version: 66.06
glider: 139
mission: 9
dive: 389
start: 5 19 111 3 27 7
data:
$ID,139
$MISSION,9
$DIVE,389
$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,-2184018.2
$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,20
$R_STBD_OVSHOOT,71
$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
$GPS1,032001,2039.433,-15753.840,10,1.8,15,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-75.9
$GPS2,032614,2039.421,-15753.800,13,1.8,13,9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.186,0.120
$KALMAN_X,18097.5,32.8,170.6,-16758.2,1955.8
$KALMAN_Y,-12136.7,-94.8,-244.0,17646.5,-848.7
$MHEAD_RNG_PITCHd_Wd,293.1,55417,-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,-64.35,0.000,2,0.000,0.000,429,2146,2958,0,0,0,0,0,0
$GC,86,-1.19,-116.8,3.0,-3.0,12,111,13.10,2.67,-3.20,0.000,4,0.134,0.054,2870,690,3115,0,0,0,0,0,0
$GC,244,-1.19,-116.8,42.8,-22.9,40,249,0.00,2.38,0.00,0.000,6,0.000,0.021,2870,2070,3116,0,0,0,0,0,0
$GC,506,-1.19,-116.8,87.0,-13.4,64,510,0.00,2.47,0.00,0.000,4,0.000,0.042,2871,685,3116,0,0,0,0,0,0
$GC,541,-1.19,-116.8,92.6,-17.0,67,545,0.00,2.40,0.00,0.000,6,0.000,0.021,2871,2099,3116,0,0,0,0,0,0
$GC,805,-1.19,-116.8,124.7,-11.8,91,809,0.00,2.55,0.00,0.000,4,0.000,0.041,2871,679,3117,0,0,0,0,0,0
$GC,824,-1.19,-116.8,127.3,-11.3,92,831,0.00,2.45,0.00,0.000,6,0.000,0.021,2871,2102,3117,0,0,0,0,0,0
$GC,1089,-1.19,-116.8,155.2,-9.5,117,1093,0.00,2.53,0.00,0.000,4,0.000,0.041,2871,680,3118,0,0,0,0,0,0
$GC,1104,-1.19,-116.8,157.2,-10.2,118,1109,0.00,2.42,0.00,0.000,6,0.000,0.021,2871,2101,3118,0,0,0,0,0,0
$GC,1365,-1.19,-116.8,182.4,-9.9,142,1370,0.00,2.55,0.00,0.000,4,0.000,0.043,2870,680,3119,0,0,0,0,0,0
$GC,1457,-1.19,-116.8,192.3,-10.4,151,1462,0.00,2.42,0.00,0.000,6,0.000,0.021,2871,2103,3119,0,0,0,0,0,0
$GC,1723,-1.19,-116.8,217.2,-9.0,168,1727,0.00,2.53,0.00,0.000,4,0.000,0.043,2870,684,3119,0,0,0,0,0,0
$GC,1759,-1.19,-116.8,221.0,-9.6,169,1765,0.00,2.42,0.00,0.000,6,0.000,0.021,2870,2103,3119,0,0,0,0,0,0
$GC,2078,-1.19,-116.8,247.8,-8.6,185,2082,0.00,2.55,0.00,0.000,4,0.000,0.044,2870,687,3119,0,0,0,0,0,0
$GC,2214,-1.19,-116.8,260.6,-10.1,191,2219,0.00,2.42,0.00,0.000,6,0.000,0.022,2870,2098,3119,0,0,0,0,0,0
$GC,2549,-1.19,-116.8,287.7,-7.7,207,2550,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2098,3118,0,0,0,0,0,0
$GC,2871,-1.19,-116.8,312.3,-7.3,219,2873,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2099,3116,0,0,0,0,0,0
$GC,3196,-1.19,-116.8,334.0,-6.4,227,3201,0.00,2.55,0.00,0.000,4,0.000,0.048,2870,679,3116,0,0,0,0,0,0
$GC,3240,-1.19,-116.8,337.5,-8.4,228,3244,0.00,2.45,0.00,0.000,6,0.000,0.025,2870,2099,3115,0,0,0,0,0,0
$GC,3569,-1.19,-116.8,361.7,-7.4,236,3573,0.00,2.58,0.00,0.000,4,0.000,0.049,2870,681,3114,0,0,0,0,0,0
$GC,3607,-1.19,-116.8,364.6,-7.4,236,3612,0.00,2.47,0.00,0.000,6,0.000,0.025,2870,2108,3114,0,0,0,0,0,0
$GC,3938,-1.19,-116.8,387.2,-6.7,245,3940,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2109,3111,0,0,0,0,0,0
$GC,4263,-1.19,-116.8,410.6,-7.3,253,4265,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2109,3109,0,0,0,0,0,0
$GC,4589,-1.19,-116.8,432.1,-6.5,261,4593,0.00,2.55,0.00,0.000,4,0.000,0.051,2871,3496,3107,0,0,0,0,0,0
$GC,4604,-1.19,-116.8,433.1,-6.1,261,4608,0.00,2.50,0.00,0.000,6,0.000,0.044,2871,2098,3107,0,0,0,0,0,0
$STATE,4910,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4910,begin apogee
$GC,4917,-0.31,0.0,451.2,5.5,269,5016,0.95,0.00,94.88,0.819,6,0.081,0.000,3068,1793,2635,0,0,0,0,0,0
$STATE,5016,end apogee,CONTROL_FINISHED_OK
$STATE,5017,begin climb
$GC,5020,1.19,116.8,451.6,0.0,271,5125,1.50,0.00,101.22,0.796,6,0.054,0.000,3397,1793,2158,0,0,0,0,0,0
$GC,5438,1.19,116.8,398.5,13.2,282,5439,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1793,2147,0,0,0,0,0,0
$GC,5763,1.19,116.8,360.5,11.8,290,5764,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1792,2143,0,0,0,0,0,0
$GC,6089,1.19,116.8,325.1,10.6,298,6093,0.00,2.62,0.00,0.000,4,0.000,0.060,3396,399,2141,0,0,0,0,0,0
$GC,6103,1.19,116.8,323.3,10.7,298,6107,0.00,2.47,0.00,0.000,6,0.000,0.025,3397,1809,2140,0,0,0,0,0,0
$GC,6436,1.19,116.8,286.0,11.7,309,6440,0.00,2.67,0.00,0.000,4,0.000,0.058,3397,399,2139,0,0,0,0,0,0
$GC,6481,1.19,116.8,280.0,14.0,311,6485,0.00,2.45,0.00,0.000,6,0.000,0.027,3397,1799,2136,0,0,0,0,0,0
$GC,6812,1.19,116.8,245.1,10.0,327,6816,0.00,2.55,0.00,0.000,4,0.000,0.041,3397,3210,2136,0,0,0,0,0,0
$GC,6868,1.19,116.8,239.8,8.6,329,6872,0.00,2.60,0.00,0.000,6,0.000,0.045,3397,1801,2136,0,0,0,0,0,0
$GC,7184,1.19,116.8,211.6,9.2,344,7188,0.00,2.60,0.00,0.000,4,0.000,0.058,3396,395,2135,0,0,0,0,0,0
$GC,7207,1.19,116.8,209.2,9.6,345,7211,0.00,2.45,0.00,0.000,6,0.000,0.025,3397,1805,2134,0,0,0,0,0,0
$GC,7540,1.20,118.3,181.9,8.0,371,7541,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1809,2134,0,0,0,0,0,0
$GC,7794,1.20,118.3,161.8,8.6,395,7798,0.00,2.62,0.00,0.000,4,0.000,0.056,3397,394,2134,0,0,0,0,0,0
$GC,7822,1.20,118.3,158.9,10.4,397,7827,0.00,2.45,0.00,0.000,6,0.000,0.024,3396,1802,2133,0,0,0,0,0,0
$GC,8086,1.20,120.2,137.5,7.9,422,8090,0.00,2.60,0.00,0.000,4,0.000,0.054,3397,394,2133,0,0,0,0,0,0
$GC,8103,1.20,120.6,136.1,8.0,423,8107,0.00,2.45,0.00,0.000,6,0.000,0.023,3397,1803,2132,0,0,0,0,0,0
$GC,8368,1.22,137.0,116.3,7.3,447,8387,0.00,2.50,14.30,0.538,4,0.000,0.032,3397,3201,2075,0,0,0,0,0,0
$GC,8529,1.29,195.1,104.8,5.4,464,8589,0.00,2.58,50.97,0.558,6,0.000,0.038,3397,1801,1838,0,0,0,0,0,0
$GC,8845,1.29,195.1,83.9,8.3,495,8849,0.00,2.62,0.00,0.000,4,0.000,0.057,3397,395,1832,0,0,0,0,0,0
$GC,8879,1.29,195.1,80.6,9.6,498,8883,0.00,2.45,0.00,0.000,6,0.000,0.021,3397,1807,1830,0,0,0,0,0,0
$GC,9144,1.33,229.3,60.9,6.5,522,9184,0.12,2.67,29.02,0.502,4,0.061,0.049,3440,391,1698,0,0,0,0,0,0
$GC,9244,1.33,229.3,52.4,9.5,532,9248,0.00,2.45,0.00,0.000,6,0.000,0.020,3440,1802,1694,0,0,0,0,0,0
$GC,9510,1.33,229.3,29.5,8.8,556,9516,0.00,2.47,0.00,0.000,4,0.000,0.028,3440,3202,1694,0,0,0,0,0,0
$GC,9545,1.33,229.3,26.1,8.9,563,9552,0.00,2.58,0.00,0.000,6,0.000,0.037,3441,1798,1694,0,0,0,0,0,0
$GC,9750,1.33,229.3,7.9,8.3,600,9756,0.00,2.60,0.00,0.000,4,0.000,0.050,3440,393,1694,0,0,0,0,0,0
$GC,9797,1.33,229.3,3.1,10.8,610,9804,0.00,2.42,0.00,0.000,6,0.000,0.018,3440,1800,1692,0,0,0,0,0,0
$STATE,9809,end climb,SURFACE_DEPTH_REACHED
$STATE,9809,begin surface coast
$FINISH,1.0,1.010189
$STATE,9837,end surface coast,CONTROL_FINISHED_OK
$STATE,9838,begin surface
$SM_CCo,9862,51.80,0.453,0,0,1288,330.17
$SM_GC,1.88,0.00,0.00,51.80,0.000,0.000,0.453,430,2160,1288,-12.45,1.70,330.17
$IRIDIUM_FIX,2031.77,-15753.10,120800,000016
$TT8_MAMPS,0.029146
$HUMID,59.29
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,20.60
$XPDR_PINGS,7
$24V_AH,23.5,31.370
$10V_AH,10.5,29.676
$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,28.600,106.800,290.400,51.800,0.000,26.176,35.073,190.393,6.250,0.000,13.805,1112.103,6630.521,437.969,1603.938,504.995,33.358,1117.804,0.000,1595.616,0.000,29.244,0.000
$DEVICE_MAMPS,134.225,59.826,819.156,453.297,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,417.160,408.748,884.957,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355792
$DATA_FILE_SIZE,34780,617
$CAP_FILE_SIZE,97188,0
$CFSIZE,260165632,237862912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190511,061337,2039.607,-15754.541,36,1.1,36,9.7