version: 66.06
glider: 139
mission: 9
dive: 384
start: 5 18 111 12 55 17
data:
$ID,139
$MISSION,9
$DIVE,384
$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,-2183905
$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,83
$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
$GPS1,124737,2039.517,-15752.887,35,1.3,35,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-76.6
$GPS2,125425,2039.523,-15752.810,16,1.3,33,9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.185,0.122
$KALMAN_X,9346.4,-474.8,228.5,-5844.2,2294.7
$KALMAN_Y,-7616.0,670.0,-51.5,12362.3,-2096.3
$MHEAD_RNG_PITCHd_Wd,293.7,55701,-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,-64.50,0.000,2,0.000,0.000,431,2149,2954,0,0,0,0,0,0
$GC,86,-1.19,-116.8,3.0,-3.5,12,111,13.07,2.38,-3.28,0.000,4,0.134,0.046,2869,3460,3114,0,0,0,0,0,0
$GC,306,-1.19,-116.8,49.4,-17.1,49,311,0.00,2.42,0.00,0.000,6,0.000,0.034,2869,2088,3116,0,0,0,0,0,0
$GC,570,-1.19,-116.8,92.1,-15.5,73,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2088,3117,0,0,0,0,0,0
$GC,825,-1.19,-116.8,127.3,-12.0,97,829,0.00,2.40,0.00,0.000,4,0.000,0.032,2869,3461,3117,0,0,0,0,0,0
$GC,878,-1.19,-116.8,132.8,-9.5,102,882,0.00,2.38,0.00,0.000,6,0.000,0.031,2869,2098,3118,0,0,0,0,0,0
$GC,1141,-1.19,-116.8,155.6,-9.9,126,1145,0.00,2.53,0.00,0.000,4,0.000,0.043,2869,690,3118,0,0,0,0,0,0
$GC,1202,-1.19,-116.8,162.2,-9.9,132,1206,0.00,2.33,0.00,0.000,6,0.000,0.020,2869,2059,3118,0,0,0,0,0,0
$GC,1465,-1.19,-116.8,186.1,-9.2,156,1469,0.00,2.45,0.00,0.000,4,0.000,0.043,2869,683,3119,0,0,0,0,0,0
$GC,1520,-1.19,-116.8,191.7,-9.3,161,1525,0.00,2.42,0.00,0.000,6,0.000,0.021,2869,2107,3119,0,0,0,0,0,0
$GC,1778,-1.19,-116.8,212.9,-8.9,179,1779,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2107,3119,0,0,0,0,0,0
$GC,2088,-1.19,-116.8,241.9,-9.5,194,2093,0.00,2.50,0.00,0.000,4,0.000,0.040,2869,3498,3119,0,0,0,0,0,0
$GC,2144,-1.19,-116.8,248.2,-10.7,196,2148,0.00,2.45,0.00,0.000,6,0.000,0.035,2869,2099,3119,0,0,0,0,0,0
$GC,2461,-1.19,-116.8,275.6,-8.5,211,2465,0.00,2.50,0.00,0.000,4,0.000,0.039,2869,3498,3118,0,0,0,0,0,0
$GC,2518,-1.19,-116.8,280.1,-6.9,213,2522,0.00,2.47,0.00,0.000,6,0.000,0.036,2869,2089,3118,0,0,0,0,0,0
$GC,2834,-1.19,-116.8,300.0,-6.0,228,2839,0.00,2.53,0.00,0.000,4,0.000,0.047,2869,693,3117,0,0,0,0,0,0
$GC,2876,-1.19,-116.8,302.8,-6.6,229,2882,0.00,2.42,0.00,0.000,6,0.000,0.023,2869,2104,3116,0,0,0,0,0,0
$GC,3208,-1.19,-116.8,327.7,-8.3,238,3212,0.00,2.53,0.00,0.000,4,0.000,0.044,2869,3498,3115,0,0,0,0,0,0
$GC,3227,-1.19,-116.8,329.3,-7.8,238,3232,0.00,2.50,0.00,0.000,6,0.000,0.040,2869,2104,3115,0,0,0,0,0,0
$GC,3572,-1.19,-116.8,358.1,-8.3,247,3577,0.00,2.58,0.00,0.000,4,0.000,0.050,2869,691,3113,0,0,0,0,0,0
$GC,3629,-1.19,-116.8,362.9,-9.4,248,3633,0.00,2.45,0.00,0.000,6,0.000,0.026,2869,2107,3113,0,0,0,0,0,0
$GC,3944,-1.19,-116.8,387.6,-7.7,256,3949,0.00,2.58,0.00,0.000,4,0.000,0.050,2869,691,3110,0,0,0,0,0,0
$GC,3958,-1.19,-116.8,389.0,-8.1,256,3963,0.00,2.45,0.00,0.000,6,0.000,0.027,2869,2099,3110,0,0,0,0,0,0
$GC,4309,-1.19,-116.8,416.4,-6.9,265,4314,0.00,2.60,0.00,0.000,4,0.000,0.050,2869,3506,3108,0,0,0,0,0,0
$GC,4329,-1.19,-116.8,417.8,-7.2,265,4333,0.00,2.55,0.00,0.000,6,0.000,0.044,2869,2096,3108,0,0,0,0,0,0
$GC,4674,-1.19,-116.8,439.5,-6.5,274,4676,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2096,3106,0,0,0,0,0,0
$STATE,4833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4834,begin apogee
$GC,4840,-0.31,0.0,451.1,7.1,278,4939,0.95,0.00,94.72,0.818,6,0.082,0.000,3066,1792,2634,0,0,0,0,0,0
$STATE,4939,end apogee,CONTROL_FINISHED_OK
$STATE,4940,begin climb
$GC,4942,1.19,116.8,453.3,0.0,280,5055,1.48,2.67,99.82,0.797,4,0.054,0.060,3393,405,2157,0,0,0,0,0,0
$GC,5061,1.19,116.8,444.3,11.3,282,5065,0.00,2.50,0.00,0.000,6,0.000,0.025,3393,1806,2154,0,0,0,0,0,0
$GC,5392,1.19,116.8,405.9,11.1,290,5396,0.00,2.55,0.00,0.000,4,0.000,0.043,3393,3210,2146,0,0,0,0,0,0
$GC,5406,1.19,116.8,404.1,11.0,290,5411,0.00,2.62,0.00,0.000,6,0.000,0.047,3393,1804,2146,0,0,0,0,0,0
$GC,5756,1.19,116.8,367.1,11.1,299,5758,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1804,2143,0,0,0,0,0,0
$GC,6081,1.19,116.8,331.8,10.7,307,6086,0.00,2.65,0.00,0.000,4,0.000,0.059,3393,394,2140,0,0,0,0,0,0
$GC,6115,1.19,116.8,327.6,12.7,307,6119,0.00,2.45,0.00,0.000,6,0.000,0.027,3394,1800,2138,0,0,0,0,0,0
$GC,6427,1.19,116.8,294.6,10.5,315,6429,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1802,2138,0,0,0,0,0,0
$GC,6735,1.19,116.8,266.1,8.6,330,6736,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1802,2136,0,0,0,0,0,0
$GC,7046,1.19,116.8,236.6,10.4,345,7050,0.00,2.50,0.00,0.000,4,0.000,0.041,3394,3204,2135,0,0,0,0,0,0
$GC,7060,1.19,116.8,234.9,10.4,345,7066,0.00,2.58,0.00,0.000,6,0.000,0.044,3393,1801,2135,0,0,0,0,0,0
$GC,7377,1.19,116.8,203.9,9.4,361,7378,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1801,2135,0,0,0,0,0,0
$GC,7693,1.20,122.4,178.1,7.8,388,7698,0.00,2.53,0.00,0.000,4,0.000,0.037,3393,3208,2134,0,0,0,0,0,0
$GC,7728,1.22,138.3,175.6,7.3,391,7750,0.00,2.58,15.77,0.595,6,0.000,0.043,3393,1802,2070,0,0,0,0,0,0
$GC,8012,1.22,138.3,154.0,8.7,418,8016,0.00,2.60,0.00,0.000,4,0.000,0.056,3393,392,2066,0,0,0,0,0,0
$GC,8048,1.22,138.3,150.5,9.8,421,8054,0.00,2.47,0.00,0.000,6,0.000,0.024,3393,1806,2064,0,0,0,0,0,0
$GC,8312,1.22,138.3,128.1,8.6,446,8316,0.00,2.62,0.00,0.000,4,0.000,0.054,3393,392,2064,0,0,0,0,0,0
$GC,8376,1.22,138.3,122.4,8.1,452,8383,0.00,2.47,0.00,0.000,6,0.000,0.023,3394,1800,2063,0,0,0,0,0,0
$GC,8641,1.29,195.8,105.9,5.4,477,8698,0.10,0.00,50.08,0.558,6,0.073,0.000,3430,1804,1835,0,0,0,0,0,0
$GC,8953,1.29,195.8,73.4,10.6,507,8957,0.00,2.50,0.00,0.000,4,0.000,0.031,3430,3211,1831,0,0,0,0,0,0
$GC,8989,1.29,195.8,69.3,10.3,510,8996,0.00,2.60,0.00,0.000,6,0.000,0.038,3430,1801,1830,0,0,0,0,0,0
$GC,9254,1.35,240.3,46.1,6.0,535,9298,0.00,2.65,37.62,0.499,4,0.000,0.052,3430,388,1655,0,0,0,0,0,0
$GC,9348,1.35,240.3,39.9,8.2,544,9352,0.00,2.47,0.00,0.000,6,0.000,0.021,3430,1808,1649,0,0,0,0,0,0
$GC,9612,1.35,240.3,19.5,8.4,580,9618,0.00,2.67,0.00,0.000,4,0.000,0.051,3429,391,1649,0,0,0,0,0,0
$GC,9656,1.35,240.3,14.9,10.9,589,9662,0.00,2.45,0.00,0.000,6,0.000,0.020,3430,1800,1647,0,0,0,0,0,0
$STATE,9788,end climb,SURFACE_DEPTH_REACHED
$STATE,9788,begin surface coast
$FINISH,1.0,0.999378
$STATE,9824,end surface coast,CONTROL_FINISHED_OK
$STATE,9824,begin surface
$SM_CCo,9848,47.22,0.456,0,0,1288,330.17
$SM_GC,1.73,0.00,0.00,47.22,0.000,0.000,0.456,431,2157,1288,-12.45,1.53,330.17
$IRIDIUM_FIX,2029.47,-15750.97,110800,101049
$TT8_MAMPS,0.029146
$HUMID,59.52
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,20.30
$XPDR_PINGS,2
$24V_AH,23.5,30.950
$10V_AH,10.4,29.283
$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,28.475,106.575,298.025,47.225,0.000,27.766,34.715,204.664,5.000,0.000,33.474,1114.758,6613.740,404.590,1650.562,521.558,33.346,1115.577,0.000,1625.773,0.000,29.256,0.000
$DEVICE_MAMPS,134.225,59.826,817.622,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,418.980,416.505,897.772,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355864
$DATA_FILE_SIZE,34924,619
$CAP_FILE_SIZE,98612,0
$CFSIZE,260165632,238108672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180511,154122,2039.458,-15753.095,10,2.6,29,9.7