version: 66.06
glider: 139
mission: 9
dive: 382
start: 5 18 111 7 14 55
data:
$ID,139
$MISSION,9
$DIVE,382
$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,-2183853
$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,41
$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
$GPS1,070738,2038.968,-15753.305,15,1.8,15,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-76.4
$GPS2,071402,2039.019,-15753.271,15,2.0,15,9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.139,0.173
$KALMAN_X,4716.0,155.5,-0.9,-2415.3,1258.3
$KALMAN_Y,-4237.0,-130.1,19.7,8776.1,-881.6
$MHEAD_RNG_PITCHd_Wd,311.6,56376,-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,-116.8,0.0,0.0,0,82,0.00,0.00,-64.30,0.000,2,0.000,0.000,426,2097,2968,0,0,0,0,0,0
$GC,86,-1.19,-116.8,3.1,-3.7,12,110,13.10,2.53,-2.92,0.000,4,0.133,0.047,2871,3492,3115,0,0,0,0,0,0
$GC,183,-1.19,-116.8,26.5,-18.9,32,190,0.00,2.50,0.00,0.000,6,0.000,0.034,2871,2099,3116,0,0,0,0,0,0
$GC,384,-1.19,-116.8,65.2,-16.0,52,388,0.00,2.45,0.00,0.000,4,0.000,0.031,2870,3496,3116,0,0,0,0,0,0
$GC,403,-1.19,-116.8,68.8,-16.9,53,409,0.00,2.53,0.00,0.000,6,0.000,0.035,2870,2093,3117,0,0,0,0,0,0
$GC,664,-1.19,-116.8,106.6,-13.4,78,668,0.00,2.53,0.00,0.000,4,0.000,0.042,2871,687,3117,0,0,0,0,0,0
$GC,680,-1.19,-116.8,108.6,-13.0,79,685,0.00,2.42,0.00,0.000,6,0.000,0.021,2871,2108,3117,0,0,0,0,0,0
$GC,945,-1.19,-116.8,142.9,-12.0,103,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2113,3118,0,0,0,0,0,0
$GC,1206,-1.19,-116.8,172.3,-11.6,128,1211,0.00,2.55,0.00,0.000,4,0.000,0.042,2871,686,3119,0,0,0,0,0,0
$GC,1327,-1.19,-116.8,186.9,-11.6,140,1334,0.00,2.42,0.00,0.000,6,0.000,0.021,2871,2094,3119,0,0,0,0,0,0
$GC,1587,-1.19,-116.8,212.7,-9.4,159,1592,0.00,2.50,0.00,0.000,4,0.000,0.038,2870,3496,3120,0,0,0,0,0,0
$GC,1667,-1.19,-116.8,220.2,-9.0,162,1672,0.00,2.47,0.00,0.000,6,0.000,0.033,2871,2092,3120,0,0,0,0,0,0
$GC,1984,-1.19,-116.8,248.5,-9.3,177,1988,0.00,2.50,0.00,0.000,4,0.000,0.045,2871,693,3119,0,0,0,0,0,0
$GC,2075,-1.19,-116.8,256.4,-8.6,181,2079,0.00,2.42,0.00,0.000,6,0.000,0.022,2871,2108,3119,0,0,0,0,0,0
$GC,2406,-1.19,-116.8,278.4,-5.9,197,2410,0.00,2.47,0.00,0.000,4,0.000,0.042,2870,3497,3119,0,0,0,0,0,0
$GC,2472,-1.19,-116.8,282.9,-7.1,200,2476,0.00,2.45,0.00,0.000,6,0.000,0.036,2870,2101,3118,0,0,0,0,0,0
$GC,2820,-1.19,-116.8,310.8,-8.3,214,2824,0.00,2.55,0.00,0.000,4,0.000,0.048,2870,694,3117,0,0,0,0,0,0
$GC,2864,-1.19,-116.8,314.0,-7.3,215,2868,0.00,2.42,0.00,0.000,6,0.000,0.024,2871,2101,3117,0,0,0,0,0,0
$GC,3192,-1.19,-116.8,335.0,-6.0,223,3197,0.00,2.53,0.00,0.000,4,0.000,0.046,2871,3498,3116,0,0,0,0,0,0
$GC,3207,-1.19,-116.8,336.1,-6.3,223,3211,0.00,2.47,0.00,0.000,6,0.000,0.040,2870,2102,3115,0,0,0,0,0,0
$GC,3558,-1.19,-116.8,362.1,-7.7,232,3560,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2101,3113,0,0,0,0,0,0
$GC,3884,-1.19,-116.8,384.0,-6.5,240,3888,0.00,2.58,0.00,0.000,4,0.000,0.051,2870,691,3111,0,0,0,0,0,0
$GC,3908,-1.19,-116.8,386.0,-7.8,240,3912,0.00,2.45,0.00,0.000,6,0.000,0.026,2870,2101,3111,0,0,0,0,0,0
$GC,4249,-1.19,-116.8,407.4,-6.3,249,4253,0.00,2.58,0.00,0.000,4,0.000,0.051,2870,687,3108,0,0,0,0,0,0
$GC,4339,-1.19,-116.8,414.3,-8.0,251,4343,0.00,2.47,0.00,0.000,6,0.000,0.028,2870,2108,3108,0,0,0,0,0,0
$GC,4668,-1.19,-116.8,440.1,-7.9,259,4672,0.00,2.60,0.00,0.000,4,0.000,0.051,2870,687,3106,0,0,0,0,0,0
$GC,4691,-1.19,-116.8,442.5,-9.6,259,4696,0.00,2.45,0.00,0.000,6,0.000,0.028,2870,2097,3105,0,0,0,0,0,0
$STATE,4785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4786,begin apogee
$GC,4792,-0.31,0.0,450.6,8.5,262,4890,0.95,0.00,94.55,0.821,6,0.081,0.000,3068,1786,2635,0,0,0,0,0,0
$STATE,4891,end apogee,CONTROL_FINISHED_OK
$STATE,4891,begin climb
$GC,4895,1.19,116.8,453.4,0.0,264,4999,1.48,0.00,100.38,0.802,6,0.053,0.000,3396,1786,2158,0,0,0,0,0,0
$GC,5304,1.19,116.8,408.3,12.5,274,5308,0.00,2.58,0.00,0.000,4,0.000,0.059,3396,405,2147,0,0,0,0,0,0
$GC,5351,1.19,116.8,401.3,14.1,275,5356,0.00,2.47,0.00,0.000,6,0.000,0.026,3396,1802,2143,0,0,0,0,0,0
$GC,5674,1.19,116.8,360.0,13.0,283,5679,0.00,2.65,0.00,0.000,4,0.000,0.059,3395,405,2141,0,0,0,0,0,0
$GC,5712,1.19,116.8,354.7,13.9,283,5717,0.00,2.45,0.00,0.000,6,0.000,0.026,3396,1802,2139,0,0,0,0,0,0
$GC,6043,1.19,116.8,317.3,10.9,292,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1804,2139,0,0,0,0,0,0
$GC,6349,1.19,116.8,286.8,9.9,302,6354,0.00,2.62,0.00,0.000,4,0.000,0.059,3396,406,2138,0,0,0,0,0,0
$GC,6382,1.19,116.8,283.0,11.9,303,6386,0.00,2.45,0.00,0.000,6,0.000,0.027,3396,1802,2136,0,0,0,0,0,0
$GC,6698,1.19,116.8,253.1,9.3,318,6702,0.00,2.53,0.00,0.000,4,0.000,0.041,3396,3207,2136,0,0,0,0,0,0
$GC,6744,1.19,116.8,248.6,8.9,320,6749,0.00,2.58,0.00,0.000,6,0.000,0.048,3396,1807,2136,0,0,0,0,0,0
$GC,7069,1.19,116.8,219.9,8.5,336,7074,0.00,2.65,0.00,0.000,4,0.000,0.058,3396,389,2135,0,0,0,0,0,0
$GC,7091,1.19,116.8,217.9,10.1,337,7096,0.00,2.47,0.00,0.000,6,0.000,0.026,3396,1802,2133,0,0,0,0,0,0
$GC,7415,1.19,116.8,191.7,8.3,357,7419,0.00,2.62,0.00,0.000,4,0.000,0.056,3396,392,2133,0,0,0,0,0,0
$GC,7430,1.19,116.8,190.1,9.2,358,7435,0.00,2.47,0.00,0.000,6,0.000,0.025,3396,1810,2133,0,0,0,0,0,0
$GC,7694,1.19,116.8,164.2,10.6,382,7695,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1815,2133,0,0,0,0,0,0
$GC,7946,1.31,210.7,146.1,3.7,406,8032,0.10,0.00,77.10,0.602,6,0.074,0.000,3431,1815,1775,0,0,0,0,0,0
$GC,8287,1.31,210.7,112.6,11.9,439,8292,0.00,2.67,0.00,0.000,4,0.000,0.054,3431,392,1769,0,0,0,0,0,0
$GC,8325,1.31,210.7,107.4,13.9,442,8331,0.00,2.50,0.00,0.000,6,0.000,0.023,3431,1807,1766,0,0,0,0,0,0
$GC,8590,1.31,210.7,78.4,10.1,467,8594,0.00,2.65,0.00,0.000,4,0.000,0.052,3431,392,1767,0,0,0,0,0,0
$GC,8671,1.31,210.7,69.2,10.0,475,8678,0.00,2.45,0.00,0.000,6,0.000,0.021,3431,1800,1764,0,0,0,0,0,0
$GC,8934,1.31,210.7,46.7,8.8,500,8938,0.00,2.62,0.00,0.000,4,0.000,0.050,3431,389,1764,0,0,0,0,0,0
$GC,8951,1.31,210.7,45.2,8.6,501,8955,0.00,2.45,0.00,0.000,6,0.000,0.021,3431,1809,1764,0,0,0,0,0,0
$GC,9214,1.33,223.0,24.0,7.5,532,9226,0.00,0.00,10.38,0.433,6,0.000,0.000,3431,1814,1724,0,0,0,0,0,0
$GC,9423,1.33,227.5,7.1,7.8,570,9435,0.00,2.67,5.28,0.355,4,0.000,0.048,3431,392,1706,0,0,0,0,0,0
$GC,9469,1.33,227.5,3.0,9.1,579,9476,0.00,2.42,0.00,0.000,6,0.000,0.019,3431,1794,1704,0,0,0,0,0,0
$STATE,9482,end climb,SURFACE_DEPTH_REACHED
$STATE,9482,begin surface coast
$FINISH,1.1,1.015860
$STATE,9515,end surface coast,CONTROL_FINISHED_OK
$STATE,9515,begin surface
$SM_CCo,9539,54.10,0.458,0,0,1288,330.17
$SM_GC,1.97,0.00,0.00,54.10,0.000,0.000,0.458,428,2144,1288,-12.46,1.22,330.17
$IRIDIUM_FIX,2031.77,-15750.97,110800,040407
$TT8_MAMPS,0.029146
$HUMID,58.89
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,20.50
$XPDR_PINGS,10
$24V_AH,23.5,30.786
$10V_AH,10.5,29.128
$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,28.500,111.875,287.675,54.100,0.000,27.768,36.677,195.747,7.000,0.000,15.868,1085.889,6352.019,433.253,1599.487,509.086,33.348,1126.160,0.000,1591.638,0.000,29.244,0.000
$DEVICE_MAMPS,133.458,59.059,820.690,457.899,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,396.863,391.344,852.785,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355864
$DATA_FILE_SIZE,31838,587
$CAP_FILE_SIZE,99015,0
$CFSIZE,260165632,238206976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180511,095607,2039.544,-15753.156,38,1.1,38,9.7