version: 66.06
glider: 139
mission: 9
dive: 395
start: 5 19 111 20 46 55
data:
$ID,139
$MISSION,9
$DIVE,395
$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,-2184161.2
$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,15
$R_STBD_OVSHOOT,79
$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
$GPS1,203925,2039.927,-15755.688,42,0.9,42,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-74.1
$GPS2,204602,2039.966,-15755.677,13,1.4,13,9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.056,0.215
$KALMAN_X,28732.7,-24.0,-559.4,-29852.7,2826.9
$KALMAN_Y,-18364.3,-84.6,280.0,24346.2,-1111.1
$MHEAD_RNG_PITCHd_Wd,335.8,53683,-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,16,-1.19,-116.8,0.0,0.0,0,87,0.00,0.00,-69.10,0.000,6,0.000,0.000,429,2152,3113,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.7,-5.0,13,110,13.10,2.33,0.00,0.000,4,0.135,0.030,2867,3465,3114,0,0,0,0,0,0
$GC,271,-1.19,-116.8,48.0,-21.6,44,276,0.00,2.47,0.00,0.000,6,0.000,0.041,2867,2089,3117,0,0,0,0,0,0
$GC,533,-1.19,-116.8,91.2,-14.0,68,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2090,3118,0,0,0,0,0,0
$GC,787,-1.19,-116.8,125.8,-13.3,92,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2089,3118,0,0,0,0,0,0
$GC,1043,-1.19,-116.8,156.8,-11.2,116,1047,0.00,2.40,0.00,0.000,4,0.000,0.034,2867,3459,3119,0,0,0,0,0,0
$GC,1123,-1.19,-116.8,165.0,-10.5,124,1128,0.00,2.40,0.00,0.000,6,0.000,0.034,2867,2089,3119,0,0,0,0,0,0
$GC,1387,-1.19,-116.8,190.4,-11.1,148,1391,0.00,2.40,0.00,0.000,4,0.000,0.035,2867,3458,3119,0,0,0,0,0,0
$GC,1476,-1.19,-116.8,200.7,-10.9,157,1480,0.00,2.40,0.00,0.000,6,0.000,0.034,2867,2094,3119,0,0,0,0,0,0
$GC,1812,-1.19,-116.8,230.8,-9.3,173,1816,0.00,2.45,0.00,0.000,4,0.000,0.037,2867,3466,3119,0,0,0,0,0,0
$GC,1906,-1.19,-116.8,240.1,-9.0,177,1910,0.00,2.42,0.00,0.000,6,0.000,0.035,2867,2095,3119,0,0,0,0,0,0
$GC,2233,-1.19,-116.8,265.2,-7.7,193,2237,0.00,2.55,0.00,0.000,4,0.000,0.047,2867,685,3119,0,0,0,0,0,0
$GC,2359,-1.19,-116.8,277.7,-9.8,198,2364,0.00,2.33,0.00,0.000,6,0.000,0.022,2867,2058,3119,0,0,0,0,0,0
$GC,2696,-1.19,-116.8,304.0,-7.3,213,2700,0.00,2.47,0.00,0.000,4,0.000,0.047,2867,688,3118,0,0,0,0,0,0
$GC,2721,-1.19,-116.8,306.1,-8.4,213,2725,0.00,2.40,0.00,0.000,6,0.000,0.023,2867,2101,3118,0,0,0,0,0,0
$GC,3061,-1.19,-116.8,334.3,-8.4,222,3065,0.00,2.55,0.00,0.000,4,0.000,0.048,2867,694,3116,0,0,0,0,0,0
$GC,3094,-1.19,-116.8,337.2,-8.3,222,3099,0.00,2.42,0.00,0.000,6,0.000,0.025,2868,2098,3116,0,0,0,0,0,0
$GC,3427,-1.19,-116.8,361.8,-7.5,230,3431,0.00,2.58,0.00,0.000,4,0.000,0.048,2867,3507,3114,0,0,0,0,0,0
$GC,3501,-1.19,-116.8,368.4,-8.5,231,3505,0.00,2.53,0.00,0.000,6,0.000,0.041,2868,2094,3114,0,0,0,0,0,0
$GC,3839,-1.19,-116.8,393.4,-7.1,240,3840,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2094,3112,0,0,0,0,0,0
$GC,4162,-1.19,-116.8,418.3,-7.5,248,4167,0.00,2.58,0.00,0.000,4,0.000,0.051,2867,685,3109,0,0,0,0,0,0
$GC,4187,-1.19,-116.8,420.1,-8.5,248,4191,0.00,2.42,0.00,0.000,6,0.000,0.027,2867,2099,3109,0,0,0,0,0,0
$GC,4529,-1.19,-116.8,440.8,-5.5,257,4533,0.00,2.58,0.00,0.000,4,0.000,0.052,2867,693,3107,0,0,0,0,0,0
$GC,4603,-1.19,-116.8,445.0,-5.1,258,4608,0.00,2.45,0.00,0.000,6,0.000,0.028,2867,2110,3107,0,0,0,0,0,0
$STATE,4733,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4733,begin apogee
$GC,4741,-0.31,0.0,451.3,4.8,262,4839,0.95,0.00,94.93,0.816,6,0.081,0.000,3065,1783,2635,0,0,0,0,0,0
$STATE,4840,end apogee,CONTROL_FINISHED_OK
$STATE,4840,begin climb
$GC,4843,1.19,116.8,451.3,0.0,264,4955,1.50,2.72,99.90,0.794,4,0.054,0.043,3396,3203,2156,0,0,0,0,0,0
$GC,4975,1.19,116.8,435.9,14.1,267,4979,0.00,2.62,0.00,0.000,6,0.000,0.051,3396,1806,2156,0,0,0,0,0,0
$GC,5298,1.19,116.8,394.9,11.7,275,5302,0.00,2.65,0.00,0.000,4,0.000,0.060,3396,393,2147,0,0,0,0,0,0
$GC,5354,1.19,116.8,387.6,12.8,276,5358,0.00,2.47,0.00,0.000,6,0.000,0.026,3396,1801,2142,0,0,0,0,0,0
$GC,5672,1.19,116.8,353.3,10.4,284,5677,0.00,2.55,0.00,0.000,4,0.000,0.043,3396,3211,2141,0,0,0,0,0,0
$GC,5707,1.19,116.8,349.5,10.6,284,5711,0.00,2.62,0.00,0.000,6,0.000,0.050,3396,1798,2141,0,0,0,0,0,0
$GC,6039,1.19,116.8,312.9,10.9,292,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1798,2139,0,0,0,0,0,0
$GC,6347,1.19,116.8,282.4,10.0,303,6351,0.00,2.58,0.00,0.000,4,0.000,0.040,3396,3208,2138,0,0,0,0,0,0
$GC,6384,1.19,116.8,278.2,10.1,304,6391,0.00,2.62,0.00,0.000,6,0.000,0.046,3396,1803,2138,0,0,0,0,0,0
$GC,6700,1.19,116.8,245.0,10.6,320,6701,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1803,2137,0,0,0,0,0,0
$GC,7011,1.20,118.5,217.7,7.9,335,7015,0.00,2.55,0.00,0.000,4,0.000,0.040,3396,3204,2136,0,0,0,0,0,0
$GC,7031,1.20,124.0,216.0,7.8,336,7035,0.00,2.55,0.00,0.000,6,0.000,0.042,3396,1800,2135,0,0,0,0,0,0
$GC,7356,1.20,124.0,189.7,9.0,357,7357,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1800,2135,0,0,0,0,0,0
$GC,7610,1.20,124.0,168.0,8.5,381,7615,0.00,2.58,0.00,0.000,4,0.000,0.037,3396,3211,2134,0,0,0,0,0,0
$GC,7709,1.20,124.0,159.9,8.4,391,7713,0.00,2.55,0.00,0.000,6,0.000,0.041,3396,1801,2135,0,0,0,0,0,0
$GC,7974,1.21,132.9,140.0,7.6,415,7993,0.00,2.65,10.75,0.535,4,0.000,0.055,3396,399,2092,0,0,0,0,0,0
$GC,8070,1.21,132.9,131.3,9.8,425,8074,0.00,2.42,0.00,0.000,6,0.000,0.021,3396,1807,2089,0,0,0,0,0,0
$GC,8337,1.21,132.9,109.6,8.5,450,8342,0.00,2.47,0.00,0.000,4,0.000,0.033,3396,3206,2089,0,0,0,0,0,0
$GC,8363,1.22,139.2,107.6,7.7,452,8377,0.00,2.55,6.78,0.461,6,0.000,0.038,3396,1799,2067,0,0,0,0,0,0
$GC,8638,1.25,157.8,90.1,7.2,478,8661,0.00,2.62,17.70,0.518,4,0.000,0.052,3396,390,1990,0,0,0,0,0,0
$GC,8722,1.25,157.8,82.5,9.4,486,8728,0.00,2.47,0.00,0.000,6,0.000,0.020,3396,1807,1986,0,0,0,0,0,0
$GC,8987,1.32,219.7,67.3,5.2,511,9047,0.12,2.47,53.40,0.518,4,0.061,0.028,3440,3198,1738,0,0,0,0,0,0
$GC,9070,1.32,219.7,60.9,8.7,519,9076,0.00,2.60,0.00,0.000,6,0.000,0.038,3440,1799,1738,0,0,0,0,0,0
$GC,9332,1.33,227.0,37.8,7.7,544,9344,0.00,2.60,7.03,0.405,4,0.000,0.049,3440,393,1708,0,0,0,0,0,0
$GC,9392,1.33,227.0,32.4,10.0,550,9396,0.00,2.40,0.00,0.000,6,0.000,0.018,3440,1801,1704,0,0,0,0,0,0
$GC,9657,1.33,227.0,9.4,8.7,596,9664,0.00,2.62,0.00,0.000,4,0.000,0.048,3440,399,1704,0,0,0,0,0,0
$GC,9676,1.33,227.0,7.5,9.3,599,9682,0.00,2.42,0.00,0.000,6,0.000,0.019,3440,1801,1704,0,0,0,0,0,0
$STATE,9725,end climb,SURFACE_DEPTH_REACHED
$STATE,9725,begin surface coast
$FINISH,1.0,1.008284
$STATE,9758,end surface coast,CONTROL_FINISHED_OK
$STATE,9758,begin surface
$SM_CCo,9782,52.55,0.452,0,0,1288,330.17
$SM_GC,1.80,0.00,0.00,52.55,0.000,0.000,0.452,426,2125,1288,-12.48,0.71,330.17
$IRIDIUM_FIX,2027.17,-16120.07,120800,171743
$TT8_MAMPS,0.028379
$HUMID,58.86
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,20.60
$XPDR_PINGS,4
$24V_AH,23.5,31.867
$10V_AH,10.4,30.148
$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,28.600,111.575,290.475,52.550,0.000,30.664,35.136,207.303,5.500,0.000,13.582,1137.801,6447.022,396.513,1726.048,525.797,33.337,1152.975,0.000,1712.440,0.000,29.243,0.000
$DEVICE_MAMPS,134.992,59.826,816.088,451.763,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,415.730,406.048,892.780,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,34986,614
$CAP_FILE_SIZE,101900,0
$CFSIZE,260165632,237563904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,190511,233144,2040.557,-15755.058,14,1.6,14,9.7