version: 66.06
glider: 139
mission: 9
dive: 380
start: 5 18 111 1 31 16
data:
$ID,139
$MISSION,9
$DIVE,380
$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,-2183825.5
$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,66
$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
$GPS1,012406,2037.644,-15753.675,16,0.9,32,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-76.2
$GPS2,013026,2037.630,-15753.638,29,1.4,29,9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.069,0.210
$KALMAN_X,1362.2,892.3,254.8,-708.0,248.6
$KALMAN_Y,-1299.7,-838.7,-259.8,4280.3,-292.7
$MHEAD_RNG_PITCHd_Wd,332.0,58696,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.19,-116.8,0.0,0.0,0,90,0.00,0.00,-69.75,0.000,6,0.000,0.000,424,2128,3112,0,0,0,0,0,0
$GC,93,-1.19,-116.8,3.5,-3.8,13,112,13.12,2.40,0.00,0.000,4,0.135,0.030,2868,3484,3114,0,0,0,0,0,0
$GC,361,-1.19,-116.8,61.2,-15.2,54,365,0.00,2.45,0.00,0.000,6,0.000,0.034,2869,2092,3117,0,0,0,0,0,0
$GC,627,-1.19,-116.8,101.5,-12.8,78,631,0.00,2.53,0.00,0.000,4,0.000,0.043,2869,690,3117,0,0,0,0,0,0
$GC,662,-1.19,-116.8,107.2,-14.0,81,666,0.00,2.35,0.00,0.000,6,0.000,0.020,2869,2077,3118,0,0,0,0,0,0
$GC,926,-1.19,-116.8,133.3,-10.3,105,930,0.00,2.47,0.00,0.000,4,0.000,0.041,2869,690,3118,0,0,0,0,0,0
$GC,1014,-1.19,-116.8,142.2,-10.9,114,1019,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2109,3118,0,0,0,0,0,0
$GC,1278,-1.19,-116.8,169.6,-9.2,138,1282,0.00,2.45,0.00,0.000,4,0.000,0.037,2869,3499,3118,0,0,0,0,0,0
$GC,1287,-1.19,-116.8,170.8,-8.8,138,1294,0.00,2.47,0.00,0.000,6,0.000,0.032,2868,2102,3119,0,0,0,0,0,0
$GC,1552,-1.19,-116.8,194.6,-8.9,163,1556,0.00,2.53,0.00,0.000,4,0.000,0.042,2868,692,3119,0,0,0,0,0,0
$GC,1642,-1.19,-116.8,203.2,-9.2,171,1646,0.00,2.40,0.00,0.000,6,0.000,0.021,2869,2111,3119,0,0,0,0,0,0
$GC,1978,-1.19,-116.8,235.4,-11.3,187,1982,0.00,2.53,0.00,0.000,4,0.000,0.043,2869,688,3119,0,0,0,0,0,0
$GC,2002,-1.19,-116.8,238.4,-11.1,188,2006,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2098,3119,0,0,0,0,0,0
$GC,2334,-1.19,-116.8,265.9,-7.2,204,2335,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2099,3118,0,0,0,0,0,0
$GC,2643,-1.19,-116.8,287.2,-7.3,219,2647,0.00,2.53,0.00,0.000,4,0.000,0.044,2869,691,3118,0,0,0,0,0,0
$GC,2726,-1.19,-116.8,294.4,-9.2,222,2732,0.00,2.45,0.00,0.000,6,0.000,0.025,2868,2100,3117,0,0,0,0,0,0
$GC,3039,-1.19,-116.8,321.8,-9.0,232,3040,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2102,3116,0,0,0,0,0,0
$GC,3364,-1.19,-116.8,347.7,-7.5,240,3369,0.00,2.55,0.00,0.000,4,0.000,0.048,2868,694,3114,0,0,0,0,0,0
$GC,3388,-1.19,-116.8,349.8,-8.2,240,3392,0.00,2.42,0.00,0.000,6,0.000,0.025,2868,2106,3114,0,0,0,0,0,0
$GC,3729,-1.19,-116.8,377.4,-8.1,249,3733,0.00,2.55,0.00,0.000,4,0.000,0.049,2868,692,3112,0,0,0,0,0,0
$GC,3748,-1.19,-116.8,379.0,-7.7,249,3753,0.00,2.42,0.00,0.000,6,0.000,0.026,2869,2098,3112,0,0,0,0,0,0
$GC,4093,-1.19,-116.8,404.3,-6.8,258,4098,0.00,2.58,0.00,0.000,4,0.000,0.050,2868,685,3110,0,0,0,0,0,0
$GC,4131,-1.19,-116.8,407.1,-7.6,258,4137,0.00,2.47,0.00,0.000,6,0.000,0.027,2868,2107,3110,0,0,0,0,0,0
$GC,4463,-1.19,-116.8,428.9,-6.6,267,4467,0.00,2.53,0.00,0.000,4,0.000,0.050,2868,3498,3107,0,0,0,0,0,0
$GC,4478,-1.19,-116.8,430.2,-7.0,267,4482,0.00,2.53,0.00,0.000,6,0.000,0.043,2868,2094,3107,0,0,0,0,0,0
$STATE,4784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4784,begin apogee
$GC,4791,-0.31,0.0,452.6,7.3,275,4890,0.95,0.00,94.88,0.818,6,0.081,0.000,3066,1790,2635,0,0,0,0,0,0
$STATE,4891,end apogee,CONTROL_FINISHED_OK
$STATE,4891,begin climb
$GC,4893,1.19,116.8,454.3,0.0,277,5002,1.50,0.00,100.57,0.799,6,0.054,0.000,3396,1790,2158,0,0,0,0,0,0
$GC,5313,1.19,116.8,408.2,12.1,288,5317,0.00,2.60,0.00,0.000,4,0.000,0.060,3395,405,2147,0,0,0,0,0,0
$GC,5332,1.19,116.8,405.8,12.4,288,5336,0.00,2.47,0.00,0.000,6,0.000,0.025,3395,1803,2145,0,0,0,0,0,0
$GC,5677,1.19,116.8,366.8,11.3,297,5681,0.00,2.65,0.00,0.000,4,0.000,0.060,3395,403,2143,0,0,0,0,0,0
$GC,5698,1.19,116.8,364.4,11.5,297,5702,0.00,2.47,0.00,0.000,6,0.000,0.027,3395,1800,2140,0,0,0,0,0,0
$GC,6043,1.19,116.8,326.8,10.6,306,6044,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1802,2140,0,0,0,0,0,0
$GC,6348,1.19,116.8,293.0,11.6,314,6352,0.00,2.53,0.00,0.000,4,0.000,0.042,3396,3202,2139,0,0,0,0,0,0
$GC,6369,1.19,116.8,290.7,11.5,315,6374,0.00,2.58,0.00,0.000,6,0.000,0.048,3395,1807,2139,0,0,0,0,0,0
$GC,6701,1.19,116.8,255.5,9.5,331,6706,0.00,2.62,0.00,0.000,4,0.000,0.059,3395,393,2137,0,0,0,0,0,0
$GC,6731,1.19,116.8,252.0,12.3,332,6735,0.00,2.47,0.00,0.000,6,0.000,0.027,3395,1798,2135,0,0,0,0,0,0
$GC,7052,1.19,116.8,223.5,8.2,348,7056,0.00,2.62,0.00,0.000,4,0.000,0.058,3395,393,2135,0,0,0,0,0,0
$GC,7089,1.19,116.8,219.9,9.8,349,7094,0.00,2.47,0.00,0.000,6,0.000,0.026,3395,1802,2134,0,0,0,0,0,0
$GC,7408,1.19,116.8,192.0,8.3,369,7412,0.00,2.53,0.00,0.000,4,0.000,0.038,3396,3211,2134,0,0,0,0,0,0
$GC,7447,1.19,116.8,188.6,8.7,372,7453,0.00,2.60,0.00,0.000,6,0.000,0.044,3396,1804,2134,0,0,0,0,0,0
$GC,7709,1.19,116.8,166.2,9.7,397,7714,0.00,2.60,0.00,0.000,4,0.000,0.056,3395,393,2134,0,0,0,0,0,0
$GC,7783,1.19,116.8,158.2,10.1,404,7790,0.00,2.47,0.00,0.000,6,0.000,0.025,3395,1800,2132,0,0,0,0,0,0
$GC,8048,1.21,127.2,138.0,7.5,429,8058,0.00,2.58,5.57,0.458,4,0.000,0.035,3396,3213,2116,0,0,0,0,0,0
$GC,8071,1.23,142.4,136.2,7.3,431,8092,0.00,2.55,15.20,0.558,6,0.000,0.039,3396,1801,2053,0,0,0,0,0,0
$GC,8346,1.23,142.4,111.5,9.6,457,8350,0.00,2.60,0.00,0.000,4,0.000,0.054,3395,389,2050,0,0,0,0,0,0
$GC,8361,1.23,142.4,109.9,9.2,458,8366,0.00,2.47,0.00,0.000,6,0.000,0.023,3396,1812,2049,0,0,0,0,0,0
$GC,8625,1.32,218.4,93.2,4.5,482,8698,0.12,2.70,65.53,0.550,4,0.061,0.051,3438,393,1743,0,0,0,0,0,0
$GC,8733,1.32,218.4,85.3,9.8,493,8739,0.00,2.45,0.00,0.000,6,0.000,0.021,3438,1799,1738,0,0,0,0,0,0
$GC,8995,1.32,218.4,58.3,10.7,518,9000,0.00,2.62,0.00,0.000,4,0.000,0.053,3438,391,1737,0,0,1,0,0,0
$GC,9023,1.32,218.4,54.9,11.1,520,9030,0.00,2.45,0.00,0.000,6,0.000,0.021,3438,1799,1735,0,0,0,0,0,0
$GC,9288,1.32,218.5,33.4,8.0,545,9292,0.00,2.60,0.00,0.000,4,0.000,0.049,3438,389,1735,0,0,0,0,0,0
$GC,9305,1.32,218.5,31.7,8.4,546,9309,0.00,2.45,0.00,0.000,6,0.000,0.020,3438,1813,1734,0,0,0,0,0,0
$GC,9571,1.33,230.0,10.0,7.5,592,9590,0.00,2.67,9.80,0.416,4,0.000,0.048,3438,398,1696,0,0,0,0,0,0
$GC,9611,1.33,230.0,6.5,8.7,599,9617,0.00,2.42,0.00,0.000,6,0.000,0.019,3438,1792,1693,0,0,0,0,0,0
$STATE,9650,end climb,SURFACE_DEPTH_REACHED
$STATE,9650,begin surface coast
$FINISH,1.1,0.999453
$STATE,9688,end surface coast,CONTROL_FINISHED_OK
$STATE,9689,begin surface
$SM_CCo,9713,53.33,0.457,0,0,1289,330.17
$SM_GC,1.83,0.00,0.00,53.33,0.000,0.000,0.457,428,2126,1289,-12.46,0.74,330.17
$IRIDIUM_FIX,2031.77,-15753.10,100800,222204
$TT8_MAMPS,0.029146
$HUMID,58.58
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,20.10
$XPDR_PINGS,0
$24V_AH,23.5,30.621
$10V_AH,10.4,28.974
$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,28.550,121.725,291.550,53.325,0.000,24.945,32.064,185.396,4.500,0.000,29.481,1113.129,6477.284,416.779,1647.272,492.485,31.425,1135.077,0.000,1613.745,0.000,29.241,0.000
$DEVICE_MAMPS,134.992,59.826,817.622,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,414.428,403.456,880.296,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355864
$DATA_FILE_SIZE,34828,613
$CAP_FILE_SIZE,101087,0
$CFSIZE,260165632,238301184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,6
$GPS,180511,041525,2038.117,-15753.427,43,0.9,43,9.7