version: 66.06
glider: 139
mission: 9
dive: 390
start: 5 19 111 6 20 55
data:
$ID,139
$MISSION,9
$DIVE,390
$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,-2184031.5
$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,18
$R_STBD_OVSHOOT,84
$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
$GPS1,061337,2039.607,-15754.541,36,1.1,36,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-76.4
$GPS2,062002,2039.605,-15754.512,12,1.6,12,9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.186,0.121
$KALMAN_X,19513.4,-77.7,-278.6,-18837.1,1955.1
$KALMAN_Y,-13409.2,63.2,-135.7,18996.7,-843.1
$MHEAD_RNG_PITCHd_Wd,293.4,54782,-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,-64.50,0.000,2,0.000,0.000,430,2162,2961,0,0,0,0,0,0
$GC,86,-1.19,-116.8,3.1,-3.7,12,111,13.07,2.72,-3.12,0.000,4,0.134,0.054,2866,683,3114,0,0,0,0,0,0
$GC,229,-1.19,-116.8,38.5,-23.6,39,236,0.00,2.38,0.00,0.000,6,0.000,0.021,2866,2047,3116,0,0,0,0,0,0
$GC,490,-1.19,-116.8,82.7,-13.9,64,494,0.00,2.45,0.00,0.000,4,0.000,0.042,2866,684,3117,0,0,0,0,0,0
$GC,525,-1.19,-116.8,87.9,-15.7,67,530,0.00,2.35,0.00,0.000,6,0.000,0.020,2866,2059,3117,0,0,0,0,0,0
$GC,790,-1.19,-116.8,124.0,-11.0,91,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2060,3118,0,0,0,0,0,0
$GC,1051,-1.19,-116.8,154.5,-11.3,116,1056,0.00,2.53,0.00,0.000,4,0.000,0.036,2866,3495,3118,0,0,0,0,0,0
$GC,1176,-1.19,-116.8,166.1,-8.5,129,1181,0.00,2.47,0.00,0.000,6,0.000,0.032,2866,2088,3118,0,0,0,0,0,0
$GC,1441,-1.19,-116.8,189.7,-8.9,153,1445,0.00,2.50,0.00,0.000,4,0.000,0.043,2866,694,3119,0,0,0,0,0,0
$GC,1609,-1.19,-116.8,207.0,-9.4,167,1613,0.00,2.40,0.00,0.000,6,0.000,0.021,2866,2107,3119,0,0,0,0,0,0
$GC,1924,-1.19,-116.8,233.5,-8.0,182,1929,0.00,2.45,0.00,0.000,4,0.000,0.039,2866,3493,3119,0,0,0,0,0,0
$GC,1976,-1.19,-116.8,238.2,-9.5,184,1980,0.00,2.47,0.00,0.000,6,0.000,0.035,2866,2094,3119,0,0,0,0,0,0
$GC,2296,-1.19,-116.8,265.8,-8.4,200,2300,0.00,2.50,0.00,0.000,4,0.000,0.040,2866,3502,3119,0,0,0,0,0,0
$GC,2409,-1.19,-116.8,275.7,-8.1,205,2414,0.00,2.47,0.00,0.000,6,0.000,0.037,2866,2098,3118,0,0,0,0,0,0
$GC,2743,-1.19,-116.8,301.2,-6.9,221,2747,0.00,2.53,0.00,0.000,4,0.000,0.047,2866,686,3117,0,0,0,0,0,0
$GC,2790,-1.19,-116.8,305.0,-7.7,222,2795,0.00,2.42,0.00,0.000,6,0.000,0.024,2866,2095,3117,0,0,0,0,0,0
$GC,3116,-1.19,-116.8,325.7,-6.1,230,3120,0.00,2.53,0.00,0.000,4,0.000,0.047,2866,685,3116,0,0,0,0,0,0
$GC,3135,-1.19,-116.8,327.1,-6.4,230,3139,0.00,2.45,0.00,0.000,6,0.000,0.025,2866,2102,3116,0,0,0,0,0,0
$GC,3481,-1.19,-116.8,347.5,-6.0,239,3482,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2103,3114,0,0,0,0,0,0
$GC,3805,-1.19,-116.8,371.1,-7.4,247,3809,0.00,2.55,0.00,0.000,4,0.000,0.050,2866,688,3111,0,0,0,0,0,0
$GC,3829,-1.19,-116.8,372.9,-7.4,247,3833,0.00,2.45,0.00,0.000,6,0.000,0.027,2866,2095,3111,0,0,0,0,0,0
$GC,4170,-1.19,-116.8,397.7,-7.1,256,4175,0.00,2.55,0.00,0.000,4,0.000,0.051,2866,685,3109,0,0,0,0,0,0
$GC,4214,-1.19,-116.8,400.9,-7.2,257,4218,0.00,2.47,0.00,0.000,6,0.000,0.028,2866,2104,3108,0,0,0,0,0,0
$GC,4544,-1.19,-116.8,422.8,-6.5,265,4548,0.00,2.58,0.00,0.000,4,0.000,0.052,2866,695,3106,0,0,0,0,0,0
$GC,4559,-1.19,-116.8,423.9,-6.5,265,4563,0.00,2.45,0.00,0.000,6,0.000,0.028,2866,2104,3106,0,0,0,0,0,0
$GC,4910,-1.19,-116.8,446.4,-6.8,274,4915,0.00,2.58,0.00,0.000,4,0.000,0.051,2866,3506,3104,0,0,0,0,0,0
$GC,4925,-1.19,-116.8,447.7,-7.1,274,4930,0.00,2.55,0.00,0.000,6,0.000,0.044,2866,2098,3104,0,0,0,0,0,0
$STATE,4988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4988,begin apogee
$GC,4995,-0.31,0.0,452.2,7.1,276,5094,0.98,0.00,94.93,0.825,6,0.082,0.000,3068,1792,2635,0,0,0,0,0,0
$STATE,5095,end apogee,CONTROL_FINISHED_OK
$STATE,5095,begin climb
$GC,5097,1.19,116.8,454.2,0.0,278,5206,1.48,0.00,100.82,0.804,6,0.054,0.000,3395,1791,2158,0,0,0,0,0,0
$GC,5506,1.19,116.8,410.1,11.6,288,5510,0.00,2.60,0.00,0.000,4,0.000,0.042,3395,3207,2147,0,0,0,0,0,0
$GC,5525,1.19,116.8,407.8,11.4,288,5529,0.00,2.62,0.00,0.000,6,0.000,0.049,3395,1804,2147,0,0,0,0,0,0
$GC,5870,1.19,116.8,368.9,11.1,297,5874,0.00,2.67,0.00,0.000,4,0.000,0.061,3395,392,2143,0,0,0,0,0,0
$GC,5899,1.19,116.8,365.0,13.5,297,5903,0.00,2.50,0.00,0.000,6,0.000,0.026,3396,1803,2140,0,0,0,0,0,0
$GC,6235,1.19,116.8,327.8,11.1,306,6239,0.00,2.67,0.00,0.000,4,0.000,0.061,3395,395,2139,0,0,0,0,0,0
$GC,6249,1.19,116.8,326.1,10.8,306,6253,0.00,2.47,0.00,0.000,6,0.000,0.026,3395,1809,2139,0,0,0,0,0,0
$GC,6580,1.19,116.8,290.1,11.1,316,6581,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1813,2138,0,0,0,0,0,0
$GC,6890,1.19,116.8,259.1,9.4,331,6891,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1813,2136,0,0,0,0,0,0
$GC,7198,1.22,134.9,234.4,7.2,346,7218,0.00,0.00,13.12,0.642,6,0.000,0.000,3396,1813,2085,0,0,0,0,0,0
$GC,7528,1.22,134.9,206.7,8.7,362,7532,0.00,2.47,0.00,0.000,4,0.000,0.039,3396,3201,2081,0,0,0,0,0,0
$GC,7542,1.22,134.9,205.4,8.5,362,7546,0.00,2.55,0.00,0.000,6,0.000,0.044,3395,1802,2081,0,0,0,0,0,0
$GC,7866,1.22,134.9,180.6,8.1,388,7871,0.00,2.62,0.00,0.000,4,0.000,0.058,3395,387,2081,0,0,0,0,0,0
$GC,7940,1.22,134.9,173.5,9.6,395,7945,0.00,2.47,0.00,0.000,6,0.000,0.025,3396,1802,2077,0,0,0,0,0,0
$GC,8203,1.24,155.2,154.0,7.1,420,8232,0.00,2.55,18.42,0.584,4,0.000,0.034,3396,3213,2001,0,0,0,0,0,0
$GC,8254,1.26,168.9,150.4,7.4,425,8274,0.00,2.62,13.62,0.558,6,0.000,0.041,3395,1793,1945,0,0,0,0,0,0
$GC,8529,1.26,168.9,127.0,9.7,451,8531,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1793,1941,0,0,0,0,0,0
$GC,8784,1.33,226.1,106.8,5.4,475,8842,0.12,2.70,49.75,0.556,4,0.063,0.053,3437,392,1711,0,0,0,0,0,0
$GC,8853,1.33,226.1,101.3,8.9,482,8859,0.00,2.53,0.00,0.000,6,0.000,0.021,3437,1821,1709,0,0,0,0,0,0
$GC,9117,1.33,226.1,71.3,11.8,507,9122,0.00,2.65,0.00,0.000,4,0.000,0.051,3437,392,1706,0,0,0,0,0,0
$GC,9196,1.33,226.1,61.5,11.1,515,9200,0.00,2.40,0.00,0.000,6,0.000,0.021,3437,1792,1702,0,0,0,0,0,0
$GC,9460,1.33,226.1,36.0,9.2,539,9465,0.00,2.58,0.00,0.000,4,0.000,0.050,3436,391,1702,0,0,0,0,0,0
$GC,9525,1.33,226.1,29.3,10.4,546,9532,0.00,2.45,0.00,0.000,6,0.000,0.020,3437,1800,1701,0,0,0,0,0,0
$GC,9730,1.33,226.1,11.8,8.8,583,9736,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,1803,1701,0,0,0,0,0,0
$STATE,9833,end climb,SURFACE_DEPTH_REACHED
$STATE,9833,begin surface coast
$FINISH,1.0,1.006436
$STATE,9869,end surface coast,CONTROL_FINISHED_OK
$STATE,9869,begin surface
$SM_CCo,9893,53.28,0.456,0,0,1288,330.17
$SM_GC,1.93,0.00,0.00,53.28,0.000,0.000,0.456,430,2136,1288,-12.45,1.05,330.17
$IRIDIUM_FIX,2029.47,-15753.10,120800,030343
$TT8_MAMPS,0.028379
$HUMID,59.68
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,20.60
$XPDR_PINGS,6
$24V_AH,23.5,31.453
$10V_AH,10.5,29.753
$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,28.525,106.975,290.675,53.275,0.000,27.280,44.879,192.434,6.000,0.000,12.528,1116.245,6620.037,420.714,1648.176,528.461,33.360,1138.010,0.000,1642.503,0.000,29.246,0.000
$DEVICE_MAMPS,134.225,61.360,825.292,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,411.760,404.892,857.762,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,34921,608
$CAP_FILE_SIZE,100457,0
$CFSIZE,260165632,237809664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190511,090752,2040.178,-15754.850,11,3.0,30,9.7