version: 66.06
glider: 139
mission: 9
dive: 377
start: 5 17 111 16 56 58
data:
$ID,139
$MISSION,9
$DIVE,377
$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,-2183742
$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,83
$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
$GPS1,165010,2036.739,-15753.900,12,2.9,31,9.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-74.6
$GPS2,165640,2036.779,-15753.878,14,2.9,33,9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,HEADING
$TGT_LATLONG,2036.779,-15805.415
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.19,-116.8,0.0,0.0,0,85,0.00,0.00,-64.10,0.000,2,0.000,0.000,427,2142,2959,0,0,0,0,0,0
$GC,89,-1.19,-116.8,3.2,-4.4,12,113,13.12,2.65,-3.12,0.000,4,0.135,0.050,2870,690,3115,0,0,0,0,0,0
$GC,299,-1.19,-116.8,53.9,-20.7,46,303,0.00,2.33,0.00,0.000,6,0.000,0.019,2870,2063,3116,0,0,0,0,0,0
$GC,561,-1.19,-116.8,99.5,-14.7,70,566,0.00,2.47,0.00,0.000,4,0.000,0.042,2870,677,3117,0,0,0,0,0,0
$GC,703,-1.19,-116.8,123.2,-15.1,85,709,0.00,2.42,0.00,0.000,6,0.000,0.020,2870,2101,3117,0,0,0,0,0,0
$GC,967,-1.19,-116.8,152.9,-11.9,110,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2102,3118,0,0,0,0,0,0
$GC,1219,-1.19,-116.8,176.5,-8.2,134,1223,0.00,2.55,0.00,0.000,4,0.000,0.042,2870,679,3119,0,0,0,0,0,0
$GC,1272,-1.19,-116.8,181.5,-9.1,139,1276,0.00,2.42,0.00,0.000,6,0.000,0.021,2870,2101,3119,0,0,0,0,0,0
$GC,1551,-1.19,-116.8,203.3,-7.5,163,1555,0.00,2.53,0.00,0.000,4,0.000,0.042,2870,684,3119,0,0,0,0,0,0
$GC,1584,-1.19,-116.8,206.4,-8.7,164,1588,0.00,2.42,0.00,0.000,6,0.000,0.021,2870,2106,3119,0,0,0,0,0,0
$GC,1901,-1.19,-116.8,233.7,-9.5,179,1905,0.00,2.55,0.00,0.000,4,0.000,0.043,2870,683,3119,0,0,0,0,0,0
$GC,1961,-1.19,-116.8,240.3,-10.8,181,1967,0.00,2.42,0.00,0.000,6,0.000,0.022,2870,2098,3119,0,0,0,0,0,0
$GC,2279,-1.19,-116.8,268.3,-8.5,197,2283,0.00,2.55,0.00,0.000,4,0.000,0.044,2870,680,3119,0,0,0,0,0,0
$GC,2303,-1.19,-116.8,270.7,-9.3,198,2307,0.00,2.45,0.00,0.000,6,0.000,0.023,2870,2107,3118,0,0,0,0,0,0
$GC,2632,-1.19,-116.8,294.2,-6.4,214,2637,0.00,2.58,0.00,0.000,4,0.000,0.045,2870,678,3118,0,0,0,0,0,0
$GC,2666,-1.19,-116.8,296.7,-7.0,215,2670,0.00,2.45,0.00,0.000,6,0.000,0.024,2870,2099,3118,0,0,0,0,0,0
$GC,2978,-1.19,-116.8,318.7,-7.3,224,2982,0.00,2.58,0.00,0.000,4,0.000,0.047,2870,686,3116,0,0,0,0,0,0
$GC,3076,-1.19,-116.8,326.5,-8.3,226,3080,0.00,2.45,0.00,0.000,6,0.000,0.025,2870,2104,3116,0,0,0,0,0,0
$GC,3396,-1.19,-116.8,351.9,-8.1,234,3400,0.00,2.55,0.00,0.000,4,0.000,0.047,2870,3505,3114,0,0,0,0,0,0
$GC,3487,-1.19,-116.8,360.3,-9.2,236,3491,0.00,2.53,0.00,0.000,6,0.000,0.041,2870,2094,3114,0,0,0,0,0,0
$GC,3815,-1.19,-116.8,386.6,-8.0,244,3816,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2094,3111,0,0,0,0,0,0
$GC,4140,-1.19,-116.8,409.6,-6.6,252,4141,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2094,3109,0,0,0,0,0,0
$GC,4465,-1.19,-116.8,426.9,-5.3,260,4469,0.00,2.55,0.00,0.000,4,0.000,0.048,2870,3497,3107,0,0,0,0,0,0
$GC,4489,-1.19,-116.8,428.3,-5.8,260,4494,0.00,2.50,0.00,0.000,6,0.000,0.042,2870,2103,3107,0,0,0,0,0,0
$STATE,4827,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4827,begin apogee
$GC,4835,-0.31,0.0,451.2,7.3,269,4934,0.95,0.00,95.35,0.824,6,0.081,0.000,3068,1794,2635,0,0,0,0,0,0
$STATE,4934,end apogee,CONTROL_FINISHED_OK
$STATE,4934,begin climb
$GC,4937,1.19,116.8,453.4,0.0,271,5049,1.48,2.67,100.12,0.804,4,0.054,0.060,3394,403,2157,0,0,0,0,0,0
$GC,5069,1.19,116.8,442.4,13.4,274,5073,0.00,2.47,0.00,0.000,6,0.000,0.025,3394,1802,2153,0,0,0,0,0,0
$GC,5392,1.19,116.8,403.3,11.9,282,5396,0.00,2.58,0.00,0.000,4,0.000,0.044,3394,3211,2146,0,0,0,0,0,0
$GC,5411,1.19,116.8,401.0,11.3,282,5415,0.00,2.60,0.00,0.000,6,0.000,0.046,3394,1803,2146,0,0,0,0,0,0
$GC,5757,1.19,116.8,361.3,11.8,291,5761,0.00,2.65,0.00,0.000,4,0.000,0.059,3394,393,2142,0,0,0,0,0,0
$GC,5777,1.19,116.8,358.5,13.4,291,5782,0.00,2.47,0.00,0.000,6,0.000,0.026,3394,1807,2140,0,0,0,0,0,0
$GC,6122,1.19,116.8,317.8,11.6,300,6127,0.00,2.53,0.00,0.000,4,0.000,0.042,3394,3203,2139,0,0,0,0,0,0
$GC,6160,1.19,116.8,313.7,10.7,300,6166,0.00,2.62,0.00,0.000,6,0.000,0.049,3394,1795,2139,0,0,0,0,0,0
$GC,6475,1.19,116.8,279.9,10.6,313,6476,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1794,2138,0,0,0,0,0,0
$GC,6783,1.19,116.8,249.5,9.7,328,6787,0.00,2.60,0.00,0.000,4,0.000,0.059,3394,391,2137,0,0,0,0,0,0
$GC,6807,1.19,116.8,246.9,11.7,329,6811,0.00,2.47,0.00,0.000,6,0.000,0.027,3395,1799,2135,0,0,0,0,0,0
$GC,7133,1.19,116.8,218.8,8.6,345,7137,0.00,2.53,0.00,0.000,4,0.000,0.041,3395,3205,2135,0,0,0,0,0,0
$GC,7156,1.19,116.8,216.5,8.6,346,7161,0.00,2.60,0.00,0.000,6,0.000,0.045,3394,1792,2135,0,0,0,0,0,0
$GC,7485,1.19,116.8,187.8,9.1,368,7490,0.00,2.58,0.00,0.000,4,0.000,0.057,3394,391,2134,0,0,0,0,0,0
$GC,7557,1.19,116.8,180.8,9.8,375,7561,0.00,2.47,0.00,0.000,6,0.000,0.025,3395,1805,2133,0,0,0,0,0,0
$GC,7821,1.23,143.8,159.3,6.8,399,7849,0.00,2.72,20.23,0.597,4,0.000,0.054,3394,377,2046,0,0,0,0,0,0
$GC,7873,1.23,148.5,155.2,7.8,404,7883,0.00,2.53,5.30,0.456,6,0.000,0.024,3395,1800,2029,0,0,0,0,0,0
$GC,8141,1.27,175.1,135.8,6.8,429,8171,0.00,2.58,24.52,0.577,4,0.000,0.035,3395,3197,1920,0,0,0,0,0,0
$GC,8217,1.27,175.1,129.7,8.3,437,8222,0.00,2.58,0.00,0.000,6,0.000,0.041,3395,1800,1920,0,0,0,0,0,0
$GC,8481,1.31,214.3,111.1,6.2,462,8522,0.12,2.67,34.62,0.555,4,0.063,0.054,3436,391,1760,0,0,0,0,0,0
$GC,8572,1.31,214.3,102.5,10.9,471,8576,0.00,2.45,0.00,0.000,6,0.000,0.022,3436,1800,1755,0,0,0,0,0,0
$GC,8837,1.31,214.3,76.7,10.5,495,8841,0.00,2.62,0.00,0.000,4,0.000,0.054,3436,389,1754,0,0,0,0,0,0
$GC,8932,1.31,214.3,64.8,12.0,505,8937,0.00,2.42,0.00,0.000,6,0.000,0.021,3436,1803,1751,0,0,0,0,0,0
$GC,9197,1.31,214.3,39.7,9.3,529,9201,0.00,2.60,0.00,0.000,4,0.000,0.049,3436,391,1751,0,0,0,0,0,0
$GC,9241,1.31,214.3,35.2,10.0,533,9245,0.00,2.40,0.00,0.000,6,0.000,0.020,3436,1803,1751,0,0,0,0,0,0
$GC,9507,1.31,214.3,12.4,8.3,576,9514,0.00,2.62,0.00,0.000,4,0.000,0.048,3436,395,1751,0,0,0,0,0,0
$GC,9538,1.31,214.3,9.5,9.3,582,9545,0.00,2.42,0.00,0.000,6,0.000,0.019,3436,1801,1750,0,0,0,0,0,0
$STATE,9614,end climb,SURFACE_DEPTH_REACHED
$STATE,9614,begin surface coast
$FINISH,1.1,0.999212
$STATE,9655,end surface coast,CONTROL_FINISHED_OK
$STATE,9655,begin surface
$SM_CCo,9679,58.50,0.457,0,0,1288,330.17
$SM_GC,1.68,0.00,0.00,58.50,0.000,0.000,0.457,425,2132,1288,-12.48,0.88,330.17
$IRIDIUM_FIX,2029.47,-15750.97,100800,141448
$TT8_MAMPS,0.029146
$HUMID,58.26
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,20.70
$XPDR_PINGS,6
$24V_AH,23.5,30.375
$10V_AH,10.5,28.741
$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,28.575,117.450,280.150,58.500,0.000,29.944,33.265,179.683,6.000,0.000,34.117,1114.435,6410.937,402.817,1700.775,499.151,0.000,1137.162,0.000,1664.666,0.000,31.147,0.000
$DEVICE_MAMPS,134.992,59.826,823.758,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,408.394,396.404,857.791,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,34956,603
$CAP_FILE_SIZE,101449,0
$CFSIZE,260165632,238448640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170511,194028,2036.568,-15754.748,13,2.4,32,9.7