version: 66.06
glider: 139
mission: 9
dive: 388
start: 5 19 111 0 38 49
data:
$ID,139
$MISSION,9
$DIVE,388
$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,-2184003.8
$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,17
$R_STBD_OVSHOOT,76
$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
$GPS1,003137,2039.296,-15753.920,36,0.8,36,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-76.4
$GPS2,003756,2039.294,-15753.896,13,1.4,13,9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.177,0.133
$KALMAN_X,15938.6,25.8,183.5,-14765.5,1985.9
$KALMAN_Y,-11216.2,-144.9,132.9,16158.6,-1472.9
$MHEAD_RNG_PITCHd_Wd,297.1,55601,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-69.28,0.000,6,0.000,0.000,426,2132,3112,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.8,-5.0,13,111,13.15,2.38,0.00,0.000,4,0.135,0.033,2870,3467,3114,0,0,0,0,0,0
$GC,327,-1.19,-116.8,56.9,-17.5,50,333,0.00,2.47,0.00,0.000,6,0.000,0.037,2871,2100,3116,0,0,0,0,0,0
$GC,590,-1.19,-116.8,96.2,-13.9,75,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2100,3117,0,0,0,0,0,0
$GC,843,-1.19,-116.8,129.6,-12.2,99,848,0.00,2.58,0.00,0.000,4,0.000,0.042,2870,679,3117,0,0,0,0,0,0
$GC,936,-1.19,-116.8,142.1,-13.2,108,943,0.00,2.38,0.00,0.000,6,0.000,0.020,2871,2064,3118,0,0,0,0,0,0
$GC,1201,-1.19,-116.8,169.7,-8.1,133,1205,0.00,2.53,0.00,0.000,4,0.000,0.036,2871,3499,3118,0,0,0,0,0,0
$GC,1382,-1.19,-116.8,188.4,-9.6,152,1389,0.00,2.47,0.00,0.000,6,0.000,0.032,2871,2100,3118,0,0,0,0,0,0
$GC,1651,-1.19,-116.8,214.7,-9.4,171,1655,0.00,2.47,0.00,0.000,4,0.000,0.036,2870,3497,3118,0,0,0,0,0,0
$GC,1702,-1.19,-116.8,219.7,-9.8,173,1707,0.00,2.47,0.00,0.000,6,0.000,0.035,2871,2086,3118,0,0,0,0,0,0
$GC,2029,-1.19,-116.8,248.7,-10.8,189,2033,0.00,2.50,0.00,0.000,4,0.000,0.045,2870,687,3118,0,0,0,0,0,0
$GC,2063,-1.19,-116.8,252.8,-12.1,190,2068,0.00,2.42,0.00,0.000,6,0.000,0.021,2871,2105,3119,0,0,0,0,0,0
$GC,2380,-1.19,-116.8,286.4,-9.4,205,2385,0.00,2.53,0.00,0.000,4,0.000,0.044,2870,688,3118,0,0,0,0,0,0
$GC,2404,-1.19,-116.8,288.8,-9.8,206,2408,0.00,2.42,0.00,0.000,6,0.000,0.023,2870,2102,3117,0,0,0,0,0,0
$GC,2727,-1.19,-116.8,312.3,-6.9,218,2731,0.00,2.53,0.00,0.000,4,0.000,0.044,2870,3498,3117,0,0,0,0,0,0
$GC,2870,-1.19,-116.8,323.3,-7.6,221,2874,0.00,2.50,0.00,0.000,6,0.000,0.038,2870,2100,3117,0,0,0,0,0,0
$GC,3189,-1.19,-116.8,347.0,-7.7,229,3193,0.00,2.60,0.00,0.000,4,0.000,0.049,2870,684,3115,0,0,0,0,0,0
$GC,3328,-1.19,-116.8,359.6,-9.0,232,3332,0.00,2.45,0.00,0.000,6,0.000,0.025,2870,2099,3115,0,0,0,0,0,0
$GC,3653,-1.19,-116.8,383.1,-7.1,240,3654,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2100,3113,0,0,0,0,0,0
$GC,3976,-1.19,-116.8,407.4,-7.8,248,3980,0.00,2.58,0.00,0.000,4,0.000,0.051,2870,3497,3110,0,0,0,0,0,0
$GC,4041,-1.19,-116.8,413.4,-9.2,249,4046,0.00,2.53,0.00,0.000,6,0.000,0.044,2870,2100,3110,0,0,0,0,0,0
$GC,4388,-1.19,-116.8,440.1,-7.2,258,4389,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2099,3107,0,0,0,0,0,0
$STATE,4546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4546,begin apogee
$GC,4553,-0.31,0.0,450.7,6.6,262,4652,0.95,0.00,95.30,0.812,6,0.081,0.000,3068,1794,2635,0,0,0,0,0,0
$STATE,4653,end apogee,CONTROL_FINISHED_OK
$STATE,4653,begin climb
$GC,4656,1.19,116.8,451.8,0.0,264,4762,1.48,0.00,100.97,0.792,6,0.052,0.000,3396,1795,2158,0,0,0,0,0,0
$GC,5066,1.19,116.8,403.0,12.6,274,5067,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1794,2147,0,0,0,0,0,0
$GC,5389,1.19,116.8,363.7,12.1,282,5390,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1795,2143,0,0,0,0,0,0
$GC,5714,1.19,116.8,325.4,11.9,290,5718,0.00,2.60,0.00,0.000,4,0.000,0.061,3396,403,2141,0,0,0,0,0,0
$GC,5761,1.19,116.8,319.5,12.8,291,5766,0.00,2.45,0.00,0.000,6,0.000,0.026,3396,1798,2138,0,0,0,0,0,0
$GC,6086,1.19,116.8,288.7,8.6,302,6090,0.00,2.55,0.00,0.000,4,0.000,0.042,3397,3208,2138,0,0,0,0,0,0
$GC,6142,1.19,116.8,283.7,8.9,304,6147,0.00,2.60,0.00,0.000,6,0.000,0.048,3396,1809,2137,0,0,0,0,0,0
$GC,6459,1.19,116.8,256.3,9.5,319,6460,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1809,2136,0,0,0,0,0,0
$GC,6767,1.19,116.8,225.2,10.7,334,6768,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1809,2135,0,0,0,0,0,0
$GC,7079,1.19,116.8,195.0,9.0,351,7080,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1809,2134,0,0,0,0,0,0
$GC,7334,1.20,123.7,175.2,7.7,375,7338,0.00,2.53,0.00,0.000,4,0.000,0.038,3396,3207,2134,0,0,0,0,0,0
$GC,7354,1.21,130.2,173.6,7.7,376,7369,0.00,2.60,8.52,0.541,6,0.000,0.042,3396,1799,2104,0,0,0,0,0,0
$GC,7624,1.21,130.2,149.4,9.7,402,7628,0.00,2.60,0.00,0.000,4,0.000,0.055,3396,388,2102,0,0,0,0,0,0
$GC,7653,1.21,130.2,146.4,9.9,404,7659,0.00,2.47,0.00,0.000,6,0.000,0.023,3396,1805,2100,0,0,0,0,0,0
$GC,7917,1.22,134.2,125.0,7.8,429,7924,0.00,0.00,4.85,0.421,6,0.000,0.000,3396,1809,2087,0,0,0,0,0,0
$GC,8181,1.26,168.0,107.1,6.5,454,8219,0.00,2.70,30.67,0.554,4,0.000,0.053,3396,390,1948,0,0,0,0,0,0
$GC,8281,1.26,168.0,98.8,8.8,464,8287,0.00,2.47,0.00,0.000,6,0.000,0.021,3396,1798,1944,0,0,0,0,0,0
$GC,8546,1.29,193.3,81.1,6.9,489,8575,0.00,2.53,22.12,0.517,4,0.000,0.031,3396,3203,1846,0,0,0,0,0,0
$GC,8607,1.29,193.3,76.1,8.6,495,8614,0.00,2.60,0.00,0.000,6,0.000,0.039,3396,1801,1846,0,0,0,0,0,0
$GC,8872,1.32,219.5,58.0,6.8,520,8903,0.12,2.65,23.75,0.495,4,0.061,0.051,3439,385,1738,0,0,0,0,0,0
$GC,9029,1.32,219.5,42.8,8.9,537,9033,0.00,2.42,0.00,0.000,6,0.000,0.020,3439,1801,1732,0,0,0,0,0,0
$GC,9293,1.32,219.5,20.5,9.0,571,9300,0.00,2.47,0.00,0.000,4,0.000,0.028,3439,3200,1732,0,0,0,0,0,0
$GC,9316,1.32,219.5,18.4,9.2,575,9323,0.00,2.55,0.00,0.000,6,0.000,0.035,3439,1803,1732,0,0,0,0,0,0
$STATE,9496,end climb,SURFACE_DEPTH_REACHED
$STATE,9496,begin surface coast
$FINISH,1.0,1.012145
$STATE,9535,end surface coast,CONTROL_FINISHED_OK
$STATE,9535,begin surface
$SM_CCo,9559,57.33,0.455,0,0,1288,330.17
$SM_GC,1.81,0.00,0.00,57.33,0.000,0.000,0.455,429,2145,1288,-12.46,1.24,330.17
$IRIDIUM_FIX,2029.47,-15755.23,110800,212114
$TT8_MAMPS,0.028379
$HUMID,58.58
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,20.80
$XPDR_PINGS,3
$24V_AH,23.5,31.288
$10V_AH,10.4,29.600
$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,28.625,86.650,286.200,57.325,0.000,22.940,32.513,199.196,5.250,0.000,13.671,1116.425,6265.846,414.573,1703.800,496.290,33.352,1126.249,0.000,1687.146,0.000,29.254,0.000
$DEVICE_MAMPS,134.992,60.593,812.253,454.831,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,415.804,407.921,902.798,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355808
$DATA_FILE_SIZE,35025,615
$CAP_FILE_SIZE,94224,0
$CFSIZE,260165632,237912064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190511,032001,2039.433,-15753.840,10,1.8,15,9.7