version: 66.06
glider: 139
mission: 9
dive: 393
start: 5 19 111 15 2 2
data:
$ID,139
$MISSION,9
$DIVE,393
$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,-2184124.8
$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,66
$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
$GPS1,145428,2039.551,-15754.929,11,3.4,30,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-76.9
$GPS2,150110,2039.509,-15754.885,14,3.8,33,9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.183,0.126
$KALMAN_X,25264.3,-305.6,359.9,-25653.4,2095.1
$KALMAN_Y,-16494.0,208.8,-178.0,21797.7,-1609.1
$MHEAD_RNG_PITCHd_Wd,294.8,54806,-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,-116.8,0.0,0.0,0,82,0.00,0.00,-64.62,0.000,2,0.000,0.000,427,2131,2953,0,0,0,0,0,0
$GC,86,-1.19,-116.8,3.0,-3.4,12,110,13.10,2.42,-3.30,0.000,4,0.134,0.048,2869,3468,3115,0,0,0,0,0,0
$GC,340,-1.19,-116.8,56.9,-18.1,52,344,0.00,2.42,0.00,0.000,6,0.000,0.031,2869,2091,3117,0,0,0,0,0,0
$GC,602,-1.19,-116.8,93.7,-12.6,76,606,0.00,2.50,0.00,0.000,4,0.000,0.040,2869,683,3118,0,0,0,0,0,0
$GC,656,-1.19,-116.8,100.5,-12.9,81,660,0.00,2.38,0.00,0.000,6,0.000,0.020,2869,2075,3118,0,0,0,0,0,0
$GC,920,-1.19,-116.8,131.5,-9.9,105,925,0.00,2.50,0.00,0.000,4,0.000,0.035,2869,3497,3119,0,0,0,0,0,0
$GC,1046,-1.19,-116.8,144.3,-10.8,118,1050,0.00,2.47,0.00,0.000,6,0.000,0.033,2869,2095,3119,0,0,0,0,0,0
$GC,1309,-1.19,-116.8,170.7,-8.6,142,1314,0.00,2.47,0.00,0.000,4,0.000,0.036,2869,3504,3119,0,0,0,0,0,0
$GC,1326,-1.19,-116.8,172.3,-8.8,143,1331,0.00,2.45,0.00,0.000,6,0.000,0.031,2869,2094,3120,0,0,0,0,0,0
$GC,1590,-1.19,-116.8,197.1,-9.6,167,1595,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2094,3120,0,0,0,0,0,0
$GC,1857,-1.19,-116.8,223.1,-10.1,182,1861,0.00,2.53,0.00,0.000,4,0.000,0.044,2869,693,3120,0,0,0,0,0,0
$GC,1964,-1.19,-116.8,236.3,-11.8,186,1970,0.00,2.42,0.00,0.000,6,0.000,0.022,2869,2094,3119,0,0,0,0,0,0
$GC,2281,-1.19,-116.8,262.1,-7.5,202,2285,0.00,2.50,0.00,0.000,4,0.000,0.044,2869,691,3120,0,0,0,0,0,0
$GC,2403,-1.19,-116.8,272.1,-8.0,207,2408,0.00,2.42,0.00,0.000,6,0.000,0.023,2869,2106,3119,0,0,0,0,0,0
$GC,2726,-1.19,-116.8,296.6,-7.6,223,2730,0.00,2.53,0.00,0.000,4,0.000,0.042,2869,3503,3118,0,0,0,0,0,0
$GC,2763,-1.19,-116.8,299.8,-7.8,224,2771,0.00,2.53,0.00,0.000,6,0.000,0.038,2869,2100,3118,0,0,0,0,0,0
$GC,3096,-1.19,-116.8,322.1,-6.7,233,3100,0.00,2.58,0.00,0.000,4,0.000,0.048,2869,692,3117,0,0,0,0,0,0
$GC,3140,-1.19,-116.8,325.3,-7.3,234,3144,0.00,2.42,0.00,0.000,6,0.000,0.024,2869,2099,3117,0,0,0,0,0,0
$GC,3468,-1.19,-116.8,347.9,-7.0,242,3472,0.00,2.55,0.00,0.000,4,0.000,0.045,2868,3500,3115,0,0,0,0,0,0
$GC,3482,-1.19,-116.8,349.3,-8.0,242,3487,0.00,2.50,0.00,0.000,6,0.000,0.040,2869,2100,3115,0,0,0,0,0,0
$GC,3833,-1.19,-116.8,378.1,-7.9,251,3834,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2100,3113,0,0,0,0,0,0
$GC,4160,-1.19,-116.8,401.2,-6.8,259,4164,0.00,2.60,0.00,0.000,4,0.000,0.051,2869,692,3111,0,0,0,0,0,0
$GC,4216,-1.19,-116.8,405.6,-7.3,260,4221,0.00,2.45,0.00,0.000,6,0.000,0.027,2869,2102,3111,0,0,0,0,0,0
$GC,4531,-1.19,-116.8,426.0,-6.5,268,4535,0.00,2.58,0.00,0.000,4,0.000,0.051,2869,694,3108,0,0,0,0,0,0
$GC,4629,-1.19,-116.8,433.8,-8.3,270,4633,0.00,2.45,0.00,0.000,6,0.000,0.028,2869,2099,3108,0,0,0,0,0,0
$STATE,4863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4863,begin apogee
$GC,4870,-0.31,0.0,451.2,7.2,276,4969,0.95,0.00,95.68,0.818,6,0.081,0.000,3066,1788,2635,0,0,0,0,0,0
$STATE,4970,end apogee,CONTROL_FINISHED_OK
$STATE,4970,begin climb
$GC,4973,1.19,116.8,452.8,0.0,278,5086,1.50,2.67,101.15,0.800,4,0.053,0.043,3397,3203,2157,0,0,0,0,0,0
$GC,5105,1.19,116.8,440.5,13.2,281,5111,0.00,2.67,0.00,0.000,6,0.000,0.052,3396,1801,2156,0,0,0,0,0,0
$GC,5437,1.19,116.8,398.1,12.7,290,5441,0.00,2.65,0.00,0.000,4,0.000,0.061,3396,393,2147,0,0,0,0,0,0
$GC,5470,1.19,116.8,393.1,15.6,290,5474,0.00,2.50,0.00,0.000,6,0.000,0.026,3396,1801,2143,0,0,0,0,0,0
$GC,5801,1.19,116.8,349.8,13.0,298,5805,0.00,2.70,0.00,0.000,4,0.000,0.061,3396,387,2142,0,0,0,0,0,0
$GC,5820,1.19,116.8,347.0,13.7,298,5825,0.00,2.47,0.00,0.000,6,0.000,0.026,3396,1803,2140,0,0,0,0,0,0
$GC,6165,1.19,116.8,307.2,11.2,307,6170,0.00,2.53,0.00,0.000,4,0.000,0.041,3397,3202,2139,0,0,0,0,0,0
$GC,6221,1.19,116.8,300.7,11.6,308,6226,0.00,2.60,0.00,0.000,6,0.000,0.049,3396,1798,2140,0,0,0,0,0,0
$GC,6541,1.19,116.8,266.9,10.3,323,6546,0.00,2.58,0.00,0.000,4,0.000,0.041,3397,3201,2138,0,0,0,0,0,0
$GC,6586,1.19,116.8,262.5,10.0,325,6590,0.00,2.60,0.00,0.000,6,0.000,0.047,3396,1799,2138,0,0,0,0,0,0
$GC,6917,1.19,116.8,230.4,9.6,341,6921,0.00,2.60,0.00,0.000,4,0.000,0.058,3396,392,2136,0,0,0,0,0,0
$GC,6963,1.19,116.8,225.4,11.3,343,6967,0.00,2.47,0.00,0.000,6,0.000,0.026,3396,1799,2134,0,0,0,0,0,0
$GC,7284,1.21,125.4,197.8,7.6,359,7294,0.00,2.53,4.38,0.447,4,0.000,0.037,3397,3208,2123,0,0,0,0,0,0
$GC,7325,1.21,125.5,194.6,8.0,363,7329,0.00,2.60,0.00,0.000,6,0.000,0.044,3396,1799,2123,0,0,0,0,0,0
$GC,7589,1.21,125.5,173.9,8.4,387,7594,0.00,2.55,0.00,0.000,4,0.000,0.036,3396,3207,2122,0,0,0,0,0,0
$GC,7652,1.21,125.5,168.2,9.2,393,7656,0.00,2.60,0.00,0.000,6,0.000,0.043,3396,1794,2122,0,0,0,0,0,0
$GC,7916,1.21,125.5,144.4,9.0,417,7920,0.00,2.58,0.00,0.000,4,0.000,0.054,3396,389,2122,0,0,0,0,0,0
$GC,7978,1.21,125.5,138.5,9.1,423,7983,0.00,2.45,0.00,0.000,6,0.000,0.023,3396,1803,2120,0,0,0,0,0,0
$GC,8243,1.23,144.3,118.1,7.2,447,8263,0.00,0.00,18.08,0.550,6,0.000,0.000,3396,1808,2045,0,0,0,0,0,0
$GC,8518,1.30,204.8,101.2,5.2,473,8581,0.10,2.53,53.25,0.554,4,0.074,0.030,3433,3207,1799,0,0,0,0,0,0
$GC,8632,1.30,204.8,92.1,8.5,485,8636,0.00,2.60,0.00,0.000,6,0.000,0.041,3432,1800,1797,0,0,0,0,0,0
$GC,8895,1.30,204.8,67.2,9.5,509,8899,0.00,2.62,0.00,0.000,4,0.000,0.053,3432,387,1794,0,0,0,0,0,0
$GC,8991,1.30,204.8,57.3,9.6,519,8995,0.00,2.42,0.00,0.000,6,0.000,0.020,3432,1805,1789,0,0,0,0,0,0
$GC,9256,1.33,224.3,33.7,7.1,543,9279,0.00,2.70,16.55,0.464,4,0.000,0.050,3432,392,1719,0,0,0,0,0,0
$GC,9304,1.33,224.3,29.3,10.2,548,9311,0.00,2.45,0.00,0.000,6,0.000,0.020,3432,1801,1716,0,0,0,0,0,0
$GC,9509,1.33,224.3,12.4,8.9,585,9514,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,1802,1715,0,0,0,0,0,0
$STATE,9628,end climb,SURFACE_DEPTH_REACHED
$STATE,9628,begin surface coast
$FINISH,1.0,1.017073
$STATE,9668,end surface coast,CONTROL_FINISHED_OK
$STATE,9669,begin surface
$SM_CCo,9693,55.80,0.457,0,0,1288,330.17
$SM_GC,1.91,0.00,0.00,55.80,0.000,0.000,0.457,427,2120,1288,-12.47,0.54,330.17
$IRIDIUM_FIX,2034.08,-15755.23,120800,121217
$TT8_MAMPS,0.029146
$HUMID,59.09
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,20.10
$XPDR_PINGS,6
$24V_AH,23.5,31.702
$10V_AH,10.5,29.989
$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,28.550,117.375,289.075,55.800,0.000,27.781,33.900,196.994,6.000,0.000,34.502,1147.089,6291.134,430.616,1777.034,505.715,33.352,1181.497,0.000,1733.968,0.000,29.251,0.000
$DEVICE_MAMPS,134.225,61.360,817.622,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,415.522,404.935,892.767,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,34885,614
$CAP_FILE_SIZE,103744,0
$CFSIZE,260165632,237658112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190511,174554,2039.550,-15755.258,27,1.2,44,9.7