version: 66.06
glider: 139
mission: 9
dive: 386
start: 5 18 111 18 49 1
data:
$ID,139
$MISSION,9
$DIVE,386
$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,-2183957.5
$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,16
$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
$GPS1,183737,2039.465,-15753.568,37,0.8,37,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-75.7
$GPS2,184808,2039.483,-15753.479,14,1.5,14,9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.212,0.063
$KALMAN_X,12775.3,-170.1,-415.5,-10081.8,2707.8
$KALMAN_Y,-9919.6,241.1,225.6,14731.3,-1868.8
$MHEAD_RNG_PITCHd_Wd,276.8,55452,-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,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,83,0.00,0.00,-64.45,0.000,2,0.000,0.000,425,2154,2964,0,0,0,0,0,0
$GC,86,-1.19,-116.8,3.0,-3.6,12,111,13.10,2.70,-3.05,0.000,4,0.134,0.053,2867,682,3114,0,0,0,0,0,0
$GC,287,-1.19,-116.8,50.4,-22.0,46,292,0.00,2.35,0.00,0.000,6,0.000,0.020,2868,2057,3115,0,0,0,0,0,0
$GC,555,-1.19,-116.8,97.4,-13.4,71,559,0.00,2.47,0.00,0.000,4,0.000,0.041,2868,682,3116,0,0,0,0,0,0
$GC,570,-1.19,-116.8,99.9,-14.1,72,575,0.00,2.40,0.00,0.000,6,0.000,0.020,2868,2103,3116,0,0,0,0,0,0
$GC,840,-1.19,-116.8,127.7,-8.8,97,844,0.00,2.55,0.00,0.000,4,0.000,0.041,2868,676,3117,0,0,0,0,0,0
$GC,985,-1.19,-116.8,143.4,-11.2,112,991,0.00,2.45,0.00,0.000,6,0.000,0.020,2868,2100,3117,0,0,0,0,0,0
$GC,1250,-1.19,-116.8,169.3,-10.5,137,1254,0.00,2.47,0.00,0.000,4,0.000,0.037,2868,3507,3118,0,0,0,0,0,0
$GC,1405,-1.19,-116.8,186.9,-10.7,153,1410,0.00,2.47,0.00,0.000,6,0.000,0.032,2868,2086,3117,0,0,0,0,0,0
$GC,1662,-1.19,-116.8,214.7,-11.1,172,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2086,3118,0,0,0,0,0,0
$GC,1973,-1.19,-116.8,241.6,-8.1,187,1978,0.00,2.50,0.00,0.000,4,0.000,0.044,2868,693,3118,0,0,0,0,0,0
$GC,2066,-1.19,-116.8,250.4,-9.2,191,2071,0.00,2.42,0.00,0.000,6,0.000,0.022,2868,2110,3117,0,0,0,0,0,0
$GC,2393,-1.19,-116.8,277.4,-7.9,207,2397,0.00,2.55,0.00,0.000,4,0.000,0.044,2867,694,3116,0,0,0,0,0,0
$GC,2437,-1.19,-116.8,281.7,-10.0,209,2441,0.00,2.40,0.00,0.000,6,0.000,0.023,2867,2105,3117,0,0,0,0,0,0
$GC,2786,-1.19,-116.8,310.8,-8.0,223,2790,0.00,2.50,0.00,0.000,4,0.000,0.044,2867,3498,3116,0,0,0,0,0,0
$GC,2945,-1.19,-116.8,325.1,-8.5,226,2949,0.00,2.47,0.00,0.000,6,0.000,0.039,2868,2100,3115,0,0,0,0,0,0
$GC,3290,-1.19,-116.8,349.5,-6.4,235,3291,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2100,3113,0,0,0,0,0,0
$GC,3617,-1.19,-116.8,371.2,-7.1,243,3621,0.00,2.58,0.00,0.000,4,0.000,0.045,2868,3498,3111,0,0,0,0,0,0
$GC,3641,-1.19,-116.8,373.0,-7.1,243,3645,0.00,2.53,0.00,0.000,6,0.000,0.041,2867,2094,3111,0,0,0,0,0,0
$GC,3982,-1.19,-116.8,396.5,-6.7,252,3986,0.00,2.58,0.00,0.000,4,0.000,0.051,2868,688,3108,0,0,0,0,0,0
$GC,3997,-1.19,-116.8,397.7,-6.6,252,4001,0.00,2.45,0.00,0.000,6,0.000,0.027,2867,2100,3108,0,0,0,0,0,0
$GC,4348,-1.19,-116.8,420.1,-6.2,261,4352,0.00,2.58,0.00,0.000,4,0.000,0.052,2867,685,3106,0,0,0,0,0,0
$GC,4409,-1.19,-116.8,424.3,-6.9,262,4413,0.00,2.45,0.00,0.000,6,0.000,0.028,2867,2103,3106,0,0,0,0,0,0
$GC,4759,-1.19,-116.8,446.8,-6.5,271,4764,0.00,2.58,0.00,0.000,4,0.000,0.053,2868,693,3103,0,0,0,0,0,0
$GC,4774,-1.19,-116.8,448.0,-6.9,271,4778,0.00,2.45,0.00,0.000,6,0.000,0.028,2867,2098,3102,0,0,0,0,0,0
$STATE,4838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4838,begin apogee
$GC,4845,-0.31,0.0,452.7,7.2,273,4943,0.95,0.00,94.40,0.824,6,0.082,0.000,3064,1788,2635,0,0,0,0,0,0
$STATE,4944,end apogee,CONTROL_FINISHED_OK
$STATE,4944,begin climb
$GC,4947,1.19,116.8,454.7,0.0,275,5053,1.52,0.00,101.50,0.804,6,0.053,0.000,3399,1788,2158,0,0,0,0,0,0
$GC,5365,1.19,116.8,410.0,11.8,286,5369,0.00,2.62,0.00,0.000,4,0.000,0.061,3399,405,2146,0,0,0,0,0,0
$GC,5388,1.19,116.8,406.6,13.4,286,5393,0.00,2.47,0.00,0.000,6,0.000,0.026,3399,1803,2144,0,0,0,0,0,0
$GC,5729,1.19,116.8,365.9,12.0,295,5733,0.00,2.55,0.00,0.000,4,0.000,0.044,3400,3203,2142,0,0,0,0,0,0
$GC,5758,1.19,116.8,362.2,12.5,295,5762,0.00,2.60,0.00,0.000,6,0.000,0.049,3399,1809,2142,0,0,0,0,0,0
$GC,6094,1.19,116.8,322.7,11.3,304,6095,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1809,2139,0,0,0,0,0,0
$GC,6401,1.19,116.8,292.5,9.7,313,6405,0.00,2.58,0.00,0.000,4,0.000,0.044,3399,3206,2139,0,0,0,0,0,0
$GC,6425,1.19,116.8,289.9,9.9,314,6429,0.00,2.62,0.00,0.000,6,0.000,0.048,3399,1793,2139,0,0,0,0,0,0
$GC,6749,1.19,116.8,258.5,9.8,330,6754,0.00,2.62,0.00,0.000,4,0.000,0.059,3399,390,2136,0,0,0,0,0,0
$GC,6764,1.19,116.8,257.0,9.3,330,6771,0.00,2.50,0.00,0.000,6,0.000,0.027,3399,1799,2135,0,0,0,0,0,0
$GC,7080,1.19,116.8,225.1,10.9,346,7084,0.00,2.53,0.00,0.000,4,0.000,0.040,3399,3203,2135,0,0,0,0,0,0
$GC,7101,1.19,116.8,222.8,11.7,347,7105,0.00,2.58,0.00,0.000,6,0.000,0.045,3399,1795,2135,0,0,0,0,0,0
$GC,7423,1.19,116.8,192.1,8.4,366,7424,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1795,2134,0,0,0,0,0,0
$GC,7677,1.19,116.8,170.3,8.7,390,7678,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1795,2134,0,0,0,0,0,0
$GC,7932,1.22,138.5,148.9,7.0,414,7954,0.00,2.62,15.52,0.577,4,0.000,0.035,3399,3203,2070,0,0,0,0,0,0
$GC,7983,1.24,152.1,145.5,7.4,419,8002,0.00,2.58,13.43,0.558,6,0.000,0.041,3399,1796,2014,0,0,0,0,0,0
$GC,8260,1.24,152.1,121.9,9.4,445,8261,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1796,2010,0,0,0,0,0,0
$GC,8514,1.30,200.8,103.0,5.8,469,8562,0.00,2.67,42.33,0.556,4,0.000,0.054,3399,390,1816,0,0,0,0,0,0
$GC,8634,1.31,206.8,94.1,7.7,482,8650,0.05,2.47,6.03,0.430,6,0.044,0.022,3430,1798,1790,0,0,0,0,0,0
$GC,8905,1.31,206.8,71.2,8.7,508,8910,0.00,2.62,0.00,0.000,4,0.000,0.051,3430,386,1789,0,0,0,0,0,0
$GC,8940,1.31,206.8,67.7,11.0,511,8945,0.00,2.45,0.00,0.000,6,0.000,0.021,3430,1800,1787,0,0,0,0,0,0
$GC,9205,1.32,215.4,46.2,7.6,535,9219,0.00,2.67,8.55,0.435,4,0.000,0.050,3430,389,1755,0,0,0,0,0,0
$GC,9236,1.32,221.4,43.6,7.7,538,9247,0.00,2.45,6.62,0.406,6,0.000,0.020,3430,1819,1731,0,0,0,0,0,0
$GC,9505,1.32,222.0,23.4,8.0,570,9511,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1819,1731,0,0,0,0,0,0
$GC,9709,1.32,222.5,7.3,8.0,607,9715,0.00,2.65,0.00,0.000,4,0.000,0.048,3430,395,1731,0,0,0,0,0,0
$GC,9731,1.32,222.5,5.4,8.3,611,9738,0.00,2.40,0.00,0.000,6,0.000,0.019,3431,1795,1729,0,0,0,0,0,0
$STATE,9760,end climb,SURFACE_DEPTH_REACHED
$STATE,9760,begin surface coast
$FINISH,1.0,1.008444
$STATE,9799,end surface coast,CONTROL_FINISHED_OK
$STATE,9799,begin surface
$SM_CCo,9823,56.20,0.455,0,0,1288,330.17
$SM_GC,1.86,0.00,0.00,56.20,0.000,0.000,0.455,431,2122,1288,-12.45,0.62,330.17
$IRIDIUM_FIX,2034.08,-15755.23,110800,181825
$TT8_MAMPS,0.029146
$HUMID,58.74
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,20.40
$XPDR_PINGS,5
$24V_AH,23.5,31.124
$10V_AH,10.4,29.442
$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,28.475,107.175,288.375,56.200,0.000,53.298,84.424,299.859,5.750,0.000,14.719,1139.524,6571.957,435.493,1670.647,695.022,33.350,1141.832,0.000,1660.029,0.000,29.256,0.000
$DEVICE_MAMPS,134.225,60.593,823.758,454.831,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,421.611,411.266,897.773,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355760
$DATA_FILE_SIZE,34894,623
$CAP_FILE_SIZE,104142,0
$CFSIZE,260165632,238006272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180511,213432,2039.390,-15753.813,12,1.8,12,9.7