version: 66.06
glider: 139
mission: 9
dive: 379
start: 5 17 111 22 37 52
data:
$ID,139
$MISSION,9
$DIVE,379
$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,-2183795.2
$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,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
$GPS1,223024,2037.261,-15754.227,40,1.6,40,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-75.3
$GPS2,223702,2037.267,-15754.158,15,1.6,15,9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.066,0.212
$KALMAN_X,354.3,354.3,354.3,-174.7,221.9
$KALMAN_Y,-303.8,-303.8,-303.8,2126.2,-190.3
$MHEAD_RNG_PITCHd_Wd,333.0,59134,-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,15,-1.19,-116.8,0.0,0.0,0,82,0.00,0.00,-64.45,0.000,2,0.000,0.000,429,2139,2968,0,0,0,0,0,0
$GC,86,-1.19,-116.8,3.1,-4.1,12,110,13.12,2.40,-2.95,0.000,4,0.135,0.047,2870,3466,3115,0,0,0,0,0,0
$GC,340,-1.19,-116.8,55.7,-15.7,53,345,0.00,2.42,0.00,0.000,6,0.000,0.032,2871,2084,3116,0,0,0,0,0,0
$GC,603,-1.19,-116.8,94.9,-12.6,77,607,0.00,2.50,0.00,0.000,4,0.000,0.042,2870,693,3117,0,0,0,0,0,0
$GC,722,-1.19,-116.8,111.1,-12.3,89,726,0.00,2.33,0.00,0.000,6,0.000,0.020,2870,2073,3118,0,0,0,0,0,0
$GC,987,-1.19,-116.8,139.7,-11.4,113,992,0.00,2.42,0.00,0.000,4,0.000,0.041,2870,697,3119,0,0,0,0,0,0
$GC,1002,-1.19,-116.8,142.5,-12.8,114,1008,0.00,2.42,0.00,0.000,6,0.000,0.021,2870,2100,3119,0,0,0,0,0,0
$GC,1267,-1.19,-116.8,174.1,-11.1,139,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2101,3119,0,0,0,0,0,0
$GC,1529,-1.19,-116.8,200.0,-10.2,164,1533,0.00,2.53,0.00,0.000,4,0.000,0.044,2870,690,3119,0,0,0,0,0,0
$GC,1566,-1.19,-116.8,203.8,-9.7,165,1572,0.00,2.40,0.00,0.000,6,0.000,0.021,2870,2111,3119,0,0,0,0,0,0
$GC,1883,-1.19,-116.8,233.3,-9.2,181,1887,0.00,2.55,0.00,0.000,4,0.000,0.043,2870,687,3119,0,0,0,0,0,0
$GC,2099,-1.19,-116.8,254.1,-9.0,190,2103,0.00,2.42,0.00,0.000,6,0.000,0.022,2870,2103,3119,0,0,0,0,0,0
$GC,2416,-1.19,-116.8,278.6,-7.8,205,2420,0.00,2.55,0.00,0.000,4,0.000,0.045,2870,687,3118,0,0,0,0,0,0
$GC,2472,-1.19,-116.8,283.5,-8.2,207,2476,0.00,2.42,0.00,0.000,6,0.000,0.023,2870,2099,3118,0,0,0,0,0,0
$GC,2787,-1.19,-116.8,303.2,-6.2,221,2792,0.00,2.50,0.00,0.000,4,0.000,0.044,2869,3495,3117,0,0,0,0,0,0
$GC,2890,-1.19,-116.8,310.4,-6.9,223,2895,0.00,2.47,0.00,0.000,6,0.000,0.038,2870,2095,3117,0,0,0,0,0,0
$GC,3204,-1.19,-116.8,332.1,-7.2,231,3206,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2094,3115,0,0,0,0,0,0
$GC,3529,-1.19,-116.8,355.4,-7.2,239,3534,0.00,2.58,0.00,0.000,4,0.000,0.050,2870,684,3113,0,0,0,0,0,0
$GC,3627,-1.19,-116.8,363.1,-8.0,241,3632,0.00,2.42,0.00,0.000,6,0.000,0.026,2870,2098,3113,0,0,0,0,0,0
$GC,3948,-1.19,-116.8,385.4,-6.9,249,3952,0.00,2.58,0.00,0.000,4,0.000,0.050,2870,685,3110,0,0,0,0,0,0
$GC,4023,-1.19,-116.8,391.5,-7.6,250,4027,0.00,2.47,0.00,0.000,6,0.000,0.027,2870,2108,3110,0,0,0,0,0,0
$GC,4359,-1.19,-116.8,414.1,-6.6,259,4360,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2109,3108,0,0,0,0,0,0
$GC,4684,-1.19,-116.8,435.8,-6.8,267,4688,0.00,2.55,0.00,0.000,4,0.000,0.051,2870,3498,3106,0,0,0,0,0,0
$GC,4699,-1.19,-116.8,437.0,-7.2,267,4704,0.00,2.53,0.00,0.000,6,0.000,0.044,2870,2093,3106,0,0,0,0,0,0
$STATE,4884,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4884,begin apogee
$GC,4891,-0.31,0.0,451.4,7.8,272,4990,0.95,0.00,95.32,0.821,6,0.081,0.000,3068,1790,2635,0,0,0,0,0,0
$STATE,4990,end apogee,CONTROL_FINISHED_OK
$STATE,4990,begin climb
$GC,4993,1.19,116.8,453.9,0.0,274,5099,1.50,0.00,101.40,0.803,6,0.053,0.000,3397,1790,2158,0,0,0,0,0,0
$GC,5412,1.19,116.8,411.5,11.8,285,5416,0.00,2.62,0.00,0.000,4,0.000,0.043,3397,3205,2147,0,0,0,0,0,0
$GC,5431,1.19,116.8,409.0,12.0,285,5436,0.00,2.62,0.00,0.000,6,0.000,0.050,3397,1799,2146,0,0,0,0,0,0
$GC,5776,1.19,116.8,365.8,12.7,294,5781,0.00,2.65,0.00,0.000,4,0.000,0.061,3396,388,2143,0,0,0,0,0,0
$GC,5796,1.19,116.8,363.0,14.0,294,5800,0.00,2.50,0.00,0.000,6,0.000,0.027,3397,1802,2141,0,0,0,0,0,0
$GC,6141,1.19,116.8,321.9,11.8,303,6142,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1806,2140,0,0,0,0,0,0
$GC,6449,1.19,116.8,288.9,10.2,313,6453,0.00,2.65,0.00,0.000,4,0.000,0.059,3396,393,2139,0,0,0,0,0,0
$GC,6483,1.19,116.8,284.8,11.4,314,6487,0.00,2.47,0.00,0.000,6,0.000,0.028,3397,1799,2136,0,0,0,0,0,0
$GC,6799,1.19,116.8,251.8,10.2,329,6800,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1800,2136,0,0,0,0,0,0
$GC,7108,1.20,120.6,224.5,7.8,344,7112,0.00,2.53,0.00,0.000,4,0.000,0.041,3397,3210,2135,0,0,0,0,0,0
$GC,7123,1.21,129.7,223.3,7.6,344,7136,0.00,2.62,8.52,0.587,6,0.000,0.044,3397,1799,2106,0,0,0,0,0,0
$GC,7454,1.21,129.7,196.3,8.3,362,7458,0.00,2.60,0.00,0.000,4,0.000,0.057,3397,390,2102,0,0,0,0,0,0
$GC,7473,1.21,129.7,194.3,8.6,363,7479,0.00,2.47,0.00,0.000,6,0.000,0.025,3397,1804,2101,0,0,0,0,0,0
$GC,7736,1.21,129.7,172.6,8.9,388,7741,0.00,2.65,0.00,0.000,4,0.000,0.055,3397,391,2101,0,0,0,0,0,0
$GC,7771,1.21,129.7,169.2,10.2,391,7776,0.00,2.47,0.00,0.000,6,0.000,0.025,3397,1804,2100,0,0,0,0,0,0
$GC,8036,1.21,129.7,145.4,9.5,415,8040,0.00,2.47,0.00,0.000,4,0.000,0.035,3397,3210,2100,0,0,0,0,0,0
$GC,8073,1.21,129.7,141.5,9.6,418,8080,0.00,2.60,0.00,0.000,6,0.000,0.040,3397,1796,2100,0,0,0,0,0,0
$GC,8339,1.22,136.8,121.3,7.7,443,8351,0.00,2.65,6.95,0.476,4,0.000,0.054,3397,391,2077,0,0,0,0,0,0
$GC,8397,1.22,136.8,115.5,9.6,449,8403,0.00,2.45,0.00,0.000,6,0.000,0.022,3397,1804,2075,0,0,0,0,0,0
$GC,8661,1.27,178.2,97.2,6.1,474,8707,0.00,2.55,37.03,0.549,4,0.000,0.032,3397,3197,1907,0,0,0,0,0,0
$GC,8713,1.29,193.2,93.3,7.3,479,8736,0.00,2.58,14.40,0.508,6,0.000,0.036,3397,1796,1846,0,0,0,0,0,0
$GC,8993,1.32,221.1,72.4,6.7,506,9024,0.12,2.62,24.58,0.512,4,0.061,0.051,3439,390,1732,0,0,0,0,0,0
$GC,9073,1.32,221.1,65.1,10.8,514,9077,0.00,2.45,0.00,0.000,6,0.000,0.021,3439,1800,1727,0,0,0,0,0,0
$GC,9338,1.32,221.1,39.7,8.6,538,9342,0.00,2.60,0.00,0.000,4,0.000,0.049,3438,391,1727,0,0,0,0,0,0
$GC,9356,1.32,221.1,37.7,8.6,539,9363,0.00,2.47,0.00,0.000,6,0.000,0.021,3439,1811,1726,0,0,0,0,0,0
$GC,9623,1.32,221.1,16.1,8.3,579,9630,0.00,2.65,0.00,0.000,4,0.000,0.049,3438,395,1725,0,0,0,0,0,0
$GC,9646,1.32,221.1,13.8,9.2,583,9653,0.00,2.42,0.00,0.000,6,0.000,0.019,3439,1800,1725,0,0,0,0,0,0
$STATE,9782,end climb,SURFACE_DEPTH_REACHED
$STATE,9782,begin surface coast
$FINISH,1.1,1.009746
$STATE,9822,end surface coast,CONTROL_FINISHED_OK
$STATE,9822,begin surface
$SM_CCo,9846,55.83,0.456,0,0,1288,330.17
$SM_GC,1.88,0.00,0.00,55.83,0.000,0.000,0.456,424,2127,1288,-12.48,0.76,330.17
$IRIDIUM_FIX,2029.47,-15756.10,100800,191912
$TT8_MAMPS,0.028379
$HUMID,59.05
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,20.60
$XPDR_PINGS,3
$24V_AH,23.5,30.540
$10V_AH,10.4,28.897
$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,28.625,111.900,288.200,55.825,0.000,26.331,35.507,209.898,5.250,0.000,16.086,1130.983,6514.591,443.061,1688.604,524.914,30.188,1159.122,0.000,1673.455,0.000,29.255,0.000
$DEVICE_MAMPS,134.992,61.360,821.457,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,415.862,405.647,891.959,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355808
$DATA_FILE_SIZE,34991,615
$CAP_FILE_SIZE,100830,0
$CFSIZE,260165632,238350336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180511,012406,2037.644,-15753.675,16,0.9,32,9.7