version: 66.06
glider: 139
mission: 9
dive: 394
start: 5 19 111 17 53 23
data:
$ID,139
$MISSION,9
$DIVE,394
$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,-2184147
$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,16
$R_STBD_OVSHOOT,63
$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
$GPS1,174554,2039.550,-15755.258,27,1.2,44,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-76.7
$GPS2,175231,2039.532,-15755.244,10,1.5,21,9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.196,0.104
$KALMAN_X,27045.3,-143.4,-173.3,-27681.8,2178.1
$KALMAN_Y,-17616.6,63.1,-269.8,23200.3,-1094.4
$MHEAD_RNG_PITCHd_Wd,288.4,54626,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-69.88,0.000,6,0.000,0.000,427,2123,3112,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.6,-4.2,13,110,13.10,2.40,0.00,0.000,4,0.134,0.031,2867,3478,3114,0,0,0,0,0,0
$GC,324,-1.19,-116.8,56.6,-16.3,50,328,0.00,2.47,0.00,0.000,6,0.000,0.038,2867,2087,3117,0,0,0,0,0,0
$GC,585,-1.19,-116.8,99.8,-14.0,74,590,0.00,2.50,0.00,0.000,4,0.000,0.044,2867,687,3117,0,0,0,0,0,0
$GC,606,-1.19,-116.8,103.3,-16.7,76,610,0.00,2.38,0.00,0.000,6,0.000,0.020,2867,2077,3117,0,0,0,0,0,0
$GC,869,-1.19,-116.8,136.6,-10.6,100,873,0.00,2.50,0.00,0.000,4,0.000,0.035,2868,3498,3118,0,0,0,0,0,0
$GC,1094,-1.19,-116.8,162.8,-10.6,124,1099,0.00,2.45,0.00,0.000,6,0.000,0.031,2868,2093,3118,0,0,0,0,0,0
$GC,1358,-1.19,-116.8,191.2,-10.6,148,1362,0.00,2.50,0.00,0.000,4,0.000,0.035,2867,3502,3119,0,0,0,0,0,0
$GC,1386,-1.19,-116.8,194.5,-9.5,150,1393,0.00,2.50,0.00,0.000,6,0.000,0.033,2867,2098,3119,0,0,0,0,0,0
$GC,1642,-1.19,-116.8,216.3,-8.1,166,1647,0.00,2.50,0.00,0.000,4,0.000,0.037,2867,3504,3119,0,0,0,0,0,0
$GC,1703,-1.19,-116.8,220.9,-7.4,168,1710,0.00,2.50,0.00,0.000,6,0.000,0.035,2868,2102,3119,0,0,0,0,0,0
$GC,2020,-1.19,-116.8,243.6,-7.7,184,2024,0.00,2.55,0.00,0.000,4,0.000,0.045,2867,688,3119,0,0,0,0,0,0
$GC,2180,-1.19,-116.8,258.3,-9.8,191,2184,0.00,2.42,0.00,0.000,6,0.000,0.023,2867,2101,3118,0,0,0,0,0,0
$GC,2513,-1.19,-116.8,285.3,-7.3,207,2517,0.00,2.53,0.00,0.000,4,0.000,0.045,2867,689,3117,0,0,0,0,0,0
$GC,2533,-1.19,-116.8,287.0,-7.1,208,2538,0.00,2.42,0.00,0.000,6,0.000,0.024,2867,2100,3117,0,0,0,0,0,0
$GC,2881,-1.19,-116.8,310.2,-6.2,221,2885,0.00,2.58,0.00,0.000,4,0.000,0.048,2868,691,3116,0,0,0,0,0,0
$GC,3054,-1.19,-116.8,321.4,-5.7,224,3058,0.00,2.45,0.00,0.000,6,0.000,0.025,2867,2107,3115,0,0,0,0,0,0
$GC,3386,-1.19,-116.8,339.0,-5.8,232,3390,0.00,2.55,0.00,0.000,4,0.000,0.048,2867,3505,3114,0,0,0,0,0,0
$GC,3443,-1.19,-116.8,343.1,-7.5,233,3448,0.00,2.53,0.00,0.000,6,0.000,0.041,2867,2101,3113,0,0,0,0,0,0
$GC,3757,-1.19,-116.8,366.9,-7.6,241,3762,0.00,2.60,0.00,0.000,4,0.000,0.051,2867,694,3111,0,0,0,0,0,0
$GC,3773,-1.19,-116.8,368.0,-7.3,241,3777,0.00,2.45,0.00,0.000,6,0.000,0.026,2867,2105,3111,0,0,0,0,0,0
$GC,4123,-1.19,-116.8,392.4,-6.6,250,4124,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2105,3108,0,0,0,0,0,0
$GC,4450,-1.19,-116.8,411.9,-6.2,258,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2106,3106,0,0,0,0,0,0
$GC,4774,-1.19,-116.8,433.8,-7.2,266,4778,0.00,2.58,0.00,0.000,4,0.000,0.051,2867,685,3104,0,0,0,0,0,0
$GC,4825,-1.19,-116.8,438.1,-8.1,267,4830,0.00,2.47,0.00,0.000,6,0.000,0.028,2867,2105,3104,0,0,0,0,0,0
$STATE,4978,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4979,begin apogee
$GC,4986,-0.31,0.0,451.3,8.6,271,5084,0.95,0.00,95.15,0.825,6,0.081,0.000,3064,1793,2635,0,0,0,0,0,0
$STATE,5085,end apogee,CONTROL_FINISHED_OK
$STATE,5085,begin climb
$GC,5088,1.19,116.8,454.6,0.0,273,5200,1.48,2.65,100.43,0.806,4,0.054,0.059,3391,409,2158,0,0,0,0,0,0
$GC,5211,1.19,116.8,447.3,10.9,275,5217,0.00,2.47,0.00,0.000,6,0.000,0.025,3392,1803,2154,0,0,0,0,0,0
$GC,5542,1.19,116.8,408.2,11.9,284,5547,0.00,2.65,0.00,0.000,4,0.000,0.060,3391,406,2146,0,0,0,0,0,0
$GC,5589,1.19,116.8,401.7,13.3,285,5593,0.00,2.42,0.00,0.000,6,0.000,0.026,3391,1798,2143,0,0,0,0,0,0
$GC,5912,1.19,116.8,360.9,12.6,293,5917,0.00,2.58,0.00,0.000,4,0.000,0.042,3391,3211,2142,0,0,0,0,0,0
$GC,5955,1.19,116.8,355.3,12.2,294,5960,0.00,2.62,0.00,0.000,6,0.000,0.048,3391,1804,2141,0,0,0,0,0,0
$GC,6283,1.19,116.8,316.4,12.1,302,6288,0.00,2.62,0.00,0.000,4,0.000,0.059,3391,394,2139,0,0,0,0,0,0
$GC,6298,1.19,116.8,314.4,12.5,302,6303,0.00,2.50,0.00,0.000,6,0.000,0.026,3391,1810,2138,0,0,0,0,0,0
$GC,6632,1.19,116.8,276.5,11.1,315,6633,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,1815,2138,0,0,0,0,0,0
$GC,6940,1.19,116.8,246.9,9.3,330,6944,0.00,2.50,0.00,0.000,4,0.000,0.041,3392,3202,2137,0,0,0,0,0,0
$GC,6954,1.19,116.8,245.4,9.8,330,6962,0.00,2.62,0.00,0.000,6,0.000,0.046,3391,1799,2137,0,0,0,0,0,0
$GC,7270,1.19,116.8,219.7,8.1,346,7274,0.00,2.62,0.00,0.000,4,0.000,0.060,3391,392,2135,0,0,0,0,0,0
$GC,7293,1.19,116.8,217.5,9.7,347,7297,0.00,2.45,0.00,0.000,6,0.000,0.026,3392,1802,2134,0,0,0,0,0,0
$GC,7624,1.19,116.8,188.0,8.9,369,7625,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1806,2134,0,0,0,0,0,0
$GC,7878,1.23,148.3,169.0,6.6,393,7908,0.00,2.58,24.25,0.615,4,0.000,0.037,3392,3198,2029,0,0,0,0,0,0
$GC,7946,1.27,175.2,164.2,6.8,400,7979,0.00,2.62,25.10,0.602,6,0.000,0.044,3391,1800,1919,0,0,0,0,0,0
$GC,8234,1.27,175.2,141.6,9.2,428,8239,0.00,2.62,0.00,0.000,4,0.000,0.056,3391,385,1914,0,0,0,0,0,0
$GC,8288,1.27,175.2,135.9,11.4,433,8293,0.00,2.47,0.00,0.000,6,0.000,0.023,3391,1801,1910,0,0,0,0,0,0
$GC,8553,1.31,213.8,114.2,6.3,457,8594,0.15,2.58,33.28,0.559,4,0.056,0.032,3438,3201,1762,0,0,0,0,0,0
$GC,8621,1.31,213.8,108.4,8.9,464,8626,0.00,2.60,0.00,0.000,6,0.000,0.040,3438,1795,1762,0,0,0,0,0,0
$GC,8884,1.31,213.8,82.9,11.2,488,8889,0.00,2.60,0.00,0.000,4,0.000,0.054,3438,384,1759,0,0,0,0,0,0
$GC,8991,1.31,213.8,69.2,11.2,499,8996,0.00,2.45,0.00,0.000,6,0.000,0.021,3438,1808,1754,0,0,0,0,0,0
$GC,9256,1.31,213.8,44.1,8.5,523,9260,0.00,2.62,0.00,0.000,4,0.000,0.050,3437,386,1755,0,0,0,0,0,0
$GC,9343,1.31,213.8,36.6,8.9,532,9347,0.00,2.42,0.00,0.000,6,0.000,0.020,3438,1802,1753,0,0,0,0,0,0
$GC,9609,1.33,224.0,15.3,7.6,573,9622,0.00,0.00,9.18,0.416,6,0.000,0.000,3438,1806,1720,0,0,0,0,0,0
$STATE,9762,end climb,SURFACE_DEPTH_REACHED
$STATE,9762,begin surface coast
$FINISH,1.0,1.022892
$STATE,9800,end surface coast,CONTROL_FINISHED_OK
$STATE,9801,begin surface
$SM_CCo,9824,55.58,0.457,0,0,1289,330.17
$SM_GC,1.93,0.00,0.00,55.58,0.000,0.000,0.457,430,2151,1289,-12.45,1.44,330.17
$IRIDIUM_FIX,2031.77,-15755.23,120800,151509
$TT8_MAMPS,0.029146
$HUMID,59.76
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,20.40
$XPDR_PINGS,5
$24V_AH,23.5,31.785
$10V_AH,10.4,30.068
$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,28.550,112.150,287.375,55.575,0.000,27.434,41.632,197.288,5.750,0.000,21.493,1137.700,6437.466,399.464,1771.790,531.573,33.349,1169.576,0.000,1753.384,0.000,29.254,0.000
$DEVICE_MAMPS,134.225,59.826,824.525,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,412.034,401.789,875.254,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,34985,608
$CAP_FILE_SIZE,103353,0
$CFSIZE,260165632,237608960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190511,203925,2039.927,-15755.688,42,0.9,42,9.7