version: 66.06
glider: 139
mission: 9
dive: 381
start: 5 18 111 4 22 41
data:
$ID,139
$MISSION,9
$DIVE,381
$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,-2183836.5
$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,20
$R_STBD_OVSHOOT,62
$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
$GPS1,041525,2038.117,-15753.427,43,0.9,43,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-76.1
$GPS2,042149,2038.141,-15753.394,10,1.6,10,9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.094,0.201
$KALMAN_X,2872.2,681.7,72.7,-1389.0,624.7
$KALMAN_Y,-2895.1,-646.2,-169.9,6526.3,-632.0
$MHEAD_RNG_PITCHd_Wd,325.1,57889,-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,-64.72,0.000,2,0.000,0.000,428,2127,2973,0,0,0,0,0,0
$GC,87,-1.19,-116.8,3.1,-3.7,12,111,13.07,2.45,-2.90,0.000,4,0.133,0.048,2869,3473,3116,0,0,0,0,0,0
$GC,363,-1.19,-116.8,58.6,-14.1,55,369,0.00,2.47,0.00,0.000,6,0.000,0.034,2869,2092,3117,0,0,0,0,0,0
$GC,624,-1.19,-116.8,98.2,-13.9,80,628,0.00,2.50,0.00,0.000,4,0.000,0.041,2869,690,3118,0,0,0,0,0,0
$GC,686,-1.19,-116.8,107.0,-15.3,86,690,0.00,2.38,0.00,0.000,6,0.000,0.020,2869,2080,3118,0,0,0,0,0,0
$GC,949,-1.19,-116.8,138.8,-12.7,110,953,0.00,2.50,0.00,0.000,4,0.000,0.035,2869,3499,3119,0,0,0,0,0,0
$GC,987,-1.19,-116.8,144.0,-12.3,113,992,0.00,2.47,0.00,0.000,6,0.000,0.032,2869,2088,3119,0,0,0,0,0,0
$GC,1250,-1.19,-116.8,171.4,-11.3,138,1254,0.00,2.47,0.00,0.000,4,0.000,0.035,2869,3499,3120,0,0,0,0,0,0
$GC,1361,-1.19,-116.8,184.3,-11.6,149,1366,0.00,2.47,0.00,0.000,6,0.000,0.032,2869,2092,3120,0,0,0,0,0,0
$GC,1620,-1.19,-116.8,210.6,-10.2,169,1625,0.00,2.50,0.00,0.000,4,0.000,0.043,2869,687,3120,0,0,0,0,0,0
$GC,1635,-1.19,-116.8,212.3,-10.3,169,1640,0.00,2.40,0.00,0.000,6,0.000,0.021,2869,2110,3120,0,0,0,0,0,0
$GC,1952,-1.19,-116.8,238.2,-8.2,185,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2111,3120,0,0,0,0,0,0
$GC,2260,-1.19,-116.8,265.4,-8.4,200,2264,0.00,2.47,0.00,0.000,4,0.000,0.041,2869,3502,3119,0,0,0,0,0,0
$GC,2320,-1.19,-116.8,270.1,-7.0,202,2327,0.00,2.50,0.00,0.000,6,0.000,0.037,2869,2109,3120,0,0,0,0,0,0
$GC,2636,-1.19,-116.8,292.0,-6.8,218,2641,0.00,2.55,0.00,0.000,4,0.000,0.046,2869,688,3119,0,0,0,0,0,0
$GC,2697,-1.19,-116.8,296.5,-7.7,220,2704,0.00,2.45,0.00,0.000,6,0.000,0.024,2869,2099,3118,0,0,0,0,0,0
$GC,3029,-1.19,-116.8,318.8,-6.3,230,3034,0.00,2.55,0.00,0.000,4,0.000,0.046,2869,689,3116,0,0,0,0,0,0
$GC,3159,-1.19,-116.8,328.2,-7.1,232,3165,0.00,2.45,0.00,0.000,6,0.000,0.025,2869,2107,3116,0,0,0,0,0,0
$GC,3491,-1.19,-116.8,351.6,-7.4,241,3495,0.00,2.55,0.00,0.000,4,0.000,0.048,2869,690,3115,0,0,0,0,0,0
$GC,3570,-1.19,-116.8,357.9,-8.3,242,3575,0.00,2.45,0.00,0.000,6,0.000,0.026,2869,2101,3114,0,0,0,0,0,0
$GC,3903,-1.19,-116.8,380.4,-6.8,250,3907,0.00,2.55,0.00,0.000,4,0.000,0.050,2868,690,3111,0,0,0,0,0,0
$GC,3950,-1.19,-116.8,384.1,-7.6,251,3954,0.00,2.45,0.00,0.000,6,0.000,0.026,2869,2099,3111,0,0,0,0,0,0
$GC,4273,-1.19,-116.8,407.4,-7.2,259,4278,0.00,2.55,0.00,0.000,4,0.000,0.050,2869,3505,3109,0,0,0,0,0,0
$GC,4288,-1.19,-116.8,408.6,-7.6,259,4292,0.00,2.53,0.00,0.000,6,0.000,0.042,2869,2092,3109,0,0,0,0,0,0
$GC,4638,-1.19,-116.8,436.0,-7.6,268,4643,0.00,2.58,0.00,0.000,4,0.000,0.052,2868,690,3107,0,0,0,0,0,0
$GC,4672,-1.19,-116.8,438.7,-7.6,268,4676,0.00,2.47,0.00,0.000,6,0.000,0.028,2869,2106,3107,0,0,0,0,0,0
$STATE,4837,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4838,begin apogee
$GC,4845,-0.31,0.0,451.1,7.3,272,4943,0.95,0.00,94.90,0.822,6,0.081,0.000,3066,1793,2635,0,0,0,0,0,0
$STATE,4944,end apogee,CONTROL_FINISHED_OK
$STATE,4944,begin climb
$GC,4947,1.19,116.8,452.1,0.0,274,5054,1.48,0.00,99.97,0.800,6,0.053,0.000,3394,1794,2158,0,0,0,0,0,0
$GC,5400,1.19,116.8,396.6,12.5,285,5405,0.00,2.60,0.00,0.000,4,0.000,0.059,3394,407,2146,0,0,0,0,0,0
$GC,5424,1.19,116.8,393.5,12.5,285,5428,0.00,2.47,0.00,0.000,6,0.000,0.026,3393,1801,2143,0,0,0,0,0,0
$GC,5764,1.19,116.8,355.6,11.2,294,5769,0.00,2.62,0.00,0.000,4,0.000,0.058,3394,406,2141,0,0,0,0,0,0
$GC,5808,1.19,116.8,349.9,12.9,295,5812,0.00,2.45,0.00,0.000,6,0.000,0.027,3394,1802,2139,0,0,0,0,0,0
$GC,6135,1.19,116.8,314.7,10.7,303,6140,0.00,2.55,0.00,0.000,4,0.000,0.043,3394,3208,2138,0,0,0,0,0,0
$GC,6149,1.19,116.8,313.0,10.9,303,6154,0.00,2.60,0.00,0.000,6,0.000,0.045,3394,1806,2138,0,0,0,0,0,0
$GC,6482,1.19,116.8,280.4,10.3,316,6487,0.00,2.62,0.00,0.000,4,0.000,0.059,3394,395,2137,0,0,0,0,0,0
$GC,6529,1.19,116.8,274.8,12.4,318,6533,0.00,2.45,0.00,0.000,6,0.000,0.027,3394,1799,2135,0,0,0,0,0,0
$GC,6853,1.19,116.8,243.1,9.2,334,6858,0.00,2.53,0.00,0.000,4,0.000,0.041,3394,3203,2135,0,0,0,0,0,0
$GC,6875,1.19,116.8,241.4,8.9,335,6879,0.00,2.58,0.00,0.000,6,0.000,0.046,3394,1800,2135,0,0,0,0,0,0
$GC,7206,1.19,116.8,215.1,8.2,351,7210,0.00,2.60,0.00,0.000,4,0.000,0.058,3394,393,2134,0,0,0,0,0,0
$GC,7236,1.19,116.8,212.2,9.9,352,7240,0.00,2.47,0.00,0.000,6,0.000,0.026,3394,1805,2132,0,0,0,0,0,0
$GC,7563,1.20,123.8,185.1,7.7,376,7568,0.00,2.47,0.00,0.000,4,0.000,0.038,3394,3203,2133,0,0,0,0,0,0
$GC,7606,1.21,130.2,181.8,7.7,380,7620,0.00,2.55,8.50,0.551,6,0.000,0.044,3394,1802,2103,0,0,0,0,0,0
$GC,7882,1.23,148.4,162.9,7.2,406,7901,0.00,0.00,17.55,0.588,6,0.000,0.000,3394,1802,2028,0,0,0,0,0,0
$GC,8160,1.28,187.4,141.2,6.2,432,8200,0.00,2.70,34.45,0.585,4,0.000,0.056,3394,392,1870,0,0,0,0,0,0
$GC,8269,1.28,187.4,130.9,10.5,443,8273,0.00,2.47,0.00,0.000,6,0.000,0.023,3394,1802,1864,0,0,0,0,0,0
$GC,8534,1.29,196.0,108.5,7.6,467,8548,0.10,2.67,7.93,0.474,4,0.073,0.053,3431,386,1836,0,0,0,0,0,0
$GC,8580,1.29,196.0,103.8,9.4,471,8586,0.00,2.45,0.00,0.000,6,0.000,0.021,3431,1804,1833,0,0,0,0,0,0
$GC,8842,1.29,196.0,80.8,9.8,496,8846,0.00,2.62,0.00,0.000,4,0.000,0.051,3431,389,1833,0,0,0,0,0,0
$GC,8895,1.29,196.0,75.0,9.9,501,8902,0.00,2.45,0.00,0.000,6,0.000,0.021,3431,1798,1831,0,0,0,0,0,0
$GC,9159,1.29,196.0,53.0,8.0,526,9164,0.00,2.45,0.00,0.000,4,0.000,0.029,3431,3196,1831,0,0,0,0,0,0
$GC,9194,1.32,215.3,50.1,7.1,529,9218,0.00,2.50,17.85,0.479,6,0.000,0.035,3431,1798,1757,0,0,0,0,0,0
$GC,9481,1.32,215.3,26.3,8.2,560,9488,0.00,2.60,0.00,0.000,4,0.000,0.050,3431,394,1754,0,0,0,0,0,0
$GC,9521,1.32,215.3,22.6,9.9,568,9527,0.00,2.42,0.00,0.000,6,0.000,0.019,3431,1798,1752,0,0,0,0,0,0
$GC,9724,1.32,219.0,5.5,7.9,605,9737,0.00,2.62,4.05,0.310,4,0.000,0.049,3431,397,1741,0,0,0,0,0,0
$STATE,9750,end climb,SURFACE_DEPTH_REACHED
$STATE,9750,begin surface coast
$FINISH,2.4,1.022624
$STATE,9756,end surface coast,CONTROL_FINISHED_OK
$STATE,9756,begin surface
$SM_CCo,9783,58.92,0.456,0,0,1288,330.17
$SM_GC,1.90,0.00,0.00,58.92,0.000,0.000,0.456,426,2096,1288,-12.47,-0.08,330.17
$IRIDIUM_FIX,2031.77,-15755.23,110800,010144
$TT8_MAMPS,0.029146
$HUMID,58.26
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,20.70
$XPDR_PINGS,6
$24V_AH,23.5,30.704
$10V_AH,10.5,29.053
$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,28.475,126.800,285.200,58.925,0.000,29.290,32.462,203.550,6.000,0.000,10.299,1133.196,6431.862,420.174,1727.434,515.706,32.351,1180.537,0.000,1712.348,0.000,29.242,0.000
$DEVICE_MAMPS,133.458,59.059,822.224,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,412.953,404.182,887.926,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355808
$DATA_FILE_SIZE,34940,611
$CAP_FILE_SIZE,105225,0
$CFSIZE,260165632,238247936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180511,070738,2038.968,-15753.305,15,1.8,15,9.7