version: 66.06
glider: 139
mission: 9
dive: 375
start: 5 17 111 11 18 25
data:
$ID,139
$MISSION,9
$DIVE,375
$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,-2183693.5
$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,17
$R_STBD_OVSHOOT,48
$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
$GPS1,110809,2038.086,-15752.499,16,1.8,16,9.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-72.9
$GPS2,111806,2038.085,-15752.461,43,1.4,43,9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,HEADING
$TGT_LATLONG,2038.085,-15804.000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,89,0.00,0.00,-69.30,0.000,6,0.000,0.000,426,2100,3112,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.8,-4.7,13,111,13.12,2.47,0.00,0.000,4,0.135,0.028,2869,3504,3114,0,0,0,0,0,0
$GC,360,-1.19,-116.8,61.0,-18.6,54,364,0.00,2.50,0.00,0.000,6,0.000,0.033,2870,2086,3116,0,0,0,0,0,0
$GC,623,-1.19,-116.8,106.4,-14.6,78,628,0.00,2.47,0.00,0.000,4,0.000,0.032,2869,3497,3117,0,0,0,0,0,0
$GC,775,-1.19,-116.8,125.5,-11.4,94,779,0.00,2.45,0.00,0.000,6,0.000,0.030,2870,2096,3117,0,0,0,0,0,0
$GC,1038,-1.19,-116.8,152.2,-9.0,118,1043,0.00,2.53,0.00,0.000,4,0.000,0.041,2870,689,3117,0,0,0,0,0,0
$GC,1127,-1.19,-116.8,161.3,-11.4,127,1131,0.00,2.38,0.00,0.000,6,0.000,0.019,2869,2094,3117,0,0,0,0,0,0
$GC,1395,-1.19,-116.8,185.6,-7.8,152,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2095,3118,0,0,0,0,0,0
$GC,1658,-1.19,-116.8,208.3,-9.0,173,1662,0.00,2.53,0.00,0.000,4,0.000,0.044,2870,688,3118,0,0,0,0,0,0
$GC,1784,-1.19,-116.8,222.4,-10.9,178,1788,0.00,2.40,0.00,0.000,6,0.000,0.021,2869,2097,3118,0,0,0,0,0,0
$GC,2103,-1.19,-116.8,248.7,-7.8,193,2107,0.00,2.53,0.00,0.000,4,0.000,0.044,2870,689,3118,0,0,0,0,0,0
$GC,2154,-1.19,-116.8,253.2,-8.1,195,2158,0.00,2.42,0.00,0.000,6,0.000,0.022,2870,2104,3118,0,0,0,0,0,0
$GC,2476,-1.19,-116.8,276.5,-7.3,211,2480,0.00,2.55,0.00,0.000,4,0.000,0.044,2870,686,3117,0,0,0,0,0,0
$GC,2636,-1.19,-116.8,290.9,-9.7,218,2640,0.00,2.42,0.00,0.000,6,0.000,0.023,2870,2096,3117,0,0,0,0,0,0
$GC,2962,-1.19,-116.8,314.4,-6.6,229,2967,0.00,2.55,0.00,0.000,4,0.000,0.044,2870,3506,3115,0,0,0,0,0,0
$GC,2977,-1.19,-116.8,315.7,-6.7,229,2982,0.00,2.50,0.00,0.000,6,0.000,0.039,2870,2106,3115,0,0,0,0,0,0
$GC,3328,-1.19,-116.8,340.6,-7.3,238,3333,0.00,2.58,0.00,0.000,4,0.000,0.048,2869,689,3114,0,0,0,0,0,0
$GC,3348,-1.19,-116.8,342.2,-7.6,238,3352,0.00,2.45,0.00,0.000,6,0.000,0.025,2869,2106,3114,0,0,0,0,0,0
$GC,3694,-1.19,-116.8,368.1,-7.4,247,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2107,3111,0,0,0,0,0,0
$GC,4018,-1.19,-116.8,392.8,-7.4,255,4023,0.00,2.55,0.00,0.000,4,0.000,0.048,2870,3502,3109,0,0,0,0,0,0
$GC,4033,-1.19,-116.8,393.9,-7.5,255,4037,0.00,2.53,0.00,0.000,6,0.000,0.042,2870,2100,3109,0,0,0,0,0,0
$GC,4384,-1.19,-116.8,421.1,-8.1,264,4388,0.00,2.55,0.00,0.000,4,0.000,0.046,2870,3501,3106,0,0,0,0,0,0
$GC,4413,-1.19,-116.8,423.4,-7.9,264,4417,0.00,2.50,0.00,0.000,6,0.000,0.043,2870,2100,3106,0,0,0,0,0,0
$GC,4749,-1.19,-116.8,447.3,-7.3,273,4753,0.00,2.55,0.00,0.000,4,0.000,0.047,2869,3498,3104,0,0,0,0,0,0
$STATE,4781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4781,begin apogee
$GC,4791,-0.31,0.0,450.0,8.3,273,4889,0.93,0.00,94.20,0.814,6,0.084,0.000,3064,1795,2635,0,0,0,0,0,0
$STATE,4889,end apogee,CONTROL_FINISHED_OK
$STATE,4889,begin climb
$GC,4892,1.19,116.8,453.0,0.0,276,5005,1.50,2.72,100.25,0.796,4,0.054,0.058,3395,399,2157,0,0,0,0,0,0
$GC,5015,1.19,116.8,443.3,11.7,278,5020,0.00,2.47,0.00,0.000,6,0.000,0.025,3395,1800,2153,0,0,0,0,0,0
$GC,5346,1.19,116.8,401.9,12.5,287,5350,0.00,2.55,0.00,0.000,4,0.000,0.042,3396,3204,2146,0,0,0,0,0,0
$GC,5375,1.19,116.8,398.2,12.5,287,5379,0.00,2.62,0.00,0.000,6,0.000,0.049,3395,1794,2146,0,0,0,0,0,0
$GC,5710,1.19,116.8,356.0,12.8,296,5712,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1794,2143,0,0,0,0,0,0
$GC,6035,1.19,116.8,318.1,11.5,304,6040,0.00,2.58,0.00,0.000,4,0.000,0.041,3396,3204,2140,0,0,0,0,0,0
$GC,6052,1.19,116.8,316.5,10.7,304,6056,0.00,2.58,0.00,0.000,6,0.000,0.046,3396,1799,2140,0,0,0,0,0,0
$GC,6383,1.19,116.8,283.0,9.6,316,6384,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1799,2138,0,0,0,0,0,0
$GC,6694,1.19,116.8,254.7,8.6,331,6699,0.00,2.60,0.00,0.000,4,0.000,0.059,3395,393,2137,0,0,0,0,0,0
$GC,6723,1.19,116.8,251.4,11.0,332,6728,0.00,2.47,0.00,0.000,6,0.000,0.027,3395,1802,2135,0,0,0,0,0,0
$GC,7043,1.19,116.8,221.1,9.3,348,7044,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1805,2135,0,0,0,0,0,0
$GC,7355,1.21,128.2,196.0,7.5,365,7368,0.00,2.70,6.72,0.531,4,0.000,0.057,3395,399,2112,0,0,0,0,0,0
$GC,7387,1.21,128.2,192.9,9.3,368,7394,0.00,2.47,0.00,0.000,6,0.000,0.025,3396,1799,2110,0,0,0,0,0,0
$GC,7651,1.21,128.2,169.1,8.9,393,7656,0.00,2.50,0.00,0.000,4,0.000,0.037,3396,3201,2110,0,0,0,0,0,0
$GC,7670,1.21,128.2,167.1,8.7,394,7677,0.00,2.60,0.00,0.000,6,0.000,0.043,3396,1799,2110,0,0,0,0,0,0
$GC,7935,1.21,128.2,145.4,8.4,419,7940,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1799,2110,0,0,0,0,0,0
$GC,8196,1.21,128.2,124.1,8.1,444,8201,0.00,2.60,0.00,0.000,4,0.000,0.054,3395,389,2110,0,0,0,0,0,0
$GC,8259,1.21,128.2,118.3,9.5,450,8263,0.00,2.45,0.00,0.000,6,0.000,0.023,3396,1800,2108,0,0,0,0,0,0
$GC,8522,1.26,168.5,100.8,6.2,474,8568,0.00,2.53,35.92,0.549,4,0.000,0.031,3396,3202,1946,0,0,0,0,0,0
$GC,8583,1.28,182.7,96.5,7.4,480,8602,0.00,2.60,13.75,0.509,6,0.000,0.039,3396,1800,1889,0,0,0,0,0,0
$GC,8860,1.30,200.4,75.4,7.2,506,8884,0.10,2.70,15.98,0.499,4,0.073,0.061,3433,389,1816,0,0,0,0,0,0
$GC,8929,1.30,200.4,68.0,12.1,513,8935,0.00,2.47,0.00,0.000,6,0.000,0.021,3433,1798,1812,0,0,0,0,0,0
$GC,9194,1.31,214.2,45.3,7.4,538,9215,0.00,2.67,12.77,0.461,4,0.000,0.050,3433,395,1759,0,0,0,0,0,0
$GC,9263,1.31,214.2,39.1,9.4,545,9267,0.00,2.42,0.00,0.000,6,0.000,0.020,3433,1811,1756,0,0,0,0,0,0
$GC,9528,1.33,225.2,17.8,7.5,583,9546,0.00,2.70,10.38,0.427,4,0.000,0.048,3433,390,1715,0,0,0,0,0,0
$GC,9558,1.33,225.2,14.9,9.6,588,9565,0.00,2.45,0.00,0.000,6,0.000,0.019,3433,1800,1713,0,0,0,0,0,0
$STATE,9682,end climb,SURFACE_DEPTH_REACHED
$STATE,9682,begin surface coast
$FINISH,1.0,1.021531
$STATE,9717,end surface coast,CONTROL_FINISHED_OK
$STATE,9717,begin surface
$SM_CCo,9741,54.53,0.455,0,0,1289,330.17
$SM_GC,1.86,0.00,0.00,54.53,0.000,0.000,0.455,430,2127,1289,-12.45,0.76,330.17
$IRIDIUM_FIX,2031.77,-15750.10,100800,111147
$TT8_MAMPS,0.029146
$HUMID,59.05
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,20.60
$XPDR_PINGS,1
$24V_AH,23.5,30.215
$10V_AH,10.4,28.590
$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,28.550,112.500,289.975,54.525,0.000,55.225,72.097,249.329,4.750,0.000,43.489,1129.316,6498.579,404.903,1726.163,634.167,0.000,1152.251,0.000,1679.660,0.000,29.255,0.000
$DEVICE_MAMPS,134.992,60.593,813.787,454.831,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,417.151,409.861,887.780,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,34899,617
$CAP_FILE_SIZE,104806,0
$CFSIZE,260165632,238542848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170511,140306,2037.332,-15753.065,46,1.9,46,9.7