version: 66.06
glider: 139
mission: 9
dive: 383
start: 5 18 111 10 3 19
data:
$ID,139
$MISSION,9
$DIVE,383
$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,-2183870.8
$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,19
$R_STBD_OVSHOOT,79
$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
$GPS1,095607,2039.544,-15753.156,38,1.1,38,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-75.2
$GPS2,100226,2039.565,-15753.095,17,1.1,17,9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.167,0.146
$KALMAN_X,6839.8,-246.6,134.6,-3967.3,1807.0
$KALMAN_Y,-5745.2,353.2,115.0,10716.3,-1431.8
$MHEAD_RNG_PITCHd_Wd,301.6,55488,-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,-64.18,0.000,2,0.000,0.000,428,2143,2956,0,0,0,0,0,0
$GC,86,-1.19,-116.8,3.0,-3.3,12,110,13.12,2.67,-3.22,0.000,4,0.136,0.051,2867,681,3114,0,0,0,0,0,0
$GC,288,-1.19,-116.8,48.7,-19.2,46,293,0.00,2.35,0.00,0.000,6,0.000,0.021,2867,2058,3116,0,0,0,0,0,0
$GC,550,-1.19,-116.8,93.2,-15.5,70,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2058,3116,0,0,0,0,0,0
$GC,804,-1.19,-116.8,129.3,-14.4,94,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2059,3116,0,0,0,0,0,0
$GC,1060,-1.19,-116.8,158.9,-9.7,118,1064,0.00,2.47,0.00,0.000,4,0.000,0.041,2867,677,3118,0,0,0,0,0,0
$GC,1131,-1.19,-116.8,165.7,-10.5,125,1136,0.00,2.42,0.00,0.000,6,0.000,0.020,2867,2103,3118,0,0,0,0,0,0
$GC,1396,-1.19,-116.8,192.3,-9.8,149,1401,0.00,2.53,0.00,0.000,4,0.000,0.042,2867,680,3119,0,0,0,0,0,0
$GC,1412,-1.19,-116.8,194.1,-9.3,150,1416,0.00,2.40,0.00,0.000,6,0.000,0.021,2867,2100,3119,0,0,0,0,0,0
$GC,1678,-1.19,-116.8,214.8,-7.6,166,1682,0.00,2.55,0.00,0.000,4,0.000,0.043,2867,679,3119,0,0,0,0,0,0
$GC,1725,-1.19,-116.8,218.9,-9.0,168,1729,0.00,2.42,0.00,0.000,6,0.000,0.021,2867,2099,3119,0,0,0,0,0,0
$GC,2051,-1.19,-116.8,245.9,-9.3,184,2055,0.00,2.58,0.00,0.000,4,0.000,0.044,2867,681,3119,0,0,0,0,0,0
$GC,2125,-1.19,-116.8,253.1,-10.0,187,2129,0.00,2.42,0.00,0.000,6,0.000,0.022,2867,2101,3119,0,0,0,0,0,0
$GC,2448,-1.19,-116.8,280.7,-7.5,203,2449,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2102,3118,0,0,0,0,0,0
$GC,2775,-1.19,-116.8,306.2,-7.5,217,2779,0.00,2.55,0.00,0.000,4,0.000,0.046,2867,679,3117,0,0,0,0,0,0
$GC,2836,-1.19,-116.8,311.2,-8.2,218,2840,0.00,2.45,0.00,0.000,6,0.000,0.025,2867,2101,3117,0,0,0,0,0,0
$GC,3188,-1.19,-116.8,337.9,-7.2,227,3192,0.00,2.55,0.00,0.000,4,0.000,0.048,2867,682,3116,0,0,0,0,0,0
$GC,3203,-1.19,-116.8,339.1,-7.0,227,3207,0.00,2.45,0.00,0.000,6,0.000,0.025,2867,2100,3116,0,0,0,0,0,0
$GC,3553,-1.19,-116.8,364.7,-7.3,236,3557,0.00,2.55,0.00,0.000,4,0.000,0.049,2867,686,3113,0,0,0,0,0,0
$GC,3572,-1.19,-116.8,366.2,-7.5,236,3576,0.00,2.45,0.00,0.000,6,0.000,0.026,2867,2106,3113,0,0,0,0,0,0
$GC,3919,-1.19,-116.8,391.4,-7.6,245,3924,0.00,2.58,0.00,0.000,4,0.000,0.050,2867,687,3111,0,0,0,0,0,0
$GC,3938,-1.19,-116.8,393.0,-7.3,245,3943,0.00,2.47,0.00,0.000,6,0.000,0.027,2867,2108,3110,0,0,0,0,0,0
$GC,4285,-1.19,-116.8,417.8,-7.4,254,4290,0.00,2.58,0.00,0.000,4,0.000,0.050,2866,684,3108,0,0,0,0,0,0
$GC,4310,-1.19,-116.8,420.0,-9.2,254,4315,0.00,2.45,0.00,0.000,6,0.000,0.028,2867,2099,3107,0,0,0,0,0,0
$GC,4652,-1.19,-116.8,447.6,-8.0,263,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2101,3106,0,0,0,0,0,0
$STATE,4688,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4689,begin apogee
$GC,4696,-0.31,0.0,450.7,7.9,264,4794,0.95,0.00,94.93,0.817,6,0.082,0.000,3065,1788,2635,0,0,0,0,0,0
$STATE,4795,end apogee,CONTROL_FINISHED_OK
$STATE,4795,begin climb
$GC,4798,1.19,116.8,452.7,0.0,266,4903,1.52,0.00,101.05,0.798,6,0.053,0.000,3400,1788,2158,0,0,0,0,0,0
$GC,5217,1.19,116.8,404.5,12.3,277,5218,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1788,2147,0,0,0,0,0,0
$GC,5541,1.19,116.8,367.9,11.0,285,5543,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1789,2144,0,0,0,0,0,0
$GC,5867,1.19,116.8,332.1,11.3,293,5871,0.00,2.60,0.00,0.000,4,0.000,0.060,3399,404,2141,0,0,0,0,0,0
$GC,5900,1.19,116.8,327.5,13.9,293,5904,0.00,2.47,0.00,0.000,6,0.000,0.027,3399,1805,2139,0,0,0,0,0,0
$GC,6211,1.19,116.8,293.5,10.3,302,6213,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1808,2139,0,0,0,0,0,0
$GC,6522,1.19,116.8,263.9,9.7,317,6527,0.00,2.62,0.00,0.000,4,0.000,0.059,3399,404,2137,0,0,0,0,0,0
$GC,6560,1.19,116.8,259.7,10.3,318,6567,0.00,2.47,0.00,0.000,6,0.000,0.027,3399,1800,2135,0,0,0,0,0,0
$GC,6875,1.19,116.8,230.9,8.7,334,6876,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,1803,2135,0,0,0,0,0,0
$GC,7186,1.19,116.8,203.3,8.3,349,7191,0.00,2.53,0.00,0.000,4,0.000,0.039,3399,3213,2134,0,0,0,0,0,0
$GC,7232,1.19,116.8,199.5,8.0,351,7237,0.00,2.55,0.00,0.000,6,0.000,0.044,3399,1808,2134,0,0,0,0,0,0
$GC,7497,1.20,120.4,179.7,7.9,375,7502,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1808,2134,0,0,0,0,0,0
$GC,7758,1.20,120.4,155.0,10.4,400,7763,0.00,2.60,0.00,0.000,4,0.000,0.056,3399,395,2134,0,0,0,0,0,0
$GC,7786,1.20,120.4,151.7,12.4,402,7793,0.00,2.47,0.00,0.000,6,0.000,0.024,3399,1803,2133,0,0,0,0,0,0
$GC,8051,1.24,150.1,129.7,6.7,427,8086,0.00,2.72,25.42,0.575,4,0.000,0.054,3399,397,2021,0,0,0,0,0,0
$GC,8092,1.24,156.5,126.3,7.7,431,8109,0.00,2.45,6.97,0.478,6,0.000,0.023,3400,1806,1996,0,0,0,0,0,0
$GC,8363,1.24,156.5,104.4,8.2,457,8367,0.00,2.47,0.00,0.000,4,0.000,0.032,3399,3198,1993,0,0,0,0,0,0
$GC,8390,1.24,156.5,102.2,8.8,459,8394,0.00,2.55,0.00,0.000,6,0.000,0.040,3400,1802,1994,0,0,0,0,0,0
$GC,8655,1.24,156.9,82.2,8.0,483,8659,0.00,2.60,0.00,0.000,4,0.000,0.058,3399,389,1993,0,0,0,0,0,0
$GC,8716,1.24,156.9,76.7,9.5,489,8721,0.00,2.45,0.00,0.000,6,0.000,0.021,3399,1804,1991,0,0,0,0,0,0
$GC,8981,1.28,186.4,58.0,6.7,513,9014,0.00,2.70,26.52,0.502,4,0.000,0.051,3399,398,1873,0,0,0,0,0,0
$GC,9059,1.28,186.4,51.8,8.7,521,9065,0.00,2.45,0.00,0.000,6,0.000,0.020,3399,1802,1869,0,0,0,0,0,0
$GC,9323,1.35,240.0,36.2,5.6,546,9376,0.12,2.67,45.83,0.488,4,0.060,0.052,3443,392,1655,0,0,0,0,0,0
$GC,9416,1.35,240.0,28.1,10.4,557,9422,0.00,2.47,0.00,0.000,6,0.000,0.020,3444,1805,1651,0,0,0,0,0,0
$GC,9619,1.35,240.0,9.6,9.3,594,9625,0.00,2.65,0.00,0.000,4,0.000,0.050,3444,398,1649,0,0,0,0,0,0
$GC,9663,1.35,240.0,5.3,10.5,603,9670,0.00,2.42,0.00,0.000,6,0.000,0.019,3444,1795,1648,0,0,0,0,0,0
$STATE,9685,end climb,SURFACE_DEPTH_REACHED
$STATE,9685,begin surface coast
$FINISH,0.9,0.998037
$STATE,9712,end surface coast,CONTROL_FINISHED_OK
$STATE,9713,begin surface
$SM_CCo,9737,46.20,0.452,0,0,1288,330.17
$SM_GC,1.78,0.00,0.00,46.20,0.000,0.000,0.452,432,2148,1288,-12.44,1.36,330.17
$IRIDIUM_FIX,2029.47,-15750.97,110800,070722
$TT8_MAMPS,0.029146
$HUMID,58.30
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,20.70
$XPDR_PINGS,4
$24V_AH,23.1,30.867
$10V_AH,10.4,29.205
$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,28.700,101.875,300.725,46.200,0.000,28.253,34.351,191.034,5.500,0.000,17.087,1105.708,6559.351,435.672,1577.172,486.156,33.343,1102.318,0.000,1558.940,0.000,29.243,0.000
$DEVICE_MAMPS,135.759,59.826,816.855,451.763,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,413.863,404.522,897.783,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355808
$DATA_FILE_SIZE,34956,612
$CAP_FILE_SIZE,95974,0
$CFSIZE,260165632,238157824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180511,124737,2039.517,-15752.887,35,1.3,35,9.7