version: 66.06
glider: 139
mission: 9
dive: 378
start: 5 17 111 19 48 3
data:
$ID,139
$MISSION,9
$DIVE,378
$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,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$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,-2183778.5
$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,68
$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
$GPS1,194028,2036.568,-15754.748,13,2.4,32,9.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-75.8
$GPS2,194716,2036.628,-15754.690,15,6.1,34,9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.047,0.217
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,338.0,60085,-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,-116.8,0.0,0.0,0,84,0.00,0.00,-64.82,0.000,2,0.000,0.000,426,2132,2976,0,0,0,0,0,0
$GC,87,-1.19,-116.8,3.1,-4.0,12,112,13.10,2.42,-2.80,0.000,4,0.134,0.046,2869,3473,3115,0,0,0,0,0,0
$GC,324,-1.19,-116.8,54.3,-18.4,51,328,0.00,2.47,0.00,0.000,6,0.000,0.036,2869,2084,3116,0,0,0,0,0,0
$GC,588,-1.19,-116.8,102.0,-16.7,75,593,0.00,2.50,0.00,0.000,4,0.000,0.042,2868,685,3117,0,0,0,0,0,0
$GC,622,-1.19,-116.8,108.3,-17.8,78,626,0.00,2.35,0.00,0.000,6,0.000,0.021,2869,2069,3117,0,0,0,0,0,0
$GC,887,-1.19,-116.8,144.2,-10.5,102,891,0.00,2.53,0.00,0.000,4,0.000,0.036,2869,3505,3118,0,0,0,0,0,0
$GC,914,-1.19,-116.8,147.4,-10.2,104,921,0.00,2.47,0.00,0.000,6,0.000,0.031,2868,2104,3118,0,0,0,0,0,0
$GC,1179,-1.19,-116.8,173.9,-10.6,129,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2103,3119,0,0,0,0,0,0
$GC,1441,-1.19,-116.8,202.5,-10.3,153,1445,0.00,2.45,0.00,0.000,4,0.000,0.036,2868,3498,3119,0,0,0,0,0,0
$GC,1492,-1.19,-116.8,208.2,-10.7,155,1496,0.00,2.45,0.00,0.000,6,0.000,0.033,2869,2098,3119,0,0,0,0,0,0
$GC,1814,-1.19,-116.8,234.8,-7.8,171,1819,0.00,2.53,0.00,0.000,4,0.000,0.044,2868,684,3119,0,0,0,0,0,0
$GC,1915,-1.19,-116.8,244.3,-9.2,175,1919,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2102,3119,0,0,0,0,0,0
$GC,2231,-1.19,-116.8,270.6,-8.2,190,2235,0.00,2.53,0.00,0.000,4,0.000,0.044,2868,694,3119,0,0,0,0,0,0
$GC,2291,-1.19,-116.8,276.1,-9.0,192,2298,0.00,2.42,0.00,0.000,6,0.000,0.023,2868,2091,3119,0,0,0,0,0,0
$GC,2607,-1.19,-116.8,296.5,-6.6,208,2611,0.00,2.50,0.00,0.000,4,0.000,0.045,2868,692,3117,0,0,0,0,0,0
$GC,2668,-1.19,-116.8,301.4,-8.2,210,2674,0.00,2.45,0.00,0.000,6,0.000,0.025,2868,2102,3117,0,0,0,0,0,0
$GC,2999,-1.19,-116.8,327.4,-7.8,219,3004,0.00,2.55,0.00,0.000,4,0.000,0.046,2868,692,3116,0,0,0,0,0,0
$GC,3016,-1.19,-116.8,328.7,-7.9,219,3020,0.00,2.42,0.00,0.000,6,0.000,0.025,2868,2107,3116,0,0,0,0,0,0
$GC,3366,-1.19,-116.8,354.9,-7.2,228,3370,0.00,2.55,0.00,0.000,4,0.000,0.048,2869,687,3114,0,0,0,0,0,0
$GC,3395,-1.19,-116.8,357.1,-8.0,228,3399,0.00,2.42,0.00,0.000,6,0.000,0.026,2868,2098,3114,0,0,0,0,0,0
$GC,3731,-1.19,-116.8,379.1,-5.9,237,3736,0.00,2.55,0.00,0.000,4,0.000,0.049,2869,695,3111,0,0,0,0,0,0
$GC,3810,-1.19,-116.8,384.4,-6.9,238,3814,0.00,2.42,0.00,0.000,6,0.000,0.027,2868,2101,3111,0,0,0,0,0,0
$GC,4142,-1.19,-116.8,404.2,-6.2,246,4146,0.00,2.58,0.00,0.000,4,0.000,0.051,2868,690,3108,0,0,0,0,0,0
$GC,4161,-1.19,-116.8,405.7,-7.4,246,4166,0.00,2.45,0.00,0.000,6,0.000,0.027,2868,2106,3108,0,0,0,0,0,0
$GC,4508,-1.19,-116.8,431.4,-7.6,255,4513,0.00,2.58,0.00,0.000,4,0.000,0.051,2868,696,3106,0,0,0,0,0,0
$GC,4528,-1.19,-116.8,433.2,-7.8,255,4532,0.00,2.42,0.00,0.000,6,0.000,0.028,2868,2099,3106,0,0,0,0,0,0
$STATE,4789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4789,begin apogee
$GC,4796,-0.31,0.0,452.2,7.1,262,4895,0.95,0.00,95.00,0.824,6,0.081,0.000,3066,1788,2635,0,0,0,0,0,0
$STATE,4895,end apogee,CONTROL_FINISHED_OK
$STATE,4896,begin climb
$GC,4898,1.19,116.8,454.4,0.0,264,5006,1.48,0.00,100.55,0.802,6,0.054,0.000,3393,1788,2158,0,0,0,0,0,0
$GC,5306,1.19,116.8,409.2,12.4,274,5310,0.00,2.60,0.00,0.000,4,0.000,0.060,3392,402,2147,0,0,0,0,0,0
$GC,5339,1.19,116.8,404.6,13.7,274,5343,0.00,2.50,0.00,0.000,6,0.000,0.026,3393,1808,2144,0,0,0,0,0,0
$GC,5670,1.19,116.8,363.3,12.6,282,5675,0.00,2.65,0.00,0.000,4,0.000,0.058,3393,403,2142,0,0,0,0,0,0
$GC,5685,1.19,116.8,361.3,12.8,282,5689,0.00,2.45,0.00,0.000,6,0.000,0.026,3393,1805,2140,0,0,0,0,0,0
$GC,6035,1.19,116.8,320.9,11.2,291,6036,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1809,2140,0,0,0,0,0,0
$GC,6341,1.19,116.8,293.0,9.0,300,6345,0.00,2.62,0.00,0.000,4,0.000,0.059,3393,405,2139,0,0,0,0,0,0
$GC,6362,1.19,116.8,290.8,10.5,301,6367,0.00,2.45,0.00,0.000,6,0.000,0.027,3393,1799,2137,0,0,0,0,0,0
$GC,6693,1.19,116.8,258.8,9.7,317,6694,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1800,2136,0,0,0,0,0,0
$GC,7001,1.19,116.8,229.1,9.4,332,7005,0.00,2.53,0.00,0.000,4,0.000,0.041,3393,3203,2135,0,0,0,0,0,0
$GC,7047,1.19,116.8,224.5,9.4,334,7052,0.00,2.58,0.00,0.000,6,0.000,0.045,3393,1805,2135,0,0,0,0,0,0
$GC,7374,1.19,116.8,194.6,9.0,352,7378,0.00,2.60,0.00,0.000,4,0.000,0.057,3393,395,2135,0,0,0,0,0,0
$GC,7445,1.19,116.8,187.5,10.1,359,7449,0.00,2.42,0.00,0.000,6,0.000,0.025,3393,1799,2133,0,0,0,0,0,0
$GC,7710,1.19,116.8,164.5,8.4,383,7714,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1801,2133,0,0,0,0,0,0
$GC,7971,1.25,163.9,146.2,5.9,408,8018,0.00,2.58,37.45,0.601,4,0.000,0.035,3393,3194,1966,0,0,0,0,0,0
$GC,8040,1.29,194.2,141.9,6.6,415,8077,0.10,2.58,27.62,0.581,6,0.073,0.041,3429,1803,1842,0,0,0,0,0,0
$GC,8332,1.29,194.2,108.6,11.5,443,8337,0.00,2.62,0.00,0.000,4,0.000,0.054,3428,392,1837,0,0,0,0,0,0
$GC,8402,1.29,194.2,99.4,12.6,450,8407,0.00,2.47,0.00,0.000,6,0.000,0.022,3428,1809,1832,0,0,0,0,0,0
$GC,8667,1.29,194.2,72.4,9.9,474,8671,0.00,2.62,0.00,0.000,4,0.000,0.051,3429,392,1833,0,0,0,0,0,0
$GC,8710,1.29,194.2,67.8,11.4,478,8714,0.00,2.45,0.00,0.000,6,0.000,0.021,3429,1806,1831,0,0,0,0,0,0
$GC,8974,1.29,194.2,45.6,9.2,502,8979,0.00,2.62,0.00,0.000,4,0.000,0.051,3428,388,1831,0,0,0,0,0,0
$GC,9028,1.29,194.2,39.9,10.7,507,9035,0.00,2.45,0.00,0.000,6,0.000,0.021,3429,1796,1830,0,0,0,0,0,0
$GC,9295,1.34,236.5,22.5,6.1,543,9341,0.00,2.70,35.53,0.479,4,0.000,0.050,3428,392,1668,0,0,0,0,0,0
$GC,9370,1.34,236.5,16.9,8.5,557,9376,0.00,2.45,0.00,0.000,6,0.000,0.020,3429,1794,1665,0,0,0,0,0,0
$STATE,9549,end climb,SURFACE_DEPTH_REACHED
$STATE,9549,begin surface coast
$FINISH,1.1,1.022721
$STATE,9588,end surface coast,CONTROL_FINISHED_OK
$STATE,9588,begin surface
$SM_CCo,9612,48.38,0.457,0,0,1288,330.17
$SM_GC,1.79,0.00,0.00,48.38,0.000,0.000,0.457,428,2139,1288,-12.46,1.10,330.17
$IRIDIUM_FIX,2029.47,-15756.10,100800,171753
$TT8_MAMPS,0.028379
$HUMID,59.41
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,20.40
$XPDR_PINGS,3
$24V_AH,23.5,30.458
$10V_AH,10.5,28.818
$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,28.475,111.425,296.150,48.375,0.000,30.250,32.639,201.312,5.250,0.000,35.727,1091.023,6411.220,412.819,1651.268,502.562,29.241,1128.851,0.000,1614.203,0.000,29.249,0.000
$DEVICE_MAMPS,134.225,59.826,823.758,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,403.420,391.472,882.780,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355864
$DATA_FILE_SIZE,31745,597
$CAP_FILE_SIZE,98667,0
$CFSIZE,260165632,238403584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170511,223024,2037.261,-15754.227,40,1.6,40,9.7