version: 66.06
glider: 139
mission: 9
dive: 391
start: 5 19 111 9 15 50
data:
$ID,139
$MISSION,9
$DIVE,391
$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,-2184067.8
$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,18
$R_STBD_OVSHOOT,73
$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
$GPS1,090752,2040.178,-15754.850,11,3.0,30,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-75.3
$GPS2,091458,2040.201,-15754.804,15,3.0,34,9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.215,0.052
$KALMAN_X,21317.7,-201.5,-393.2,-20915.2,2562.8
$KALMAN_Y,-14241.1,230.4,274.1,20349.8,-1188.1
$MHEAD_RNG_PITCHd_Wd,273.9,53590,-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,-116.8,0.0,0.0,0,87,0.00,0.00,-69.22,0.000,6,0.000,0.000,430,2137,3112,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.7,-4.7,13,110,13.12,2.35,0.00,0.000,4,0.136,0.031,2869,3468,3115,0,0,0,0,0,0
$GC,362,-1.19,-116.8,64.1,-15.5,53,367,0.00,2.45,0.00,0.000,6,0.000,0.034,2870,2088,3117,0,0,0,0,0,0
$GC,628,-1.19,-116.8,100.2,-14.9,77,633,0.00,2.53,0.00,0.000,4,0.000,0.043,2870,687,3118,0,0,0,0,0,0
$GC,680,-1.19,-116.8,107.3,-11.0,82,685,0.00,2.38,0.00,0.000,6,0.000,0.020,2869,2078,3118,0,0,0,0,0,0
$GC,944,-1.19,-116.8,137.4,-12.5,106,948,0.00,2.53,0.00,0.000,4,0.000,0.035,2870,3501,3118,0,0,0,0,0,0
$GC,990,-1.19,-116.8,143.5,-12.6,110,997,0.00,2.47,0.00,0.000,6,0.000,0.032,2870,2106,3118,0,0,0,0,0,0
$GC,1254,-1.19,-116.8,175.5,-11.8,135,1259,0.00,2.45,0.00,0.000,4,0.000,0.035,2869,3504,3119,0,0,0,0,0,0
$GC,1264,-1.19,-116.8,177.1,-10.8,135,1270,0.00,2.47,0.00,0.000,6,0.000,0.031,2870,2092,3119,0,0,0,0,0,0
$GC,1536,-1.19,-116.8,202.0,-8.1,160,1540,0.00,2.53,0.00,0.000,4,0.000,0.043,2869,685,3119,0,0,0,0,0,0
$GC,1615,-1.19,-116.8,209.0,-7.9,163,1619,0.00,2.42,0.00,0.000,6,0.000,0.021,2869,2108,3119,0,0,0,0,0,0
$GC,1930,-1.19,-116.8,237.1,-9.1,178,1935,0.00,2.47,0.00,0.000,4,0.000,0.039,2870,3502,3120,0,0,0,0,0,0
$GC,2005,-1.19,-116.8,244.8,-10.6,181,2009,0.00,2.45,0.00,0.000,6,0.000,0.035,2869,2104,3119,0,0,0,0,0,0
$GC,2327,-1.19,-116.8,276.4,-9.0,197,2331,0.00,2.47,0.00,0.000,4,0.000,0.040,2870,3498,3119,0,0,0,0,0,0
$GC,2407,-1.19,-116.8,283.3,-7.4,200,2411,0.00,2.50,0.00,0.000,6,0.000,0.037,2869,2091,3119,0,0,0,0,0,0
$GC,2743,-1.19,-116.8,303.7,-6.4,215,2747,0.00,2.55,0.00,0.000,4,0.000,0.047,2870,684,3118,0,0,0,0,0,0
$GC,2840,-1.19,-116.8,311.8,-8.3,217,2844,0.00,2.40,0.00,0.000,6,0.000,0.024,2869,2094,3118,0,0,0,0,0,0
$GC,3159,-1.19,-116.8,336.7,-7.9,225,3160,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2095,3116,0,0,0,0,0,0
$GC,3484,-1.19,-116.8,359.1,-6.4,233,3488,0.00,2.55,0.00,0.000,4,0.000,0.048,2869,3498,3114,0,0,0,0,0,0
$GC,3540,-1.19,-116.8,362.9,-7.4,234,3545,0.00,2.53,0.00,0.000,6,0.000,0.041,2870,2094,3114,0,0,0,0,0,0
$GC,3854,-1.19,-116.8,385.2,-7.3,242,3859,0.00,2.58,0.00,0.000,4,0.000,0.051,2869,687,3112,0,0,0,0,0,0
$GC,3966,-1.19,-116.8,394.9,-8.5,244,3971,0.00,2.45,0.00,0.000,6,0.000,0.027,2869,2099,3112,0,0,0,0,0,0
$GC,4317,-1.19,-116.8,422.2,-7.5,253,4321,0.00,2.58,0.00,0.000,4,0.000,0.051,2869,691,3109,0,0,0,0,0,0
$GC,4341,-1.19,-116.8,424.2,-8.1,253,4345,0.00,2.42,0.00,0.000,6,0.000,0.027,2869,2099,3109,0,0,0,0,0,0
$GC,4682,-1.19,-116.8,445.1,-5.8,262,4686,0.00,2.58,0.00,0.000,4,0.000,0.051,2869,692,3106,0,0,0,0,0,0
$GC,4720,-1.19,-116.8,447.4,-5.9,262,4725,0.00,2.45,0.00,0.000,6,0.000,0.028,2869,2100,3106,0,0,0,0,0,0
$STATE,4804,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4805,begin apogee
$GC,4812,-0.31,0.0,452.1,5.5,265,4911,0.95,0.00,95.18,0.817,6,0.083,0.000,3066,1790,2635,0,0,0,0,0,0
$STATE,4911,end apogee,CONTROL_FINISHED_OK
$STATE,4911,begin climb
$GC,4914,1.19,116.8,452.9,0.0,267,5021,1.50,0.00,101.45,0.795,6,0.053,0.000,3396,1790,2158,0,0,0,0,0,0
$GC,5339,1.19,116.8,404.1,12.2,278,5343,0.00,2.62,0.00,0.000,4,0.000,0.059,3395,400,2147,0,0,0,0,0,0
$GC,5368,1.19,116.8,399.9,13.9,278,5372,0.00,2.47,0.00,0.000,6,0.000,0.026,3395,1802,2144,0,0,0,0,0,0
$GC,5704,1.19,116.8,363.2,10.2,287,5708,0.00,2.65,0.00,0.000,4,0.000,0.059,3395,404,2142,0,0,0,0,0,0
$GC,5737,1.19,116.8,359.2,12.0,287,5741,0.00,2.47,0.00,0.000,6,0.000,0.027,3396,1803,2140,0,0,0,0,0,0
$GC,6068,1.19,116.8,326.5,9.9,295,6073,0.00,2.55,0.00,0.000,4,0.000,0.042,3396,3206,2139,0,0,0,0,0,0
$GC,6096,1.19,116.8,323.4,10.5,295,6101,0.00,2.60,0.00,0.000,6,0.000,0.048,3396,1809,2139,0,0,0,0,0,0
$GC,6414,1.19,116.8,289.4,11.3,305,6419,0.00,2.65,0.00,0.000,4,0.000,0.060,3395,395,2138,0,0,0,0,0,0
$GC,6448,1.19,116.8,284.8,13.8,306,6452,0.00,2.47,0.00,0.000,6,0.000,0.026,3396,1800,2136,0,0,0,0,0,0
$GC,6764,1.19,116.8,252.4,9.6,321,6769,0.00,2.53,0.00,0.000,4,0.000,0.041,3396,3204,2136,0,0,0,0,0,0
$GC,6802,1.19,116.8,248.8,8.8,322,6809,0.00,2.62,0.00,0.000,6,0.000,0.048,3395,1802,2136,0,0,0,0,0,0
$GC,7118,1.21,129.8,223.3,7.4,338,7128,0.00,0.00,8.48,0.584,6,0.000,0.000,3396,1802,2106,0,0,0,0,0,0
$GC,7428,1.21,130.2,199.3,8.0,353,7430,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1802,2104,0,0,0,0,0,0
$GC,7683,1.26,171.8,181.5,6.1,377,7724,0.00,0.00,37.85,0.626,6,0.000,0.000,3395,1802,1934,0,0,0,0,0,0
$GC,7982,1.26,171.8,156.0,9.2,405,7987,0.00,2.62,0.00,0.000,4,0.000,0.058,3395,391,1929,0,0,0,0,0,0
$GC,8045,1.26,171.8,150.0,9.7,411,8050,0.00,2.47,0.00,0.000,6,0.000,0.024,3396,1805,1926,0,0,0,0,0,0
$GC,8310,1.26,171.8,126.6,8.8,435,8314,0.00,2.65,0.00,0.000,4,0.000,0.054,3396,391,1926,0,0,0,0,0,0
$GC,8329,1.26,171.8,124.3,9.8,436,8335,0.00,2.47,0.00,0.000,6,0.000,0.024,3396,1802,1925,0,0,0,0,0,0
$GC,8593,1.26,171.8,100.4,9.0,461,8598,0.00,2.47,0.00,0.000,4,0.000,0.032,3396,3200,1925,0,0,0,0,0,0
$GC,8604,1.27,175.5,99.2,7.9,461,8609,0.00,2.53,0.00,0.000,6,0.000,0.036,3396,1799,1925,0,0,0,0,0,0
$GC,8867,1.33,223.3,82.9,5.8,486,8923,0.12,2.65,44.40,0.531,4,0.063,0.051,3437,392,1722,0,0,0,0,0,0
$GC,9067,1.33,223.3,61.6,10.8,508,9071,0.00,2.45,0.00,0.000,6,0.000,0.021,3437,1800,1715,0,0,0,0,0,0
$GC,9336,1.33,223.3,36.4,8.2,533,9340,0.00,2.60,0.00,0.000,4,0.000,0.049,3437,391,1715,0,0,0,0,0,0
$GC,9381,1.33,223.9,32.4,8.0,537,9388,0.00,2.45,0.00,0.000,6,0.000,0.020,3437,1799,1712,0,0,0,0,0,0
$GC,9647,1.36,254.6,12.6,6.6,583,9682,0.00,2.70,26.48,0.457,4,0.000,0.051,3437,391,1596,0,0,0,0,0,0
$GC,9694,1.36,254.6,9.0,8.4,591,9701,0.00,2.47,0.00,0.000,6,0.000,0.019,3437,1811,1593,0,0,0,0,0,0
$STATE,9755,end climb,SURFACE_DEPTH_REACHED
$STATE,9755,begin surface coast
$FINISH,1.0,1.008925
$STATE,9790,end surface coast,CONTROL_FINISHED_OK
$STATE,9790,begin surface
$SM_CCo,9814,40.62,0.450,0,0,1288,330.17
$SM_GC,1.80,0.00,0.00,40.62,0.000,0.000,0.450,430,2152,1288,-12.46,1.47,330.17
$IRIDIUM_FIX,2031.77,-15753.10,120800,060629
$TT8_MAMPS,0.029146
$HUMID,59.88
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,20.50
$XPDR_PINGS,4
$24V_AH,23.5,31.538
$10V_AH,10.4,29.832
$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,28.650,116.750,313.825,40.625,0.000,29.973,35.335,214.747,5.500,0.000,35.602,1121.300,6447.458,438.457,1727.691,546.047,33.350,1179.361,0.000,1697.402,0.000,31.153,0.000
$DEVICE_MAMPS,135.759,59.826,816.855,450.229,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,410.799,402.488,877.777,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,34887,608
$CAP_FILE_SIZE,102484,0
$CFSIZE,260165632,237756416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190511,120130,2039.967,-15754.941,41,1.1,46,9.7