version: 66.06
glider: 139
mission: 9
dive: 392
start: 5 19 111 12 8 59
data:
$ID,139
$MISSION,9
$DIVE,392
$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,-2184089.5
$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,85
$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
$GPS1,120130,2039.967,-15754.941,41,1.1,46,9.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-75.6
$GPS2,120807,2039.955,-15754.887,15,1.1,20,9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.208,0.077
$KALMAN_X,23219.4,-300.7,71.7,-23327.6,2544.9
$KALMAN_Y,-15313.6,266.7,274.9,20932.6,-1770.5
$MHEAD_RNG_PITCHd_Wd,280.7,54000,-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,-69.53,0.000,6,0.000,0.000,429,2152,3112,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.8,-4.8,13,109,13.12,2.33,0.00,0.000,4,0.135,0.030,2870,3463,3115,0,0,0,0,0,0
$GC,117,-1.19,-116.8,14.2,-29.5,17,124,0.00,2.45,0.00,0.000,6,0.000,0.032,2870,2096,3115,0,0,0,0,0,0
$GC,324,-1.19,-116.8,59.5,-21.9,42,328,0.00,2.50,0.00,0.000,4,0.000,0.039,2870,689,3117,0,0,0,0,0,0
$GC,586,-1.19,-116.8,105.3,-16.2,70,593,0.00,2.35,0.00,0.000,6,0.000,0.020,2870,2053,3117,0,0,0,0,0,0
$GC,851,-1.19,-116.8,138.5,-13.0,95,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2054,3118,0,0,0,0,0,0
$GC,1112,-1.19,-116.8,168.7,-8.9,120,1116,0.00,2.42,0.00,0.000,4,0.000,0.041,2870,686,3119,0,0,0,0,0,0
$GC,1129,-1.19,-116.8,170.3,-9.2,121,1134,0.00,2.42,0.00,0.000,6,0.000,0.021,2870,2106,3118,0,0,0,0,0,0
$GC,1394,-1.19,-116.8,195.8,-9.9,145,1399,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2106,3119,0,0,0,0,0,0
$GC,1649,-1.19,-116.8,218.4,-8.9,160,1653,0.00,2.55,0.00,0.000,4,0.000,0.043,2870,683,3119,0,0,0,0,0,0
$GC,1697,-1.19,-116.8,223.1,-9.6,162,1701,0.00,2.42,0.00,0.000,6,0.000,0.021,2870,2099,3119,0,0,0,0,0,0
$GC,2022,-1.19,-116.8,253.0,-9.6,178,2026,0.00,2.55,0.00,0.000,4,0.000,0.044,2870,683,3119,0,0,0,0,0,0
$GC,2131,-1.19,-116.8,264.7,-11.6,182,2135,0.00,2.42,0.00,0.000,6,0.000,0.022,2870,2107,3118,0,0,0,0,0,0
$GC,2448,-1.19,-116.8,293.3,-8.3,197,2452,0.00,2.55,0.00,0.000,4,0.000,0.044,2870,690,3117,0,0,0,0,0,0
$GC,2499,-1.19,-116.8,297.6,-8.0,199,2504,0.00,2.42,0.00,0.000,6,0.000,0.023,2870,2099,3118,0,0,0,0,0,0
$GC,2816,-1.19,-116.8,321.8,-7.5,208,2821,0.00,2.58,0.00,0.000,4,0.000,0.047,2870,687,3117,0,0,0,0,0,0
$GC,2955,-1.19,-116.8,332.5,-7.3,211,2959,0.00,2.42,0.00,0.000,6,0.000,0.025,2870,2100,3116,0,0,0,0,0,0
$GC,3283,-1.19,-116.8,352.4,-5.4,219,3284,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2102,3114,0,0,0,0,0,0
$GC,3608,-1.19,-116.8,370.2,-5.6,227,3612,0.00,2.58,0.00,0.000,4,0.000,0.049,2870,685,3113,0,0,0,0,0,0
$GC,3683,-1.19,-116.8,375.2,-6.4,228,3688,0.00,2.42,0.00,0.000,6,0.000,0.026,2870,2100,3112,0,0,0,0,0,0
$GC,4019,-1.19,-116.8,397.3,-6.7,237,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2101,3110,0,0,0,0,0,0
$GC,4344,-1.19,-116.8,418.0,-6.3,245,4349,0.00,2.58,0.00,0.000,4,0.000,0.051,2870,690,3107,0,0,0,0,0,0
$GC,4467,-1.19,-116.8,426.8,-7.8,247,4472,0.00,2.45,0.00,0.000,6,0.000,0.028,2870,2107,3106,0,0,0,0,0,0
$GC,4803,-1.19,-116.8,447.6,-5.9,256,4804,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2108,3104,0,0,0,0,0,0
$STATE,4841,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4841,begin apogee
$GC,4848,-0.31,0.0,450.1,6.0,257,4947,0.95,0.00,94.97,0.817,6,0.081,0.000,3068,1794,2635,0,0,0,0,0,0
$STATE,4948,end apogee,CONTROL_FINISHED_OK
$STATE,4948,begin climb
$GC,4950,1.19,116.8,451.8,0.0,259,5058,1.48,0.00,100.75,0.796,6,0.054,0.000,3395,1794,2158,0,0,0,0,0,0
$GC,5358,1.19,116.8,409.0,11.2,269,5363,0.00,2.62,0.00,0.000,4,0.000,0.060,3394,406,2147,0,0,0,0,0,0
$GC,5391,1.19,116.8,404.8,13.4,269,5396,0.00,2.47,0.00,0.000,6,0.000,0.026,3395,1802,2144,0,0,0,0,0,0
$GC,5723,1.19,116.8,368.6,10.5,277,5724,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1804,2142,0,0,0,0,0,0
$GC,6048,1.19,116.8,334.5,10.8,285,6049,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1804,2140,0,0,0,0,0,0
$GC,6372,1.19,116.8,299.4,10.8,293,6373,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1804,2139,0,0,0,0,0,0
$GC,6682,1.19,116.8,269.9,8.5,308,6686,0.00,2.53,0.00,0.000,4,0.000,0.041,3395,3203,2138,0,0,0,0,0,0
$GC,6725,1.20,120.4,266.6,7.9,310,6730,0.00,2.58,0.00,0.000,6,0.000,0.047,3395,1810,2137,0,0,0,0,0,0
$GC,7055,1.20,120.4,239.0,9.2,326,7059,0.00,2.62,0.00,0.000,4,0.000,0.059,3394,393,2136,0,0,0,0,0,0
$GC,7098,1.20,120.4,233.8,12.2,328,7102,0.00,2.47,0.00,0.000,6,0.000,0.027,3395,1799,2134,0,0,0,0,0,0
$GC,7428,1.20,120.4,200.9,10.0,344,7432,0.00,2.53,0.00,0.000,4,0.000,0.038,3395,3210,2134,0,0,0,0,0,0
$GC,7452,1.20,120.4,198.2,11.4,346,7457,0.00,2.58,0.00,0.000,6,0.000,0.044,3395,1799,2134,0,0,0,0,0,0
$GC,7716,1.20,120.4,174.4,8.1,370,7717,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1799,2134,0,0,0,0,0,0
$GC,7968,1.24,153.6,155.8,6.5,394,8005,0.00,2.62,28.80,0.597,4,0.000,0.034,3395,3204,2006,0,0,0,0,0,0
$GC,8037,1.26,172.5,151.1,7.2,401,8060,0.00,2.60,17.77,0.571,6,0.000,0.042,3395,1799,1931,0,0,0,0,0,0
$GC,8317,1.26,172.5,122.6,10.4,427,8322,0.00,2.62,0.00,0.000,4,0.000,0.054,3395,390,1926,0,0,0,0,0,0
$GC,8355,1.26,172.5,118.4,10.1,430,8362,0.00,2.50,0.00,0.000,6,0.000,0.022,3395,1809,1923,0,0,0,0,0,0
$GC,8620,1.26,172.5,94.8,8.1,455,8624,0.00,2.47,0.00,0.000,4,0.000,0.033,3395,3202,1923,0,0,0,0,0,0
$GC,8690,1.28,185.3,89.5,7.4,462,8710,0.00,2.58,11.57,0.495,6,0.000,0.038,3395,1792,1877,0,0,0,0,0,0
$GC,8966,1.30,200.3,73.0,7.3,488,8988,0.10,2.62,14.02,0.493,4,0.074,0.053,3431,386,1817,0,0,0,0,0,0
$GC,9140,1.30,200.3,52.6,11.3,507,9144,0.00,2.45,0.00,0.000,6,0.000,0.020,3431,1804,1812,0,0,0,0,0,0
$GC,9406,1.31,208.9,28.2,7.6,533,9420,0.00,2.65,8.12,0.420,4,0.000,0.048,3431,387,1783,0,0,0,0,0,0
$GC,9453,1.31,208.9,24.1,8.6,542,9460,0.00,2.47,0.00,0.000,6,0.000,0.020,3431,1804,1781,0,0,0,0,0,0
$GC,9656,1.32,219.0,8.4,7.6,579,9668,0.00,0.00,10.23,0.423,6,0.000,0.000,3431,1808,1742,0,0,0,0,0,0
$STATE,9734,end climb,SURFACE_DEPTH_REACHED
$STATE,9734,begin surface coast
$FINISH,0.9,0.999556
$STATE,9775,end surface coast,CONTROL_FINISHED_OK
$STATE,9776,begin surface
$SM_CCo,9799,59.10,0.459,0,0,1288,330.17
$SM_GC,1.88,0.00,0.00,59.10,0.000,0.000,0.459,427,2129,1288,-12.47,0.82,330.17
$IRIDIUM_FIX,2029.47,-15755.23,120800,090936
$TT8_MAMPS,0.029146
$HUMID,59.21
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,20.40
$XPDR_PINGS,6
$24V_AH,23.5,31.620
$10V_AH,10.4,29.909
$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,28.525,91.450,286.250,59.100,0.000,25.516,41.101,201.199,6.000,0.000,20.896,1101.945,6557.047,406.076,1671.206,519.502,33.350,1124.570,0.000,1657.384,0.000,29.242,0.000
$DEVICE_MAMPS,134.992,59.826,816.855,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,405.983,395.568,854.746,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,31804,600
$CAP_FILE_SIZE,97926,0
$CFSIZE,260165632,237719552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190511,145428,2039.551,-15754.929,11,3.4,30,9.7