version: 66.06
glider: 139
mission: 9
dive: 374
start: 5 17 111 8 26 28
data:
$ID,139
$MISSION,9
$DIVE,374
$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,-2183649.2
$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,18
$R_STBD_OVSHOOT,77
$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
$GPS1,082025,2038.831,-15752.188,42,1.5,42,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-74.4
$GPS2,082608,2038.860,-15752.165,16,1.8,16,9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,HEADING
$TGT_LATLONG,2038.860,-15803.705
$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,-116.8,0.0,0.0,0,83,0.00,0.00,-64.70,0.000,2,0.000,0.000,426,2133,2975,0,0,0,0,0,0
$GC,86,-1.19,-116.8,3.2,-3.6,12,111,13.15,2.40,-2.83,0.000,4,0.136,0.046,2868,3457,3114,0,0,0,0,0,0
$GC,360,-1.19,-116.8,58.8,-18.8,55,367,0.00,2.45,0.00,0.000,6,0.000,0.035,2867,2095,3115,0,0,0,0,0,0
$GC,623,-1.19,-116.8,102.6,-14.7,80,627,0.00,2.42,0.00,0.000,4,0.000,0.032,2868,3463,3117,0,0,0,0,0,0
$GC,694,-1.19,-116.8,111.0,-10.4,87,699,0.00,2.40,0.00,0.000,6,0.000,0.033,2868,2098,3117,0,0,0,0,0,0
$GC,960,-1.19,-116.8,142.1,-11.5,111,964,0.00,2.50,0.00,0.000,4,0.000,0.041,2868,690,3118,0,0,0,0,0,0
$GC,993,-1.19,-116.8,146.1,-10.4,114,997,0.00,2.33,0.00,0.000,6,0.000,0.019,2868,2072,3118,0,0,0,0,0,0
$GC,1256,-1.19,-116.8,174.9,-11.4,138,1261,0.00,2.47,0.00,0.000,4,0.000,0.042,2868,692,3118,0,0,0,0,0,0
$GC,1336,-1.19,-116.8,184.8,-11.6,146,1340,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2099,3118,0,0,0,0,0,0
$GC,1607,-1.19,-116.8,209.5,-9.0,166,1611,0.00,2.53,0.00,0.000,4,0.000,0.042,2868,690,3119,0,0,0,0,0,0
$GC,1690,-1.19,-116.8,218.9,-10.8,169,1695,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2099,3119,0,0,0,0,0,0
$GC,2007,-1.19,-116.8,245.6,-8.1,185,2011,0.00,2.55,0.00,0.000,4,0.000,0.044,2868,692,3119,0,0,0,0,0,0
$GC,2090,-1.19,-116.8,253.0,-8.9,188,2097,0.00,2.42,0.00,0.000,6,0.000,0.022,2868,2094,3119,0,0,0,0,0,0
$GC,2407,-1.19,-116.8,280.6,-7.7,204,2411,0.00,2.53,0.00,0.000,4,0.000,0.044,2868,690,3118,0,0,0,0,0,0
$GC,2513,-1.19,-116.8,290.0,-9.5,208,2520,0.00,2.45,0.00,0.000,6,0.000,0.024,2868,2098,3118,0,0,0,0,0,0
$GC,2846,-1.19,-116.8,316.2,-7.7,220,2851,0.00,2.55,0.00,0.000,4,0.000,0.044,2868,3508,3117,0,0,0,0,0,0
$GC,2861,-1.19,-116.8,317.4,-7.7,220,2866,0.00,2.50,0.00,0.000,6,0.000,0.038,2868,2095,3117,0,0,0,0,0,0
$GC,3212,-1.19,-116.8,342.6,-6.9,229,3217,0.00,2.55,0.00,0.000,4,0.000,0.048,2868,684,3115,0,0,0,0,0,0
$GC,3340,-1.19,-116.8,352.8,-7.9,231,3345,0.00,2.45,0.00,0.000,6,0.000,0.025,2868,2111,3114,0,0,0,0,0,0
$GC,3672,-1.19,-116.8,377.4,-7.8,239,3673,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2111,3112,0,0,0,0,0,0
$GC,3996,-1.19,-116.8,405.6,-8.7,247,4001,0.00,2.55,0.00,0.000,4,0.000,0.048,2868,3503,3110,0,0,0,0,0,0
$GC,4108,-1.19,-116.8,415.0,-8.1,249,4112,0.00,2.53,0.00,0.000,6,0.000,0.042,2868,2102,3109,0,0,0,0,0,0
$GC,4454,-1.19,-116.8,436.5,-6.0,258,4458,0.00,2.53,0.00,0.000,4,0.000,0.047,2868,3497,3107,0,0,0,0,0,0
$GC,4468,-1.19,-116.8,437.4,-6.0,258,4473,0.00,2.50,0.00,0.000,6,0.000,0.043,2868,2099,3107,0,0,0,0,0,0
$STATE,4693,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4693,begin apogee
$GC,4701,-0.31,0.0,452.0,6.5,264,4799,0.95,0.00,95.10,0.818,6,0.080,0.000,3066,1795,2635,0,0,0,0,0,0
$STATE,4800,end apogee,CONTROL_FINISHED_OK
$STATE,4800,begin climb
$GC,4803,1.19,116.8,453.7,0.0,266,4915,1.48,2.72,100.28,0.798,4,0.053,0.059,3393,403,2157,0,0,0,0,0,0
$GC,4948,1.19,116.8,440.5,14.4,269,4953,0.00,2.45,0.00,0.000,6,0.000,0.025,3393,1798,2151,0,0,0,0,0,0
$GC,5298,1.19,116.8,397.0,12.3,278,5302,0.00,2.58,0.00,0.000,4,0.000,0.043,3394,3205,2145,0,0,0,0,0,0
$GC,5345,1.19,116.8,391.2,12.5,279,5350,0.00,2.62,0.00,0.000,6,0.000,0.048,3393,1803,2145,0,0,0,0,0,0
$GC,5668,1.19,116.8,351.2,12.2,287,5669,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1803,2141,0,0,0,0,0,0
$GC,5993,1.19,116.8,314.4,11.2,295,5998,0.00,2.62,0.00,0.000,4,0.000,0.059,3393,393,2140,0,0,0,0,0,0
$GC,6017,1.19,116.8,311.4,13.3,295,6022,0.00,2.47,0.00,0.000,6,0.000,0.026,3393,1802,2138,0,0,0,0,0,0
$GC,6340,1.19,116.8,280.3,8.5,308,6345,0.00,2.65,0.00,0.000,4,0.000,0.059,3393,393,2137,0,0,0,0,0,0
$GC,6355,1.19,116.8,279.0,8.6,308,6361,0.00,2.50,0.00,0.000,6,0.000,0.026,3393,1802,2136,0,0,0,0,0,0
$GC,6671,1.19,116.8,249.8,9.4,324,6675,0.00,2.65,0.00,0.000,4,0.000,0.058,3393,391,2136,0,0,0,0,0,0
$GC,6708,1.19,116.8,245.6,11.8,325,6713,0.00,2.47,0.00,0.000,6,0.000,0.026,3393,1801,2134,0,0,0,0,0,0
$GC,7024,1.19,116.8,215.2,10.0,341,7029,0.00,2.62,0.00,0.000,4,0.000,0.057,3393,393,2134,0,0,0,0,0,0
$GC,7048,1.19,116.8,212.4,11.4,342,7053,0.00,2.47,0.00,0.000,6,0.000,0.025,3393,1807,2133,0,0,0,0,0,0
$GC,7380,1.19,116.8,182.5,9.5,366,7384,0.00,2.65,0.00,0.000,4,0.000,0.057,3393,389,2133,0,0,0,0,0,0
$GC,7426,1.19,116.8,177.3,10.8,370,7433,0.00,2.47,0.00,0.000,6,0.000,0.025,3394,1796,2132,0,0,0,0,0,0
$GC,7691,1.22,139.9,156.1,7.0,395,7712,0.00,2.58,16.75,0.585,4,0.000,0.036,3394,3208,2063,0,0,0,0,0,0
$GC,7756,1.25,159.0,151.5,7.1,402,7784,0.00,2.58,18.30,0.581,6,0.000,0.040,3393,1797,1985,0,0,0,0,0,0
$GC,8040,1.30,199.1,131.1,6.2,429,8081,0.10,2.67,35.17,0.578,4,0.074,0.054,3429,391,1822,0,0,0,0,0,0
$GC,8173,1.30,199.1,117.3,11.3,443,8178,0.00,2.47,0.00,0.000,6,0.000,0.023,3430,1806,1816,0,0,0,0,0,0
$GC,8434,1.30,199.1,91.5,9.3,468,8438,0.00,2.62,0.00,0.000,4,0.000,0.052,3429,391,1816,0,0,0,0,0,0
$GC,8451,1.30,199.1,89.9,10.0,469,8455,0.00,2.47,0.00,0.000,6,0.000,0.021,3430,1819,1815,0,0,0,0,0,0
$GC,8715,1.30,199.1,67.4,8.4,493,8720,0.00,2.65,0.00,0.000,4,0.000,0.051,3429,389,1815,0,0,0,0,0,0
$GC,8732,1.30,199.1,65.7,9.0,494,8737,0.00,2.42,0.00,0.000,6,0.000,0.021,3429,1798,1814,0,0,0,0,0,0
$GC,8997,1.30,202.5,43.2,7.9,518,9003,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1801,1814,0,0,0,0,0,0
$GC,9264,1.31,210.0,22.8,7.7,552,9282,0.00,2.65,9.82,0.428,4,0.000,0.049,3429,396,1777,0,0,0,0,0,0
$GC,9299,1.32,222.7,19.9,7.4,558,9318,0.00,2.42,11.98,0.436,6,0.000,0.019,3430,1798,1727,0,0,0,0,0,0
$GC,9515,1.32,222.7,4.7,8.4,597,9521,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1798,1725,0,0,0,0,0,0
$STATE,9531,end climb,SURFACE_DEPTH_REACHED
$STATE,9531,begin surface coast
$FINISH,1.1,1.008460
$STATE,9564,end surface coast,CONTROL_FINISHED_OK
$STATE,9565,begin surface
$SM_CCo,9589,56.72,0.455,0,0,1289,330.17
$SM_GC,1.94,0.00,0.00,56.72,0.000,0.000,0.455,426,2099,1289,-12.47,-0.03,330.17
$IRIDIUM_FIX,2031.77,-15753.10,100800,050524
$TT8_MAMPS,0.028379
$HUMID,58.03
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,20.60
$XPDR_PINGS,2
$24V_AH,23.5,30.129
$10V_AH,10.4,28.510
$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,28.550,116.950,287.400,56.725,0.000,26.291,40.829,150.008,5.000,0.000,16.640,1116.977,6258.911,412.802,1736.031,465.263,0.000,1179.178,0.000,1714.976,0.000,29.248,0.000
$DEVICE_MAMPS,135.759,59.059,817.622,454.831,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.186,401.538,895.265,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,34779,606
$CAP_FILE_SIZE,102484,0
$CFSIZE,260165632,238592000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170511,110809,2038.086,-15752.499,16,1.8,16,9.7