,3118,0,0,0,0,0,0
$GC,1106,-1.19,-116.8,159.9,-11.5,121,1113,0.00,2.47,0.00,0.000,4,0.000,0.041,2869,691,3118,0,0,0,0,0,0
$GC,1166,-1.19,-116.8,166.8,-10.8,127,1170,0.00,2.40,0.00,0.000,6,0.000,0.020,2869,2099,3118,0,0,0,0,0,0
$GC,1431,-1.19,-116.8,192.9,-7.9,151,1435,0.00,2.55,0.00,0.000,4,0.000,0.042,2869,689,3119,0,0,0,0,0,0
$GC,1510,-1.19,-116.8,201.2,-10.9,158,1514,0.00,2.40,0.00,0.000,6,0.000,0.020,2869,2103,3119,0,0,0,0,0,0
$GC,1828,-1.19,-116.8,232.8,-9.7,173,1832,0.00,2.53,0.00,0.000,4,0.000,0.043,2870,693,3119,0,0,0,0,0,0
$GC,1873,-1.19,-116.8,236.9,-8.6,175,1877,0.00,2.40,0.00,0.000,6,0.000,0.021,2869,2098,3119,0,0,0,0,0,0
$GC,2205,-1.19,-116.8,265.3,-9.3,191,2210,0.00,2.53,0.00,0.000,4,0.000,0.044,2869,693,3119,0,0,0,0,0,0
$GC,2233,-1.19,-116.8,268.6,-11.2,192,2238,0.00,2.40,0.00,0.000,6,0.000,0.022,2869,2100,3119,0,0,0,0,0,0
$GC,2554,-1.19,-116.8,295.6,-7.0,208,2555,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2101,3118,0,0,0,0,0,0
$GC,2860,-1.19,-116.8,318.3,-7.2,217,2864,0.00,2.55,0.00,0.000,4,0.000,0.046,2869,688,3117,0,0,0,0,0,0
$GC,2887,-1.19,-116.8,320.5,-8.0,217,2892,0.00,2.42,0.00,0.000,6,0.000,0.024,2869,2098,3117,0,0,0,0,0,0
$GC,3224,-1.19,-116.8,344.4,-6.9,226,3228,0.00,2.55,0.00,0.000,4,0.000,0.046,2869,3504,3116,0,0,0,0,0,0
$GC,3253,-1.19,-116.8,346.4,-6.5,226,3257,0.00,2.50,0.00,0.000,6,0.000,0.039,2869,2093,3116,0,0,0,0,0,0
$GC,3589,-1.19,-116.8,369.8,-7.5,235,3590,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2093,3114,0,0,0,0,0,0
$GC,3914,-1.19,-116.8,391.8,-6.5,243,3919,0.00,2.55,0.00,0.000,4,0.000,0.051,2869,687,3111,0,0,0,0,0,0
$GC,3966,-1.19,-116.8,395.5,-6.8,244,3971,0.00,2.42,0.00,0.000,6,0.000,0.027,2869,2098,3111,0,0,0,0,0,0
$GC,4285,-1.19,-116.8,413.7,-5.8,252,4289,0.00,2.58,0.00,0.000,4,0.000,0.051,2869,3503,3109,0,0,0,0,0,0
$GC,4310,-1.19,-116.8,415.3,-6.7,252,4314,0.00,2.50,0.00,0.000,6,0.000,0.043,2869,2103,3108,0,0,0,0,0,0
$GC,4651,-1.19,-116.8,438.8,-7.2,261,4655,0.00,2.55,0.00,0.000,4,0.000,0.048,2869,3498,3106,0,0,0,0,0,0
$STATE,4805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4805,begin apogee
$GC,4815,-0.31,0.0,450.2,6.6,264,4917,0.93,0.00,95.07,0.822,6,0.083,0.000,3064,1801,2634,0,0,0,0,0,0
$STATE,4918,end apogee,CONTROL_FINISHED_OK
$STATE,4918,begin climb
$GC,4920,1.19,116.8,451.2,0.0,267,5033,1.50,2.70,100.65,0.801,4,0.054,0.061,3395,395,2157,0,0,0,0,0,0
$GC,5057,1.19,116.8,436.9,16.9,270,5061,0.00,2.50,0.00,0.000,6,0.000,0.025,3396,1801,2152,0,0,0,0,0,0
$GC,5375,1.19,116.8,394.7,12.8,278,5379,0.00,2.58,0.00,0.000,4,0.000,0.043,3396,3208,2146,0,0,0,0,0,0
$GC,5394,1.19,116.8,392.4,11.4,278,5399,0.00,2.65,0.00,0.000,6,0.000,0.048,3396,1793,2146,0,0,0,0,0,0
$GC,5740,1.19,116.8,352.9,10.9,287,5744,0.00,2.65,0.00,0.000,4,0.000,0.059,3396,388,2142,0,0,0,0,0,0
$GC,5760,1.19,116.8,350.3,12.7,287,5765,0.00,2.50,0.00,0.000,6,0.000,0.025,3396,1803,2140,0,0,0,0,0,0
$GC,6106,1.19,116.8,314.4,10.1,296,6110,0.00,2.70,0.00,0.000,4,0.000,0.059,3396,386,2139,0,0,0,0,0,0
$GC,6130,1.19,116.8,311.4,12.4,296,6134,0.00,2.50,0.00,0.000,6,0.000,0.026,3396,1803,2138,0,0,0,0,0,0
$GC,6454,1.19,116.8,279.6,9.2,309,6455,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1805,2137,0,0,0,0,0,0
$GC,6762,1.19,116.8,250.2,9.5,324,6767,0.00,2.65,0.00,0.000,4,0.000,0.059,3395,392,2136,0,0,0,0,0,0
$GC,6805,1.19,116.8,245.5,11.2,326,6809,0.00,2.45,0.00,0.000,6,0.000,0.026,3396,1799,2134,0,0,0,0,0,0
$GC,7135,1.21,129.5,217.7,7.4,342,7150,0.00,2.55,8.32,0.578,4,0.000,0.038,3396,3205,2105,0,0,0,0,0,0
$GC,7160,1.23,142.2,215.7,7.4,343,7178,0.00,2.60,12.68,0.613,6,0.000,0.044,3396,1799,2055,0,0,0,0,0,0
$GC,7492,1.23,142.2,185.9,9.1,366,7496,0.00,2.62,0.00,0.000,4,0.000,0.057,3395,390,2051,0,0,0,0,0,0
$GC,7589,1.23,142.2,176.4,10.2,376,7593,0.00,2.47,0.00,0.000,6,0.000,0.025,3396,1802,2048,0,0,0,0,0,0
$GC,7852,1.24,152.2,155.4,7.6,400,7863,0.00,0.00,9.30,0.535,6,0.000,0.000,3396,1805,2014,0,0,0,0,0,0
$GC,8119,1.24,154.5,132.2,7.9,425,8123,0.00,2.62,0.00,0.000,4,0.000,0.052,3396,387,2012,0,0,0,0,0,0
$GC,8183,1.24,154.5,126.4,8.5,431,8189,0.00,2.45,0.00,0.000,6,0.000,0.022,3396,1808,2010,0,0,0,0,0,0
$GC,8447,1.26,166.3,105.7,7.5,456,8466,0.00,2.67,13.88,0.521,4,0.000,0.050,3396,392,1955,0,0,0,0,0,0
$GC,8515,1.26,166.3,100.1,8.6,463,8520,0.00,2.45,0.00,0.000,6,0.000,0.021,3396,1802,1952,0,0,0,0,0,0
$GC,8781,1.35,239.7,87.4,4.7,487,8852,0.15,2.67,63.50,0.535,4,0.054,0.050,3445,392,1656,0,0,0,0,0,0
$GC,8866,1.35,239.7,80.8,9.5,496,8873,0.00,2.50,0.00,0.000,6,0.000,0.021,3445,1805,1653,0,0,0,0,0,0
$GC,9131,1.35,239.7,55.1,9.2,521,9135,0.00,2.62,0.00,0.000,4,0.000,0.050,3445,390,1651,0,0,0,0,0,0
$GC,9156,1.35,239.7,52.1,11.4,523,9160,0.00,2.45,0.00,0.000,6,0.000,0.020,3445,1806,1648,0,0,0,0,0,0
$GC,9423,1.35,239.7,24.7,9.7,551,9429,0.00,2.65,0.00,0.000,4,0.000,0.050,3445,396,1648,0,0,0,0,0,0
$GC,9450,1.35,239.7,21.5,10.6,556,9456,0.00,2.45,0.00,0.000,6,0.000,0.019,3445,1807,1647,0,0,0,0,0,0
$STATE,9640,end climb,SURFACE_DEPTH_REACHED
$STATE,9640,begin surface coast
$FINISH,1.0,0.999260
$STATE,9673,end surface coast,CONTROL_FINISHED_OK
$STATE,9673,begin surface
$SM_CCo,9697,46.15,0.451,0,0,1288,330.17
$SM_GC,1.70,0.00,0.00,46.15,0.000,0.000,0.451,426,2134,1288,-12.47,0.96,330.17
$IRIDIUM_FIX,2031.77,-15747.97,100800,020248
$TT8_MAMPS,0.028379
$HUMID,59.13
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,20.70
$XPDR_PINGS,5
$24V_AH,23.5,30.049
$10V_AH,10.4,28.432
$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,28.525,117.575,303.400,46.150,0.000,34.618,33.144,155.713,5.750,0.000,12.953,1108.032,6457.215,408.092,1640.739,475.570,0.000,1140.344,0.000,1625.516,0.000,29.251,0.000
$DEVICE_MAMPS,134.225,61.360,822.224,450.996,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,403.993,394.001,835.278,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,31861,597
$CAP_FILE_SIZE,101440,0
$CFSIZE,260165632,238649344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170511,082025,2038.831,-15752.188,42,1.5,42,9.7