version: 66.06
glider: 139
mission: 9
dive: 376
start: 5 17 111 14 8 58
data:
$ID,139
$MISSION,9
$DIVE,376
$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,-2183707.2
$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,16
$R_STBD_OVSHOOT,69
$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
$GPS1,140306,2037.332,-15753.065,46,1.9,46,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-76.0
$GPS2,140838,2037.335,-15753.037,12,1.8,12,9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,HEADING
$TGT_LATLONG,2037.335,-15804.576
$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,-69.57,0.000,6,0.000,0.000,430,2130,3112,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.6,-4.5,13,110,13.12,2.60,0.00,0.000,4,0.136,0.037,2871,678,3114,0,0,0,0,0,0
$GC,251,-1.19,-116.8,45.7,-21.7,40,258,0.00,2.40,0.00,0.000,6,0.000,0.021,2871,2066,3116,0,0,0,0,0,0
$GC,514,-1.19,-116.8,93.7,-17.0,65,518,0.00,2.50,0.00,0.000,4,0.000,0.042,2871,680,3117,0,0,0,0,0,0
$GC,612,-1.19,-116.8,110.6,-17.0,75,616,0.00,2.42,0.00,0.000,6,0.000,0.021,2871,2101,3117,0,0,0,0,0,0
$GC,876,-1.19,-116.8,144.9,-10.7,99,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2103,3118,0,0,0,0,0,0
$GC,1138,-1.19,-116.8,171.7,-7.9,124,1142,0.00,2.55,0.00,0.000,4,0.000,0.041,2871,675,3119,0,0,0,0,0,0
$GC,1198,-1.19,-116.8,177.1,-9.2,130,1203,0.00,2.45,0.00,0.000,6,0.000,0.021,2870,2112,3119,0,0,0,0,0,0
$GC,1462,-1.19,-116.8,199.0,-8.3,154,1466,0.00,2.58,0.00,0.000,4,0.000,0.042,2871,674,3119,0,0,0,0,0,0
$GC,1521,-1.19,-116.8,204.3,-8.3,157,1526,0.00,2.42,0.00,0.000,6,0.000,0.021,2871,2099,3119,0,0,0,0,0,0
$GC,1838,-1.19,-116.8,231.4,-9.0,173,1842,0.00,2.55,0.00,0.000,4,0.000,0.044,2871,681,3119,0,0,0,0,0,0
$GC,1866,-1.19,-116.8,234.4,-11.0,174,1871,0.00,2.42,0.00,0.000,6,0.000,0.022,2871,2098,3119,0,0,0,0,0,0
$GC,2187,-1.19,-116.8,265.2,-10.1,190,2188,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2098,3118,0,0,0,0,0,0
$GC,2498,-1.19,-116.8,289.7,-7.5,205,2502,0.00,2.55,0.00,0.000,4,0.000,0.045,2870,683,3117,0,0,0,0,0,0
$GC,2544,-1.19,-116.8,293.4,-7.8,207,2549,0.00,2.45,0.00,0.000,6,0.000,0.024,2871,2107,3117,0,0,0,0,0,0
$GC,2886,-1.19,-116.8,318.8,-7.7,218,2891,0.00,2.58,0.00,0.000,4,0.000,0.047,2871,682,3116,0,0,0,0,0,0
$GC,2915,-1.19,-116.8,321.1,-8.0,218,2919,0.00,2.45,0.00,0.000,6,0.000,0.025,2871,2106,3116,0,0,0,0,0,0
$GC,3251,-1.19,-116.8,343.4,-6.0,227,3252,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2106,3114,0,0,0,0,0,0
$GC,3576,-1.19,-116.8,364.1,-6.5,235,3581,0.00,2.60,0.00,0.000,4,0.000,0.049,2870,675,3113,0,0,0,0,0,0
$GC,3592,-1.19,-116.8,365.2,-6.4,235,3596,0.00,2.47,0.00,0.000,6,0.000,0.026,2871,2098,3112,0,0,0,0,0,0
$GC,3942,-1.19,-116.8,391.2,-7.6,244,3946,0.00,2.58,0.00,0.000,4,0.000,0.049,2871,3507,3110,0,0,0,0,0,0
$GC,3986,-1.19,-116.8,394.7,-7.7,245,3990,0.00,2.55,0.00,0.000,6,0.000,0.043,2871,2092,3110,0,0,0,0,0,0
$GC,4314,-1.19,-116.8,417.7,-6.9,253,4318,0.00,2.58,0.00,0.000,4,0.000,0.048,2870,3508,3107,0,0,0,0,0,0
$GC,4476,-1.19,-116.8,430.1,-7.8,256,4480,0.00,2.53,0.00,0.000,6,0.000,0.044,2870,2100,3106,0,0,0,0,0,0
$STATE,4814,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4814,begin apogee
$GC,4821,-0.31,0.0,452.6,6.3,265,4920,0.95,0.00,95.20,0.821,6,0.081,0.000,3068,1796,2635,0,0,0,0,0,0
$STATE,4920,end apogee,CONTROL_FINISHED_OK
$STATE,4921,begin climb
$GC,4924,1.19,116.8,453.3,0.0,267,5031,1.48,0.00,100.32,0.801,6,0.055,0.000,3394,1796,2158,0,0,0,0,0,0
$GC,5372,1.19,116.8,396.7,12.8,278,5377,0.00,2.60,0.00,0.000,4,0.000,0.041,3394,3205,2146,0,0,0,0,0,0
$GC,5410,1.19,116.8,391.8,12.4,278,5416,0.00,2.62,0.00,0.000,6,0.000,0.051,3394,1809,2147,0,0,0,0,0,0
$GC,5741,1.19,116.8,352.2,12.3,287,5745,0.00,2.67,0.00,0.000,4,0.000,0.059,3394,390,2143,0,0,0,0,0,0
$GC,5756,1.19,116.8,350.2,12.1,287,5761,0.00,2.50,0.00,0.000,6,0.000,0.025,3394,1809,2141,0,0,0,0,0,0
$GC,6106,1.19,116.8,308.3,11.6,296,6110,0.00,2.53,0.00,0.000,4,0.000,0.042,3394,3204,2141,0,0,0,0,0,0
$GC,6131,1.19,116.8,305.7,9.7,296,6135,0.00,2.60,0.00,0.000,6,0.000,0.048,3394,1800,2140,0,0,0,0,0,0
$GC,6457,1.19,116.8,273.2,9.7,311,6461,0.00,2.62,0.00,0.000,4,0.000,0.060,3394,392,2139,0,0,0,0,0,0
$GC,6524,1.19,116.8,265.5,11.3,314,6529,0.00,2.47,0.00,0.000,6,0.000,0.027,3394,1798,2136,0,0,0,0,0,0
$GC,6854,1.19,116.8,232.8,9.8,330,6855,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1799,2135,0,0,0,0,0,0
$GC,7165,1.19,116.8,204.5,9.3,345,7170,0.00,2.65,0.00,0.000,4,0.000,0.057,3394,388,2135,0,0,0,0,0,0
$GC,7198,1.19,116.8,200.5,11.6,346,7203,0.00,2.47,0.00,0.000,6,0.000,0.025,3394,1803,2134,0,0,0,0,0,0
$GC,7524,1.19,116.8,172.7,8.1,375,7525,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1807,2134,0,0,0,0,0,0
$GC,7779,1.19,116.8,152.9,8.3,399,7780,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1806,2134,0,0,0,0,0,0
$GC,8034,1.19,116.8,130.9,9.3,423,8035,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1807,2134,0,0,0,0,0,0
$GC,8289,1.25,164.9,112.2,5.8,447,8334,0.00,2.55,38.08,0.563,4,0.000,0.035,3394,3206,1962,0,0,0,0,0,0
$GC,8347,1.32,222.2,108.8,5.4,453,8405,0.12,2.60,50.30,0.558,6,0.062,0.039,3437,1796,1728,0,0,0,0,0,0
$GC,8667,1.32,222.2,78.7,10.2,484,8672,0.00,2.60,0.00,0.000,4,0.000,0.053,3437,392,1721,0,0,0,0,0,0
$GC,8755,1.32,222.2,69.1,10.9,493,8760,0.00,2.42,0.00,0.000,6,0.000,0.021,3437,1805,1717,0,0,0,0,0,0
$GC,9019,1.32,222.2,45.1,8.8,517,9024,0.00,2.62,0.00,0.000,4,0.000,0.050,3437,387,1717,0,0,0,0,0,0
$GC,9108,1.32,222.2,35.6,10.4,526,9115,0.00,2.45,0.00,0.000,6,0.000,0.020,3436,1798,1715,0,0,0,0,0,0
$GC,9374,1.32,222.2,12.4,9.4,569,9381,0.00,2.62,0.00,0.000,4,0.000,0.049,3437,392,1715,0,0,0,0,0,0
$GC,9397,1.32,222.2,10.5,8.9,573,9404,0.00,2.45,0.00,0.000,6,0.000,0.020,3437,1807,1715,0,0,0,0,0,0
$STATE,9484,end climb,SURFACE_DEPTH_REACHED
$STATE,9484,begin surface coast
$FINISH,1.1,1.009864
$STATE,9521,end surface coast,CONTROL_FINISHED_OK
$STATE,9521,begin surface
$SM_CCo,9545,55.40,0.459,0,0,1288,330.17
$SM_GC,1.82,0.00,0.00,55.40,0.000,0.000,0.459,427,2139,1288,-12.47,1.10,330.17
$IRIDIUM_FIX,2029.47,-15750.97,100800,111101
$TT8_MAMPS,0.028379
$HUMID,58.66
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,20.60
$XPDR_PINGS,2
$24V_AH,23.5,30.294
$10V_AH,10.5,28.664
$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,28.575,97.300,283.900,55.400,0.000,23.938,37.384,149.966,5.000,0.000,13.037,1087.595,6379.742,395.222,1626.463,445.314,0.000,1098.039,0.000,1613.433,0.000,29.240,0.000
$DEVICE_MAMPS,135.759,59.826,820.690,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,402.803,392.190,849.771,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,31768,595
$CAP_FILE_SIZE,95222,0
$CFSIZE,260165632,238505984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170511,165010,2036.739,-15753.900,12,2.9,31,9.7